MorkT

BPASmartClient.DRCoffee/CoffeeMachine.cs

@@ -177,7 +177,7 @@ namespace BPASmartClient.DRCoffee
 
         public override void Init()
         {
-            commProxy = new SerialPortClient(PortName,(BaudRates)Enum.Parse(typeof(BaudRates),BaudRate));
+            commProxy = new SerialPortClient(communicationPar.SerialPort,(BaudRates)communicationPar.BaudRate);
             commProxy.SetDataStorage(dataStorage);
 
             //咖博士咖啡机制作

BPASmartClient.Device/BaseDevice.cs

@@ -128,6 +128,7 @@ namespace BPASmartClient.Device
             peripherals.ForEach(p =>
             {
                 p.DeviceId = this.DeviceId;
+                
                 p.Init();
             });
             this.peripherals = peripherals;

BPASmartClient.GSIceCream/IceCreamMachine.cs

@@ -243,12 +243,11 @@ namespace BPASmartClient.GSIceCream
 
         public override void Init()
         {
-            commProxy = new SerialPortClient(PortName,(BaudRates)Enum.Parse(typeof(BaudRates),BaudRate));
+            //广深冰淇淋机模式设置
+            commProxy = new SerialPortClient(communicationPar.SerialPort, (BaudRates)communicationPar.BaudRate);
             commProxy.SetDataStorage(dataStorage);
 
-
-            //广深冰淇淋机模式设置
-            EventBus.EventBus.GetInstance().Subscribe<GSIceCream_ModeSetEvent>(DeviceId,delegate (IEvent @event,EventCallBackHandle callBack)
+            EventBus.EventBus.GetInstance().Subscribe<GSIceCream_ModeSetEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
             {
                 try
                 {
@@ -258,7 +257,7 @@ namespace BPASmartClient.GSIceCream
                     commProxy.SendData(data);
                     Thread.Sleep(200);
                     free = false;
-                    MessageLog.GetInstance.Show(string.Format("设置模式[{0}]",Enum.GetName(typeof(MORKI_MODE),((GSIceCream_ModeSetEvent)@event).Mode)));
+                    MessageLog.GetInstance.Show(string.Format("设置模式[{0}]", Enum.GetName(typeof(MORKI_MODE), ((GSIceCream_ModeSetEvent)@event).Mode)));
                 }
                 catch (Exception ex)
                 {
@@ -333,6 +332,7 @@ namespace BPASmartClient.GSIceCream
             InitStatus();
             //测试用
             Start();
+            MessageLog.GetInstance.Show("冰淇淋机器初始化完成");
         }
     }
 

BPASmartClient.Lebai/LebaiRobot.cs

@@ -15,16 +15,13 @@ using BPASmartClient.EventBus;
 using static BPASmartClient.EventBus.EventBus;
 using BPASmartClient.Model;
 using BPASmartClient.LebaiRobot;
+using BPASmartClient.Model.乐白机器人;
 
 namespace BPASmartClient.Lebai
 {
     public class LebaiRobot: BasePeripheral
     {
 
-        /// <summary>
-        /// IP地址
-        /// </summary>
-        public string IpAddress { get; set; } = "192.168.0.1";
         /// <summary>
         /// 抓手上传感器输入位索引
         /// </summary>
@@ -43,13 +40,18 @@ namespace BPASmartClient.Lebai
 
         public override void Start()
         {
-            LebaiHelper.GetInstance().Connect(IpAddress);
-            ThreadManage.GetInstance().StartLong(() => { LebaiHelper.GetInstance().Reconnect(IpAddress); Thread.Sleep(5000); }, "机器人重连检测");
+            LebaiHelper.GetInstance().Connect(communicationPar.IPAddress);
+            ThreadManage.GetInstance().StartLong(() => { LebaiHelper.GetInstance().Reconnect(communicationPar.IPAddress); Thread.Sleep(5000); }, "机器人重连检测");
             ThreadManage.GetInstance().StartLong(() =>
             {
-                status["Connected"] = LebaiHelper.GetInstance().IsConnected;
+                IsConnected = LebaiHelper.GetInstance().IsConnected;
+                status["OK"] = LebaiHelper.GetInstance().GetValueAsync().Ok;
+                status["Value"] = LebaiHelper.GetInstance().GetValueAsync().Value;
                 if (LebaiHelper.GetInstance().robotData != null) status["RobotMode"] = LebaiHelper.GetInstance().robotData.RobotMode.Mode;
+                LebaiHelper.GetInstance().GetRobotModeStatus();
+                Thread.Sleep(10);
             },"获取乐白机器人数据");
+
         }
 
         public override void Stop()
@@ -63,8 +65,72 @@ namespace BPASmartClient.Lebai
             {
 
             });
+            //获取机器人信号
+            EventBus.EventBus.GetInstance().Subscribe<LebaiRobot_GetInputEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+            {
+                if (@event == null) return;
+                if (@event is LebaiRobot_GetInputEvent getInput)
+                {
+                    callBack.Invoke(LebaiHelper.GetInstance().GetInput(getInput.Pin));
+                }
+            });
+            //获取Tcp信号
+            EventBus.EventBus.GetInstance().Subscribe<Demo_MakeCoffeeEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+            {
+                if (@event == null) return;
+                if (@event is LebaiRobot_GetInputEvent getTCPInput)
+                {
+                    callBack.Invoke(LebaiHelper.GetInstance().GetTcpInput(getTCPInput.Pin));
+                }
+            });
+            //机器人输入信号
+            EventBus.EventBus.GetInstance().Subscribe<LebaiRobot_SetValueEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+            {
+                if (@event == null) return;
+                if (@event is LebaiRobot_SetValueEvent SetValueEvent)
+                {
+                    LebaiHelper.GetInstance().SetValue(SetValueEvent.RobotSetValue);  
+                }
+            });
+            //控制机器人
+            EventBus.EventBus.GetInstance().Subscribe<LebaiRobot_LebaiControlEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+            {
+                if (@event == null) return;
+                if (@event is LebaiRobot_LebaiControlEvent lebaiControlEvent)
+                {
+                    switch (lebaiControlEvent.LebaiControl)
+                    {
+                        case "机器人启动":
+                            LebaiHelper.GetInstance().StartRobot();
+                            break;
+                        case "启动示教":
+                            LebaiHelper.GetInstance().StartTeachMode();
+                            break;
+                        case "停止示教":
+                            LebaiHelper.GetInstance().EndtTeachMode();
+                            break;
+                        case "机器人急停":
+                            LebaiHelper.GetInstance().EStopRobot();
+                            break;
+                        default:
+                            break;
+                    }
+                    
+                }
+            });
+            //选择机器人场景
+            EventBus.EventBus.GetInstance().Subscribe<LebaiRobot_LebaiSenceEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+            {
+                if (@event == null) return;
+                if (@event is LebaiRobot_LebaiSenceEvent lebaiSenceEvent)
+                {
+                    LebaiHelper.GetInstance().Scene(lebaiSenceEvent.LebaiSence);
+                }
+            });
+
             InitStatus();
             Start();
+            MessageLog.GetInstance.Show("乐白机器人初始化完成");
         }
 
         

BPASmartClient.LebaiRobot/LebaiHelper.cs

@@ -15,41 +15,7 @@ namespace BPASmartClient.LebaiRobot
     public class LebaiHelper:Singleton<LebaiHelper>
     {
 
-        #region 且时且多设备
-        //取咖啡杯 set：=1    get:=101	10031
-        //取冰淇淋杯 set：=1    get:=101	10032
-        //咖啡杯检测 set：=1    get:=101	10033
-        //冰淇淋杯检测 set：=1    get:=101	10034
-        //二次取咖啡杯 set：=1    get:=101	10035
-        //二次取冰淇淋杯 set：=1    get:=101	10036
-        //接咖啡 set：=1    get:=101	10037
-        //接冰淇淋公共点 set：=1    get:=101	10038
-        //接1号冰淇淋 set：=1    get:=101	10039
-        //接2号冰淇淋 set：=1    get:=101	10040
-        //接3号冰淇淋 set：=1    get:=101	10041
-        //放咖啡位置 set：=1    get:=101	10042
-        //放冰淇淋位置 set：=1    get:=101	10043
-
-        public const int SENCE_取咖啡杯 = 10031;
-        public const int SENCE_取冰淇淋杯 = 10032;
-        public const int SENCE_咖啡杯检测 = 10033;
-        public const int SENCE_冰淇淋杯检测 = 10034;
-        public const int SENCE_二次取咖啡杯 = 10035;
-        public const int SENCE_二次取冰淇淋杯 = 10036;
-        public const int SENCE_接咖啡 = 10037;
-        public const int SENCE_接冰淇淋公共点 = 10038;
-        public const int SENCE_接1号冰淇淋 = 10039;
-        public const int SENCE_接2号冰淇淋 = 10040;
-        public const int SENCE_接3号冰淇淋 = 10041;
-        public const int SENCE_放咖啡位置 = 10042;
-        public const int SENCE_放冰淇淋位置 = 10043;
-
-        //add 新加场景
-        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;
-        #endregion
+      
 
         
 
@@ -302,6 +268,24 @@ namespace BPASmartClient.LebaiRobot
             return false;
         }
 
+        public bool GetTcpInput(int pin = 1)
+        {
+            try
+            {
+                if (client == null) return false;
+                var res = client.GetTcpDIO(new IOPin() { Pin = pin }).Result;
+                if (res != null)
+                {
+                    return res.Value == 1 ? true : false;
+                }
+            }
+            catch (Exception ex)
+            {
+                MessageLog.GetInstance.ShowEx(ex.ToString());
+            }
+            return false;
+        }
+
         /// <summary>
         /// 运行指定的场景
         /// </summary>

BPASmartClient.Model/BPASmartClient.Model.csproj

@@ -7,11 +7,13 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <ProjectReference Include="..\BPASmartClient.EventBus\BPASmartClient.EventBus.csproj" />
+    <Compile Remove="机器人\**" />
+    <EmbeddedResource Remove="机器人\**" />
+    <None Remove="机器人\**" />
   </ItemGroup>
 
   <ItemGroup>
-    <Folder Include="机器人\Enum\" />
+    <ProjectReference Include="..\BPASmartClient.EventBus\BPASmartClient.EventBus.csproj" />
   </ItemGroup>
 
   <ItemGroup>

BPASmartClient.Model/乐白机器人/Enum/Lebai_qsqdCode.cs

@@ -0,0 +1,33 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.Model.乐白机器人.Enum
+{
+    public class Lebai_qsqdCode
+    {
+        #region 且时且多设备
+        public const int SENCE_取咖啡杯 = 10031;
+        public const int SENCE_取冰淇淋杯 = 10032;
+        public const int SENCE_咖啡杯检测 = 10033;
+        public const int SENCE_冰淇淋杯检测 = 10034;
+        public const int SENCE_二次取咖啡杯 = 10035;
+        public const int SENCE_二次取冰淇淋杯 = 10036;
+        public const int SENCE_接咖啡 = 10037;
+        public const int SENCE_接冰淇淋公共点 = 10038;
+        public const int SENCE_接1号冰淇淋 = 10039;
+        public const int SENCE_接2号冰淇淋 = 10040;
+        public const int SENCE_接3号冰淇淋 = 10041;
+        public const int SENCE_放咖啡位置 = 10042;
+        public const int SENCE_放冰淇淋位置 = 10043;
+
+        //add 新加场景
+        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;
+        #endregion
+    }
+}

BPASmartClient.Model/乐白机器人/LebaiRobotEvent.cs

@@ -0,0 +1,48 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.Model.乐白机器人
+{
+
+    /// <summary>
+    ///  获取机器人输入DI状态
+    /// </summary>
+    public class LebaiRobot_GetInputEvent : BaseEvent
+    {
+        public int Pin { get; set; } = 0;
+    }
+    /// <summary>
+    /// /// <summary>
+    ///  获取机器人输入TCPDI状态
+    /// </summary>
+    /// </summary>
+    public class LebaiRobot_GetTCPInputEvent : BaseEvent
+    {
+        public int Pin { get; set; } = 1;
+    }
+    /// <summary>
+    /// 输入机器人信号
+    /// </summary>
+    public class LebaiRobot_SetValueEvent : BaseEvent
+    {
+        public int RobotSetValue { get; set; }
+    }
+    /// <summary>
+    /// 机器人控制
+    /// </summary>
+    public class LebaiRobot_LebaiControlEvent : BaseEvent
+    {
+        public string LebaiControl { get; set; }
+    }
+    /// <summary>
+    /// 选择乐白机器人场景
+    /// </summary>
+    public class LebaiRobot_LebaiSenceEvent : BaseEvent
+    {
+        public int LebaiSence { get; set; }
+
+    }
+}

BPASmartClient.MorkT/Control_MorkT.cs

@@ -7,6 +7,7 @@ using BPASmartClient.Lebai;
 using BPASmartClient.LebaiRobot;
 using BPASmartClient.Message;
 using BPASmartClient.Model;
+using BPASmartClient.Model.乐白机器人;
 using BPASmartClient.Model.冰淇淋.Enum;
 using BPASmartClient.Model.单片机;
 using BPASmartClient.Model.单片机.Enum;
@@ -27,6 +28,7 @@ namespace BPASmartClient.MorkT
 
         GLV_MorkT morkT = new GLV_MorkT();
 
+
         public override void DoMain()
         {
             IsHealth = true;
@@ -37,28 +39,8 @@ namespace BPASmartClient.MorkT
                 if (morkT.MakeCoffeeOrder != null)
                     morkT.MakeCoffeeOrder.OrderStatus = 1;
             });
+           
 
-            ActionManage.GetInstance.Register(new Action<object>((o) =>
-            {
-                switch (o)
-                {
-                    case "机器人启动":
-                        LebaiHelper.GetInstance().StartRobot();
-                        break;
-                    case "启动示教":
-                        LebaiHelper.GetInstance().StartTeachMode();
-                        break;
-                    case "停止示教":
-                        LebaiHelper.GetInstance().EndtTeachMode();
-                        break;
-                    case "机器人急停":
-                        LebaiHelper.GetInstance().EStopRobot();
-                        break;
-                    default:
-                        break;
-                }
-            }),"调试控制-机器人控制");
-         
             MessageLog.GetInstance.Show("MORKT 设备初始化完成");
 
         }
@@ -72,17 +54,24 @@ namespace BPASmartClient.MorkT
         public override void MainTask()
         {
             MakeCoffeeProcess();
-            if(!LebaiHelper.GetInstance().GetInput())//取餐口有空余位置
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 0 },(o)=>
             {
-                MakeIceCreamProcess();
-                MakeCoffeeComplete();
-            }
+                if(o != null && o.Length > 0 && o[0] is bool resultValue)
+                {
+                    if(!resultValue)//取餐口有空余位置
+                    {
+
+                        MakeIceCreamProcess();
+                        MakeCoffeeComplete();
+                    }
+                }
+            });
+            
         }
 
         public override void ReadData()
         {
-            morkT.lebai = LebaiHelper.GetInstance().GetValueAsync();
-            LebaiHelper.GetInstance().GetRobotModeStatus();
+            
         }
 
 
@@ -186,7 +175,6 @@ namespace BPASmartClient.MorkT
                 }
             });
         }
-
         /// <summary>
         /// 验证当前是做咖啡还是做冰淇淋
         /// </summary>
@@ -208,7 +196,7 @@ namespace BPASmartClient.MorkT
 
         private void Wait(int value = 101)
         {
-            while (!(morkT.lebai.Ok && morkT.lebai.Value == value))
+            while (!((bool)Status.status["OK"] && (int)Status.status["Value"] == value))
             {
                 Thread.Sleep(5);
             }
@@ -236,9 +224,9 @@ namespace BPASmartClient.MorkT
                 {
                     DeviceProcessLogShow($"开始制作 [咖啡] 订单[{orderLoc.SortNum}]");
                     GetAndCheeckCoffe(orderLoc);
-                    LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_接咖啡后回原点);//把咖啡杯放到咖啡机机的位置后回原点
+                    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10051}); //接咖啡后回原点
                     Wait();
-                    LebaiHelper.GetInstance().SetValue(1);
+                    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
                     new DRCoffee_MakeCoffeeEvent() { DrinkCode = (Model.咖啡机.Enum.DrCoffeeDrinksCode)int.Parse(orderLoc.Loc) }.Publish();  //接咖啡控制
                     DeviceProcessLogShow($"发送咖啡机制作{orderLoc.Loc}!");
                     morkT.IsCoffeeMake = true; morkT.MakeCoffeeOrder = orderLoc;
@@ -271,9 +259,9 @@ namespace BPASmartClient.MorkT
         /// </summary>
         private void DoCoffeeQC(OrderLocInfo order)
         {
-            LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_取咖啡出餐);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10052 }); //SENCE_取咖啡出餐
             Wait();
-            LebaiHelper.GetInstance().SetValue(1);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
             //订单状态改变：完成
             OrderChange(order.SuborderId, ORDER_STATUS.COMPLETED_COOK);
             DeviceProcessLogShow($"{order.GoodsName}等待取餐");
@@ -287,36 +275,45 @@ namespace BPASmartClient.MorkT
         /// <param name="order"></param>
         private void GetAndCheeckCoffe(OrderLocInfo order)
         {
-            LebaiHelper.GetInstance().SetValue(0);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 });
             OrderChange(order.SuborderId, ORDER_STATUS.COOKING);
-            LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_取咖啡杯);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10031 }); //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!");
-            LebaiHelper.GetInstance().SetValue(1);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
             int count = 2;
+            bool result = true;
         p:
-            LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_咖啡杯检测);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10033 }); //SENCE_咖啡杯检测
             Wait();
-            LebaiHelper.GetInstance().SetValue(1);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetTCPInputEvent { DeviceId = DeviceId, Pin = 1 }, (o)=>
+            {
+                if(o != null && o.Length > 0 && o[0] is bool resultValue)
+                {
+                    result = resultValue;
+                }
+            });
 
-            if (!LebaiHelper.GetInstance().GetInput())
+            if (!result)
             {
                 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!");
-                    LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_咖啡杯回原点);
+                    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10050 }); //SENCE_咖啡杯回原点
                     Wait();
-                    LebaiHelper.GetInstance().SetValue(1);
+                    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
                     return;
                 }
                 DeviceProcessLogShow("执行二次取咖啡杯");
-                LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_二次取咖啡杯);
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10035 }); //SENCE_二次取咖啡杯
                 Wait();
                 new SCChip_TakeCupEvent() { Cup = IC_CUP.CUP_COFFEE }.Publish();//落碗控制
-                LebaiHelper.GetInstance().SetValue(1);
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
                 count++;
                 goto p;
             }
@@ -349,7 +346,15 @@ namespace BPASmartClient.MorkT
                 {
                     if ((short)Status.status["CBX"] >= 86 && morkT.morkOrderPushesIceCream.Count > 0)//成型比大于86才可以制作
                     {
-                        if (LebaiHelper.GetInstance().GetInput(3))
+                        bool result = true;
+                        EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 3 }, (res) =>
+                        {
+                            if (res[0] is bool resultValue)
+                            {
+                                result = resultValue;
+                            }
+                        });
+                        if (result)
                         {
                             if (morkT.IceIsOK) DeviceProcessLogShow("请检查冰淇淋出料口有无遮挡");
                             morkT.IceIsOK = false;
@@ -383,8 +388,8 @@ namespace BPASmartClient.MorkT
         /// </summary>
         private void GetIceCreamCup()
         {
-            LebaiHelper.GetInstance().SetValue(0);
-            LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_取冰淇淋杯);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 });
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10032 }); //SENCE_取冰淇淋杯
             Wait();
             new SCChip_TakeCupEvent() { Cup = IC_CUP.CUP_ICECREAM }.Publish();//落碗控制
             Thread.Sleep(500);
@@ -398,27 +403,35 @@ namespace BPASmartClient.MorkT
         private void CheckICeCreaCup()
         {
             int count = 2;
-            LebaiHelper.GetInstance().SetValue(1);
+            bool result = true;
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
         p:
-            LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_冰淇淋杯检测);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10034 }); //SENCE_冰淇淋杯检测
             Wait();
-            LebaiHelper.GetInstance().SetValue(1);
-            if (!LebaiHelper.GetInstance().GetInput())
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetTCPInputEvent { DeviceId = DeviceId, Pin = 1 }, (o) =>
+            {
+                if (o != null && o.Length > 0 && o[0] is bool resultValue)
+                {
+                    result = resultValue;
+                }
+            });
+            if (!result)
             {
                 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!");
-                    LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_冰淇淋杯回原点);
+                    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10049 }); //SENCE_冰淇淋杯回原点
                     Wait();
-                    LebaiHelper.GetInstance().SetValue(1);
+                    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
                     return;
                 }
                 DeviceProcessLogShow($"执行{count}次取冰淇淋杯!");
-                LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_二次取冰淇淋杯);
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10036 }); //SENCE_二次取冰淇淋杯
                 new SCChip_TakeCupEvent() { Cup = IC_CUP.CUP_ICECREAM }.Publish();//落碗控制
                 Wait();
-                LebaiHelper.GetInstance().SetValue(1);
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
                 count++;
                 goto p;
             }
@@ -433,9 +446,9 @@ namespace BPASmartClient.MorkT
         {
             //制冷模式
             new GSIceCream_ModeSetEvent() { Mode = MORKI_MODE.制冷模式 }.Publish();
-            LebaiHelper.GetInstance().SetValue(0);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 });
             OrderChange(order.SuborderId, ORDER_STATUS.COOKING);
-            LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_接1号冰淇淋);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10039 }); //SENCE_接1号冰淇淋
             Wait();
             bool doItResult = true;
             //出料
@@ -460,7 +473,7 @@ namespace BPASmartClient.MorkT
                 }
                 IceCreamCookCheck();
             }
-            LebaiHelper.GetInstance().SetValue(1);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
         }
 
         /// <summary>
@@ -469,13 +482,19 @@ namespace BPASmartClient.MorkT
         /// <param name="order"></param>
         private void PutIceCream(OrderLocInfo order)
         {
-            while (LebaiHelper.GetInstance().GetInput())
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 0 }, (res) =>
             {
-                Thread.Sleep(500);
-            }
-            LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_放冰淇淋位置);
+                if (res[0] is bool resultValue)
+                {
+                    while (resultValue)
+                    {
+                        Thread.Sleep(500);
+                    }
+                }
+            });
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10043 }); //SENCE_放冰淇淋位置
             Wait();
-            LebaiHelper.GetInstance().SetValue(1);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
             //订单状态改变：完成
             OrderChange(order.SuborderId, ORDER_STATUS.COMPLETED_COOK);
             DeviceProcessLogShow($"{order.GoodsName}等待取餐");
@@ -488,9 +507,17 @@ namespace BPASmartClient.MorkT
         /// </summary>
         public void IceCreamCookCheck()
         {
+            bool result = true;
             int retry = 3;
             DateTime beginTime = DateTime.Now;
-            while (!LebaiHelper.GetInstance().GetInput(3))
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 3 } ,(res)=>
+            { 
+                if (res[0] is bool resultValue)
+                {
+                    result = resultValue;
+                }
+            } );
+            while (!result)
             {
                 if (retry <= 0 && DateTime.Now.Subtract(beginTime).TotalSeconds >= 10)
                 {

BPASmartClient.MorkT/GLV_MorkT.cs

@@ -29,10 +29,7 @@ namespace BPASmartClient.MorkT
         /// </summary>
         public OrderLocInfo MakeCoffeeOrder = new OrderLocInfo();
 
-        /// <summary>
-        /// 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

BPASmartClient.MorkT/PolymerBatching.cs

@@ -98,26 +98,26 @@ namespace BPASmartClient.MorkT
             return temp;
         }
 
-        internal static IC_SE GetIceCreamSE(string loc, out int sence)
-        {
-            switch (loc)
-            {
-                case ICE_MAIN_BATCHIN1_LOC:
-                    sence = LebaiHelper.SENCE_接1号冰淇淋;
-                    return IC_SE.SE_1;
+        //internal static IC_SE GetIceCreamSE(string loc, out int sence)
+        //{
+        //    switch (loc)
+        //    {
+        //        case ICE_MAIN_BATCHIN1_LOC:
+        //            sence = LebaiHelper.SENCE_接1号冰淇淋;
+        //            return IC_SE.SE_1;
 
-                case ICE_MAIN_BATCHIN2_LOC:
-                    sence = LebaiHelper.SENCE_接2号冰淇淋;
-                    return IC_SE.SE_2;
+        //        case ICE_MAIN_BATCHIN2_LOC:
+        //            sence = LebaiHelper.SENCE_接2号冰淇淋;
+        //            return IC_SE.SE_2;
 
-                case ICE_MAIN_BATCHIN3_LOC:
-                    sence = LebaiHelper.SENCE_接3号冰淇淋;
-                    return IC_SE.SE_3;
+        //        case ICE_MAIN_BATCHIN3_LOC:
+        //            sence = LebaiHelper.SENCE_接3号冰淇淋;
+        //            return IC_SE.SE_3;
 
-                default:
-                    sence = LebaiHelper.SENCE_接1号冰淇淋;
-                    return IC_SE.SE_1;
-            }
-        }
+        //        default:
+        //            sence = LebaiHelper.SENCE_接1号冰淇淋;
+        //            return IC_SE.SE_1;
+        //    }
+        //}
     }
 }

BPASmartClient.SCChip/ICChipMachine.cs

@@ -224,7 +224,7 @@ namespace BPASmartClient.SCChip
 
         public override void Init()
         {
-            commProxy = new SerialPortClient(PortName,(BaudRates)Enum.Parse(typeof(BaudRates),BaudRate));
+            commProxy = new SerialPortClient(communicationPar.SerialPort,(BaudRates)communicationPar.BaudRate);
             commProxy.SetDataStorage(dataStorage);
 
             //STM32F103RCT6单片机下杯

BPASmartClient.ViewModel/MorkT_DebugViewModel.cs

@@ -7,6 +7,7 @@ using BPASmartClient.Helper;
 using BPASmartClient.Lebai;
 using BPASmartClient.LebaiRobot;
 using BPASmartClient.Model;
+using BPASmartClient.Model.乐白机器人;
 using BPASmartClient.Model.冰淇淋.Enum;
 using BPASmartClient.Model.咖啡机.Enum;
 using BPASmartClient.SCChip;
@@ -24,6 +25,10 @@ namespace BPASmartClient.ViewModel
 {
     public class MorkT_DebugViewModel : ObservableObject
     {
+        /// <summary>
+        /// 设备ID
+        /// </summary>
+        int DeviceId { get; set; }
         #region 乐白机器人
         /// <summary>
         /// 乐白机器人连接状态
@@ -43,7 +48,7 @@ namespace BPASmartClient.ViewModel
         /// <param name="o"></param>
         private void Button_RobotControl(object o)
         {
-            ActionManage.GetInstance.Send("调试控制-机器人控制",o.ToString());
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiControlEvent { DeviceId = DeviceId, LebaiControl = o.ToString() });
         }
 
         #endregion
@@ -109,7 +114,9 @@ namespace BPASmartClient.ViewModel
         private void Button_SetIceCreamModel()
         {
             MORKI_MODE mORKI_MODE = (MORKI_MODE)Enum.Parse(typeof(MORKI_MODE), SelecteIceCreamdMode);
-            new GSIceCream_ModeSetEvent() { Mode = mORKI_MODE }.Publish();
+            //ActionManage.GetInstance.Send("测试", mORKI_MODE);
+
+            new GSIceCream_ModeSetEvent() { DeviceId = DeviceId, Mode = mORKI_MODE }.Publish();
         }
         #endregion
 
@@ -175,10 +182,11 @@ namespace BPASmartClient.ViewModel
                 Plugin.GetInstance()?.GetPlugin<DeviceMgr>()?.GetDevices().ForEach(device =>
                 {
                     if (device.Name == "MorkT") CurrentData = device.Status.GetStatus();
+                    DeviceId = device.DeviceId;
                 });
                 if (CurrentData != null && CurrentData.Count != 0)
                 {
-                    RobotConnected = (bool)CurrentData["Lebai.LebaiRobot.Connected"] ? "已连接" : "未连接";
+                    RobotConnected = (bool)CurrentData["Lebai.LebaiRobot.IsConnected"] ? "已连接" : "未连接";
                     IceCreamConnected = (bool)CurrentData["GSIceCream.IceCreamMachine.IsConnected"] ? "已连接" : "未连接";
                     CoffeeConnected = (bool)CurrentData["GSIceCream.IceCreamMachine.IsConnected"] ? "已连接" : "未连接";
 
@@ -200,10 +208,6 @@ namespace BPASmartClient.ViewModel
                     DLCompleted = (bool)CurrentData["GSIceCream.IceCreamMachine.DLCompleted"] ? "打料完成" : "打料中";
                 }
                 
-               
-
-
-
                 Thread.Sleep(500);
             }), "MorkT-状态刷新");
         }

BPASmartClient/Control/MorkT_DebugView.xaml

@@ -38,6 +38,14 @@
                     <RowDefinition Height="*"/>
                     <RowDefinition Height="3*"/>
                 </Grid.RowDefinitions>
+                <StackPanel Orientation="Horizontal">
+                    <TextBlock Text="连接状态" />
+                    <TextBlock Text="{Binding RobotConnected}"
+                           Margin="40,0"/>
+                    <TextBlock Text="机器人模式："/>
+                    <TextBlock Text="{Binding RobotMode}"
+                               Margin="40,0"/>
+                </StackPanel>
                 <TextBlock Text="连接状态" />
                 <TextBlock Text="{Binding RobotConnected}"
                            Margin="120,0,0,0"/>

BPASmartClient/MainWindow.xaml.cs

@@ -73,9 +73,9 @@ namespace BPASmartClient
 
             ThreadManage.GetInstance().Start(new Action(() =>
             {
+                GetDevices();
                 mainConsole = new MainConsole();
                 mainConsole.Start();
-                GetDevices();
             }), "启动主控制台", false);
 
             ThreadManage.GetInstance().Start(new Action(() =>