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

BPASmartClient.CustomResource/BPASmartClient.CustomResource.csproj

@@ -7,6 +7,13 @@
     <UseWindowsForms>true</UseWindowsForms>
   </PropertyGroup>
 
+  <ItemGroup>
+    <Compile Remove="Fonts\Debug\**" />
+    <EmbeddedResource Remove="Fonts\Debug\**" />
+    <None Remove="Fonts\Debug\**" />
+    <Page Remove="Fonts\Debug\**" />
+  </ItemGroup>
+
   <ItemGroup>
     <Compile Remove="Properties\App.xaml.cs" />
   </ItemGroup>

BPASmartClient.DRCoffee/CoffeeMachine.cs

@@ -16,7 +16,7 @@ namespace BPASmartClient.DRCoffee
     /// <summary>
     /// 咖啡机
     /// </summary>
-    public class CoffeeMachine :BasePeripheral
+    public class CoffeeMachine : BasePeripheral
     {
         //通讯代理
         SerialPortClient commProxy = null;
@@ -95,7 +95,7 @@ namespace BPASmartClient.DRCoffee
                     commProxy.SendData(cmdAsk);
                 }
                 Thread.Sleep(200);
-            }),"咖啡机询问线程");
+            }), "咖啡机询问线程");
 
             ThreadManage.GetInstance().StartLong(new Action(() =>
             {
@@ -132,7 +132,7 @@ namespace BPASmartClient.DRCoffee
                     }
                 }
                 Thread.Sleep(5);
-            }),"咖啡机解析线程");
+            }), "咖啡机解析线程");
         }
 
         /// <summary>
@@ -141,30 +141,29 @@ namespace BPASmartClient.DRCoffee
         /// <param name="package"></param>
         public void ProcessPackage(DrCoffeePackage package)
         {
-            
+            lastRefreshTime = DateTime.Now;
+            IsConnected = OnLine;
+            status["CoffeeIsConnected"] = OnLine;
             if (((DrCoffeeStatus)status["CoffeeStatus"]) == DrCoffeeStatus.Running && package.Status != DrCoffeeStatus.Running)
             {
                 status["CoffeeStatus"] = package.Status;
-                lastRefreshTime = DateTime.Now;
-                IsConnected = OnLine;
-                status["CoffeConnected"] = OnLine;
-                new DRCoffee_CoffeEndCookEvent() { DeviceId = DeviceId }.Publish();
+                EventBus.EventBus.GetInstance().Publish(new DRCoffee_CoffeEndCookEvent() { DeviceId = DeviceId });
             }
             else status["CoffeeStatus"] = package.Status;
             status["CoffeeAppStatus"] = package.ApplicationStatus;
             status["CoffeeWarning"] = package.Warning;
             status["CoffeeFault"] = package.Fault;
-            
+
             if ((DrCoffeeStatus)status["CoffeeStatus"] == DrCoffeeStatus.Warning
                 || (DrCoffeeStatus)status["CoffeeStatus"] == DrCoffeeStatus.Fault
                 || (DrCoffeeWarning)status["CoffeeWarning"] != DrCoffeeWarning.无警告
                 || (DrCoffeeFault)status["CoffeeFault"] != DrCoffeeFault.无故障
                 )
             {
-                IsWork = false;   
+                IsWork = false;
             }
             else
-                IsWork = true; 
+                IsWork = true;
         }
 
         protected override void InitStatus()
@@ -177,68 +176,75 @@ namespace BPASmartClient.DRCoffee
 
         public override void Init()
         {
-            commProxy = new SerialPortClient(communicationPar.SerialPort,(BaudRates)communicationPar.BaudRate);
+            commProxy = new SerialPortClient(communicationPar.SerialPort, (BaudRates)communicationPar.BaudRate);
             commProxy.SetDataStorage(dataStorage);
 
             //咖博士咖啡机制作
-            EventBus.EventBus.GetInstance().Subscribe<DRCoffee_MakeCoffeeEvent>(DeviceId,delegate (IEvent @event,EventCallBackHandle callBack)
-            {
-                try
-                {
-                    free = true;
-                    Thread.Sleep(200);
-                    drinksOrder.CommCmd = DrCoffeeCommCmd.饮品制作指令;
-                    drinksOrder.DrinksCode = ((DRCoffee_MakeCoffeeEvent)@event).DrinkCode;
-                    commProxy.SendData(DrCoffee.Packe(drinksOrder));
-                    Thread.Sleep(200);
-                    free = false;
-                }
-                catch (Exception ex)
-                {
-                    MessageLog.GetInstance.ShowEx($"BPASmartClient.DRCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
-                }
-            });
+            EventBus.EventBus.GetInstance().Subscribe<DRCoffee_MakeCoffeeEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+             {
+                 try
+                 {
+                     free = true;
+                     Thread.Sleep(200);
+                     drinksOrder.CommCmd = DrCoffeeCommCmd.饮品制作指令;
+                     drinksOrder.DrinksCode = ((DRCoffee_MakeCoffeeEvent)@event).DrinkCode;
+                     commProxy.SendData(DrCoffee.Packe(drinksOrder));
+                     Thread.Sleep(200);
+                     free = false;
+                 }
+                 catch (Exception ex)
+                 {
+                     MessageLog.GetInstance.ShowEx($"BPASmartClient.DRCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
+                 }
+             });
 
             //咖博士咖啡机取消制作咖啡
-            EventBus.EventBus.GetInstance().Subscribe<DRCoffee_CancelMakeCoffeeEvent>(DeviceId,delegate (IEvent @event,EventCallBackHandle callBack)
-            {
-                try
-                {
-                    free = true;
-                    Thread.Sleep(200);
-                    drinksOrder.CommCmd = DrCoffeeCommCmd.取消应用指令;
-                    drinksOrder.DrinksCode = 0;
-                    commProxy.SendData(DrCoffee.Packe(drinksOrder));
-                    Thread.Sleep(200);
-                    free = false;
-                }
-                catch (Exception ex)
-                {
-                    MessageLog.GetInstance.ShowEx($"BPASmartClient.DRCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
-                }
-            });
+            EventBus.EventBus.GetInstance().Subscribe<DRCoffee_CancelMakeCoffeeEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+             {
+                 try
+                 {
+                     free = true;
+                     Thread.Sleep(200);
+                     drinksOrder.CommCmd = DrCoffeeCommCmd.取消应用指令;
+                     drinksOrder.DrinksCode = 0;
+                     commProxy.SendData(DrCoffee.Packe(drinksOrder));
+                     Thread.Sleep(200);
+                     free = false;
+                 }
+                 catch (Exception ex)
+                 {
+                     MessageLog.GetInstance.ShowEx($"BPASmartClient.DRCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
+                 }
+             });
 
             //咖博士咖啡机模式设置
-            EventBus.EventBus.GetInstance().Subscribe<DRCoffee_CoffeeCommCmdEvent>(DeviceId,delegate (IEvent @event,EventCallBackHandle callBack)
-            {
-                try
-                {
-                    free = true;
-                    Thread.Sleep(200);
-                    drinksOrder.CommCmd = ((DRCoffee_CoffeeCommCmdEvent)@event).CommCmd;
-                    commProxy.SendData(DrCoffee.Packe(drinksOrder));
-                    Thread.Sleep(200);
-                    free = false;
-                }
-                catch (Exception ex)
-                {
-                    MessageLog.GetInstance.ShowEx($"BPASmartClient.DRCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
-                }
-            });
+            EventBus.EventBus.GetInstance().Subscribe<DRCoffee_CoffeeCommCmdEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+             {
+                 try
+                 {
+                     free = true;
+                     Thread.Sleep(200);
+                     drinksOrder.CommCmd = ((DRCoffee_CoffeeCommCmdEvent)@event).CommCmd;
+                     commProxy.SendData(DrCoffee.Packe(drinksOrder));
+                     Thread.Sleep(200);
+                     free = false;
+                 }
+                 catch (Exception ex)
+                 {
+                     MessageLog.GetInstance.ShowEx($"BPASmartClient.DRCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
+                 }
+             });
             InitStatus();
             //测试
             Start();
         }
 
+        public override void WriteData(string address, object value)
+        {
+        }
+
+        //public override void ReadData(string address)
+        //{
+        //}
     }
 }

BPASmartClient.Device/BaseDevice.cs

@@ -13,6 +13,8 @@ using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
 using System.Collections.ObjectModel;
+using BPASmartClient.Model.单片机;
+using BPASmartClient.EventBus;
 
 namespace BPASmartClient.Device
 {
@@ -110,6 +112,22 @@ namespace BPASmartClient.Device
 
         #endregion
 
+        /// <summary>
+        /// 写控制
+        /// </summary>
+        /// <param name="address"></param>
+        /// <param name="value"></param>
+        public void WriteControl(string address, object value)
+        {
+            if (peripherals != null)
+            {
+                for (int i = 0; i < peripherals.Count; i++)
+                {
+                    peripherals.ElementAt(i).WriteData(address, value);
+                }
+            }
+        }
+
         /// <summary>
         /// 设备过程日志显示
         /// </summary>
@@ -325,7 +343,7 @@ namespace BPASmartClient.Device
             {
                 MainTask();
                 Thread.Sleep(10);
-            }), $"MainTask:{DeviceId}");
+            }) ,$"MainTask:{DeviceId}",true);
             #endregion
 
             #region 设备状态监控
@@ -525,5 +543,6 @@ namespace BPASmartClient.Device
             IEnumerable<System.Reflection.PropertyInfo> property = from pi in t.GetProperties() where pi.Name.ToLower() == field.ToLower() select pi;
             return property.First().GetValue(info, null);
         }
+
     }
 }

BPASmartClient.GSIceCream/IceCreamMachine.cs

@@ -14,8 +14,8 @@ using static BPASmartClient.GSIceCream.MessageDefine;
 
 namespace BPASmartClient.GSIceCream
 {
-    public class IceCreamMachine :BasePeripheral
-    {        
+    public class IceCreamMachine : BasePeripheral
+    {
         //通讯代理
         SerialPortClient commProxy = null;
         //是否下发指令，主线程等待
@@ -179,13 +179,13 @@ namespace BPASmartClient.GSIceCream
             IsConnected = OnLine;
             status["IceCreamIsConnected"] = OnLine;
             status["IceCreamCurrentMode"] = heartUpMsg.MS;
-            status["IceCreamYLWD"]  = BitConverter.ToInt16(new byte[] { heartUpMsg.YLWD_L,heartUpMsg.YLWD_H },0);
-            status["IceCreamHQWD"]  = BitConverter.ToInt16(new byte[] { heartUpMsg.HQWD_L,heartUpMsg.HQWD_H },0);
-            status["IceCreamHJWD"]  = BitConverter.ToInt16(new byte[] { heartUpMsg.HJWD_L,heartUpMsg.HJWD_H },0);
+            status["IceCreamYLWD"] = BitConverter.ToInt16(new byte[] { heartUpMsg.YLWD_L, heartUpMsg.YLWD_H }, 0);
+            status["IceCreamHQWD"] = BitConverter.ToInt16(new byte[] { heartUpMsg.HQWD_L, heartUpMsg.HQWD_H }, 0);
+            status["IceCreamHJWD"] = BitConverter.ToInt16(new byte[] { heartUpMsg.HJWD_L, heartUpMsg.HJWD_H }, 0);
             status["IceCreamDL"] = BitConverter.ToInt16(new byte[] { heartUpMsg.DL_L, heartUpMsg.DL_H }, 0);
-            status["IceCreamFault"]  = (MORKI_FAULT)BitConverter.ToInt16(new byte[] { heartUpMsg.GZ_L,heartUpMsg.GZ_H },0);
+            status["IceCreamFault"] = (MORKI_FAULT)BitConverter.ToInt16(new byte[] { heartUpMsg.GZ_L, heartUpMsg.GZ_H }, 0);
             status["IceCreamCXB"] = heartUpMsg.CXB;
-            status["IceCreamDLCompleted"]  = (heartUpMsg.DLTJ >> 4 & 1) == 1;
+            status["IceCreamDLCompleted"] = (heartUpMsg.DLTJ >> 4 & 1) == 1;
 
             if (RTrig.GetInstance("打料完成检测").Start((bool)status["IceCreamDLCompleted"]))
             {
@@ -201,7 +201,7 @@ namespace BPASmartClient.GSIceCream
 
         private void ProcessModeUp(ICMSG_MODE_UP modeUpMsg)
         {
-            MessageLog.GetInstance.Show(string.Format("模式返回为：{0}",modeUpMsg.Mode));
+            MessageLog.GetInstance.Show(string.Format("模式返回为：{0}", modeUpMsg.Mode));
         }
 
         public void ProcessMsg(byte[] data)
@@ -269,79 +269,83 @@ namespace BPASmartClient.GSIceCream
             });
 
             //广深冰淇淋机打料
-            EventBus.EventBus.GetInstance().Subscribe<GSIceCream_DischargeEvent>(DeviceId,delegate (IEvent @event,EventCallBackHandle callBack)
-            {
-                try
-                {
-                    if ((MORKI_FAULT)status["IceCreamFault"] != MORKI_FAULT.未发生故障)
-                    {
-                        MessageLog.GetInstance.Show(string.Format("当前存在故障[{0}%]，不允许制作",(MORKI_FAULT)status["IceCreamFault"]));
-                        new GSIceCream_EndCookEvent() { DeviceId = DeviceId,Status = false }.Publish();
-                        callBack?.Invoke(false);
-                        return;
-                    }
-                    if ((byte)status["IceCreamCXB"] <= 86)
-                    {
-                        MessageLog.GetInstance.Show(string.Format("当前成型比[{0}%]，低于86%，不允许制作",(byte)status["IceCreamCXB"]));
-                        new GSIceCream_EndCookEvent() { DeviceId = DeviceId,Status = false }.Publish();
-                        callBack?.Invoke(false );
-                        return;
-                    }
+            EventBus.EventBus.GetInstance().Subscribe<GSIceCream_DischargeEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+             {
+                 try
+                 {
+                     if ((MORKI_FAULT)status["IceCreamFault"] != MORKI_FAULT.未发生故障)
+                     {
+                         MessageLog.GetInstance.Show(string.Format("当前存在故障[{0}%]，不允许制作", (MORKI_FAULT)status["IceCreamFault"]));
+                         new GSIceCream_EndCookEvent() { DeviceId = DeviceId, Status = false }.Publish();
+                         callBack?.Invoke(false);
+                         return;
+                     }
+                     if ((byte)status["IceCreamCXB"] <= 86)
+                     {
+                         MessageLog.GetInstance.Show(string.Format("当前成型比[{0}%]，低于86%，不允许制作", (byte)status["IceCreamCXB"]));
+                         new GSIceCream_EndCookEvent() { DeviceId = DeviceId, Status = false }.Publish();
+                         callBack?.Invoke(false);
+                         return;
+                     }
 
-                    bool modeRight = (MORKI_MODE)status["IceCreamCurrentMode"] == MORKI_MODE.制冷模式;
+                     bool modeRight = (MORKI_MODE)status["IceCreamCurrentMode"] == MORKI_MODE.制冷模式;
 
-                    if (!modeRight)
-                    {
-                        free = true;
-                        Thread.Sleep(200);
+                     if (!modeRight)
+                     {
+                         free = true;
+                         Thread.Sleep(200);
 
-                        var temp = IcPack.StructureToByte(ICMSG_MODE_DW.Build(MORKI_MODE.制冷模式));
-                        commProxy.SendData(temp);
+                         var temp = IcPack.StructureToByte(ICMSG_MODE_DW.Build(MORKI_MODE.制冷模式));
+                         commProxy.SendData(temp);
 
-                        Thread.Sleep(200);
-                        free = false;
-                        MessageLog.GetInstance.Show(string.Format("出料操作->设置模式[{0}]",MORKI_MODE.制冷模式));
+                         Thread.Sleep(200);
+                         free = false;
+                         MessageLog.GetInstance.Show(string.Format("出料操作->设置模式[{0}]", MORKI_MODE.制冷模式));
 
-                        DateTime freeTime = DateTime.Now.AddSeconds(5);
-                        while (DateTime.Now < freeTime)
-                        {
-                            Thread.Sleep(10);
-                            modeRight = (MORKI_MODE)status["IceCreamCurrentMode"] == MORKI_MODE.制冷模式;
-                            if (modeRight)
-                                break;
-                        }
-                    }
+                         DateTime freeTime = DateTime.Now.AddSeconds(5);
+                         while (DateTime.Now < freeTime)
+                         {
+                             Thread.Sleep(10);
+                             modeRight = (MORKI_MODE)status["IceCreamCurrentMode"] == MORKI_MODE.制冷模式;
+                             if (modeRight)
+                                 break;
+                         }
+                     }
 
-                    if (modeRight)
-                    {
-                        free = true;
-                        Thread.Sleep(200);
-                        var data = IcPack.StructureToByte(ICMSG_MODE_DW.Build(MORKI_MODE.打料));
-                        commProxy.SendData(data);
-                        Thread.Sleep(200);
-                        free = false;
-                        new GSIceCream_EndCookEvent() { DeviceId = DeviceId,Status =true}.Publish();
-                        MessageLog.GetInstance.Show(string.Format("出料操作->设置模式[{0}]",MORKI_MODE.打料));
-                        callBack?.Invoke(true);
-                    }
-                    else
-                    {
-                        MessageLog.GetInstance.Show(string.Format("出料操作->模式切换失败，当前模式[{0}]，不允许出料",(MORKI_MODE)status["IceCreamCurrentMode"]));
-                        new GSIceCream_EndCookEvent() { DeviceId = DeviceId,Status = false }.Publish();
-                        callBack?.Invoke(false);
-                    }
-                }
-                catch (Exception ex)
-                {
-                    MessageLog.GetInstance.ShowEx($"BPASmartClient.GSIceCream 中引发错误,IceCreamMachine 类,描述：[{ex.Message}]");
-                    callBack?.Invoke(false);
-                }
-            });
+                     if (modeRight)
+                     {
+                         free = true;
+                         Thread.Sleep(200);
+                         var data = IcPack.StructureToByte(ICMSG_MODE_DW.Build(MORKI_MODE.打料));
+                         commProxy.SendData(data);
+                         Thread.Sleep(200);
+                         free = false;
+                         new GSIceCream_EndCookEvent() { DeviceId = DeviceId, Status = true }.Publish();
+                         MessageLog.GetInstance.Show(string.Format("出料操作->设置模式[{0}]", MORKI_MODE.打料));
+                         callBack?.Invoke(true);
+                     }
+                     else
+                     {
+                         MessageLog.GetInstance.Show(string.Format("出料操作->模式切换失败，当前模式[{0}]，不允许出料", (MORKI_MODE)status["IceCreamCurrentMode"]));
+                         new GSIceCream_EndCookEvent() { DeviceId = DeviceId, Status = false }.Publish();
+                         callBack?.Invoke(false);
+                     }
+                 }
+                 catch (Exception ex)
+                 {
+                     MessageLog.GetInstance.ShowEx($"BPASmartClient.GSIceCream 中引发错误,IceCreamMachine 类,描述：[{ex.Message}]");
+                     callBack?.Invoke(false);
+                 }
+             });
             InitStatus();
             //测试用
             Start();
             MessageLog.GetInstance.Show("冰淇淋机器初始化完成");
         }
+
+        public override void WriteData(string address, object value)
+        {
+        }
     }
 
 }

BPASmartClient.Helper/ExpandMethod.cs

@@ -43,11 +43,6 @@ namespace BPASmartClient.Helper
         {
             action?.Invoke();
             callback?.Invoke();
-            //if (action != null)
-            //{
-            //    action();
-            //    if (callback != null) callback();
-            //}
         }
 
         /// <summary>
@@ -60,56 +55,105 @@ namespace BPASmartClient.Helper
         {
             action?.Invoke(par);
             callback?.Invoke();
-            //if (action != null)
-            //{
-            //    action(par);
-            //    if (callback != null) callback();
-            //}
         }
 
         public static void Invokes(this Action<object[]> action, object[] par, Action callback)
         {
             action?.Invoke(par);
             callback?.Invoke();
-            //if (action != null)
-            //{
-            //    action(par);
-            //    if (callback != null) callback();
-            //}
         }
 
 
+        /// <summary>
+        /// 字节数组转换成32位整数
+        /// </summary>
+        /// <param name="bytes"></param>
+        /// <returns></returns>
+        public static int BytesToInt(this byte[] bytes)
+        {
+            if (bytes.Length > 4) return -1;
+            int ReturnVlaue = 0;
+            for (int i = 0; i < bytes.Length; i++)
+            {
+                ReturnVlaue += (int)(bytes[i] << (i * 8));
+            }
+            return ReturnVlaue;
+        }
+
+        /// <summary>
+        /// 字节数组转换成 ushort 数组
+        /// </summary>
+        /// <param name="bytes">要转换的字节数组</param>
+        /// <param name="reverse">字节高度顺序控制</param>
+        /// <returns></returns>
+        public static ushort[] BytesToUshorts(this byte[] bytes, bool reverse = false)
+        {
+            int len = bytes.Length;
+
+            byte[] srcPlus = new byte[len + 1];
+            bytes.CopyTo(srcPlus, 0);
+            int count = len >> 1;
+
+            if (len % 2 != 0)
+            {
+                count += 1;
+            }
+
+            ushort[] dest = new ushort[count];
+            if (reverse)
+            {
+                for (int i = 0; i < count; i++)
+                {
+                    dest[i] = (ushort)(srcPlus[i * 2] << 8 | srcPlus[2 * i + 1] & 0xff);
+                }
+            }
+            else
+            {
+                for (int i = 0; i < count; i++)
+                {
+                    dest[i] = (ushort)(srcPlus[i * 2] & 0xff | srcPlus[2 * i + 1] << 8);
+                }
+            }
+
+            return dest;
+        }
+
+        /// <summary>
+        /// ushort 数组转换成字节数组
+        /// </summary>
+        /// <param name="src">需要转换的 ushort数组</param>
+        /// <param name="reverse">高低字节的设置</param>
+        /// <returns></returns>
+        public static byte[] UshortsToBytes(this ushort[] src, bool reverse = false)
+        {
+
+            int count = src.Length;
+            byte[] dest = new byte[count << 1];
+            if (reverse)
+            {
+                for (int i = 0; i < count; i++)
+                {
+                    dest[i * 2] = (byte)(src[i] >> 8);
+                    dest[i * 2 + 1] = (byte)(src[i] >> 0);
+                }
+            }
+            else
+            {
+                for (int i = 0; i < count; i++)
+                {
+                    dest[i * 2] = (byte)(src[i] >> 0);
+                    dest[i * 2 + 1] = (byte)(src[i] >> 8);
+                }
+            }
+            return dest;
+        }
+
+
+
+
+
+
+
 
-        ///// <summary>
-        ///// 保存数据
-        ///// </summary>
-        //public static void Save<T>(this T ot)
-        //{
-        //    string outjson = JsonConvert.SerializeObject(ot);
-        //    var str = ot.GetType().GenericTypeArguments;
-        //    if (str != null && str.Length > 0)
-        //    {
-        //        File.WriteAllText(LocaPath.GetInstance.Getpath(str[0].Name), outjson);
-        //    }
-
-        //}
-
-        ///// <summary>
-        ///// 获取保存的数据
-        ///// </summary>
-        //public static void Read(this object ot)
-        //{
-        //    var str = ot.GetType().GenericTypeArguments;
-        //    if (str != null && str.Length > 0)
-        //    {
-        //        string pa = LocaPath.GetInstance.Getpath(str[0].Name);
-        //        if (File.Exists(pa))
-        //        {
-        //            string JsonString = File.ReadAllText(pa);
-        //            var result = JsonConvert.DeserializeObject<object>(JsonString);
-        //            if (result != null) { Json<object>.Data = result; }
-        //        }
-        //    }
-        //}
     }
 }

BPASmartClient.IoT/DataVClient.cs

@@ -35,7 +35,6 @@ namespace BPASmartClient.IoT
         public DataVClient()
         {
             DataVApiAddress = InternetInfo.DataVApiAddress;
-            //ClientId = System.Configuration.ConfigurationManager.AppSettings["ClientId"].ToString();
             ClientId = Plugin.GetInstance().GetPlugin<ConfigMgr>().ClientId.ToString();
             DeviceName = System.Configuration.ConfigurationManager.AppSettings["DeviceName"].ToString();
             ProductKey = System.Configuration.ConfigurationManager.AppSettings["ProductKey"].ToString();
@@ -71,6 +70,7 @@ namespace BPASmartClient.IoT
         /// 客户端ID
         /// </summary>
         public string ClientId { set; get; }
+        public List<int> ListDeviceId { set; get; } = new List<int>();
         /// <summary>
         /// MQTT上报集合
         /// </summary>
@@ -99,7 +99,9 @@ namespace BPASmartClient.IoT
             {
                 if (DeviceDataV != null && DeviceDataV.GetIsConnected() && DeviceDataV.deviceTable != null)
                 {
-                    DeviceDataV.IOT_Publish(BroadcastPubTopic, Tools.JsonConvertTools("刷新店铺列表"));
+                    string api = DataVApiAddress + "/api/Device/FlushedDevice";
+                    HttpRequestHelper.HttpGetRequest(api, 1000);
+                    //DeviceDataV.IOT_Publish(BroadcastPubTopic, Tools.JsonConvertTools("刷新店铺列表"));
                 }
             }
             catch (Exception ex)
@@ -200,7 +202,17 @@ namespace BPASmartClient.IoT
             string message = string.Empty;
             if (StartupMode == "API")
             {
-                if (DeviceDataV.Initialize(DataVApiAddress, ClientId, "", ref message))
+                while (ListDeviceId.Count == 0)
+                {
+                    Plugin.GetInstance()?.GetPlugin<DeviceMgr>()?.GetDevices()?.ForEach(device =>
+                    {
+                        if (device != null)
+                        {
+                            ListDeviceId.Add(device.DeviceId);
+                        }
+                    });
+                }
+                if (DeviceDataV.Initialize(DataVApiAddress, ClientId, ListDeviceId.Count==0?"": ListDeviceId?.First().ToString(), ref message))
                 {
                     ProductKey = DeviceDataV.deviceTable.productkey;
                     DeviceName = DeviceDataV.deviceTable.devicename;

BPASmartClient.JAKA/BPASmartClient.JAKA.csproj

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

BPASmartClient.JAKA/JakaMachine.cs

@@ -0,0 +1,83 @@
+using BPASmartClient.EventBus;
+using BPASmartClient.Helper;
+using BPASmartClient.JakaRobot;
+using BPASmartClient.Model;
+using BPASmartClient.Peripheral;
+using static BPASmartClient.EventBus.EventBus;
+
+namespace BPASmartClient.JAKA
+{
+    public class JakaMachine : BasePeripheral
+    {
+        JaKaHelper jaKaHelper = new JaKaHelper();
+        public override void Init()
+        {
+            jaKaHelper.Connect(communicationPar.IPAddress);
+
+            ThreadManage.GetInstance().StartLong(new Action(() =>
+            {
+                IsConnected = jaKaHelper.IsConnected;
+                if (!IsConnected) IsWork = false;
+                while (IsConnected)
+                {
+                    IsWork = true;
+                    if (status != null)
+                    {
+                        SetStatus("GetProgramStatus", (int)jaKaHelper.GetProgramStatus());
+                        SetStatus("Get_RobotAO1", jaKaHelper.Get_RobotAO1());
+
+                    }
+                    Thread.Sleep(500);
+                }
+                Thread.Sleep(1000);
+            }), $"设备[{DeviceId}]节卡机器人读取线程", true);
+
+
+
+            EventBus.EventBus.GetInstance().Subscribe<WriteJaka>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+            {
+                if (@event == null) return;
+                var par = @event as WriteJaka;
+                switch (par?.TagName)
+                {
+                    case "Power_On":
+                        jaKaHelper.Power_On();
+                        break;
+                    case "Enable_robot":
+                        jaKaHelper.Enable_robot();
+                        break;
+                    case "Set_RobotAO1":
+                        if (par?.Value is int intvalue) jaKaHelper.Set_RobotAO1(intvalue);
+                        break;
+                    case "JaKaProgramName":
+                        if (par?.Value is string stringvalue) jaKaHelper.JaKaProgramName(stringvalue);
+                        break;
+                    default:
+                        break;
+                }
+            });
+        }
+
+        //public override void ReadData(string address)
+        //{
+
+        //}
+
+        public override void Start()
+        {
+        }
+
+        public override void Stop()
+        {
+        }
+
+        public override void WriteData(string address, object value)
+        {
+
+        }
+
+        protected override void InitStatus()
+        {
+        }
+    }
+}

BPASmartClient.JakaRobot/BPASmartClient.JakaRobot.csproj

@@ -0,0 +1,13 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net6.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\BPASmartClient.Message\BPASmartClient.Message.csproj" />
+  </ItemGroup>
+
+</Project>

BPASmartClient.JakaRobot/JaKaHelper.cs

@@ -0,0 +1,371 @@
+using BPASmartClient.Message;
+using System.Text;
+
+namespace BPASmartClient.JakaRobot
+{
+    public class JaKaHelper
+    {
+
+        #region 果汁机设备
+        /*public const string SENCE_取咖啡杯     = "10000";
+        public const string SENCE_取果汁杯     = "10001";
+        public const string SENCE_取茶水杯     = "10002";
+        public const string SENCE_取水杯       = "10003";
+        public const string SENCE_取咖啡杯检测 = "11000";
+        public const string SENCE_取果汁杯检测 = "11001";
+        public const string SENCE_取茶水杯检测 = "11002";
+        public const string SENCE_取水杯检测   = "11003";
+
+        public const string SENCE_接咖啡       = "12000";
+        public const string SENCE_接果汁1      = "12001";
+        public const string SENCE_接果汁2      = "12002";
+        public const string SENCE_接果汁3      = "12003";
+        public const string SENCE_接果汁4      = "12004";
+        public const string SENCE_接茶         = "12005";
+        public const string SENCE_接水         = "12006";
+
+        public const string SENCE_放咖啡杯     = "13000";
+        public const string SENCE_放果汁杯1    = "13001";
+        public const string SENCE_放果汁杯2    = "13002";
+        public const string SENCE_放果汁杯3    = "13003";
+        public const string SENCE_放果汁杯4    = "13004";
+        public const string SENCE_放茶水杯     = "13005";
+        public const string SENCE_放水杯       = "13006";*/
+
+        //public const string SENCE_取杯 = "10000";
+        //public const string SENCE_放杯位检测 = "10100";
+        //public const string SENCE_取杯检测 = "11000";
+
+        //public const string SENCE_接咖啡 = "12000";
+        //public const string SENCE_接果汁1 = "12001";
+        //public const string SENCE_接果汁2 = "12002";
+        //public const string SENCE_接果汁3 = "12003";
+        //public const string SENCE_接果汁4 = "12004";
+        //public const string SENCE_接茶 = "12005";
+        //public const string SENCE_接水 = "12006";
+        //public const string SENCE_接茶_接水 = "12007";
+
+        //public const string SENCE_放咖啡杯 = "13000";//接饮料位---放饮料过渡位
+        //public const string SENCE_放果汁杯1 = "13001";
+        //public const string SENCE_放果汁杯2 = "13002";
+        //public const string SENCE_放果汁杯3 = "13003";
+        //public const string SENCE_放果汁杯4 = "13004";
+        //public const string SENCE_放茶水杯 = "13005";
+
+        //public const string SENCE_放杯 = "14000";//放杯过渡位到-放杯
+
+        //public const string SENCE_放杯检测 = "15000";
+
+        //public const string SENCE_初始位 = "20000";
+
+        #endregion
+        private int rshd = -1;
+        private bool login = false;
+
+        /// <summary>
+        /// 机器人的状态
+        /// </summary>
+        private JKTYPE.RobotStatus robot_Status;
+        private JKTYPE.ProgramState program_status;
+        //private volatile static JaKaHelper _Instance;
+        //public static JaKaHelper GetInstance => _Instance ?? (_Instance = new JaKaHelper());
+        //private JaKaHelper() { }
+        public bool IsIdle { get; set; } = false;
+        public bool IsConnected { get { return login; } }
+
+        public void Connect(string ip)
+        {
+            bool ErrorFlag = false;
+            while (rshd == -1 || login == false)
+            {
+                try
+                {
+                    jakaAPI.create_handler(ip.ToCharArray(), ref rshd);
+
+                    login = true;
+
+                }
+                catch (Exception ex)
+                {
+                    if (!ErrorFlag)
+                    {
+                        MessageLog.GetInstance.ShowEx(ex.ToString());
+                        ErrorFlag = true;
+                        login = false;
+                    }
+                    Thread.Sleep(3000);
+                }
+            }
+            if (login)
+            {
+                try
+                {
+                    Power_On();//打开机器人电源
+                    Thread.Sleep(1000);
+                    Enable_robot();//机器人上使能
+                    MessageLog.GetInstance.Show("机器人已上电使能");
+                }
+                catch (Exception ex)
+                {
+                    MessageLog.GetInstance.ShowEx("机器人未完成上电和使能");
+                }
+            }
+        }
+        public void Power_On()
+        {
+            if (login)
+            {
+                try
+                {
+                    jakaAPI.power_on(ref rshd);
+                }
+                catch (System.AccessViolationException ave)
+                {
+                    MessageLog.GetInstance.ShowEx(ave.ToString());
+                }
+                //catch (Exception ex)
+                //{
+                //    MessageLog.GetInstance.ShowEx(ex.ToString());
+                //}
+            }
+            else
+            {
+                MessageLog.GetInstance.Show("jaka机器人未连接成功！");
+            }
+        }
+
+        public void Power_Off()
+        {
+            if (login)
+            {
+                try
+                {
+                    jakaAPI.power_off(ref rshd);
+                }
+                catch (Exception ex)
+                {
+
+                }
+            }
+            else
+            {
+                MessageLog.GetInstance.Show("jaka机器人未连接成功！");
+            }
+        }
+
+        public void Enable_robot()
+        {
+            if (!(rshd == -1))
+            {
+                try
+                {
+                    jakaAPI.enable_robot(ref rshd);
+                }
+                catch (Exception ex)
+                {
+
+                }
+            }
+            else
+            {
+                MessageLog.GetInstance.Show("jaka机器人未连接成功！");
+            }
+        }
+
+        public void disEnable_robot()
+        {
+            if (!(rshd == -1))
+            {
+                try
+                {
+                    jakaAPI.disable_robot(ref rshd);
+                }
+                catch (Exception ex)
+                {
+
+                }
+            }
+            else
+            {
+                MessageLog.GetInstance.Show("jaka机器人未连接成功！");
+            }
+        }
+
+        /// <summary>
+        /// 设置机器人的DO值
+        /// </summary>
+        /// <param name="DOIndex"></param>
+        /// <param name="value"></param>
+        /// <returns></returns>
+        public bool Set_RobotDO(int DOIndex, bool value)
+        {
+            try
+            {
+                jakaAPI.set_digital_output(ref rshd, JKTYPE.IOType.IO_CABINET, DOIndex, value);
+                return value;
+
+            }
+            catch (Exception ex)
+            {
+                return false;
+            }
+        }
+        /// <summary>
+        /// 设置机器人的AO值
+        /// </summary>
+        /// <param name="value">设置值</param>
+        /// <returns></returns>
+        public int Set_RobotAO1(int Value)
+        {
+            try
+            {
+                return jakaAPI.set_analog_output(ref rshd, JKTYPE.IOType.IO_CABINET, 0, Value);
+
+            }
+            catch (Exception ex)
+            {
+                return 0;
+            }
+        }
+        /// <summary>
+        /// 设置机器人的AO值
+        /// </summary>
+        /// <param name="Index">索引值</param>
+        /// <param name="value">设置值</param>
+        /// <returns></returns>
+        public int Set_RobotAO(int Index, int Value)
+        {
+            try
+            {
+                return jakaAPI.set_analog_output(ref rshd, JKTYPE.IOType.IO_CABINET, Index, Value);
+            }
+            catch (Exception ex)
+            {
+                return 0;
+            }
+        }
+
+        /// <summary>
+        /// 获取机器人的AO值
+        /// </summary>
+        /// <param name="Index">索引值</param>
+        /// <param name="value">设置值</param>
+        /// <returns></returns>
+        public float Get_RobotAO(int Index, int value)
+        {
+            try
+            {
+                float bResult = 0;
+                jakaAPI.get_analog_output(ref rshd, JKTYPE.IOType.IO_CABINET, Index, ref bResult);
+                return bResult;
+            }
+            catch (Exception ex)
+            {
+                return 0;
+            }
+        }
+        /// <summary>
+        /// 获取机器人的AO值
+        /// </summary>
+        /// <param name="Index">索引值</param>
+        /// <param name="value">设置值</param>
+        /// <returns></returns>
+        public float Get_RobotAO1()
+        {
+            try
+            {
+                float bResult = 0;
+                jakaAPI.get_analog_output(ref rshd, JKTYPE.IOType.IO_CABINET, 0, ref bResult);
+                return bResult;
+            }
+            catch (Exception ex)
+            {
+                return 0;
+            }
+        }
+
+        /// <summary>
+        /// 获取机器人的DI输入
+        /// </summary>
+        /// <param name="index"></param>
+        /// <returns></returns>
+        public bool Get_RobotDI(int index)
+        {
+            bool bResult = false;
+            jakaAPI.get_digital_input(ref rshd, JKTYPE.IOType.IO_CABINET, index, ref bResult);
+            return bResult;
+        }
+
+        /// <summary>
+        /// 获取机器人的状态
+        /// </summary>
+        public void GetRobotStatus()
+        {
+            jakaAPI.get_robot_status(ref rshd, ref robot_Status);
+        }
+
+        public JKTYPE.ProgramState GetProgramStatus()
+        {
+            jakaAPI.get_program_state(ref rshd, ref program_status);
+            return program_status;
+
+        }
+
+        StringBuilder jakafile;
+        JKTYPE.ProgramState status;
+        char[] file;
+        public void JaKaProgramName(String Programname)
+        {
+            try
+            {
+                //加载
+                file = Programname.ToCharArray();
+                MessageLog.GetInstance.Show($"调用文件名：{Programname}");
+                status = new JKTYPE.ProgramState();
+                jakaAPI.get_program_state(ref rshd, ref status);
+                if (status != JKTYPE.ProgramState.PROGRAM_IDLE)
+                {
+                    MessageLog.GetInstance.Show($"程序运行中，无法加载程序!!!");
+                }
+                else
+                {
+                    if (jakaAPI.program_load(ref rshd, file) == 0)
+                    {
+                        MessageLog.GetInstance.Show($"加载程序完成");
+                    }
+                    else
+                    {
+                        MessageLog.GetInstance.Show($"加载程序失败！！！");
+                    }
+                }
+                if (status == JKTYPE.ProgramState.PROGRAM_RUNNING)
+                {
+                    MessageLog.GetInstance.Show($"程序处于已处于启动状态！！！");
+                }
+                else if (status == JKTYPE.ProgramState.PROGRAM_IDLE)
+                {
+                    jakafile = new StringBuilder();
+                    jakaAPI.get_loaded_program(ref rshd, jakafile);
+                    if (jakafile.Length == 0)
+                    {
+                        MessageLog.GetInstance.Show($"未加载程序，无法运行！！！");
+                    }
+                    else
+                    {
+                        MessageLog.GetInstance.Show($"当前加载程序为：" + jakafile);
+                        jakaAPI.program_run(ref rshd);
+                        MessageLog.GetInstance.Show($"程序启动");
+                    }
+                }
+                else
+                {
+                    MessageLog.GetInstance.Show($"程序处于暂停状态，无法重新启动程序！！！");
+                }
+            }
+            catch (Exception ex)
+            {
+                MessageLog.GetInstance.ShowEx(ex.ToString());
+            }
+        }
+    }
+}

BPASmartClient.JakaRobot/jkType.cs

@@ -0,0 +1,364 @@
+using System;
+using System.Collections.Generic;
+//using System.Numerics;
+using System.Text;
+using System.Runtime.InteropServices;
+
+
+namespace BPASmartClient.JakaRobot
+{
+
+    public class JKTYPE
+    {
+        /**
+        * @brief 笛卡尔空间位置数据类型
+        */
+        [StructLayout(LayoutKind.Sequential)]
+        public struct CartesianTran
+        {
+
+            public double x;       ///< x轴坐标，单位mm
+			public double y;       ///< y轴坐标，单位mm
+			public double z;       ///< z轴坐标，单位mm
+		};
+
+        /**
+		* @brief 欧拉角姿态数据类型
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct Rpy
+        {
+            public double rx;      ///< 绕固定轴X旋转角度，单位：rad
+			public double ry;	   ///< 绕固定轴Y旋转角度，单位：rad
+			public double rz;      ///< 绕固定轴Z旋转角度，单位：rad
+		};
+
+        /**
+		* @brief 四元数姿态数据类型
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct Quaternion
+        {
+            public double s;
+            public double x;
+            public double y;
+            public double z;
+        };
+
+        /**
+		*@brief 笛卡尔空间位姿类型
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct CartesianPose
+        {
+            public CartesianTran tran;     ///< 笛卡尔空间位置
+			public Rpy rpy;                ///< 笛卡尔空间姿态
+		};
+
+        /**
+		* @brief 旋转矩阵数据类型
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct RotMatrix
+        {
+            public CartesianTran x;        ///< x轴列分量
+			public CartesianTran y;		   ///< y轴列分量
+			public CartesianTran z;        ///< z轴列分量
+		};
+
+        /**
+		* @brief 程序运行状态枚举类型
+		*/
+        public enum ProgramState
+        {
+            PROGRAM_IDLE,					///< 机器人停止运行
+			PROGRAM_RUNNING,				///< 机器人正在运行
+			PROGRAM_PAUSED					///< 机器人暂停	
+		};
+
+        /**
+		* @brief 坐标系选择枚举类型
+		*/
+        public enum CoordType
+        {
+            COORD_BASE,						///< 基坐标系
+			COORD_JOINT,					///< 关节空间
+			COORD_TOOL						///< 工具坐标系
+		};
+
+        /**
+		* @brief jog运动模式枚举
+		*/
+        public enum MoveMode
+        {
+            ABS = 0,						///< 绝对运动
+			INCR							///< 增量运动
+		};
+
+        /**
+		* @brief 系统监测数据类型
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct SystemMonitorData
+        {
+            public int scbMajorVersion;											///<scb主版本号
+			public int scbMinorVersion;											///<scb次版本号
+			public int cabTemperature;											///<控制柜温度	
+			public double robotAveragePower;									///<控制柜总线平均功率
+			public double robotAverageCurrent;									///<控制柜总线平均电流
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)]
+            public double[] instCurrent;										///<机器人6个轴的瞬时电流
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)]
+            public double[] instVoltage;										///<机器人6个轴的瞬时电压
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)]
+            public double[] instTemperature;									///<机器人6个轴的瞬时温度
+		};
+
+        /**
+		* @brief 负载数据类型
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct PayLoad
+        {
+            public double mass;													///<负载质量，单位：kg
+			public CartesianTran centroid;										///<负载质心, 单位：mm
+		};
+
+        /**
+		* @brief 关节位置数据类型
+		*/
+        public struct JointValue
+        {
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)]
+            public double[] jVal;												///< 6关节位置值，单位：rad	
+		};
+
+        /**
+		* @brief IO类型枚举
+		*/
+        public enum IOType
+        {
+            IO_CABINET,     ///< 控制柜面板IO
+			IO_TOOL,        ///< 工具IO
+			IO_EXTEND       ///< 扩展IO
+		};
+
+        /**
+		* @brief 机器人状态数据
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct RobotState
+        {
+            public int estoped;			///< 是否急停
+			public int poweredOn;		///< 是否打开电源
+			public int servoEnabled;    ///< 是否使能
+		};
+
+        /**
+		* @brief 机器人力矩数据
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct TorqueValue
+        {
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)]
+            public double[] jTorque;    ///< 是否使能
+		}
+
+        /**
+		* @brief 机器人关节监测数据类型
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct JointMonitorData
+        {
+            double instCurrent;         ///< 瞬时电流
+			double instVoltage;         ///< 瞬时电压
+			double instTemperature;     ///< 瞬时温度
+		}
+
+
+        /**
+		* @brief 机器人监测数据类型
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct RobotMonitorData
+        {
+            double scbMajorVersion;								///< scb主版本号
+			double scbMinorVersion;								///< scb小版本号
+			double cabTemperature;								///< 控制器温度
+			double robotAveragePower;							///< 机器人平均电压
+			double robotAverageCurrent;							///< 机器人平均电流
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)]
+            public JointMonitorData[] jointMonitorData;			///< 机器人6个关节的监测数据
+		}
+
+        /**
+		* @brief 力矩传感器监测数据类型
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct TorqSensorMonitorData
+        {
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 20)]
+            public char[] ip;									///< 力矩传感器ip地址
+			int port;											///< 力矩传感器端口号
+			PayLoad payLoad;									///< 工具负载
+			int status;											///< 力矩传感器状态
+			int errcode;										///< 力矩传感器异常错误码
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)]
+            public double[] actTorque;							///< 力矩传感器实际接触力值
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)]
+            public double[] torque;								///< 力矩传感器原始读数值
+		}
+
+        /**
+		* @brief 机器人状态监测数据,使用get_robot_status函数更新机器人状态数据
+		*/
+
+        [StructLayout(LayoutKind.Sequential)]
+        public struct RobotStatus
+        {
+            public int errcode;												///< 机器人运行出错时错误编号，0为运行正常，其它为运行异常
+			public int inpos;												///< 机器人运动是否到位标志，0为没有到位，1为运动到位
+			public int powered_on;											///< 机器人是否上电标志，0为没有上电，1为上电
+			public int enabled;												///< 机器人是否使能标志，0为没有使能，1为使能
+			public double rapidrate;										///< 机器人运动倍率
+			public int protective_stop;										///< 机器人是否检测到碰撞，0为没有检测到碰撞，1为检测到碰撞
+			public int emergency_stop;										///< 机器人是否急停，0为没有急停，1为急停
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 65)]
+            public int[] dout;												///< 机器人控制柜数字输出信号,dout[0]为信号的个数
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 10)]
+            public int[] tio_dout;											///< 机器人末端工具数字输出信号,tio_dout[0]为信号的个数
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 65)]
+            public int[] extio;												///< 机器人外部应用数字输出信号,extio[0]为信号的个数
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 65)]
+            public int[] din;												///< 机器人控制柜数字输入信号,din[0]为信号的个数
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 10)]
+            public int[] tio_din;											///< 机器人末端工具数字输入信号,tio_din[0]为信号的个数
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 65)]
+            public double[] ain;											///< 机器人控制柜模拟输入信号,ain[0]为信号的个数
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 10)]
+            public double[] tio_ain;										 ///< 机器人末端工具模拟输入信号,tio_ain[0]为信号的个数
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 65)]
+            public double[] aout;											///< 机器人控制柜模拟输出信号,aout[0]为信号的个数
+			public int current_tool_id;										///< 机器人目前使用的工具坐标系id
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)]
+            public double[] cartesiantran_position;							///< 机器人末端所在的笛卡尔空间位置
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)]
+            public double[] joint_position;									///< 机器人关节空间位置
+			public int on_soft_limit;										///< 机器人是否处于限位，0为没有触发限位保护，1为触发限位保护
+			public int current_user_id;										///< 机器人目前使用的用户坐标系id
+			public int drag_status;											///< 机器人是否处于拖拽状态，0为没有处于拖拽状态，1为处于拖拽状态
+			public RobotMonitorData robot_monitor_data;                     ///< 机器人状态监测数据
+			public TorqSensorMonitorData torq_sensor_monitor_data;          ///< 机器人力矩传感器状态监测数据
+			int is_socket_connect;											///< sdk与控制器连接通道是否正常，0为连接通道异常，1为连接通道正常
+		}
+
+
+        /**
+		* @brief 机器人错误码数据类型
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct ErrorCode
+        {
+            public long code;                                   ///< 错误码编号
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 120)]
+            public char[] message;								///< 错误码对应提示信息
+		}
+
+        /**
+		* @brief 轨迹复现配置参数数据类型
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct TrajTrackPara
+        {
+            public double xyz_interval;                         ///< 空间位置采集精度
+			public double rpy_interval;                         ///< 姿态采集精度
+			public double vel;                                  ///< 执行脚本运行速度
+			public double acc;                                  ///< 执行脚本运行加速度
+		}
+
+        /**
+		* @brief 多个字符串存储数据类型
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct MultStrStorType
+        {
+            public int len;										///< 字符串个数
+			[MarshalAs(UnmanagedType.ByValArray, SizeConst = 128 * 128)]
+            public char[] message;                              ///< 错误码对应提示信息
+		}
+
+        /**
+		* @brief 运动参数可选项
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct OptionalCond
+        {
+            int executingLineId;                                ///< 控制命令id编号
+		}
+
+        /**
+		* @brief 网络异常机器人运动自动终止类型枚举
+		*/
+        public enum ProcessType
+        {
+            MOT_KEEP,  ///< 网络异常时机器人继续保持原来的运动
+			MOT_PAUSE, ///< 网络异常时机器人暂停运动
+			MOT_ABORT  ///< 网络异常时机器人终止运动
+		}
+
+        /**
+		* @brief 柔顺控制参数类型
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct AdmitCtrlType
+        {
+            int opt;             ///< 柔顺方向，可选值为 1 2 3 4 5 6分别对应 fx fy fz mx my mz,0代表没有勾选
+			double ft_user;      ///< 用户用多大的力才能让机器人的沿着某个方向以最大速度进行运动
+			double ft_rebound;   ///< 回弹力:机器人回到初始状态的能力
+			double ft_constant;  ///< 恒力
+			int ft_normal_track; ///< 法向跟踪是否开启，0为没有开启，1为开启
+		}
+
+        /**
+		* @brief 机器人柔顺控制参数类型
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct RobotAdmitCtrl
+        {
+            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 6)]
+            public AdmitCtrlType[] admit_ctrl;
+        }
+
+        /**
+		* @brief 速度柔顺控制等级和比率等级设置
+		* 速度柔顺控制分三个等级，并且  1>rate1>rate2>rate3>rate4>0
+		* 等级为1时，只能设置rate1,rate2两个等级。rate3,rate4的值为0
+		* 等级为2时，只能设置rate1,rate2，rate3 三个等级。rate4的值为0
+		* 等级为3时，能设置 rate1,rate2，rate3,rate4 4个等级
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct VelCom
+        {
+            int vc_level;                                         //速度柔顺控制等级
+            double rate1;                                         //比率1等级
+            double rate2;                                         //比率2等级
+            double rate3;                                         //比率3等级
+            double rate4;                                         //比率4等级
+        }
+
+        /**
+		* @brief 力传感器的受力分量和力矩分量
+		*/
+        [StructLayout(LayoutKind.Sequential)]
+        public struct FTxyz
+        {
+            double fx;                                           // 沿x轴受力分量
+            double fy;                                           // 沿y轴受力分量
+            double fz;                                           // 沿z轴受力分量
+            double tx;                                           // 绕x轴力矩分量
+            double ty;                                           // 绕y轴力矩分量
+            double tz;                                           // 绕z轴力矩分量
+        }
+
+    }
+}

BPASmartClient.Juicer/BPASmartClient.Juicer.csproj

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

BPASmartClient.Juicer/JuicerMachine.cs

@@ -0,0 +1,61 @@
+using BPASmartClient.EventBus;
+using BPASmartClient.Helper;
+using BPASmartClient.Model;
+using BPASmartClient.Peripheral;
+using BPASmartClient.SerialPort;
+using static BPASmartClient.EventBus.EventBus;
+
+namespace BPASmartClient.Juicer
+{
+    public class JuicerMachine : BasePeripheral
+    {
+        JuicerHelper juicerHelper = new JuicerHelper();
+        public override void Init()
+        {
+            juicerHelper.Open(communicationPar.SerialPort, communicationPar.BaudRate);
+
+            ThreadManage.GetInstance().StartLong(new Action(() =>
+            {
+                IsConnected = juicerHelper.IsOpen;
+                if (!IsConnected) IsWork = false;
+                while (IsConnected)
+                {
+                    IsWork = true;
+                    if (status != null)
+                    {
+                        SetStatus("GetDeviceStatus", juicerHelper.GetDeviceStatus());
+                    }
+                    Thread.Sleep(500);
+                }
+                Thread.Sleep(1000);
+            }), $"设备[{DeviceId}]果汁机读取线程", true);
+
+            EventBus.EventBus.GetInstance().Subscribe<WriteJuicer>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+            {
+                if (@event == null) return;
+                var par = @event as WriteJuicer;
+                juicerHelper.StartCook(Convert.ToByte(par?.Value));
+            });
+        }
+
+        //public override void ReadData(string address)
+        //{
+        //}
+
+        public override void Start()
+        {
+        }
+
+        public override void Stop()
+        {
+        }
+
+        public override void WriteData(string address, object value)
+        {
+        }
+
+        protected override void InitStatus()
+        {
+        }
+    }
+}

BPASmartClient.KLMCoffee/CoffeeMachine.cs

@@ -19,7 +19,7 @@ namespace BPASmartClient.KLMCoffee
     /// <summary>
     /// 伽乐美咖啡机
     /// </summary>
-    public class CoffeeMachine :BasePeripheral
+    public class CoffeeMachine : BasePeripheral
     {
         //通讯代理
         SerialPortClient commProxy = null;
@@ -92,12 +92,12 @@ namespace BPASmartClient.KLMCoffee
                     commProxy.SendData(cmdAsk);
                 }
                 Thread.Sleep(200);
-            }),"咖啡机询问线程");
+            }), "咖啡机询问线程");
 
             ThreadManage.GetInstance().StartLong(new Action(() =>
             {
                 ResolveMsg();
-            }),"咖啡机解析线程");
+            }), "咖啡机解析线程");
         }
 
         private void ResolveMsg()
@@ -117,7 +117,7 @@ namespace BPASmartClient.KLMCoffee
                     {
                         temp.Add(dataStorage.GetData());
                     }
-                    List<byte> vs = new List<byte>() { temp[temp.Count - 4],temp[temp.Count - 3],temp[temp.Count - 2],temp[temp.Count - 1] };
+                    List<byte> vs = new List<byte>() { temp[temp.Count - 4], temp[temp.Count - 3], temp[temp.Count - 2], temp[temp.Count - 1] };
 
                     //帧尾
                     if (Encoding.ASCII.GetString(vs.ToArray()).ToLower() == "\\r\\n" || Encoding.ASCII.GetString(vs.ToArray()).ToLower() == "\r\n")
@@ -146,9 +146,9 @@ namespace BPASmartClient.KLMCoffee
                     status["Warning"] = systemStatus.faultMessage.dataFault();
                     status["Keep"] = systemStatus.upkeepMessage;
                     if (systemStatus.faultMessage.IsFault() || systemStatus.upkeepMessage.IsUpkeep())
-                        IsWork=false;
+                        IsWork = false;
                     else
-                        IsWork=true;    
+                        IsWork = true;
                 }
 
             }
@@ -164,128 +164,130 @@ namespace BPASmartClient.KLMCoffee
             status["drinkType"] = DrinkType.意式;
             status["AppStatus"] = TaskIndex.无任务;
             status["progress"] = 0;
-            status["Warning"] = new FaultMessage(0x00,0x00).dataFault();
+            status["Warning"] = new FaultMessage(0x00, 0x00).dataFault();
             status["Keep"] = new UpkeepMessage(0x00).dataFault();
 
         }
 
         public override void Init()
         {
-            commProxy = new SerialPortClient(PortName,(BaudRates)Enum.Parse(typeof(BaudRates),BaudRate));
+            commProxy = new SerialPortClient(PortName, (BaudRates)Enum.Parse(typeof(BaudRates), BaudRate));
             commProxy.SetDataStorage(dataStorage);
 
             //伽乐美咖啡机制作
-            EventBus.EventBus.GetInstance().Subscribe<KLMCoffee_MakeCoffeeEvent>(DeviceId,delegate (IEvent @event,EventCallBackHandle callBack)
-            {
-                try
-                {
-                    free = true;
-                    Thread.Sleep(200);
-                    byte[] data=command.ReturnsCommandData(K95CommandEnum.配方咖啡制作.GetString(),new RecipeModel().Packe(((KLMCoffee_MakeCoffeeEvent)@event).DrinkCode));
-                    commProxy.SendData(data);
-                    Thread.Sleep(200);
-                    free = false;
-                }
-                catch (Exception ex)
-                {
-                    MessageLog.GetInstance.ShowEx($"BPASmartClient.KLMCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
-                }
-            });
+            EventBus.EventBus.GetInstance().Subscribe<KLMCoffee_MakeCoffeeEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+             {
+                 try
+                 {
+                     free = true;
+                     Thread.Sleep(200);
+                     byte[] data = command.ReturnsCommandData(K95CommandEnum.配方咖啡制作.GetString(), new RecipeModel().Packe(((KLMCoffee_MakeCoffeeEvent)@event).DrinkCode));
+                     commProxy.SendData(data);
+                     Thread.Sleep(200);
+                     free = false;
+                 }
+                 catch (Exception ex)
+                 {
+                     MessageLog.GetInstance.ShowEx($"BPASmartClient.KLMCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
+                 }
+             });
 
             //伽乐美咖啡机取消制作咖啡
-            EventBus.EventBus.GetInstance().Subscribe<KLMCoffee_CancelMakeCoffeeEvent>(DeviceId,delegate (IEvent @event,EventCallBackHandle callBack)
-            {
-                try
-                {
-                    free = true;
-                    Thread.Sleep(200);
-                    byte[] data = command.ReturnsCancelMake();
-                    commProxy.SendData(data);
-                    Thread.Sleep(200);
-                    free = false;
-                }
-                catch (Exception ex)
-                {
-                    MessageLog.GetInstance.ShowEx($"BPASmartClient.KLMCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
-                }
-            });
+            EventBus.EventBus.GetInstance().Subscribe<KLMCoffee_CancelMakeCoffeeEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+             {
+                 try
+                 {
+                     free = true;
+                     Thread.Sleep(200);
+                     byte[] data = command.ReturnsCancelMake();
+                     commProxy.SendData(data);
+                     Thread.Sleep(200);
+                     free = false;
+                 }
+                 catch (Exception ex)
+                 {
+                     MessageLog.GetInstance.ShowEx($"BPASmartClient.KLMCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
+                 }
+             });
 
             //伽乐美咖啡机清洗冲泡器
-            EventBus.EventBus.GetInstance().Subscribe<KLMCoffee_WashCPJEvent>(DeviceId,delegate (IEvent @event,EventCallBackHandle callBack)
-            {
-                try
-                {
-                    free = true;
-                    Thread.Sleep(200);
-                    byte[] data = command.ReturnsWashCPJ();
-                    commProxy.SendData(data);
-                    Thread.Sleep(200);
-                    free = false;
-                }
-                catch (Exception ex)
-                {
-                    MessageLog.GetInstance.ShowEx($"BPASmartClient.KLMCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
-                }
-            });
+            EventBus.EventBus.GetInstance().Subscribe<KLMCoffee_WashCPJEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+             {
+                 try
+                 {
+                     free = true;
+                     Thread.Sleep(200);
+                     byte[] data = command.ReturnsWashCPJ();
+                     commProxy.SendData(data);
+                     Thread.Sleep(200);
+                     free = false;
+                 }
+                 catch (Exception ex)
+                 {
+                     MessageLog.GetInstance.ShowEx($"BPASmartClient.KLMCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
+                 }
+             });
 
             //伽乐美咖啡机放杯确认
-            EventBus.EventBus.GetInstance().Subscribe<KLMCoffee_CupIsOKEvent>(DeviceId,delegate (IEvent @event,EventCallBackHandle callBack)
-            {
-                try
-                {
-                    free = true;
-                    Thread.Sleep(200);
-                    byte[] data = command.ReturnsCupIsOK();
-                    commProxy.SendData(data);
-                    Thread.Sleep(200);
-                    free = false;
-                }
-                catch (Exception ex)
-                {
-                    MessageLog.GetInstance.ShowEx($"BPASmartClient.KLMCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
-                }
-            });
+            EventBus.EventBus.GetInstance().Subscribe<KLMCoffee_CupIsOKEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+             {
+                 try
+                 {
+                     free = true;
+                     Thread.Sleep(200);
+                     byte[] data = command.ReturnsCupIsOK();
+                     commProxy.SendData(data);
+                     Thread.Sleep(200);
+                     free = false;
+                 }
+                 catch (Exception ex)
+                 {
+                     MessageLog.GetInstance.ShowEx($"BPASmartClient.KLMCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
+                 }
+             });
 
 
             //伽乐美咖啡机清洗奶沫器
-            EventBus.EventBus.GetInstance().Subscribe<KLMCoffee_WashNMJEvent>(DeviceId,delegate (IEvent @event,EventCallBackHandle callBack)
-            {
-                try
-                {
-                    free = true;
-                    Thread.Sleep(200);
-                    byte[] data = command.ReturnsWashNMJ();
-                    commProxy.SendData(data);
-                    Thread.Sleep(200);
-                    free = false;
-                }
-                catch (Exception ex)
-                {
-                    MessageLog.GetInstance.ShowEx($"BPASmartClient.KLMCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
-                }
-            });
+            EventBus.EventBus.GetInstance().Subscribe<KLMCoffee_WashNMJEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+             {
+                 try
+                 {
+                     free = true;
+                     Thread.Sleep(200);
+                     byte[] data = command.ReturnsWashNMJ();
+                     commProxy.SendData(data);
+                     Thread.Sleep(200);
+                     free = false;
+                 }
+                 catch (Exception ex)
+                 {
+                     MessageLog.GetInstance.ShowEx($"BPASmartClient.KLMCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
+                 }
+             });
 
 
             //伽乐美咖啡机清洗奶沫器确认
-            EventBus.EventBus.GetInstance().Subscribe<KLMCoffee_WashNMJIsOKEvent>(DeviceId,delegate (IEvent @event,EventCallBackHandle callBack)
-            {
-                try
-                {
-                    free = true;
-                    Thread.Sleep(200);
-                    byte[] data = command.ReturnsWashNMJIsOK();
-                    commProxy.SendData(data);
-                    Thread.Sleep(200);
-                    free = false;
-                }
-                catch (Exception ex)
-                {
-                    MessageLog.GetInstance.ShowEx($"BPASmartClient.KLMCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
-                }
-            });
+            EventBus.EventBus.GetInstance().Subscribe<KLMCoffee_WashNMJIsOKEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+             {
+                 try
+                 {
+                     free = true;
+                     Thread.Sleep(200);
+                     byte[] data = command.ReturnsWashNMJIsOK();
+                     commProxy.SendData(data);
+                     Thread.Sleep(200);
+                     free = false;
+                 }
+                 catch (Exception ex)
+                 {
+                     MessageLog.GetInstance.ShowEx($"BPASmartClient.KLMCoffee 中引发错误,CoffeeMachine 类,描述：[{ex.Message}]");
+                 }
+             });
             InitStatus();
         }
 
-
+        public override void WriteData(string address, object value)
+        {
+        }
     }
 }

BPASmartClient.Lebai/LebaiRobot.cs

@@ -19,7 +19,7 @@ using BPASmartClient.Model.乐白机器人;
 
 namespace BPASmartClient.Lebai
 {
-    public class LebaiRobot: BasePeripheral
+    public class LebaiRobot : BasePeripheral
     {
 
         /// <summary>
@@ -48,10 +48,14 @@ namespace BPASmartClient.Lebai
                 status["RobotIsConnected"] = LebaiHelper.GetInstance().IsConnected;
                 status["RobotOK"] = LebaiHelper.GetInstance().GetValueAsync().Ok;
                 status["RobotValue"] = LebaiHelper.GetInstance().GetValueAsync().Value;
+                if (LebaiHelper.GetInstance().robotData != null) status["RobotMode"] =(ELebaiRModel)LebaiHelper.GetInstance().robotData.RobotMode.Mode;
+                status["RobotValue1"] = LebaiHelper.GetInstance().GetValueAsync(1).Value;
+                status["GetInput"] = LebaiHelper.GetInstance().GetInput();
+                status["GetInput2"] = LebaiHelper.GetInstance().GetInput(2);
                 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");
+            }, "获取乐白机器人数据");
 
         }
 
@@ -62,7 +66,7 @@ namespace BPASmartClient.Lebai
 
         public override void Init()
         {
-            EventBus.EventBus.GetInstance().Subscribe<Demo_MakeCoffeeEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack )
+            EventBus.EventBus.GetInstance().Subscribe<Demo_MakeCoffeeEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
             {
 
             });
@@ -90,7 +94,7 @@ namespace BPASmartClient.Lebai
                 if (@event == null) return;
                 if (@event is LebaiRobot_SetValueEvent SetValueEvent)
                 {
-                    LebaiHelper.GetInstance().SetValue(SetValueEvent.RobotSetValue);  
+                    LebaiHelper.GetInstance().SetValue(SetValueEvent.RobotSetValue);
                 }
             });
             //控制机器人
@@ -116,7 +120,7 @@ namespace BPASmartClient.Lebai
                         default:
                             break;
                     }
-                    
+
                 }
             });
             //选择机器人场景
@@ -134,6 +138,8 @@ namespace BPASmartClient.Lebai
             MessageLog.GetInstance.Show("乐白机器人初始化完成");
         }
 
-        
+        public override void WriteData(string address, object value)
+        {
+        }
     }
 }

BPASmartClient.MCU/BPASmartClient.MCU.csproj

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

BPASmartClient.MCU/MCUMachine.cs

@@ -0,0 +1,71 @@
+using BPASmartClient.EventBus;
+using BPASmartClient.Model.PLC;
+using BPASmartClient.Model.单片机;
+using BPASmartClient.Peripheral;
+using BPASmartClient.SerialPort;
+using static BPASmartClient.EventBus.EventBus;
+
+namespace BPASmartClient.MCU
+{
+    public class MCUMachine : BasePeripheral
+    {
+        MCUSerialHelper mCUSerialHelper = new MCUSerialHelper();
+
+        public override void Init()
+        {
+            mCUSerialHelper.Open(communicationPar.SerialPort, communicationPar.BaudRate);
+
+            EventBus.EventBus.GetInstance().Subscribe<ReadMcu>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+            {
+                if (@event == null) return;
+                var par = @event as ReadMcu;
+                if (status != null)
+                {
+                    SetStatus(par?.TagName, mCUSerialHelper.GetInputStatus(Convert.ToByte(par?.ReadPar)));
+                }
+            });
+
+            EventBus.EventBus.GetInstance().Subscribe<WriteMcu>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+            {
+                if (@event == null) return;
+                var par = @event as WriteMcu;
+                switch (par?.TagName)
+                {
+                    case "OutputControl":
+                        mCUSerialHelper.OutputControl(Convert.ToByte(par?.Address), Convert.ToBoolean(par?.Value));
+                        break;
+                    case "ServoControl":
+                        mCUSerialHelper.ServoControl(Convert.ToByte(par?.Address), Convert.ToByte(par?.Value));
+                        break;
+                    default:
+                        break;
+                }
+            });
+        }
+
+        //public override void ReadData(string address)
+        //{
+
+        //}
+
+        public override void Start()
+        {
+
+        }
+
+        public override void Stop()
+        {
+
+        }
+
+        public override void WriteData(string address, object value)
+        {
+
+        }
+
+        protected override void InitStatus()
+        {
+
+        }
+    }
+}

BPASmartClient.MORKSM.BK.PLC/PLCMachine.cs

@@ -48,11 +48,15 @@ namespace BPASmartClient.PLC
             {
                 if (@event == null) return;
                 var par = @event as WriteModel;
-
                 modbusTcp.Write(par?.Address, par?.Value);
             });
         }
 
+        //public override void ReadData(string address)
+        //{
+
+        //}
+
         public override void Start()
         {
 
@@ -63,6 +67,12 @@ namespace BPASmartClient.PLC
 
         }
 
+        public override void WriteData(string address, object value)
+        {
+            if (address != null && value != null)
+                modbusTcp.Write(address, value);
+        }
+
         protected override void InitStatus()
         {
 

BPASmartClient.Modbus/BPASmartClient.Modbus.csproj

@@ -1,4 +1,4 @@
-<Project Sdk="Microsoft.NET.Sdk">
+<Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
     <TargetFramework>net6.0</TargetFramework>
@@ -9,6 +9,7 @@
   </ItemGroup>
 
   <ItemGroup>
+    <ProjectReference Include="..\BPASmartClient.Helper\BPASmartClient.Helper.csproj" />
     <ProjectReference Include="..\BPASmartClient.Message\BPASmartClient.Message.csproj" />
   </ItemGroup>
 

BPASmartClient.Modbus/MODBUS.cs

@@ -0,0 +1,211 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.Modbus
+{
+    public class MODBUS
+    {
+        /// <summary>
+        /// 赋值string
+        /// </summary>
+        /// <param name="src"></param>
+        /// <param name="start"></param>
+        /// <param name="value"></param>
+        /// <returns></returns>
+        public static void SetString(ushort[] src, int start, string value)
+        {
+            byte[] bytesTemp = Encoding.UTF8.GetBytes(value);
+            ushort[] dest = Bytes2Ushorts(bytesTemp);
+            dest.CopyTo(src, start);
+        }
+
+        /// <summary>
+        /// 获取string
+        /// </summary>
+        /// <param name="src"></param>
+        /// <param name="start"></param>
+        /// <param name="len"></param>
+        /// <returns></returns>
+        public static string GetString(ushort[] src, int start, int len)
+        {
+            ushort[] temp = new ushort[len];
+            for (int i = 0; i < len; i++)
+            {
+                temp[i] = src[i + start];
+            }
+            byte[] bytesTemp = Ushorts2Bytes(temp);
+            string res = Encoding.UTF8.GetString(bytesTemp).Trim(new char[] { '\0' });
+            return res;
+        }
+
+        /// <summary>
+        /// 赋值Real类型数据
+        /// </summary>
+        /// <param name="src"></param>
+        /// <param name="start"></param>
+        /// <param name="value"></param>
+        public static void SetReal(ushort[] src, int start, float value)
+        {
+            byte[] bytes = BitConverter.GetBytes(value);
+
+            ushort[] dest = Bytes2Ushorts(bytes);
+
+            dest.CopyTo(src, start);
+        }
+
+        /// <summary>
+        /// 获取float类型数据
+        /// </summary>
+        /// <param name="src"></param>
+        /// <param name="start"></param>
+        /// <returns></returns>
+        public static float GetReal(ushort[] src, int start)
+        {
+            ushort[] temp = new ushort[2];
+            for (int i = 0; i < 2; i++)
+            {
+                temp[i] = src[i + start];
+            }
+            byte[] bytesTemp = Ushorts2Bytes(temp);
+            float res = BitConverter.ToSingle(bytesTemp, 0);
+            return res;
+        }
+
+        /// <summary>
+        /// 赋值Short类型数据
+        /// </summary>
+        /// <param name="src"></param>
+        /// <param name="start"></param>
+        /// <param name="value"></param>
+        public static void SetShort(ushort[] src, int start, short value)
+        {
+            byte[] bytes = BitConverter.GetBytes(value);
+
+            ushort[] dest = Bytes2Ushorts(bytes);
+
+            dest.CopyTo(src, start);
+        }
+
+        /// <summary>
+        /// 获取short类型数据
+        /// </summary>
+        /// <param name="src"></param>
+        /// <param name="start"></param>
+        /// <returns></returns>
+        public static short GetShort(ushort[] src, int start)
+        {
+            ushort[] temp = new ushort[1];
+            temp[0] = src[start];
+            byte[] bytesTemp = Ushorts2Bytes(temp);
+            short res = BitConverter.ToInt16(bytesTemp, 0);
+            return res;
+        }
+
+
+        public static bool[] GetBools(ushort[] src, int start, int num)
+        {
+            ushort[] temp = new ushort[num];
+            for (int i = start; i < start + num; i++)
+            {
+                temp[i] = src[i + start];
+            }
+            byte[] bytes = Ushorts2Bytes(temp);
+
+            bool[] res = Bytes2Bools(bytes);
+
+            return res;
+        }
+
+        private static bool[] Bytes2Bools(byte[] b)
+        {
+            bool[] array = new bool[8 * b.Length];
+
+            for (int i = 0; i < b.Length; i++)
+            {
+                for (int j = 0; j < 8; j++)
+                {
+                    array[i * 8 + j] = (b[i] & 1) == 1;//判定byte的最后一位是否为1，若为1，则是true；否则是false
+                    b[i] = (byte)(b[i] >> 1);//将byte右移一位
+                }
+            }
+            return array;
+        }
+
+        private static byte Bools2Byte(bool[] array)
+        {
+            if (array != null && array.Length > 0)
+            {
+                byte b = 0;
+                for (int i = 0; i < 8; i++)
+                {
+                    if (array[i])
+                    {
+                        byte nn = (byte)(1 << i);//左移一位，相当于×2
+                        b += nn;
+                    }
+                }
+                return b;
+            }
+            return 0;
+        }
+
+        private static ushort[] Bytes2Ushorts(byte[] src, bool reverse = false)
+        {
+            int len = src.Length;
+
+            byte[] srcPlus = new byte[len + 1];
+            src.CopyTo(srcPlus, 0);
+            int count = len >> 1;
+
+            if (len % 2 != 0)
+            {
+                count += 1;
+            }
+
+            ushort[] dest = new ushort[count];
+            if (reverse)
+            {
+                for (int i = 0; i < count; i++)
+                {
+                    dest[i] = (ushort)(srcPlus[i * 2] << 8 | srcPlus[2 * i + 1] & 0xff);
+                }
+            }
+            else
+            {
+                for (int i = 0; i < count; i++)
+                {
+                    dest[i] = (ushort)(srcPlus[i * 2] & 0xff | srcPlus[2 * i + 1] << 8);
+                }
+            }
+
+            return dest;
+        }
+
+        private static byte[] Ushorts2Bytes(ushort[] src, bool reverse = false)
+        {
+
+            int count = src.Length;
+            byte[] dest = new byte[count << 1];
+            if (reverse)
+            {
+                for (int i = 0; i < count; i++)
+                {
+                    dest[i * 2] = (byte)(src[i] >> 8);
+                    dest[i * 2 + 1] = (byte)(src[i] >> 0);
+                }
+            }
+            else
+            {
+                for (int i = 0; i < count; i++)
+                {
+                    dest[i * 2] = (byte)(src[i] >> 0);
+                    dest[i * 2 + 1] = (byte)(src[i] >> 8);
+                }
+            }
+            return dest;
+        }
+    }
+}

BPASmartClient.Modbus/ModbusTcp.cs

@@ -1,9 +1,11 @@
-using BPASmartClient.Message;
+using BPASmartClient.Helper;
+using BPASmartClient.Message;
 using NModbus;
 using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Net.Sockets;
+using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
 
@@ -107,28 +109,6 @@ namespace BPASmartClient.Modbus
             return -1;
         }
 
-        //public void Readbool(ushort startAddress, ushort len, Action<bool[]> action)
-        //{
-        //    object result;
-        //    result = Read(startAddress, CommandType.Coils, len);
-        //    if (result != null)
-        //    {
-        //        if (result is bool[] bools)
-        //        {
-        //            if (bools.Length == len)
-        //            {
-        //                action(bools);
-        //            }
-        //        }
-        //        else if (result is bool bl)
-        //        {
-        //            List<bool> boolLists = new List<bool>();
-        //            boolLists.Add(bl);
-        //            action(boolLists.ToArray());
-        //        }
-        //    }
-        //}
-
         public object Read(string address, ushort len = 1, byte slaveAddress = 1)
         {
             if (address == null || tcpClient == null) return default(object);
@@ -228,125 +208,65 @@ namespace BPASmartClient.Modbus
             }
         }
 
-        //public object Read(ushort startAddress, CommandType readType, ushort num = 1, byte slaveAddress = 1)
-        //{
-        //    object result = new object();
-        //    if (tcpClient == null) return result;
-        //    if (num <= 0) return result;
-        //    try
-        //    {
-        //        switch (readType)
-        //        {
-        //            case CommandType.Coils:
-        //                result = master.ReadCoils(slaveAddress, startAddress, num);
-        //                break;
-        //            case CommandType.Inputs:
-        //                result = master.ReadInputs(slaveAddress, startAddress, num);
-        //                break;
-        //            case CommandType.HoldingRegisters:
-        //                result = master.ReadHoldingRegisters(slaveAddress, startAddress, num);
-        //                break;
-        //            case CommandType.InputRegisters:
-        //                result = master.ReadInputRegisters(slaveAddress, startAddress, num);
-        //                break;
-        //            default:
-        //                break;
-        //        }
-        //        if (result == null) return new object();
-        //        if (result is bool[] bools)
-        //        {
-        //            if (bools.Length == 1)
-        //                return bools[0];
-        //            else
-        //                return bools;
-        //        }
-        //        if (result is ushort[] ushorts)
-        //        {
-        //            if (ushorts.Length == 1)
-        //                return ushorts[0];
-        //            else
-        //                return ushorts;
-        //        }
-        //    }
-        //    catch (Exception ex)
-        //    {
-        //        MessageLog.GetInstance.ShowEx($"读取地址：【{startAddress}】,读取类型：【{readType}】出错，{ex.ToString()}");
-        //        if (ex.InnerException is SocketException)
-        //        {
-        //            tcpClient = null;
-        //            Connect();
-        //        }
-        //    }
-        //    return result;
-        //}
-
-        //public bool Write(ushort startAddress, CommandType writeType, object InputValue, byte slaveAddress = 1)
-        //{
-        //    bool result = false;
-        //    if (tcpClient == null) return result;
-        //    if (!(InputValue is bool || InputValue is bool[] || InputValue is ushort || InputValue is ushort[])) return result;
-        //    try
-        //    {
-        //        switch (writeType)
-        //        {
-        //            case CommandType.Coils:
-        //                if (InputValue is bool boolValue)
-        //                    master.WriteSingleCoil(slaveAddress, startAddress, boolValue);
-
-        //                if (InputValue is bool[] boolsValue)
-        //                    master.WriteMultipleCoils(slaveAddress, startAddress, boolsValue);
-        //                break;
-        //            case CommandType.HoldingRegisters:
-        //                if (InputValue is ushort ushortValue)
-        //                    master.WriteSingleRegister(slaveAddress, startAddress, ushortValue);
-
-        //                if (InputValue is ushort[] ushortsValue)
-        //                {
-        //                    int len = 100;
-        //                    if (ushortsValue.Length > len)
-        //                    {
-        //                        List<ushort[]> ushortLists = new List<ushort[]>();
-        //                        for (int i = 0; i < ushortsValue.Length / len; i++)
-        //                        {
-        //                            ushortLists.Add(ushortsValue.Skip(0).Take(len).ToArray());
-        //                        }
-        //                        int y = ushortsValue.Length % len;
-
-        //                        if (y > 0)
-        //                        {
-        //                            ushortLists.Add(ushortsValue.Skip(ushortsValue.Length - y).Take(y).ToArray());
-        //                        }
-        //                        foreach (var item in ushortLists)
-        //                        {
-        //                            master.WriteMultipleRegisters(slaveAddress, startAddress, item);
-        //                            startAddress += (ushort)item.Length;
-        //                        }
-        //                    }
-        //                    else
-        //                    {
-        //                        master.WriteMultipleRegisters(slaveAddress, startAddress, ushortsValue);
-        //                    }
-
-        //                }
-
-        //                break;
-        //            default:
-        //                break;
-        //        }
-        //    }
-        //    catch (Exception ex)
-        //    {
-        //        MessageLog.GetInstance.ShowEx(ex.ToString());
-        //        if (ex.InnerException is SocketException)
-        //        {
-        //            tcpClient = null;
-        //            Connect();
-        //        }
-        //        return false;
-        //    }
-        //    return true;
-        //}
 
+        #region 字符串数据读写
+        /// <summary>
+        /// 赋值string
+        /// </summary>
+        /// <param name="StartAddress"></param>
+        /// <param name="value"></param>
+        /// <returns></returns>
+        public void SetString(string StartAddress, string value)
+        {
+            var bytes = Encoding.UTF8.GetBytes(value);
+            Write(StartAddress, bytes.BytesToUshorts());
+        }
+
+        /// <summary>
+        /// 获取string
+        /// </summary>
+        /// <param name="StartAddress"></param>
+        /// <param name="len"></param>
+        /// <returns></returns>
+        public string GetString(string StartAddress, ushort len)
+        {
+            var res = Read(StartAddress, len);
+            if (res != null && res is ushort[] ushorts)
+            {
+                return Encoding.UTF8.GetString(ushorts.UshortsToBytes()).Trim(new char[] { '\0' });
+            }
+            return String.Empty;
+        }
+
+        #endregion
+
+        #region 浮点数数据读写
+        /// <summary>
+        /// 赋值Real类型数据
+        /// </summary>
+        /// <param name="StartAddress"></param>
+        /// <param name="value"></param>
+        public void SetReal(string StartAddress, float value)
+        {
+            var bytes = BitConverter.GetBytes(value);
+            Write(StartAddress, bytes.BytesToUshorts());
+        }
+
+        /// <summary>
+        /// 获取float类型数据
+        /// </summary>
+        /// <param name="StartAddress"></param>
+        /// <returns></returns>
+        public float GetReal(string StartAddress)
+        {
+            var res = Read(StartAddress, 2);
+            if (res != null && res is ushort[] ushorts)
+            {
+                return BitConverter.ToSingle(ushorts.UshortsToBytes(), 0);
+            }
+            return 0;
+        }
+        #endregion
 
         #region 批量数据读取
         /// <summary>

BPASmartClient.Model/BaseEvent.cs

@@ -11,6 +11,8 @@ namespace BPASmartClient.Model
     public class BaseEvent : IEvent
     {
         public int DeviceId { get; set; }
+
+        public string TagName { get; set; }
         public DeviceClientType deviceClientType { get; set; }
     }
 }

BPASmartClient.Model/PLC/ReadModel.cs

@@ -8,7 +8,9 @@ namespace BPASmartClient.Model.PLC
 {
     public class ReadModel : BaseEvent
     {
+
         public string Address { get; set; }
         public ushort Length { get; set; }
+        public object ReadPar { get; set; }
     }
 }

BPASmartClient.Model/单片机/SCChipEvent.cs

@@ -1,4 +1,5 @@
-using BPASmartClient.Model.单片机.Enum;
+using BPASmartClient.Model.PLC;
+using BPASmartClient.Model.单片机.Enum;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -16,7 +17,7 @@ namespace BPASmartClient.Model.单片机
     /// <summary>
     /// STM32F103RCT6单片机下杯
     /// </summary>
-    public class SCChip_TakeCupEvent :BaseEvent
+    public class SCChip_TakeCupEvent : BaseEvent
     {
         /// <summary>
         /// 杯
@@ -27,7 +28,7 @@ namespace BPASmartClient.Model.单片机
     /// <summary>
     /// STM32F103RCT6单片机舵机打料
     /// </summary>
-    public class SCChip_MakeIceCreamEvent :BaseEvent
+    public class SCChip_MakeIceCreamEvent : BaseEvent
     {
         public IC_SE SteeringEngine { get; set; }
     }
@@ -35,7 +36,7 @@ namespace BPASmartClient.Model.单片机
     /// <summary>
     /// STM32F103RCT6单片机舵机打开或者关闭
     /// </summary>
-    public class SCChip_SESwitchCreamEvent :BaseEvent
+    public class SCChip_SESwitchCreamEvent : BaseEvent
     {
         public IC_SE SteeringEngine { get; set; }
         public bool IsOpen { get; set; }
@@ -44,7 +45,7 @@ namespace BPASmartClient.Model.单片机
     /// <summary>
     /// STM32F103RCT6单片机控制冰淇淋机器转
     /// </summary>
-    public class SCChip_RotorSwitchEvent :BaseEvent
+    public class SCChip_RotorSwitchEvent : BaseEvent
     {
         public bool TurnOn { get; set; }
     }
@@ -62,4 +63,14 @@ namespace BPASmartClient.Model.单片机
     {
 
     }
+
+    public class WriteMcu : WriteModel
+    {
+
+    }
+
+    public class ReadMcu : ReadModel
+    {
+
+    }
 }

BPASmartClient.Model/果汁机/JuicerModel.cs

@@ -0,0 +1,66 @@
+using BPASmartClient.Model.PLC;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.Model
+{
+    public class JuicerModel
+    {
+        #region 果汁机设备MORKT2  Lebai机器人
+        public const int JUICE2_初始位 = 10021;
+        public const int JUICE2_检测位回原点 = 10023;
+        public const int JUICE2_取纸杯 = 10006;
+        public const int JUICE2_二次取杯 = 10008;
+        public const int JUICE2_纸杯检测 = 10007;
+        public const int JUICE2_再检测 = 10024;
+        public const int JUICE2_接咖啡 = 10009;
+        public const int JUICE2_放咖啡杯 = 10010;
+
+        public const int JUICE2_接茶叶 = 10017;
+        public const int JUICE2_接茶水 = 10018;
+        public const int JUICE2_接水 = 10020;
+        public const int JUICE2_放水杯 = 10019;
+
+        public const int JUICE2_接果汁公共位 = 10011;
+        public const int JUICE2_接1号果汁 = 10012;
+        public const int JUICE2_接2号果汁 = 10013;
+        public const int JUICE2_接3号果汁 = 10014;
+        public const int JUICE2_接4号果汁 = 10015;
+        public const int JUICE2_放果汁杯 = 10016;
+        #endregion
+
+        #region 果汁机设备 MORKT1 JAKA机器人
+        public const int JUICE_初始位 = 20000;
+        public const int JUICE_取杯 = 20001;
+        public const int JUICE_取杯检测 = 20010;
+        public const int JUICE_接咖啡 = 20020;
+        public const int JUICE_接1号果汁 = 20030;
+        public const int JUICE_接2号果汁 = 20040;
+        public const int JUICE_接3号果汁 = 20050;
+        public const int JUICE_接4号果汁 = 20060;
+        public const int JUICE_接茶 = 20070;
+        public const int JUICE_接茶水 = 20075;
+        public const int JUICE_接水 = 20080;
+
+        public const int JUICE_放咖啡杯 = 20090;
+        public const int JUICE_放果汁杯 = 20100;
+        public const int JUICE_放茶水杯 = 20110;
+
+        public const int JUICE_放杯 = 20120;
+        public const int JUICE_放杯检测 = 20120;
+        #endregion
+    }
+
+    public class WriteJuicer : WriteModel
+    {
+
+    }
+
+    public class ReadJuicer : ReadModel
+    {
+
+    }
+}

BPASmartClient.Model/节卡机器人/JakaModel.cs

@@ -0,0 +1,51 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.Model
+{
+    public class JakaModel
+    {
+        public const string SENCE_取杯 = "10000";
+        public const string SENCE_放杯位检测 = "10100";
+        public const string SENCE_取杯检测 = "11000";
+
+        public const string SENCE_接咖啡 = "12000";
+        public const string SENCE_接果汁1 = "12001";
+        public const string SENCE_接果汁2 = "12002";
+        public const string SENCE_接果汁3 = "12003";
+        public const string SENCE_接果汁4 = "12004";
+        public const string SENCE_接茶 = "12005";
+        public const string SENCE_接水 = "12006";
+        public const string SENCE_接茶_接水 = "12007";
+
+        public const string SENCE_放咖啡杯 = "13000";//接饮料位---放饮料过渡位
+        public const string SENCE_放果汁杯1 = "13001";
+        public const string SENCE_放果汁杯2 = "13002";
+        public const string SENCE_放果汁杯3 = "13003";
+        public const string SENCE_放果汁杯4 = "13004";
+        public const string SENCE_放茶水杯 = "13005";
+
+        public const string SENCE_放杯 = "14000";//放杯过渡位到-放杯
+
+        public const string SENCE_放杯检测 = "15000";
+
+        public const string SENCE_初始位 = "20000";
+    }
+
+    public class WriteJaka : BaseEvent
+    {
+        public string Address { get; set; }
+        public object Value { get; set; }
+    }
+
+    public class ReadJaka : BaseEvent
+    {
+        public string Address { get; set; }
+        public ushort Length { get; set; }
+        public object ReadPar { get; set; }
+    }
+}
+

BPASmartClient.MorkS/Control_Morks.cs

@@ -17,6 +17,7 @@ using System.Reflection;
 using BPASmartClient.MorkS.Model;
 using System.Collections.ObjectModel;
 using BPASmartClient.MorkS.ViewModel;
+using BPASmartClient.Business;
 
 namespace BPASmartClient.MorkS
 {
@@ -287,8 +288,6 @@ namespace BPASmartClient.MorkS
             else
                 IsHealth = true;
 
-            //if (mORKS.AllowRun)
-            //{
             TakeBowlTask();
 
             TakeNoodleTask();
@@ -298,7 +297,15 @@ namespace BPASmartClient.MorkS
             SingleDetect();
 
             TurntableControl();
-            //}
+
+            var data = new List<bool>();
+            for (int i = 0; i < Json<MorksPar>.Data.parSets.Count; i++)
+            {
+                data.Add(Json<MorksPar>.Data.parSets.ElementAt(i).IsShield);
+            }
+
+            WriteControl("M260.0", data.ToArray());
+
         }
 
         private void BowlControl(OrderLocInfo orderLocInfo)
@@ -400,6 +407,11 @@ namespace BPASmartClient.MorkS
                                     {
                                         if (mORKS.TurntableFeedbackloc != loc && !mORKS.TurntableLocLists.Contains(loc))
                                         {
+                                            if (!mORKS.TurntableLowerLimit)
+                                            {
+                                                WriteData("M32.7", false);
+                                                DeviceProcessLogShow($"执行了转台启动互锁信号复位");
+                                            }
                                             TurntableStart(loc);
                                             DeviceProcessLogShow($"没有物料检测的启动转台控制,转台位置：[{loc}]");
                                             break;
@@ -414,6 +426,15 @@ namespace BPASmartClient.MorkS
                 }
             }
 
+            //if (DelayRTrig.GetInstance("互锁信号复位").Start(!mORKS.TurntableLowerLimit && mORKS.TurntableMoveInPlace, 2))
+            //{
+            //    if (!mORKS.TurntableLowerLimit)
+            //    {
+            //        WriteData("M32.7", false);
+            //        DeviceProcessLogShow($"执行了转台启动互锁信号复位");
+            //    }
+            //}
+
             //补料中检测
             if (RTrig.GetInstance("mORKS.Feeding").Start(mORKS.Feeding))
             {
@@ -488,6 +509,17 @@ namespace BPASmartClient.MorkS
                         RobotOutMeal();
                         CookNoodleStatusReset((ushort)(loc + 1));
                         ResetAllowFallNoodle();
+
+
+                        //新增，待测试
+                        if (mORKS.RbOutMealComplete)
+                        {
+                            ResetCookComplete();
+                            mORKS.CookCompleteFlatBit = false;
+                            DeviceProcessLogShow("取餐过程中复位出餐完成信号");
+                        }
+
+
                         mORKS.OutMealId = mORKS.IngredientsCompleteId;
                         mORKS.IngredientsCompleteId = string.Empty;
                         mORKS.CookNodelId[loc] = string.Empty;
@@ -522,7 +554,7 @@ namespace BPASmartClient.MorkS
             }
 
             //取餐完成逻辑处理
-            if (Delay.GetInstance("CompleteChange1").Start(mORKS.CookCompleteFlatBit && !mORKS.TakeMealDetect, 2))
+            if (Delay.GetInstance("CompleteChange1").Start(mORKS.CookCompleteFlatBit && !mORKS.TakeMealDetect, 1))
             {
                 OrderChange(mORKS.OutMealId, ORDER_STATUS.COMPLETED_TAKE);
                 DeviceProcessLogShow($"订单【{mORKS.OutMealId}】取餐完成");
@@ -531,15 +563,6 @@ namespace BPASmartClient.MorkS
                 mORKS.OutMealId = string.Empty;
             }
 
-            //if (DelayRTrig.GetInstance("CompleteChange1").Start(mORKS.CookCompleteFlatBit && !mORKS.TakeMealDetect, 2))
-            //{
-            //    OrderChange(mORKS.OutMealId, ORDER_STATUS.COMPLETED_TAKE);
-            //    DeviceProcessLogShow($"订单【{mORKS.OutMealId}】取餐完成");
-            //    ResetCookComplete();
-            //    mORKS.CookCompleteFlatBit = false;
-            //    mORKS.OutMealId = string.Empty;
-            //}
-
             //机器人取面完成信号检测
             if (RTrig.GetInstance("TakeNoodleComplete").Start(mORKS.RbTakeNoodleComplete))
             {
@@ -552,7 +575,11 @@ namespace BPASmartClient.MorkS
 
             int OutMealRequstCount = mORKS.CookNoodlesComplete.Where(p => p == true).ToList().Count;
             int mlCount = mORKS.NoodleCookerStatus.Where(p => p == true).ToList().Count;
-            mORKS.RobotTaskInterlock = OutMealRequstCount > 0 && mORKS.AllowFallNoodle && (mlCount >= 2 || mORKS.RBTakeNoodleTask.Count == 0);
+
+            mORKS.PriorityJudgment = Delay.GetInstance("取餐优先级判断").Start(mORKS.TurntableLocLists.Count > 0 && !mORKS.TurntableLowerLimit, 4);
+            mORKS.RobotTaskInterlock = OutMealRequstCount > 0 && mORKS.AllowFallNoodle && (mlCount >= 2 || mORKS.RBTakeNoodleTask.Count == 0 || mORKS.PriorityJudgment);
+
+
         }
 
 

BPASmartClient.MorkS/GVL_MORKS.cs

@@ -42,7 +42,13 @@ namespace BPASmartClient.MorkS
         public bool AllowRun { get; set; }
 
         /// <summary>
-        /// //机器人任务互锁信号
+        /// 优先级判断
+        /// </summary>
+        [VariableMonitor("优先级判断条件")]
+        public bool PriorityJudgment { get; set; }
+
+        /// <summary>
+        /// 机器人任务互锁信号,false:取面，true:出餐
         /// </summary>
         //[Circuit(new string[] { "机器人取面", "出面控制" }, "机器人互锁", new bool[] { true, false })]
         [VariableMonitor("机器人任务互锁信号")]

BPASmartClient.MorkT.Lebai.JC/BPASmartClient.MorkT.Lebai.JC.csproj → BPASmartClient.MorkT.Lebai.JC/BPASmartClient.MorkTLebaiJC.csproj

@@ -6,4 +6,8 @@
     <UseWPF>true</UseWPF>
   </PropertyGroup>
 
+  <ItemGroup>
+    <ProjectReference Include="..\BPASmartClient.Device\BPASmartClient.Device.csproj" />
+  </ItemGroup>
+
 </Project>

BPASmartClient.MorkT.Lebai.JC/Class1.cs

@@ -1,8 +0,0 @@
-using System;
-
-namespace BPASmartClient.MorkT.Lebai.JC
-{
-    public class Class1
-    {
-    }
-}

BPASmartClient.MorkT.Lebai.JC/Control_MORKJC2.cs

@@ -0,0 +1,865 @@
+using System;
+using System.Collections.Generic;
+using System.Configuration;
+using System.Linq;
+using System.Threading;
+using System.Collections.Concurrent;
+using System.Diagnostics;
+using System.Threading.Tasks;
+using BPASmartClient.Device;
+using BPA.Message.Enum;
+using BPA.Message;
+using BPASmartClient.Helper;
+using BPASmartClient.Model.咖啡机.Enum;
+using BPASmartClient.Model;
+using BPASmartClient.EventBus;
+using static BPASmartClient.EventBus.EventBus;
+using BPASmartClient.Message;
+using BPASmartClient.Model.乐白机器人;
+using BPASmartClient.Model.单片机;
+
+namespace BPASmartClient.MorkTLebaiJC
+{
+    /*
+     * 冰淇淋咖啡机组合套装
+     * 物料位置：
+     * 1：冰淇料
+     * 2：冰淇淋杯
+     * 5：咖啡
+     * 6：咖啡杯
+     * 9: 茶
+     * 10: 茶杯
+     */
+    public class Control_MORKJC2 : BaseDevice
+    {
+        //private CoffeEndCook coffeEndCook = new CoffeEndCook();//模拟咖啡制作成功
+        //咖啡机主控程序
+        //private CoffeeMachine coffeeMachine;
+        //物料存放位置
+        private Dictionary<string, PolymerBatching> batchings = new Dictionary<string, PolymerBatching>();
+        //容器位置
+        private string holderLoc;
+        /// <summary>
+        /// 获取乐百机器人的数据
+        /// </summary>
+        //SignalResult lebai = new SignalResult();
+        //主料位置
+        private string mainMaterialLoc;
+        //子订单ID
+        private string subOrderId;
+
+        private bool enableFunny = false;
+        private DateTime lastRecvdOrder = DateTime.Now;
+        private bool working = false;
+        /// <summary>
+        /// 果汁机做法，true:热饮，false:冷饮
+        /// </summary>
+        private bool GuMake = false;
+
+        //private SerialPortClient commProxy;
+        public void ConnectOk()
+        {
+
+        }
+        ConcurrentQueue<MorkOrderPush> morkOrderPushes = new ConcurrentQueue<MorkOrderPush>();
+        public void Init()
+        {
+            //ActionManage.GetInstance.Register(new Action<object>((s) =>
+            //{
+            //    if (s is DrCoffeeDrinksCode cf)
+            //    {
+            //        DoCoffee();
+            //    }
+            //    else if (s is Dictionary<string, string> ms)
+            //    {
+            //        if (ms.ContainsKey("Button"))
+            //        {
+            //            switch (ms["Button"])
+            //            {
+            //                case "启动示教":
+            //                    JuicerModel.GetInstance.StartTeachMode();
+            //                    break;
+            //                case "停止示教":
+            //                    JuicerModel.GetInstance.EndtTeachMode();
+            //                    break;
+            //                case "启动机器人":
+            //                    JuicerModel.GetInstance.StartRobot();
+            //                    break;
+            //                case "急停":
+            //                    JuicerModel.GetInstance.EStopRobot();
+            //                    break;
+            //                default:
+            //                    break;
+            //            }
+            //        }
+            //    }
+            //}), "SimCoffee");
+
+            //构建所有商品物料信息
+            batchings = PolymerBatching.BuildAll();
+
+            EventBus.EventBus.GetInstance().Subscribe<DRCoffee_CoffeEndCookEvent>(DeviceId, CoffeEndCookHandle);
+
+            System.Configuration.Configuration config = System.Configuration.ConfigurationManager.OpenExeConfiguration(System.Configuration.ConfigurationUserLevel.None);
+            //一系列外围基础配置
+            var com_Coffee = config.AppSettings.Settings["COM_Coffee"].Value;
+            var baud_Coffee = config.AppSettings.Settings["BAUD_Coffee"].Value;
+            //咖啡机创建
+            //coffeeMachine = new CoffeeMachine(com_Coffee, (BaudRates)Enum.Parse(typeof(BaudRates), baud_Coffee));
+
+            Main();
+            ReadData();
+            ThreadManage.GetInstance().StartLong(new Action(() =>
+            {
+                while (IsHealth && (morkOrderPushes.Count > 0))
+                {
+                    working = true;
+                    if (morkOrderPushes.TryDequeue(out MorkOrderPush order))
+                    {
+                        MessageLog.GetInstance.Show($"开始制作订单[{order.SortNum}]");
+                        //商品类型
+                        GOODS_TYPE currentGoodsType = GOODS_TYPE.NEITHER;
+                        //子订单ID
+                        subOrderId = order.SuborderId;
+                        //遍历物料
+                        foreach (var item in order.GoodBatchings)
+                        {
+                            var res = Json<BatchingInfoPar>.Data.orderMaterialDelivery.BatchingInfo.FirstOrDefault(p => p.BatchingId == item.BatchingId);
+                            if (res != null)
+                            {
+                                //获取主料和容器位置
+                                switch (batchings[res.BatchingLoc].BatchingClass)
+                                {
+                                    case BATCHING_CLASS.HOLDER:
+                                        holderLoc = res.BatchingLoc;
+                                        break;
+                                    case BATCHING_CLASS.MAIN_MATERIAL:
+                                        // mainMaterialLoc ="1";
+                                        mainMaterialLoc = res.BatchingLoc;
+                                        //验证商品是咖啡还是冰淇淋
+                                        if (ValidateGoodsByBatching(res.BatchingLoc) != GOODS_TYPE.NEITHER)
+                                        {
+                                            //获取当前物料所属商品类型
+                                            currentGoodsType = ValidateGoodsByBatching(res.BatchingLoc);
+                                        }
+                                        break;
+                                }
+                            }
+                        }
+
+                        //根据商品类型执行具体制作流程
+                        switch (currentGoodsType)
+                        {
+                            case GOODS_TYPE.COFFEE:
+                                DoCoffee();
+                                break;
+                            case GOODS_TYPE.JUICE:
+                                GuMake = order.MakeID == "2";
+                                DoJuicer();
+                                break;
+                            case GOODS_TYPE.TEA:
+                                DoTea();
+                                break;
+                            case GOODS_TYPE.WATER:
+                                DoWater();
+                                break;
+                            case GOODS_TYPE.NEITHER:
+                                MessageLog.GetInstance.Show("未知的商品类型");
+                                break;
+                        }
+                    }
+                    working = false;
+                    lastRecvdOrder = DateTime.Now;
+                }
+                Thread.Sleep(1000);
+            }), "订单制作");
+        }
+
+        public void Main()
+        {
+            //咖啡机开启主线程
+            //coffeeMachine.Start();
+            //开始心跳刷新，根据咖啡机及冰淇淋机来判断
+            ThreadManage.GetInstance().StartLong(new Action(() =>
+            {
+                //GeneralConfig.Healthy =
+                //         JuicerModel.GetInstance.IsConnected &&
+                //         MorkCStatus.GetInstance().CanDo &&
+                //         JuicerHelper.GetInstance.IsOpen &&
+                //         MCUSerialHelper.GetInstance.IsOpen;
+                //GeneralConfig.Healthy = true;
+                Thread.Sleep(100);
+            }), "MORK-IC心跳刷新");
+            //ThreadManage.GetInstance.Start(new Action(() =>
+            //{
+            //    while (!JuicerModel.GetInstance.IsConnected)
+            //    {
+            //        Thread.Sleep(10);
+            //    }
+            //    //Sence(JuicerModel.SENCE_欢迎);
+            //}), "MORK-JC欢迎");
+        }
+
+        private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
+        {
+            EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType });
+        }
+
+        public void DataParse<T>(T order)
+        {
+            if (order is MorkOrderPush morkOrderPush)
+            {
+                morkOrderPushes.Enqueue(morkOrderPush);
+            }
+        }
+
+        /// <summary>
+        /// 验证当前是做咖啡还是做冰淇淋
+        /// </summary>
+        /// <param name="batchingLoc">物料位置</param>
+        private GOODS_TYPE ValidateGoodsByBatching(string batchingLoc)
+        {
+            if (batchings.ContainsKey(batchingLoc))
+                return batchings[batchingLoc].GoodsType;
+            return GOODS_TYPE.NEITHER;
+        }
+
+        private AutoResetEvent are = new AutoResetEvent(false);
+
+        private void Wait(int value = 101)
+        {
+            while (!((bool)peripheralStatus["RobotOK"] && (int)peripheralStatus["RobotValue"] == value))
+            {
+                Thread.Sleep(5);
+            }
+            new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+        }
+
+        private void Sence(int sen)
+        {
+            new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = sen }.Publish();
+        }
+
+        private T GetStatus<T>(string key)
+        {
+            if (peripheralStatus.ContainsKey(key))
+            {
+                if (peripheralStatus[key] != null)
+                {
+                    return (T)(peripheralStatus[key]);
+                }
+            }
+            return default;
+        }
+
+        int[] devStatusBy = new int[2] { 0, 0 };
+        bool outCupCheck = false;//放纸杯位置有无判断
+        /// <summary>
+        /// 传感器的输入信号 0:无意义 1：有信号 2：无信号 3：信号不正确
+        /// </summary>
+        int bSensorInput;
+        /// <summary>
+        /// 延迟的超时时间
+        /// </summary>
+        DateTime delayTimeOut;
+        /// <summary>
+        /// 做咖啡
+        /// </summary>
+        private void DoCoffee()
+        {
+
+            #region 接咖啡流程
+            are.Reset();
+            while (GetStatus<bool>("RobotValue1"))//判断放杯位置是否有物品
+            {
+                if (!outCupCheck)
+                    MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");
+                outCupCheck = true;
+            }
+            outCupCheck = false;
+            OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
+            int resultTakeCup = takeCup();
+            if (resultTakeCup == 1)
+            {
+                MessageLog.GetInstance.Show("咖啡杯取杯完成");
+                new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                Sence(JuicerModel.JUICE2_接咖啡);
+                Wait();
+
+                new DRCoffee_MakeCoffeeEvent() { DrinkCode = (DrCoffeeDrinksCode)int.Parse(mainMaterialLoc) }.Publish();  //接咖啡控制 //DrCoffeeDrinksCode.热水
+                //Task.Delay(10000).Wait();//模拟接咖啡
+                //coffeEndCook.Publish();//模拟咖啡制作完成
+                are.WaitOne(1000 * 360);
+                while (GetStatus<bool>("RobotValue1"))//判断放杯位置是否有物品
+                {
+                    if (!outCupCheck)
+                        MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");
+                    outCupCheck = true;
+                }
+                outCupCheck = false;
+                while (GetStatus<bool>("RobotValue1"))//判断放杯位置是否有物品
+                {
+                    if (!outCupCheck)
+                        MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");
+                    outCupCheck = true;
+                }
+                outCupCheck = false;
+                new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                Sence(JuicerModel.JUICE2_放咖啡杯);
+                Wait();
+                OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
+                MessageLog.GetInstance.Show("咖啡制作完成");
+
+            }
+            else
+            {
+                return;
+            }
+            #endregion
+        }
+        /// <summary>
+        /// 做茶
+        /// </summary>
+        private void DoTea()
+        {
+            #region 接茶流程
+            while (GetStatus<bool>("RobotValue1"))//判断放杯位置是否有物品
+            {
+                if (!outCupCheck)
+                    MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");
+                outCupCheck = true;
+            }
+            outCupCheck = false;
+            OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
+            int resultTakeCup = takeCup();
+            if (resultTakeCup == 1)
+            {
+                MessageLog.GetInstance.Show("取茶杯完成");
+                new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                Sence(JuicerModel.JUICE2_接茶叶);
+                Wait();
+
+                new WriteMcu() { TagName = "ServoControl", Address = "1", Value = 90 }.Publish();
+                Thread.Sleep(1000);
+                new WriteMcu() { TagName = "ServoControl", Address = "1", Value = 150 }.Publish();
+                Thread.Sleep(1000);
+                new WriteMcu() { TagName = "ServoControl", Address = "1", Value = 90 }.Publish();
+
+                Thread.Sleep(3000);
+                new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                Sence(JuicerModel.JUICE2_接茶水);
+                Wait();
+
+                new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish();
+
+                new WriteMcu() { TagName = "OutputControl", Address = "0", Value = false }.Publish();
+                Thread.Sleep(100);
+                new WriteMcu() { TagName = "OutputControl", Address = "0", Value = true }.Publish();
+                Thread.Sleep(3000);
+                new WriteMcu() { TagName = "OutputControl", Address = "0", Value = false }.Publish();
+                Thread.Sleep(100);
+
+                new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish();
+                Thread.Sleep(100);
+                new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish();
+                Thread.Sleep(500);
+                new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish();
+                Thread.Sleep(46000);
+                while (GetStatus<bool>("RobotValue1"))//判断放杯位置是否有物品
+                {
+                    if (!outCupCheck)
+                        MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");
+                    outCupCheck = true;
+                }
+                outCupCheck = false;
+                new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                Sence(JuicerModel.JUICE2_放水杯);
+                Wait();
+
+
+                OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
+                MessageLog.GetInstance.Show("茶水制作完成");
+
+            }
+            else
+            {
+                return;
+            }
+            #endregion
+        }
+
+        /// <summary>
+        /// 接开水
+        /// </summary>
+        private void DoWater()
+        {
+            #region 接水流程
+            while (GetStatus<bool>("RobotValue1"))//判断放杯位置是否有物品
+            {
+                if (!outCupCheck)
+                    MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");
+                outCupCheck = true;
+            }
+            outCupCheck = false;
+            OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
+            int resultTakeCup = takeCup();
+            if (resultTakeCup == 1)
+            {
+                new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                Sence(JuicerModel.JUICE2_接水);
+                Wait();
+                new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish();
+                new WriteMcu() { TagName = "OutputControl", Address = "0", Value = false }.Publish();
+                Thread.Sleep(100);
+                new WriteMcu() { TagName = "OutputControl", Address = "0", Value = true }.Publish();
+                Thread.Sleep(3000);
+                new WriteMcu() { TagName = "OutputControl", Address = "0", Value = false }.Publish();
+                Thread.Sleep(100);
+
+                new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish();
+                Thread.Sleep(100);
+                new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish();
+                Thread.Sleep(500);
+                new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish();
+                Thread.Sleep(46000);
+                while (GetStatus<bool>("RobotValue1"))//判断放杯位置是否有物品
+                {
+                    if (!outCupCheck)
+                        MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");
+                    outCupCheck = true;
+                }
+                outCupCheck = false;
+                //添加控制接水机构程序
+                new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                Sence(JuicerModel.JUICE2_放水杯);
+                Wait();
+                OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
+                MessageLog.GetInstance.Show("纯净水制作完成");
+
+            }
+            else
+            {
+                return;
+            }
+            #endregion
+        }
+        /// <summary>
+        /// 果汁机控制信号
+        /// </summary>
+        private byte JuicerNum;
+        /// <summary>
+        /// 做果汁
+        /// </summary>
+        private void DoJuicer()
+        {
+            #region 接果汁流程
+            are.Reset();
+            while (GetStatus<bool>("RobotValue1"))//判断放杯位置是否有物品
+            {
+                if (!outCupCheck)
+                    MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");
+                outCupCheck = true;
+            }
+            OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
+            int resultTakeCup = takeCup();
+            if (resultTakeCup == 1)
+            {
+                int JuicerNum1 = int.Parse(mainMaterialLoc);
+                switch (JuicerNum1)
+                {
+                    case 52:
+                        if (GuMake)
+                        {
+                            JuicerNum = 0x00;
+                        }
+                        else
+                        {
+                            JuicerNum = 0x01;
+                        }
+                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                        Sence(JuicerModel.JUICE2_接果汁公共位);
+                        Wait();
+
+                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                        Sence(JuicerModel.JUICE2_接1号果汁);
+                        Wait();
+
+                        break;
+                    case 53:
+                        if (GuMake)
+                        {
+                            JuicerNum = 0x02;
+                        }
+                        else
+                        {
+                            JuicerNum = 0x03;
+                        }
+                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                        Sence(JuicerModel.JUICE2_接果汁公共位);
+                        Wait();
+
+                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                        Sence(JuicerModel.JUICE2_接2号果汁);
+                        Wait();
+
+                        break;
+                    case 54:
+                        if (GuMake)
+                        {
+                            JuicerNum = 0x04;
+                        }
+                        else
+                        {
+                            JuicerNum = 0x05;
+                        }
+                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                        Sence(JuicerModel.JUICE2_接果汁公共位);
+                        Wait();
+
+                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                        Sence(JuicerModel.JUICE2_接3号果汁);
+                        Wait();
+
+                        break;
+                    case 55:
+                        if (GuMake)
+                        {
+                            JuicerNum = 0x06;
+                        }
+                        else
+                        {
+                            JuicerNum = 0x07;
+                        }
+                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                        Sence(JuicerModel.JUICE2_接果汁公共位);
+                        Wait();
+
+                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                        Sence(JuicerModel.JUICE2_接4号果汁); ;
+                        Wait();
+
+                        break;
+                    default:
+                        JuicerNum = 0x00;
+                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                        Sence(JuicerModel.JUICE2_接果汁公共位);
+                        Wait();
+
+                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                        Sence(JuicerModel.JUICE_接1号果汁);
+                        Wait();
+
+                        break;
+                }
+                var devStatus = GetStatus<int[]>("GetDeviceStatus");
+                var devStatus1 = Convert.ToString(devStatus[0], 2);
+                var devStatus2 = devStatus[1];
+
+                if (devStatus1.IndexOf("0") == 1 && devStatus2 == 0)
+                {
+                    new WriteJuicer() { Value = JuicerNum }.Publish();
+                    Thread.Sleep(100);
+                    devStatusBy = GetStatus<int[]>("GetDeviceStatus");
+                    while (!(devStatusBy[1] == 0))
+                    {
+                        Thread.Sleep(100);
+                        devStatusBy = GetStatus<int[]>("GetDeviceStatus");
+                        while (devStatusBy.Length != 2)
+                        {
+                            Thread.Sleep(100);
+                            devStatusBy = GetStatus<int[]>("GetDeviceStatus");
+                        }
+                    }
+                    devStatusBy = GetStatus<int[]>("GetDeviceStatus");
+                    Thread.Sleep(5000);
+                    while (GetStatus<bool>("RobotValue1"))//判断放杯位置是否有物品
+                    {
+                        if (!outCupCheck)
+                            MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");
+                        outCupCheck = true;
+                    }
+                    outCupCheck = false;
+                    new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                    Sence(JuicerModel.JUICE2_放果汁杯);
+                    Wait();
+
+                    OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
+                    MessageLog.GetInstance.Show("果汁制作完成");
+
+                }
+                ////模拟果汁
+                //Thread.Sleep(15000);
+                //while (GetStatus<bool>("RobotValue1"))//判断放杯位置是否有物品
+                //{
+                //    if (!outCupCheck)
+                //        MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");
+                //    outCupCheck = true;
+                //}
+                //outCupCheck = false;
+                //new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                //Sence(JuicerModel.JUICE2_放果汁杯);
+                //Wait();
+
+                //OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
+                //MessageLog.GetInstance.Show("果汁制作完成");
+            }
+            else
+            {
+                return;
+            }
+            #endregion
+        }
+        /// <summary>
+        /// 取杯的次数
+        /// </summary>
+        private int nCnt;
+        private int checkCnt;//检测次数
+
+        public override DeviceClientType DeviceType => throw new NotImplementedException();
+
+        /// <summary>
+        /// 取杯流程
+        /// </summary>
+        /// <returns>0:无意义，1：取杯成功 2：取杯失败</returns>
+        private int takeCup()
+        {
+            try
+            {
+
+                nCnt = 0;
+                new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                Sence(JuicerModel.JUICE2_初始位);
+                Wait();
+
+
+                new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                Sence(JuicerModel.JUICE2_取纸杯);
+                Wait();
+
+
+                new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                Sence(JuicerModel.JUICE2_纸杯检测);
+                Wait();
+
+                nCnt++;
+                Thread.Sleep(2000);
+                while (checkCnt < 3)
+                {
+                    if (!GetStatus<bool>("GetInput"))
+                    {
+                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                        Sence(JuicerModel.JUICE2_再检测);
+                        Wait();
+                    }
+                    else
+                    {
+                        break;
+                    }
+                    checkCnt++;
+                }
+                checkCnt = 0;
+                while (!GetStatus<bool>("GetInput")) //读取传感器的值
+                {
+                    if (nCnt > 3)
+                    {
+                        nCnt = 0;
+                        MessageLog.GetInstance.ShowEx("三次取杯失败，回原点");
+                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                        Sence(JuicerModel.JUICE2_检测位回原点);
+                        Wait();
+                        return 2;
+                    }
+                    else
+                    {
+
+
+                        nCnt++;
+                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                        Sence(JuicerModel.JUICE2_二次取杯);
+                        Wait();
+
+                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                        Sence(JuicerModel.JUICE2_纸杯检测);
+                        Wait();
+                        checkCnt = 0;
+                        while (checkCnt < 3)
+                        {
+                            if (!GetStatus<bool>("GetInput"))
+                            {
+                                new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
+                                Sence(JuicerModel.JUICE2_再检测);
+                                Wait();
+                            }
+                            else
+                            {
+                                checkCnt = 0;
+                                return 1;
+
+                            }
+                            checkCnt++;
+                        }
+
+                    }
+                    Thread.Sleep(1000);
+                }
+            }
+            catch (Exception ex)
+            {
+                MessageLog.GetInstance.Show(ex.ToString());
+            }
+
+            return 1;
+        }
+        /// <summary>
+        /// 放杯
+        /// </summary>
+        /// <returns>0:无意义 1：放杯成功 2：执行失败(传感器还有信号) 3：放杯异常</returns>
+        private int putCup()
+        {
+            try
+            {
+                if (GetStatus<bool>("RobotValue1")) return 2;
+                Sence(JuicerModel.JUICE_放杯);
+                Wait();
+                new LebaiRobot_SetValueEvent() { RobotSetValue = 1 }.Publish();
+                Sence(JuicerModel.JUICE_放杯检测);
+                Wait();
+                new LebaiRobot_SetValueEvent() { RobotSetValue = 1 }.Publish();
+                if (GetStatus<bool>("GetInput2"))
+                {
+                    return 1;
+                }
+                else
+                {
+                    return 3;
+                }
+            }
+            catch (Exception ex)
+            {
+                MessageLog.GetInstance.Show(ex.ToString());
+                return 0;
+            }
+        }
+
+        /// <summary>
+        /// 检测放杯位，是否有杯子
+        /// </summary>
+        /// <returns>0：无意义 1：没有杯子  2：有杯子 </returns>
+        private int checkCup()
+        {
+            try
+            {
+                while (GetStatus<bool>("RobotValue1"))
+                {
+                    Thread.Sleep(100);
+                    if (DateTime.Now.Subtract(delayTimeOut).TotalSeconds >= 1) return 2;
+                }
+                MessageLog.GetInstance.Show("放杯位有杯子未取走，等待取走，最多等待60s，即跳出流程");
+                return 1;
+            }
+            catch (Exception ex)
+            {
+                MessageLog.GetInstance.Show(ex.ToString());
+                return 0;
+            }
+        }
+
+        private void CoffeEndCookHandle(IEvent @event, EventCallBackHandle callBack)
+        {
+            are.Set();
+        }
+
+
+        //public void ReadData()
+        //{
+        //    //ThreadManage.GetInstance.StartLong(new Action(() =>
+        //    //{
+        //    //    lebai = JuicerModel.GetInstance.GetValueAsync();
+        //    //    JuicerModel.GetInstance.GetRobotModeStatus();
+        //    //    //JuicerModel.GetInstance.GetInput();
+
+
+        //    //    Thread.Sleep(100);
+        //    //}), "乐百机器人数据读取", true);
+        //}
+
+        public void SimOrder<T>(T simOrder)
+        {
+            //if (morkOrderPushes.Count > 0)
+            //{
+            //    morkOrderPushes.Clear();
+            //}
+            //morkOrderPushes.Enqueue(simOrder as MorkOrderPush);
+        }
+
+
+
+        /// <summary>
+        /// IOT 广播消息命令
+        /// </summary>
+        //public void IotBroadcast<T>(T broadcast)
+        //{
+        //    if (broadcast != null && broadcast is IOTCommandModel iOTCommand)
+        //    {
+        //        switch (iOTCommand.CommandName)
+        //        {
+        //            case 0://控制类
+        //                if (iOTCommand.CommandValue != null)
+        //                {
+        //                    if (iOTCommand.CommandValue.ContainsKey("SimOrder"))
+        //                    {
+        //                        //SimOrder(new SimOrderData { NoodleLoc = 1, BowlLoc = 10 });
+        //                    }
+        //                }
+        //                break;
+        //            case 1://设置属性
+
+        //                break;
+        //            case 2://通知消息
+
+        //                break;
+        //            default:
+        //                break;
+        //        }
+        //    }
+        //}
+
+        public override void DoMain()
+        {
+        }
+
+        public override void Stop()
+        {
+        }
+
+        public override void ReadData()
+        {
+
+        }
+
+        public override void MainTask()
+        {
+        }
+
+        public override void ResetProgram()
+        {
+        }
+
+        public class SimOrderData
+        {
+            public string id { get; set; }
+
+            public int OrderStatus { get; set; }
+
+            public string Loc { get; set; }
+
+            public MorkOrderPush morkOrder { get; set; }
+
+            public SimOrderData()
+            {
+                id = Guid.NewGuid().ToString();
+                OrderStatus = 0;
+            }
+        }
+    }
+}

BPASmartClient.MorkT.Lebai.JC/PolymerBatching.cs

@@ -0,0 +1,152 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkTLebaiJC
+{
+    internal enum GOODS_TYPE
+    {
+        /// <summary>
+        /// 未知
+        /// </summary>
+        NEITHER,
+        /// <summary>
+        /// 咖啡
+        /// </summary>
+        COFFEE,
+        /// <summary>
+        /// 果汁
+        /// </summary>
+        JUICE,
+        /// <summary>
+        /// 茶水
+        /// </summary>
+        TEA,
+        /// <summary>
+        /// 水
+        /// </summary>
+        WATER,
+        /// <summary>
+        /// 杯子
+        /// </summary>
+        CUP
+    }
+
+    internal enum BATCHING_CLASS
+    {
+        HOLDER,
+        MAIN_MATERIAL,
+    }
+
+    internal class PolymerBatching
+    {
+        internal const string Juicer_MAIN_BATCHIN1_LOC = "52";
+        internal const string Juicer_MAIN_BATCHIN2_LOC = "53";
+        internal const string Juicer_MAIN_BATCHIN3_LOC = "54";
+        internal const string Juicer_MAIN_BATCHIN4_LOC = "55";
+        //internal const string Juicer_MAIN_BATCHIN5_LOC = "56";
+        //internal const string Juicer_MAIN_BATCHIN6_LOC = "57";
+        //internal const string Juicer_MAIN_BATCHIN7_LOC = "58";
+        //internal const string Juicer_MAIN_BATCHIN8_LOC = "59";
+
+        internal const string COFFEE_HOLDER_LOC = "30";
+        internal const string TEA_HOLDER_LOC = "51";
+        public static Dictionary<string, GOODS_TYPE> GOODS_TYPES = new Dictionary<string, GOODS_TYPE>() {
+            {"1", GOODS_TYPE.COFFEE},
+            {"2", GOODS_TYPE.COFFEE},
+            {"3", GOODS_TYPE.COFFEE},
+            {"4", GOODS_TYPE.COFFEE},
+            {"5", GOODS_TYPE.COFFEE},
+            {"6", GOODS_TYPE.COFFEE},
+            {"7", GOODS_TYPE.COFFEE},
+            {"8", GOODS_TYPE.COFFEE},
+            {"9", GOODS_TYPE.COFFEE},
+            {"10",GOODS_TYPE.COFFEE},
+            {"11",GOODS_TYPE.COFFEE},
+            {"12",GOODS_TYPE.COFFEE},
+            {"13",GOODS_TYPE.COFFEE},
+            {"14",GOODS_TYPE.COFFEE},
+            {"15",GOODS_TYPE.COFFEE},
+            {"16",GOODS_TYPE.COFFEE},
+            {"17",GOODS_TYPE.COFFEE},
+            {"18",GOODS_TYPE.COFFEE},
+            {"19",GOODS_TYPE.COFFEE},
+            {"20",GOODS_TYPE.COFFEE},
+            {"21",GOODS_TYPE.COFFEE},
+            {"22",GOODS_TYPE.COFFEE},
+            {"23",GOODS_TYPE.COFFEE},
+            {"24",GOODS_TYPE.COFFEE},
+            {"25",GOODS_TYPE.COFFEE},
+            { COFFEE_HOLDER_LOC,GOODS_TYPE.CUP},
+            {"56",GOODS_TYPE.TEA },
+            {"61",GOODS_TYPE.WATER },
+            {Juicer_MAIN_BATCHIN1_LOC,GOODS_TYPE.JUICE},
+            {Juicer_MAIN_BATCHIN2_LOC,GOODS_TYPE.JUICE},
+            {Juicer_MAIN_BATCHIN3_LOC,GOODS_TYPE.JUICE},
+            {Juicer_MAIN_BATCHIN4_LOC,GOODS_TYPE.JUICE},
+            //{Juicer_MAIN_BATCHIN5_LOC,GOODS_TYPE.JUICE},
+            //{Juicer_MAIN_BATCHIN6_LOC,GOODS_TYPE.JUICE},
+            //{Juicer_MAIN_BATCHIN7_LOC,GOODS_TYPE.JUICE},
+            //{Juicer_MAIN_BATCHIN8_LOC,GOODS_TYPE.JUICE},
+        };
+
+        public GOODS_TYPE GoodsType { get; set; }
+        public BATCHING_CLASS BatchingClass { get; set; }
+        private string loc;
+
+        public string Loc
+        {
+            get { return loc; }
+            set
+            {
+                loc = value;
+                if (GOODS_TYPES.ContainsKey(loc))
+                    GoodsType = GOODS_TYPES[loc];
+                switch (loc)
+                {
+                    case COFFEE_HOLDER_LOC:
+                    case TEA_HOLDER_LOC:
+                        BatchingClass = BATCHING_CLASS.HOLDER;
+                        break;
+                    default:
+                        BatchingClass = BATCHING_CLASS.MAIN_MATERIAL;
+                        break;
+                }
+            }
+        }
+
+        internal static Dictionary<string, PolymerBatching> BuildAll()
+        {
+            Dictionary<string, PolymerBatching> temp = new Dictionary<string, PolymerBatching>();
+            foreach (var item in GOODS_TYPES)
+            {
+                temp.Add(item.Key, new PolymerBatching() { Loc = item.Key });
+            }
+            return temp;
+        }
+
+        //internal static IC_SE GetIceCreamSE(string loc, out string sence)
+        //{
+        //    switch (loc)
+        //    {
+        //        case Juicer_MAIN_BATCHIN1_LOC:
+        //            sence = JaKaHelper.SENCE_接果汁1;
+        //            return IC_SE.SE_1;
+
+        //        case Juicer_MAIN_BATCHIN2_LOC:
+        //            sence = JaKaHelper.SENCE_接果汁2;
+        //            return IC_SE.SE_2;
+
+        //        case Juicer_MAIN_BATCHIN3_LOC:
+        //            sence = JaKaHelper.SENCE_接果汁3;
+        //            return IC_SE.SE_3;
+
+        //        default:
+        //            sence = JaKaHelper.SENCE_接果汁1;
+        //            return IC_SE.SE_1;
+        //    }
+        //}
+    }
+}

BPASmartClient.MorkT/BPASmartClient.MorkT.csproj

@@ -9,6 +9,7 @@
 
   <ItemGroup>
     <ProjectReference Include="..\BPASmartClient.Business\BPASmartClient.Business.csproj" />
+    <ProjectReference Include="..\BPASmartClient.CustomResource\BPASmartClient.CustomResource.csproj" />
     <ProjectReference Include="..\BPASmartClient.Device\BPASmartClient.Device.csproj" />
     <ProjectReference Include="..\BPASmartClient.DRCoffee\BPASmartClient.DRCoffee.csproj" />
     <ProjectReference Include="..\BPASmartClient.GSIceCream\BPASmartClient.GSIceCream.csproj" />

BPASmartClient.MorkT/Control_MorkT.cs

@@ -45,7 +45,7 @@ namespace BPASmartClient.MorkT
                     morkT.MakeCoffeeOrder.OrderStatus = 1;
             });
             int i = 0;
-            
+            EventBus.EventBus.GetInstance().Publish(new GSIceCream_ModeSetEvent { DeviceId = DeviceId, Mode = MORKI_MODE.制冷模式 });
 
             MessageLog.GetInstance.Show("MORKT 设备初始化完成");
 
@@ -71,7 +71,21 @@ namespace BPASmartClient.MorkT
 
         public override void MainTask()
         {
-
+            if (morkT.waitMorkOrder != null)//更新订单取走状态
+            {
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent() { DeviceId = DeviceId, Pin = 0 }, (o) =>
+                {
+                    if (o != null && o.Length > 0 && o[0] is bool res)
+                    {
+                        if (!res)
+                        {
+                            OrderChange(morkT.waitMorkOrder.SuborderId, ORDER_STATUS.COMPLETED_TAKE);
+                            DeviceProcessLogShow("订单取餐完成");
+                            morkT.waitMorkOrder = null;
+                        }
+                    }
+                });
+            }
             MakeCoffeeProcess();
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 0 },(o)=>
             {
@@ -84,7 +98,8 @@ namespace BPASmartClient.MorkT
                     }
                 }
             });
-            
+ 
+
         }
 
         public override void ReadData()
@@ -371,6 +386,7 @@ namespace BPASmartClient.MorkT
                 {
                     DeviceProcessLogShow($"开始制作 [咖啡] 订单[{orderLoc.SortNum}]");
                     GetAndCheeckCoffe(orderLoc);//取咖啡杯
+                    if (!morkT.GetCoffeeCup) return;
                     EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10051}); //接咖啡后回原点
                     Wait();
                     EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
@@ -380,6 +396,7 @@ namespace BPASmartClient.MorkT
                 }
 
             }
+            
 
 
         }
@@ -411,6 +428,7 @@ namespace BPASmartClient.MorkT
             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);
+            morkT.waitMorkOrder = order;
             DeviceProcessLogShow($"{order.GoodsName}等待取餐");
             //WaitTakeMealOrder.Enqueue(order);
 
@@ -454,6 +472,7 @@ namespace BPASmartClient.MorkT
                     EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10050 }); //SENCE_咖啡杯回原点
                     Wait();
                     EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+                    morkT.GetCoffeeCup = false;
                     return;
                 }
                 DeviceProcessLogShow("执行二次取咖啡杯");
@@ -464,6 +483,7 @@ namespace BPASmartClient.MorkT
                 count++;
                 goto p;
             }
+            morkT.GetCoffeeCup = true;
             DeviceProcessLogShow("取咖啡杯完成");
         }
 
@@ -482,40 +502,45 @@ namespace BPASmartClient.MorkT
         /// </summary>
         private void MakeIceCreamProcess()
         {
-            if (IceCreamCanMake())
-            {
-                if(peripheralStatus.ContainsKey("IceCreamCurrentMode"))
-                {
-                    if ((MORKI_MODE)peripheralStatus["IceCreamCurrentMode"] != MORKI_MODE.制冷模式) new GSIceCream_ModeSetEvent() { Mode = MORKI_MODE.制冷模式 }.Publish();
-                }
-
-                if(peripheralStatus.ContainsKey("IceCreamCXB"))
-                {
-                    if ((byte)peripheralStatus["IceCreamCXB"] >= 86 && morkT.morkOrderPushesIceCream.Count > 0)//成型比大于86才可以制作
-                    {
-                        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;
-                        }
-                        else if (morkT.morkOrderPushesIceCream.TryDequeue(out OrderLocInfo order))
-                        {
-                            morkT.IceIsOK = true;
-                            DeviceProcessLogShow($"开始制作 [冰淇淋] 订单[{order.SortNum}]");
-                            DoIceCream(order);
-                        }
-                    }
-                }
-                
-            }
+            //if (IceCreamCanMake())
+            //{
+                if (morkT.morkOrderPushesIceCream.TryDequeue(out OrderLocInfo order))
+                {
+                    DoIceCream(order);
+                }
+                   
+                //if(peripheralStatus.ContainsKey("IceCreamCurrentMode"))
+                //{
+                //    if ((MORKI_MODE)peripheralStatus["IceCreamCurrentMode"] != MORKI_MODE.制冷模式) EventBus.EventBus.GetInstance().Publish(new GSIceCream_ModeSetEvent { DeviceId = DeviceId, Mode = MORKI_MODE.制冷模式 });
+                //}
+
+                //if(peripheralStatus.ContainsKey("IceCreamCXB"))
+                //{
+                //    if ((byte)peripheralStatus["IceCreamCXB"] >= 86 && morkT.morkOrderPushesIceCream.Count > 0)//成型比大于86才可以制作
+                //    {
+                //        bool result = true;
+                //        EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 3 }, (res) =>
+                //        {
+                //            if (res[0] is bool resultValue)
+                //            {
+                //                result = resultValue;
+                //            }
+                //        });
+                //        if (result)
+                //        {
+                //            if (morkT.IceIsOK) DeviceProcessLogShow("请检查冰淇淋出料口有无遮挡");
+                //            morkT.IceIsOK = false;
+                //        }
+                //        else if (morkT.morkOrderPushesIceCream.TryDequeue(out OrderLocInfo order))
+                //        {
+                //            morkT.IceIsOK = true;
+                //            DeviceProcessLogShow($"开始制作 [冰淇淋] 订单[{order.SortNum}]");
+                //            DoIceCream(order);
+                //        }
+                //    }
+                //}
+
+            //}
         }
 
 
@@ -526,8 +551,12 @@ namespace BPASmartClient.MorkT
         {
             GetIceCreamCup();
             CheckICeCreaCup();
-            GetIceCream(order);
-            PutIceCream(order);
+            if(morkT.GetIceCreamCup)
+            {
+                GetIceCream(order);
+                PutIceCream(order);
+            }
+           
         }
 
         /// <summary>
@@ -572,6 +601,7 @@ namespace BPASmartClient.MorkT
                     EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10049 }); //SENCE_冰淇淋杯回原点
                     Wait();
                     EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+                    morkT.GetIceCreamCup = false;
                     return;
                 }
                 DeviceProcessLogShow($"执行{count}次取冰淇淋杯!");
@@ -582,6 +612,7 @@ namespace BPASmartClient.MorkT
                 count++;
                 goto p;
             }
+            morkT.GetIceCreamCup = true;
             DeviceProcessLogShow("冰淇淋杯检测完成");
         }
 
@@ -592,34 +623,43 @@ namespace BPASmartClient.MorkT
         private void GetIceCream(OrderLocInfo order)
         {
             //制冷模式
-            EventBus.EventBus.GetInstance().Publish(new GSIceCream_ModeSetEvent {DeviceId = DeviceId, Mode = MORKI_MODE.制冷模式 });
+            //EventBus.EventBus.GetInstance().Publish(new GSIceCream_ModeSetEvent {DeviceId = DeviceId, Mode = MORKI_MODE.制冷模式 });
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 });
             OrderChange(order.SuborderId, ORDER_STATUS.COOKING);
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10039 }); //SENCE_接1号冰淇淋
             Wait();
             bool doItResult = true;
+
             //出料
-            EventBus.EventBus.GetInstance().Publish(new GSIceCream_DischargeEvent { DeviceId = DeviceId },(o)=>
-            {
-                doItResult = (bool)o[0];
-            });            
-            if (doItResult)
-            {
-                IceCreamCookCheck();
-            }
-            else
-            {
-                int count_1 = 0;
+            EventBus.EventBus.GetInstance().Publish(new SCChip_RotorSwitchEvent { DeviceId = DeviceId, TurnOn = true });
+            Thread.Sleep(500);
+            EventBus.EventBus.GetInstance().Publish(new SCChip_RotorSwitchEvent { DeviceId = DeviceId, TurnOn = false });
+            EventBus.EventBus.GetInstance().Publish(new SCChip_MakeIceCreamEvent { DeviceId = DeviceId ,SteeringEngine  = IC_SE.SE_2 });//冰淇淋出料
+            DeviceProcessLogShow("开始等待6s");
+            Thread.Sleep(6000);
 
-                while ((byte)peripheralStatus["IceCreamCXB"] <= 86)
-                {
-                    Thread.Sleep(5);
-                    count_1++;
-                    if (count_1 >= 2000)
-                        break;
-                }
-                IceCreamCookCheck();
-            }
+            //出料
+            //EventBus.EventBus.GetInstance().Publish(new GSIceCream_DischargeEvent { DeviceId = DeviceId },(o)=>
+            //{
+            //    doItResult = (bool)o[0];
+            //});            
+            //if (doItResult)
+            //{
+            //    IceCreamCookCheck();
+            //}
+            //else
+            //{
+            //    int count_1 = 0;
+
+            //    while ((byte)peripheralStatus["IceCreamCXB"] <= 86)
+            //    {
+            //        Thread.Sleep(5);
+            //        count_1++;
+            //        if (count_1 >= 2000)
+            //            break;
+            //    }
+            //    IceCreamCookCheck();
+            //}
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
         }
 
@@ -629,21 +669,25 @@ namespace BPASmartClient.MorkT
         /// <param name="order"></param>
         private void PutIceCream(OrderLocInfo order)
         {
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 0 }, (res) =>
+            bool resultValue = true;
+            while (resultValue)
             {
-                if (res[0] is bool resultValue)
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 0 }, (res) =>
                 {
-                    while (resultValue)
+                    if (res[0] is bool b)
                     {
-                        Thread.Sleep(500);
+                        resultValue = b;
                     }
-                }
-            });
+                });
+                Thread.Sleep(500);
+            }
+          
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10043 }); //SENCE_放冰淇淋位置
             Wait();
             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);
+            morkT.waitMorkOrder = order;
             DeviceProcessLogShow($"{order.GoodsName}等待取餐");
             //WaitTakeMealOrder.Enqueue(order);
 

BPASmartClient.MorkT/GLV_MorkT.cs

@@ -25,6 +25,10 @@ namespace BPASmartClient.MorkT
         /// </summary>
         public ConcurrentQueue<OrderLocInfo> morkOrderPushesIceCream = new ConcurrentQueue<OrderLocInfo>();
         /// <summary>
+        /// 等待取餐订单
+        /// </summary>
+        public OrderLocInfo waitMorkOrder = null;
+        /// <summary>
         /// 物料存放位置
         /// </summary>
         public Dictionary<string, PolymerBatching> batchings = new Dictionary<string, PolymerBatching>();
@@ -44,6 +48,14 @@ namespace BPASmartClient.MorkT
         /// 冰淇淋机器出料口传感器检测
         /// </summary>
         public bool IceIsOK = true;
+        /// <summary>
+        /// 去咖啡杯成功
+        /// </summary>
+        public bool GetCoffeeCup;
+        /// <summary>
+        /// 取冰淇淋杯成功
+        /// </summary>
+        public bool GetIceCreamCup;
 
         #region
 

BPASmartClient.MorkT/View/DebugView.xaml

@@ -6,7 +6,7 @@
              xmlns:vm ="clr-namespace:BPASmartClient.MorkT.ViewModel"
              mc:Ignorable="d" 
              Name="调试界面"
-             d:DesignHeight="450" d:DesignWidth="1000" >
+             d:DesignHeight="500" d:DesignWidth="1000" Unloaded="Dubug_Unloaded">
     <UserControl.DataContext>
         <vm:DebugViewModel/>
     </UserControl.DataContext>
@@ -20,12 +20,13 @@
     </UserControl.Resources>
     <Grid>
         <Grid.ColumnDefinitions>
-            <ColumnDefinition Width="*"/>
-            <ColumnDefinition Width="*"/>
+            <ColumnDefinition Width="10*"/>
+            <ColumnDefinition Width="10*"/>
         </Grid.ColumnDefinitions>
         <Grid.RowDefinitions>
-            <RowDefinition Height="9*"/>
-            <RowDefinition Height="10*"/>
+            <RowDefinition Height="14*"/>
+            <RowDefinition Height="6*"/>
+            <RowDefinition Height="20*"/>
         </Grid.RowDefinitions>
 
         <GroupBox Grid.ColumnSpan="2"
@@ -81,7 +82,7 @@
                 </ListBox>
             </Grid>
         </GroupBox>
-        <GroupBox  Grid.Row="1"
+        <GroupBox  Grid.Row="2"
             FontFamily="楷体"
             FontSize="20"
             Header=" 冰淇淋机器 ">
@@ -172,7 +173,7 @@
                 </StackPanel>
             </Grid>
         </GroupBox>
-        <GroupBox  Grid.Row="1" Grid.Column="1"
+        <GroupBox  Grid.Row="2" Grid.Column="1"
             FontFamily="楷体"
             FontSize="20"
             Header=" 咖啡机">
@@ -203,13 +204,13 @@
                         <ColumnDefinition Width="171" />
                     </Grid.ColumnDefinitions>
                     <TextBlock Height="23" Width="100" FontSize="18" HorizontalAlignment="Center">咖啡机状态</TextBlock>
-                    <TextBlock FontSize="18"
+                    <TextBlock FontSize="18" 
                             Grid.Column="1"
-                            Text="{Binding CoffeeStatus}" Height="23" Width="0" />
+                            Text="{Binding CoffeeStatus}" Height="23" />
                     <TextBlock Grid.Column="2" Height="23" Width="80" FontSize="18">应用状态</TextBlock>
                     <TextBlock FontSize="18"
                             Grid.Column="3" 
-                            Text="{Binding AppStatus}" Height="23" Width="100" />
+                            Text="{Binding AppStatus}" Height="23"/>
                     <TextBlock Grid.Row="1" Grid.Column="0" Height="22" Width="80" FontSize="18">告警信息</TextBlock>
                     <TextBlock FontSize="15"
                             Grid.Row="1"
@@ -248,5 +249,32 @@
                 </StackPanel>
             </Grid>
         </GroupBox>
+        <GroupBox Header="单片机控制"
+                   FontSize="18"
+                  Grid.Row="1" Grid.ColumnSpan="2"
+                  Margin="0,0,0,10">
+            <StackPanel Orientation="Horizontal"
+                     VerticalAlignment="Center" >
+
+                <Button Content="咖啡杯落杯" 
+                    Command="{Binding Button_CupControlCommand}" 
+                    CommandParameter="CUP_COFFEE"
+                     Margin="0,0,50,0"/>
+                <Button Content="冰淇淋杯落杯" 
+                    Command="{Binding Button_CupControlCommand}" 
+                    CommandParameter="CUP_ICECREAM"
+                   />
+                <Button Content="单片机冰淇淋制冷" 
+                    Command="{Binding Button_SCChipRefrigerationCommand}"  Cursor="Hand"
+                        Margin="50,0"
+                   />
+                <Button Content="单片机冰淇淋打料" 
+                    Command="{Binding Button_SCChipDischargeCommand}" Cursor="Hand" />
+                <Button Content="单片机冰淇淋模拟" 
+                    Command="{Binding Button_SCChipTestCommand}" Cursor="Hand" 
+                        Margin="50,0"/>
+            </StackPanel>
+        </GroupBox>
+
     </Grid>
 </UserControl>

BPASmartClient.MorkT/View/DebugView.xaml.cs

@@ -1,4 +1,5 @@
-using System;
+using BPASmartClient.Helper;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
@@ -24,5 +25,11 @@ namespace BPASmartClient.MorkT.View
         {
             InitializeComponent();
         }
+
+        private void Dubug_Unloaded(object sender, RoutedEventArgs e)
+        {
+            ThreadManage.GetInstance().StopTask("MorkT-状态刷新");
+            ThreadManage.GetInstance().StopTask("MorkT-传感器监视");
+        }
     }
 }

BPASmartClient.MorkT/View/Monitor.xaml

@@ -0,0 +1,75 @@
+<UserControl x:Class="BPASmartClient.MorkT.View.Monitor"
+             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.MorkT.View"
+             xmlns:vm="clr-namespace:BPASmartClient.MorkT.ViewModel"
+             mc:Ignorable="d" 
+             Name="监控画面"
+             d:DesignHeight="450" d:DesignWidth="800" Unloaded="Monitor_Unloaded">
+    <UserControl.DataContext>
+        <vm:MonitorViewModel/>
+    </UserControl.DataContext>
+    <UserControl.Resources>
+        <ResourceDictionary >
+            <vm:BoolToColorConvert x:Key="BoolToColorConvert"/>
+            <Style x:Key="tx_Status" TargetType="TextBlock">
+                <Setter Property="FontFamily" Value="/BPASmartClient.CustomResource;component/Fonts/Debug/#iconfont"/>
+                <Setter Property="FontSize" Value="26"/>
+                <Setter Property="Text" Value="&#xea6b;"/>
+                <Setter Property="VerticalAlignment" Value="Center"/>
+                <Setter Property="HorizontalAlignment" Value="Left"/>
+            </Style>
+        </ResourceDictionary>
+        
+        
+    </UserControl.Resources>
+    <Grid Margin="10,0">
+        <Grid.ColumnDefinitions>
+
+        </Grid.ColumnDefinitions>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="*"/>
+            <RowDefinition Height="*"/>
+            <RowDefinition Height="*"/>
+        </Grid.RowDefinitions>
+        <GroupBox Header="传感器状态"
+                  FontSize="20" Foreground="#40e8ff"
+                  BorderThickness="0">
+            <Grid Margin="20,0">
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition Width="3*"/>
+                    <ColumnDefinition Width="*"/>
+                    <ColumnDefinition Width="3*"/>
+                    <ColumnDefinition Width="*"/>
+                </Grid.ColumnDefinitions>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
+                </Grid.RowDefinitions>
+                <TextBlock Text="机器人夹爪处检测传感器" 
+                           FontSize="18"
+                           VerticalAlignment="Center"/>
+                <TextBlock Text="冰淇淋出料口传感器" 
+                           Grid.Row="1"
+                           FontSize="18"
+                           VerticalAlignment="Center"/>
+                <TextBlock Text="取餐口传感器" 
+                           Grid.Row="2"
+                           FontSize="18"
+                           VerticalAlignment="Center"/>
+                <TextBlock Grid.Row="0" Grid.Column="1"
+                    Style="{StaticResource tx_Status}" 
+                           Foreground="{Binding RobotSenser,Converter={StaticResource BoolToColorConvert }}"/>
+                <TextBlock Grid.Row="1" Grid.Column="1"
+                    Style="{StaticResource tx_Status}"
+                           Foreground="{Binding IceCreamSenser,Converter={StaticResource BoolToColorConvert }}"/>
+                <TextBlock Grid.Row="2" Grid.Column="1"
+                    Style="{StaticResource tx_Status}"
+                           Foreground="{Binding TakeMealSenser,Converter={StaticResource BoolToColorConvert}}"/>
+            </Grid>
+        </GroupBox>
+    </Grid>
+</UserControl>

BPASmartClient.MorkT/View/Monitor.xaml.cs

@@ -0,0 +1,34 @@
+using BPASmartClient.Helper;
+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.MorkT.View
+{
+    /// <summary>
+    /// Monitor.xaml 的交互逻辑
+    /// </summary>
+    public partial class Monitor : UserControl
+    {
+        public Monitor()
+        {
+            InitializeComponent();
+        }
+
+
+        private void Monitor_Unloaded(object sender, RoutedEventArgs e)
+        {
+        }
+    }
+}

BPASmartClient.MorkT/View/ParSer.xaml

@@ -0,0 +1,13 @@
+<UserControl x:Class="BPASmartClient.MorkT.View.ParSer"
+             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.MorkT.View"
+             mc:Ignorable="d"
+             Name="参数设置界面"
+             d:DesignHeight="450" d:DesignWidth="800">
+    <Grid>
+            
+    </Grid>
+</UserControl>

BPASmartClient.MorkT/View/ParSer.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 BPASmartClient.MorkT.View
+{
+    /// <summary>
+    /// ParSer.xaml 的交互逻辑
+    /// </summary>
+    public partial class ParSer : UserControl
+    {
+        public ParSer()
+        {
+            InitializeComponent();
+        }
+    }
+}

BPASmartClient.MorkT/ViewModel/DebugViewModel.cs

@@ -9,6 +9,8 @@ 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;
 using BPASmartClient.Model.咖啡机.Enum;
 using Microsoft.Toolkit.Mvvm.ComponentModel;
 using Microsoft.Toolkit.Mvvm.Input;
@@ -156,21 +158,100 @@ namespace BPASmartClient.MorkT.ViewModel
 
         public List<string> CoffeeCmds { get; set; } = new List<string>();
         public string SelectedCoffeeCmd { get; set; }
+        /// <summary>
+        /// 制作咖啡
+        /// </summary>
+        public RelayCommand Button_MakeCoffeeCommand { get; set; }
+        /// <summary>
+        /// 停止制作咖啡
+        /// </summary>
+        public RelayCommand Button_StopMakeCoffeCommand { get; set; }
+        /// <summary>
+        /// 咖啡模式设置
+        /// </summary>
+        public RelayCommand Button_CoffeeModeSetCommand { get; set; }
+
+        private void Button_MakeCoffee()
+        {
+            EventBus.EventBus.GetInstance().Publish(new DRCoffee_MakeCoffeeEvent() { DeviceId = DeviceId, DrinkCode = (DrCoffeeDrinksCode)Enum.Parse(typeof(DrCoffeeDrinksCode), SelectedCoffee)});
+        }
+        private void Button_StopMakeCoffe()
+        {
+            EventBus.EventBus.GetInstance().Publish(new DRCoffee_CancelMakeCoffeeEvent() { DeviceId = DeviceId });
+        }
+        private void Button_CoffeeModeSet()
+        {
+            EventBus.EventBus.GetInstance().Publish(new DRCoffee_CoffeeCommCmdEvent() { DeviceId = DeviceId, CommCmd = (DrCoffeeCommCmd)Enum.Parse(typeof(DrCoffeeCommCmd), SelectedCoffeeCmd)});
+        }
         #endregion
 
+        #region 单片机
         /// <summary>
-        /// 设备ID
+        /// 咖啡杯或冰淇淋杯落杯
         /// </summary>
-        public  int DeviceId { get; set; }
+        public RelayCommand<object> Button_CupControlCommand { get; set; }
+        /// <summary>
+        /// 单片机冰淇淋机器制冷
+        /// </summary>
+        public RelayCommand Button_SCChipRefrigerationCommand { get; set; }
+        /// <summary>
+        /// 单片机冰淇淋机器打料
+        /// </summary>
+        public RelayCommand Button_SCChipDischargeCommand { get; set; }
+        /// <summary>
+        /// 模拟测试
+        /// </summary>
+        public RelayCommand Button_SCChipTestCommand { get; set; }
 
-        public ObservableCollection<VariableMonitor> variableMonitors { get; set; }
+        private void Button_CupControl(object CupType)
+        {
+            EventBus.EventBus.GetInstance().Publish(new SCChip_TakeCupEvent() { DeviceId = DeviceId, Cup = (IC_CUP)Enum.Parse(typeof(IC_CUP), CupType.ToString()) });
+        }
+
+        private void Button_SCChipRefrigeration()
+        {
+            EventBus.EventBus.GetInstance().Publish(new SCChip_RotorSwitchEvent { DeviceId = DeviceId, TurnOn = true });
+            Thread.Sleep(500);
+            EventBus.EventBus.GetInstance().Publish(new SCChip_RotorSwitchEvent { DeviceId = DeviceId, TurnOn = false });
+            
+        }
 
+        private void Button_SCChipDischarge()
+        {
+            EventBus.EventBus.GetInstance().Publish(new SCChip_MakeIceCreamEvent { DeviceId = DeviceId, SteeringEngine = IC_SE.SE_2 });
+        }
+
+        #endregion
+
+        /// <summary>
+        /// 设备ID
+        /// </summary>
+        public int DeviceId { get; set; }
+        /// <summary>
+        /// 设备数据
+        /// </summary>
+        public ObservableCollection<VariableMonitor> variableMonitors { get; set; }
+        
         public DebugViewModel()
         {
             Button_RobotControlCommand = new RelayCommand<object>(Button_RobotControl);
             Button_MakeIceCreamCommand = new RelayCommand(Button_MakeIceCream);
             Button_SetIceCreamModelCommand = new RelayCommand(Button_SetIceCreamModel);
 
+            Button_MakeCoffeeCommand = new RelayCommand(Button_MakeCoffee);
+            Button_StopMakeCoffeCommand = new RelayCommand(Button_StopMakeCoffe);
+            Button_CoffeeModeSetCommand = new RelayCommand(Button_CoffeeModeSet);
+
+            Button_CupControlCommand = new RelayCommand<object>(Button_CupControl);
+            Button_SCChipRefrigerationCommand = new RelayCommand(Button_SCChipRefrigeration);
+            Button_SCChipDischargeCommand = new RelayCommand(Button_SCChipDischarge);
+            Button_SCChipTestCommand = new RelayCommand(() =>
+            {
+                Button_SCChipRefrigeration();
+                Thread.Sleep(50);
+                Button_SCChipDischarge();
+            });
+
             foreach (DrCoffeeDrinksCode code in Enum.GetValues(typeof(DrCoffeeDrinksCode)))
             {
                 Coffees.Add(code.ToString());

BPASmartClient.MorkT/ViewModel/MonitorViewModel.cs

@@ -0,0 +1,94 @@
+using BPASmartClient.Business;
+using BPASmartClient.Helper;
+using BPASmartClient.Model.乐白机器人;
+using Microsoft.Toolkit.Mvvm.ComponentModel;
+using System;
+using System.Collections.Generic;
+using System.Globalization;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Windows.Data;
+using System.Windows.Media;
+
+namespace BPASmartClient.MorkT.ViewModel
+{
+
+    public class MonitorViewModel: ObservableObject
+    {
+        #region 传感器
+        /// <summary>
+        /// 机器人夹爪传感器
+        /// </summary>
+        public bool RobotSenser { get { return _robotSenser; } set { _robotSenser = value; OnPropertyChanged(); } }
+        private bool _robotSenser;
+        /// <summary>
+        /// 冰淇淋出口传感器
+        /// </summary>
+        public bool IceCreamSenser { get { return _iceCreamSenser; } set { _iceCreamSenser = value; OnPropertyChanged(); } }
+        private bool _iceCreamSenser;
+        /// <summary>
+        /// 取餐口检测传感器
+        /// </summary>
+        public bool TakeMealSenser { get { return _takeMealSenser; } set { _takeMealSenser = value; OnPropertyChanged(); } }
+        private bool _takeMealSenser;
+
+        #endregion
+
+
+        /// <summary>
+        /// 设备ID
+        /// </summary>
+        int DeviceId;
+        public MonitorViewModel()
+        {
+            Plugin.GetInstance()?.GetPlugin<DeviceMgr>()?.GetDevices().ForEach(device =>
+            {
+                if (device.Name == "MorkT") DeviceId = device.DeviceId;
+
+            });
+            ThreadManage.GetInstance().StartLong(new Action(() =>
+            {
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetTCPInputEvent() { DeviceId = DeviceId, Pin = 1 },(res)=>
+                {
+                    if(res != null&& res.Length>0&& res[0] is bool b)
+                    {
+                        RobotSenser = b;
+                    }
+                });
+
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent() { DeviceId = DeviceId, Pin = 0 }, (res) =>
+                {
+                    if (res != null && res.Length > 0 && res[0] is bool b)
+                    {
+                        TakeMealSenser = b;
+                    }
+                });
+
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetTCPInputEvent() { DeviceId = DeviceId, Pin = 3 }, (res) =>
+                {
+                    if (res != null && res.Length > 0 && res[0] is bool b)
+                    {
+                        IceCreamSenser = b;
+                    }
+                });
+                Thread.Sleep(500);
+            }), "MorkT-传感器监视");
+        }
+    }
+
+    public class BoolToColorConvert : IValueConverter
+    {
+        public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            return (bool) value? new SolidColorBrush(Color.FromRgb(144, 238, 144)) : new SolidColorBrush(Color.FromRgb(178, 34, 34));
+        }
+
+        public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            throw new NotImplementedException();
+        }
+    }
+
+}

BPASmartClient.Morkt.JAKA.JC/BPASmartClient.Morkt.JAKA.JC.csproj → BPASmartClient.Morkt.JAKA.JC/BPASmartClient.MorkTJAKAJC.csproj

@@ -6,4 +6,8 @@
     <UseWPF>true</UseWPF>
   </PropertyGroup>
 
+  <ItemGroup>
+    <ProjectReference Include="..\BPASmartClient.Device\BPASmartClient.Device.csproj" />
+  </ItemGroup>
+
 </Project>

BPASmartClient.Morkt.JAKA.JC/Class1.cs

@@ -1,8 +0,0 @@
-using System;
-
-namespace BPASmartClient.Morkt.JAKA.JC
-{
-    public class Class1
-    {
-    }
-}

BPASmartClient.Morkt.JAKA.JC/Control_MORKJC.cs

@@ -0,0 +1,828 @@
+using System;
+using System.Collections.Generic;
+using System.Configuration;
+using System.Linq;
+using System.Threading;
+using System.Collections.Concurrent;
+using System.Diagnostics;
+using System.Threading.Tasks;
+using BPASmartClient.Device;
+using BPA.Message.Enum;
+using BPA.Message;
+using BPASmartClient.Helper;
+using BPASmartClient.Model.咖啡机.Enum;
+using BPASmartClient.Model;
+using BPASmartClient.EventBus;
+using static BPASmartClient.EventBus.EventBus;
+using BPASmartClient.Model.PLC;
+using BPASmartClient.Model.单片机;
+
+namespace BPASmartClient.MorktJAKAJC
+{
+    /*
+     * 冰淇淋咖啡机组合套装
+     * 物料位置：
+     * 1：冰淇料
+     * 2：冰淇淋杯
+     * 5：咖啡
+     * 6：咖啡杯
+     * 9: 茶
+     * 10: 茶杯
+     */
+    public class Control_MORKJC : BaseDevice
+    {
+        GVL_MORKJC mORKD = new GVL_MORKJC();
+        //咖啡机主控程序
+        //private CoffeeMachine coffeeMachine;
+        ////果汁机主控程序
+        //private JuicerMachine juicerMachine;
+        ////单片机主控程序
+        //private ICChipMachine icchipMachine;
+        //物料存放位置
+        private Dictionary<string, PolymerBatching> batchings = new Dictionary<string, PolymerBatching>();
+        //容器位置
+        private string holderLoc;
+        //主料位置
+        private string mainMaterialLoc;
+        //子订单ID
+        private string subOrderId;
+
+        private bool enableFunny = false;
+        private DateTime lastRecvdOrder = DateTime.Now;
+        private bool working = false;
+        /// <summary>
+        /// 果汁机做法，true:热饮，false:冷饮
+        /// </summary>
+        private bool GuMake = false;
+
+        private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
+        {
+            EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType });
+        }
+
+        //private SerialPortClient commProxy;
+        public void ConnectOk()
+        {
+
+        }
+        ConcurrentQueue<MorkOrderPush> morkOrderPushes = new ConcurrentQueue<MorkOrderPush>();
+        public void Init()
+        {
+            ActionManage.GetInstance.Register(new Action<object>((s) =>
+            {
+                if (s is DrCoffeeDrinksCode cf)
+                {
+                    mainMaterialLoc = ((int)cf).ToString();
+                    DoCoffee();
+                }
+            }), "SimCoffee");
+
+            //构建所有商品物料信息
+            batchings = PolymerBatching.BuildAll();
+            EventBus.EventBus.GetInstance().Subscribe<DRCoffee_CoffeEndCookEvent>(DeviceId, DRCoffee_CoffeEndCookEventHandle);
+
+            System.Configuration.Configuration config = System.Configuration.ConfigurationManager.OpenExeConfiguration(System.Configuration.ConfigurationUserLevel.None);
+            //一系列外围基础配置
+            var com_Coffee = config.AppSettings.Settings["COM_Coffee"].Value;
+            var baud_Coffee = config.AppSettings.Settings["BAUD_Coffee"].Value;
+            //咖啡机创建
+            //coffeeMachine = new CoffeeMachine(com_Coffee, (BaudRates)Enum.Parse(typeof(BaudRates), baud_Coffee));
+            Main();
+            ReadData();
+            ThreadManage.GetInstance().StartLong(new Action(() =>
+            {
+                while (morkOrderPushes.Count > 0)
+                {
+                    while (enableFunny) { Thread.Sleep(10); }
+                    DeviceProcessLogShow("当前非自嗨模式，允许开工");
+                    working = true;
+                    if (morkOrderPushes.TryDequeue(out MorkOrderPush order))
+                    {
+                        DeviceProcessLogShow($"开始制作订单[{order.SortNum}]");
+
+
+
+                        //商品类型
+                        GOODS_TYPE currentGoodsType = GOODS_TYPE.NEITHER;
+                        //子订单ID
+                        subOrderId = order.SuborderId;
+                        //遍历物料
+                        foreach (var item in order.GoodBatchings)
+                        {
+                            var res = Json<BatchingInfoPar>.Data.orderMaterialDelivery.BatchingInfo.FirstOrDefault(p => p.BatchingId == item.BatchingId);
+                            if (res != null)
+                            {
+                                //获取主料和容器位置
+                                switch (batchings[res.BatchingLoc].BatchingClass)
+                                {
+                                    case BATCHING_CLASS.HOLDER:
+                                        holderLoc = res.BatchingLoc;
+                                        break;
+                                    case BATCHING_CLASS.MAIN_MATERIAL:
+                                        // mainMaterialLoc ="1";
+                                        mainMaterialLoc = res.BatchingLoc;
+                                        //验证商品是咖啡还是冰淇淋
+                                        if (ValidateGoodsByBatching(res.BatchingLoc) != GOODS_TYPE.NEITHER)
+                                        {
+                                            //获取当前物料所属商品类型
+                                            currentGoodsType = ValidateGoodsByBatching(res.BatchingLoc);
+                                        }
+                                        break;
+                                }
+                            }
+                        }
+
+                        //根据商品类型执行具体制作流程
+                        switch (currentGoodsType)
+                        {
+                            case GOODS_TYPE.COFFEE:
+                                DoCoffee();
+                                break;
+                            case GOODS_TYPE.JUICE:
+                                GuMake = order.MakeID == "2";
+                                DoJuicer();
+                                break;
+                            case GOODS_TYPE.TEA:
+                                DoTea();
+                                break;
+                            case GOODS_TYPE.WATER:
+                                DoWater();
+                                break;
+                            case GOODS_TYPE.NEITHER:
+                                DeviceProcessLogShow("未知的商品类型");
+                                break;
+                        }
+                    }
+                    working = false;
+                    lastRecvdOrder = DateTime.Now;
+                }
+                Thread.Sleep(1000);
+            }), "订单制作");
+        }
+
+        public void Main()
+        {
+            //咖啡机开启主线程
+            //coffeeMachine.Start();
+            //开始心跳刷新，根据咖啡机及冰淇淋机来判断
+            ThreadManage.GetInstance().StartLong(new Action(() =>
+            {
+                //IsHealth =
+                //         Write.IsConnected &&
+                //         MorkCStatus.GetInstance().CanDo &&
+                //         JuicerHelper.GetInstance.IsOpen &&
+                //         MCUSerialHelper.GetInstance.IsOpen;
+                //GeneralConfig.Healthy = true;
+                Thread.Sleep(100);
+            }), "MORK-IC心跳刷新");
+            //ThreadManage.GetInstance().Start(new Action(() =>
+            //{
+            //    while (!Write.IsConnected)
+            //    {
+            //        Thread.Sleep(10);
+            //    }
+            //    //LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_欢迎);
+            //}), "MORK-JC欢迎");
+        }
+
+        public void DataParse<T>(T order)
+        {
+            if (order is MorkOrderPush morkOrderPush)
+            {
+                morkOrderPushes.Enqueue(morkOrderPush);
+            }
+        }
+
+        /// <summary>
+        /// 验证当前是做咖啡还是做冰淇淋
+        /// </summary>
+        /// <param name="batchingLoc">物料位置</param>
+        private GOODS_TYPE ValidateGoodsByBatching(string batchingLoc)
+        {
+            if (batchings.ContainsKey(batchingLoc))
+                return batchings[batchingLoc].GoodsType;
+            return GOODS_TYPE.NEITHER;
+        }
+
+        private AutoResetEvent are = new AutoResetEvent(false);
+
+        private T GetStatus<T>(string key)
+        {
+            if (peripheralStatus.ContainsKey(key))
+            {
+                if (peripheralStatus[key] != null)
+                {
+                    return (T)(peripheralStatus[key]);
+                }
+            }
+            return default;
+        }
+
+        private void Wait(int value)
+        {
+            while (!((GetStatus<int>("Get_RobotAO1") == value) && GetStatus<int>("GetProgramStatus") == 0))//判断文件是否已经执行结束 且 文件末端变量值==文件名
+            {
+                Thread.Sleep(5);
+            }
+        }
+        int[] devStatusBy = new int[2] { 0, 0 };
+
+        /// <summary>
+        /// 传感器的输入信号 0:无意义 1：有信号 2：无信号 3：信号不正确
+        /// </summary>
+        int bSensorInput;
+        /// <summary>
+        /// 延迟的超时时间
+        /// </summary>
+        DateTime delayTimeOut;
+        /// <summary>
+        /// 做咖啡
+        /// </summary>
+        private void DoCoffee()
+        {
+            #region 接咖啡流程
+            are.Reset();
+            // OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
+            OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
+            int resultTakeCup = takeCup();
+            if (resultTakeCup == 1)
+            {
+                DeviceProcessLogShow("咖啡杯取杯完成");
+                new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_接咖啡 }.Publish();
+                // Write("JaKaProgramName",JakaModel.SENCE_接咖啡);
+                Wait(int.Parse(JakaModel.SENCE_接咖啡));
+                new DRCoffee_MakeCoffeeEvent() { DeviceId = DeviceId, DrinkCode = (DrCoffeeDrinksCode)int.Parse(mainMaterialLoc) }.Publish();  //接咖啡控制 //DrCoffeeDrinksCode.热水
+                are.WaitOne(1000 * 180);
+                new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_放咖啡杯 }.Publish();
+                Wait(int.Parse(JakaModel.SENCE_放咖啡杯));
+                int resultputCup = putCup();
+                if (resultputCup == 1)
+                {
+                    //订单状态改变：完成
+                    new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish();
+                    Wait(int.Parse(JakaModel.SENCE_初始位));
+                    OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
+                }
+                else
+                {
+                    new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish();
+                    Wait(int.Parse(JakaModel.SENCE_初始位));
+                }
+            }
+            else if (resultTakeCup == 2 || resultTakeCup == 3)
+            {
+                new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish();
+                Wait(int.Parse(JakaModel.SENCE_初始位));
+            }
+            #endregion
+        }
+        /// <summary>
+        /// 做茶
+        /// </summary>
+        private void DoTea()
+        {
+            #region 接茶流程
+            OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
+            int resultTakeCup = takeCup();
+            if (resultTakeCup == 1)
+            {
+                DeviceProcessLogShow("取茶杯完成");
+                new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_接茶 }.Publish();
+                Wait(int.Parse(JakaModel.SENCE_接茶));
+
+                new WriteMcu() { TagName = "ServoControl", Address = "1", Value = 105 }.Publish();
+                Thread.Sleep(1000);
+                new WriteMcu() { TagName = "ServoControl", Address = "1", Value = 130 }.Publish();
+                Thread.Sleep(1000);
+                new WriteMcu() { TagName = "ServoControl", Address = "1", Value = 105 }.Publish();
+
+                Thread.Sleep(3000);
+                new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_接茶_接水 }.Publish();
+                Wait(int.Parse(JakaModel.SENCE_接茶_接水));
+
+
+                new WriteMcu() { TagName = "OutputControl", Value = false, Address = "4" }.Publish();
+                new WriteMcu() { TagName = "OutputControl", Value = false, Address = "3" }.Publish();
+
+                Thread.Sleep(100);
+                new WriteMcu() { TagName = "OutputControl", Value = true, Address = "3" }.Publish();
+                Thread.Sleep(3000);
+                new WriteMcu() { TagName = "OutputControl", Value = false, Address = "3" }.Publish();
+                Thread.Sleep(100);
+
+                new WriteMcu() { TagName = "OutputControl", Value = false, Address = "4" }.Publish();
+                Thread.Sleep(100);
+                new WriteMcu() { TagName = "OutputControl", Value = true, Address = "4" }.Publish();
+                Thread.Sleep(500);
+                new WriteMcu() { TagName = "OutputControl", Value = false, Address = "4" }.Publish();
+
+                Thread.Sleep(50000);
+
+                new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_放茶水杯 }.Publish();
+                Wait(int.Parse(JakaModel.SENCE_放茶水杯));
+                int resultputCup = putCup();
+                if (resultputCup == 1)
+                {
+                    new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish();
+                    Wait(int.Parse(JakaModel.SENCE_初始位));
+                    OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
+                }
+                else
+                {
+                    new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish();
+                    Wait(int.Parse(JakaModel.SENCE_初始位));
+                }
+            }
+            else if (resultTakeCup == 2 || resultTakeCup == 3)
+            {
+                new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish();
+                Wait(int.Parse(JakaModel.SENCE_初始位));
+            }
+            #endregion
+        }
+
+        /// <summary>
+        /// 接开水
+        /// </summary>
+        private void DoWater()
+        {
+            #region 接水流程
+            OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
+            int resultTakeCup = takeCup();
+            if (resultTakeCup == 1)
+            {
+
+                new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_接水 }.Publish();
+                Wait(int.Parse(JakaModel.SENCE_接水));
+
+                new WriteMcu() { TagName = "OutputControl", Value = false, Address = "4" }.Publish();
+
+
+                new WriteMcu() { TagName = "OutputControl", Value = false, Address = "3" }.Publish();
+                Thread.Sleep(100);
+                new WriteMcu() { TagName = "OutputControl", Value = true, Address = "3" }.Publish();
+                Thread.Sleep(3000);
+                new WriteMcu() { TagName = "OutputControl", Value = false, Address = "3" }.Publish();
+                Thread.Sleep(100);
+
+                new WriteMcu() { TagName = "OutputControl", Value = false, Address = "4" }.Publish();
+                Thread.Sleep(100);
+                new WriteMcu() { TagName = "OutputControl", Value = true, Address = "4" }.Publish();
+                Thread.Sleep(500);
+                new WriteMcu() { TagName = "OutputControl", Value = false, Address = "4" }.Publish();
+
+                Thread.Sleep(50000);
+                //添加控制接水机构程序
+
+                new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_放茶水杯 }.Publish();
+                Wait(int.Parse(JakaModel.SENCE_放茶水杯));
+                int resultputCup = putCup();
+                if (resultputCup == 1)
+                {
+                    new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish();
+                    Wait(int.Parse(JakaModel.SENCE_初始位));
+                    OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
+                }
+                else
+                {
+                    new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish();
+                    Wait(int.Parse(JakaModel.SENCE_初始位));
+                }
+            }
+            else if (resultTakeCup == 2 || resultTakeCup == 3)
+            {
+                new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish();
+                Wait(int.Parse(JakaModel.SENCE_初始位));
+            }
+            #endregion
+        }
+        /// <summary>
+        /// 果汁机控制信号
+        /// </summary>
+        private byte JuicerNum;
+        /// <summary>
+        /// 做果汁
+        /// </summary>
+        private void DoJuicer()
+        {
+            #region 接果汁流程
+            are.Reset();
+            OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
+            int resultTakeCup = takeCup();
+            if (resultTakeCup == 1)
+            {
+                int JuicerNum1 = int.Parse(mainMaterialLoc);
+                switch (JuicerNum1)
+                {
+                    case 52:
+                        if (GuMake)
+                        {
+                            JuicerNum = 0x00;
+                        }
+                        else
+                        {
+                            JuicerNum = 0x01;
+                        }
+                        new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_接果汁1 }.Publish();
+                        Wait(int.Parse(JakaModel.SENCE_接果汁1));
+                        break;
+                    case 53:
+                        if (GuMake)
+                        {
+                            JuicerNum = 0x02;
+                        }
+                        else
+                        {
+                            JuicerNum = 0x03;
+                        }
+                        new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_接果汁2 }.Publish();
+                        Wait(int.Parse(JakaModel.SENCE_接果汁2));
+                        break;
+                    case 54:
+                        if (GuMake)
+                        {
+                            JuicerNum = 0x04;
+                        }
+                        else
+                        {
+                            JuicerNum = 0x05;
+                        }
+                        new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_接果汁3 }.Publish();
+                        Wait(int.Parse(JakaModel.SENCE_接果汁3));
+                        break;
+                    case 55:
+                        if (GuMake)
+                        {
+                            JuicerNum = 0x06;
+                        }
+                        else
+                        {
+                            JuicerNum = 0x07;
+                        }
+                        new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_接果汁4 }.Publish();
+                        Wait(int.Parse(JakaModel.SENCE_接果汁4));
+                        break;
+                    default:
+                        JuicerNum = 0x00;
+                        new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_接果汁1 }.Publish();
+                        Wait(int.Parse(JakaModel.SENCE_接果汁1));
+                        break;
+                }
+                var devStatus = GetStatus<int[]>("GetDeviceStatus");
+                var devStatus1 = Convert.ToString(devStatus[0], 2);
+                var devStatus2 = devStatus[1];
+
+                if (devStatus1.IndexOf("0") == 1 && devStatus2 == 0)
+                {
+                    if (sensor_Sign(1) == 1)
+                    {
+                        new WriteJuicer() { Value = JuicerNum }.Publish();
+                    }
+                    Thread.Sleep(100);
+                    devStatusBy = GetStatus<int[]>("GetDeviceStatus");
+                    while (!(devStatusBy[1] == 0))
+                    {
+                        Thread.Sleep(100);
+                        devStatusBy = GetStatus<int[]>("GetDeviceStatus");
+                        while (devStatusBy.Length != 2)
+                        {
+                            Thread.Sleep(100);
+                            devStatusBy = GetStatus<int[]>("GetDeviceStatus");
+                        }
+                    }
+                    devStatusBy = GetStatus<int[]>("GetDeviceStatus");
+                    Thread.Sleep(5000);
+                    switch (JuicerNum1)
+                    {
+                        case 52:
+                            new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_放果汁杯1 }.Publish();
+                            Wait(int.Parse(JakaModel.SENCE_放果汁杯1));
+                            break;
+                        case 53:
+                            new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_放果汁杯2 }.Publish();
+                            Wait(int.Parse(JakaModel.SENCE_放果汁杯2));
+                            break;
+                        case 54:
+                            new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_放果汁杯3 }.Publish();
+                            Wait(int.Parse(JakaModel.SENCE_放果汁杯3));
+                            break;
+                        case 55:
+                            new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_放果汁杯4 }.Publish();
+                            Wait(int.Parse(JakaModel.SENCE_放果汁杯4));
+                            break;
+                        default:
+                            new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_放果汁杯1 }.Publish();
+                            Wait(int.Parse(JakaModel.SENCE_放果汁杯1));
+                            break;
+                    }
+                    int resultputCup = putCup();
+                    if (resultputCup == 1)
+                    {
+                        new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish();
+                        Wait(int.Parse(JakaModel.SENCE_初始位));
+                        OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
+                    }
+                    else
+                    {
+                        new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish();
+                        Wait(int.Parse(JakaModel.SENCE_初始位));
+                    }
+                }
+                else
+                {
+                    switch (JuicerNum1)
+                    {
+                        case 52:
+                            new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_放果汁杯1 }.Publish();
+                            Wait(int.Parse(JakaModel.SENCE_放果汁杯1));
+                            break;
+                        case 53:
+                            new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_放果汁杯2 }.Publish();
+                            Wait(int.Parse(JakaModel.SENCE_放果汁杯2));
+                            break;
+                        case 54:
+                            new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_放果汁杯3 }.Publish();
+                            Wait(int.Parse(JakaModel.SENCE_放果汁杯3));
+                            break;
+                        case 55:
+                            new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_放果汁杯4 }.Publish();
+                            Wait(int.Parse(JakaModel.SENCE_放果汁杯4));
+                            break;
+                        default:
+                            new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_放果汁杯1 }.Publish();
+                            Wait(int.Parse(JakaModel.SENCE_放果汁杯1));
+                            break;
+                    }
+                    int resultputCup = putCup();
+                    if (resultputCup == 1)
+                    {
+                        new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish();
+                        Wait(int.Parse(JakaModel.SENCE_初始位));
+                        OrderChange(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
+                    }
+                    else
+                    {
+                        new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish();
+                        Wait(int.Parse(JakaModel.SENCE_初始位));
+                    }
+                }
+            }
+            else if (resultTakeCup == 2 || resultTakeCup == 3)
+            {
+                new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish();
+                Wait(int.Parse(JakaModel.SENCE_初始位));
+            }
+            #endregion
+        }
+        private int getCup_cnt;
+        /// <summary>
+        /// 取杯流程
+        /// </summary>
+        /// <returns>0:无意义，1：取杯成功 2：机构有杯子，取杯失败 3：机构没有杯子</returns>
+        private int takeCup()
+        {
+            try
+            {
+                getCup_cnt = 0;//取杯次数复位
+                new WriteJaka() { TagName = "Set_RobotAO1", Value = 0 }.Publish();
+                Wait(0);
+                new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish();
+                Wait(int.Parse(JakaModel.SENCE_初始位));
+                new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish();
+                Thread.Sleep(10);
+                new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish();
+                new WriteJaka() { TagName = "Set_RobotAO1", Value = 0 }.Publish();
+                Wait(0);
+                new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯 }.Publish();
+                Wait(int.Parse(JakaModel.SENCE_取杯));
+                bSensorInput = sensor_Sign(1);
+                if (bSensorInput == 2)
+                {
+                    Thread.Sleep(100);
+                    new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish();
+                    new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish();
+                    Thread.Sleep(100);
+                    new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯检测 }.Publish();
+                    Wait(int.Parse(JakaModel.SENCE_取杯检测));
+                    DeviceProcessLogShow("落杯器没有纸杯了");
+                    return 3;
+                }
+                if (bSensorInput == 1)
+                {
+                    Thread.Sleep(100);
+                    new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish();
+                    new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish();
+                    Thread.Sleep(100);
+                    new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯检测 }.Publish();
+                    Wait(int.Parse(JakaModel.SENCE_取杯检测));
+                    bSensorInput = sensor_Sign(1);
+                    /*delayTimeOut = DateTime.Now;
+                    bSensorInput = sensor_Sign(1);
+                    while (bSensorInput == 3)
+                    {
+                        Thread.Sleep(100);
+                        bSensorInput = sensor_Sign(1);
+                    }*/
+                    while (getCup_cnt < 4 && (bSensorInput == 2 || bSensorInput == 3))
+                    {
+                        DeviceProcessLogShow($"第{getCup_cnt}次取杯失败");
+                        Thread.Sleep(100);
+                        new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish();
+                        new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish();
+                        Thread.Sleep(100);
+                        new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯 }.Publish();
+                        Wait(int.Parse(JakaModel.SENCE_取杯));
+                        getCup_cnt = getCup_cnt + 1;
+                        Thread.Sleep(100);
+                        new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish();
+                        new WriteMcu() { TagName = "OutputControl", Address = "1", Value = false }.Publish();
+                        Thread.Sleep(100);
+                        new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_取杯检测 }.Publish();
+                        Wait(int.Parse(JakaModel.SENCE_取杯检测));
+                        bSensorInput = sensor_Sign(1);
+                    }
+                    if (bSensorInput == 1)
+                    {
+                        return 1;
+                    }
+                    else
+                    {
+                        return 2;
+                    }
+                }
+                return 1;
+            }
+            catch (Exception ex)
+            {
+                DeviceProcessLogShow(ex.ToString());
+                return 0;
+            }
+        }
+        /// <summary>
+        /// 放杯
+        /// </summary>
+        /// <returns>0:无意义 1：执行成功 2：执行失败(传感器还有信号)</returns>
+        private int putCup()
+        {
+            try
+            {
+                while (checkCup() == 2)
+                {
+                    Thread.Sleep(100);
+                }
+                new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_放杯 }.Publish();
+                Wait(int.Parse(JakaModel.SENCE_放杯));
+                new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish();
+                Thread.Sleep(10);
+                new WriteMcu() { TagName = "OutputControl", Address = "1", Value = true }.Publish();
+                Thread.Sleep(10);
+                new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_放杯检测 }.Publish();
+                Wait(int.Parse(JakaModel.SENCE_放杯检测));
+                bSensorInput = sensor_Sign(2);
+                delayTimeOut = DateTime.Now;
+                while (bSensorInput == 2)
+                {
+                    Thread.Sleep(100);
+                    bSensorInput = sensor_Sign(2);
+                    if (DateTime.Now.Subtract(delayTimeOut).TotalSeconds >= 2) return 2;
+                }
+                if (bSensorInput == 2)
+                {
+                    DeviceProcessLogShow("放杯失败传感器没有信号");
+                    new WriteJaka() { TagName = "JaKaProgramName", Value = JakaModel.SENCE_初始位 }.Publish();
+                    Wait(int.Parse(JakaModel.SENCE_初始位));
+                    return 1;
+                }
+                return 1;
+            }
+            catch (Exception ex)
+            {
+                DeviceProcessLogShow(ex.ToString());
+                return 0;
+            }
+        }
+        private int cnt_Check;
+
+        public override DeviceClientType DeviceType => throw new NotImplementedException();
+
+        /// <summary>
+        /// 检测放杯位，是否有杯子
+        /// </summary>
+        /// <returns>0：无意义 1：没有杯子  2：有杯子 </returns>
+        private int checkCup()
+        {
+            try
+            {
+                //cnt_Check = 0;
+                bSensorInput = sensor_Sign(2);
+                if (bSensorInput == 2)
+                {
+                    DeviceProcessLogShow($"放杯位传感器没有信号:{cnt_Check}");
+                    return 1;
+                }
+                else if (bSensorInput == 1)
+                {
+                    DeviceProcessLogShow($"放杯位传感器有信号:{cnt_Check}");
+                    return 2;
+                }
+                return 2;
+            }
+            catch (Exception ex)
+            {
+                DeviceProcessLogShow(ex.ToString());
+                return 0;
+            }
+        }
+
+        private T McuRead<T>(string tagName, object par)
+        {
+            new ReadMcu() { DeviceId = DeviceId, TagName = tagName, ReadPar = par };
+            if (peripheralStatus.ContainsKey(tagName))
+            {
+                if (peripheralStatus[tagName] != null)
+                {
+                    return (T)peripheralStatus[tagName];
+                }
+            }
+            return default;
+        }
+
+
+
+        /// <summary>
+        /// 传感器防抖0.2s内检测20次，
+        /// </summary>
+        /// <param name="num"></param>
+        /// <returns></returns>
+        private int sensor_Sign(byte num)
+        {
+            DeviceProcessLogShow($"开始检测{num}号传感器信号");
+            int cnt = 0;
+            cnt_Check = 0;
+            while (true)
+            {
+                Thread.Sleep(10);
+                bSensorInput = McuRead<int>("GetInputStatus", num);
+                if (bSensorInput == 1)
+                {
+                    cnt_Check = cnt_Check + 1;
+                    cnt = cnt + 1;
+                }
+                else if (bSensorInput == 2)
+                {
+                    cnt_Check = cnt_Check - 1;
+                    cnt = cnt + 1;
+                }
+                if (cnt >= 20)
+                {
+                    break;
+                }
+
+            }
+            if (cnt_Check >= 0)
+            {
+                DeviceProcessLogShow($"{num}传感器有信号:{cnt_Check}");
+                return 1;
+            }
+            else
+            {
+                DeviceProcessLogShow($"{num}传感器没有信号:{cnt_Check}");
+                return 2;
+            }
+        }
+        private void DRCoffee_CoffeEndCookEventHandle(IEvent @event, EventCallBackHandle callBack)
+        {
+            are.Set();
+        }
+
+        public void SimOrder<T>(T simOrder)
+        {
+
+        }
+
+        public override void DoMain()
+        {
+
+        }
+
+        public override void Stop()
+        {
+
+        }
+
+        public override void ReadData()
+        {
+
+        }
+
+        public override void MainTask()
+        {
+
+        }
+
+        public override void ResetProgram()
+        {
+
+        }
+    }
+}

BPASmartClient.Morkt.JAKA.JC/GVL_MORKJC.cs

@@ -0,0 +1,8 @@
+using BPASmartClient.Device;
+
+namespace BPASmartClient.MorktJAKAJC
+{
+    public class GVL_MORKJC : IStatus
+    {
+    }
+}

BPASmartClient.Morkt.JAKA.JC/PolymerBatching.cs

@@ -0,0 +1,152 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorktJAKAJC
+{
+    internal enum GOODS_TYPE
+    {
+        /// <summary>
+        /// 未知
+        /// </summary>
+        NEITHER,
+        /// <summary>
+        /// 咖啡
+        /// </summary>
+        COFFEE,
+        /// <summary>
+        /// 果汁
+        /// </summary>
+        JUICE,
+        /// <summary>
+        /// 茶水
+        /// </summary>
+        TEA,
+        /// <summary>
+        /// 水
+        /// </summary>
+        WATER,
+        /// <summary>
+        /// 杯子
+        /// </summary>
+        CUP
+    }
+
+    internal enum BATCHING_CLASS
+    {
+        HOLDER,
+        MAIN_MATERIAL,
+    }
+
+    internal class PolymerBatching
+    {
+        internal const string Juicer_MAIN_BATCHIN1_LOC = "52";
+        internal const string Juicer_MAIN_BATCHIN2_LOC = "53";
+        internal const string Juicer_MAIN_BATCHIN3_LOC = "54";
+        internal const string Juicer_MAIN_BATCHIN4_LOC = "55";
+        //internal const string Juicer_MAIN_BATCHIN5_LOC = "56";
+        //internal const string Juicer_MAIN_BATCHIN6_LOC = "57";
+        //internal const string Juicer_MAIN_BATCHIN7_LOC = "58";
+        //internal const string Juicer_MAIN_BATCHIN8_LOC = "59";
+
+        internal const string COFFEE_HOLDER_LOC = "30";
+        internal const string TEA_HOLDER_LOC = "51";
+        public static Dictionary<string, GOODS_TYPE> GOODS_TYPES = new Dictionary<string, GOODS_TYPE>() {
+            {"1", GOODS_TYPE.COFFEE},
+            {"2", GOODS_TYPE.COFFEE},
+            {"3", GOODS_TYPE.COFFEE},
+            {"4", GOODS_TYPE.COFFEE},
+            {"5", GOODS_TYPE.COFFEE},
+            {"6", GOODS_TYPE.COFFEE},
+            {"7", GOODS_TYPE.COFFEE},
+            {"8", GOODS_TYPE.COFFEE},
+            {"9", GOODS_TYPE.COFFEE},
+            {"10",GOODS_TYPE.COFFEE},
+            {"11",GOODS_TYPE.COFFEE},
+            {"12",GOODS_TYPE.COFFEE},
+            {"13",GOODS_TYPE.COFFEE},
+            {"14",GOODS_TYPE.COFFEE},
+            {"15",GOODS_TYPE.COFFEE},
+            {"16",GOODS_TYPE.COFFEE},
+            {"17",GOODS_TYPE.COFFEE},
+            {"18",GOODS_TYPE.COFFEE},
+            {"19",GOODS_TYPE.COFFEE},
+            {"20",GOODS_TYPE.COFFEE},
+            {"21",GOODS_TYPE.COFFEE},
+            {"22",GOODS_TYPE.COFFEE},
+            {"23",GOODS_TYPE.COFFEE},
+            {"24",GOODS_TYPE.COFFEE},
+            {"25",GOODS_TYPE.COFFEE},
+            { COFFEE_HOLDER_LOC,GOODS_TYPE.CUP},
+            {"56",GOODS_TYPE.TEA },
+            {Juicer_MAIN_BATCHIN1_LOC,GOODS_TYPE.JUICE},
+            {Juicer_MAIN_BATCHIN2_LOC,GOODS_TYPE.JUICE},
+            {Juicer_MAIN_BATCHIN3_LOC,GOODS_TYPE.JUICE},
+            {Juicer_MAIN_BATCHIN4_LOC,GOODS_TYPE.JUICE},
+            {"61",GOODS_TYPE.WATER},
+            //{Juicer_MAIN_BATCHIN5_LOC,GOODS_TYPE.JUICE},
+            //{Juicer_MAIN_BATCHIN6_LOC,GOODS_TYPE.JUICE},
+            //{Juicer_MAIN_BATCHIN7_LOC,GOODS_TYPE.JUICE},
+            //{Juicer_MAIN_BATCHIN8_LOC,GOODS_TYPE.JUICE},
+        };
+
+        public GOODS_TYPE GoodsType { get; set; }
+        public BATCHING_CLASS BatchingClass { get; set; }
+        private string loc;
+
+        public string Loc
+        {
+            get { return loc; }
+            set
+            {
+                loc = value;
+                if (GOODS_TYPES.ContainsKey(loc))
+                    GoodsType = GOODS_TYPES[loc];
+                switch (loc)
+                {
+                    case COFFEE_HOLDER_LOC:
+                    case TEA_HOLDER_LOC:
+                        BatchingClass = BATCHING_CLASS.HOLDER;
+                        break;
+                    default:
+                        BatchingClass = BATCHING_CLASS.MAIN_MATERIAL;
+                        break;
+                }
+            }
+        }
+
+        internal static Dictionary<string, PolymerBatching> BuildAll()
+        {
+            Dictionary<string, PolymerBatching> temp = new Dictionary<string, PolymerBatching>();
+            foreach (var item in GOODS_TYPES)
+            {
+                temp.Add(item.Key, new PolymerBatching() { Loc = item.Key });
+            }
+            return temp;
+        }
+
+        //internal static IC_SE GetIceCreamSE(string loc, out string sence)
+        //{
+        //    switch (loc)
+        //    {
+        //        case Juicer_MAIN_BATCHIN1_LOC:
+        //            sence = JaKaHelper.SENCE_接果汁1;
+        //            return IC_SE.SE_1;
+
+        //        case Juicer_MAIN_BATCHIN2_LOC:
+        //            sence = JaKaHelper.SENCE_接果汁2;
+        //            return IC_SE.SE_2;
+
+        //        case Juicer_MAIN_BATCHIN3_LOC:
+        //            sence = JaKaHelper.SENCE_接果汁3;
+        //            return IC_SE.SE_3;
+
+        //        default:
+        //            sence = JaKaHelper.SENCE_接果汁1;
+        //            return IC_SE.SE_1;
+        //    }
+        //}
+    }
+}

BPASmartClient.Peripheral/BasePeripheral.cs

@@ -47,6 +47,13 @@ namespace BPASmartClient.Peripheral
             return null;
         }
 
+        public void SetStatus(string statusName, object value)
+        {
+            if (status.ContainsKey(statusName))
+                status[statusName] = value;
+            else
+                status.TryAdd(statusName, value);
+        }
 
         public abstract void Start();
 
@@ -54,9 +61,14 @@ namespace BPASmartClient.Peripheral
 
         public abstract void Init();
 
+        //public abstract void ReadData(string address);
+
+        public abstract void WriteData(string address, object value);
+
         public ConcurrentDictionary<string, object> GetAllStatus()
         {
             return status;
         }
+
     }
 }

BPASmartClient.Peripheral/IPeripheral.cs

@@ -53,6 +53,10 @@ namespace BPASmartClient.Peripheral
         /// </summary>
         ConcurrentDictionary<string, object> status { get; set; }
 
+        void WriteData(string address, object value);
+
+        //void ReadData(string address);
+
         /// <summary>
         /// 初始化
         /// </summary>

BPASmartClient.SCChip/ICChipMachine.cs

@@ -14,7 +14,7 @@ using static BPASmartClient.EventBus.EventBus;
 
 namespace BPASmartClient.SCChip
 {
-    public class ICChipMachine :BasePeripheral
+    public class ICChipMachine : BasePeripheral
     {
         //通讯代理
         SerialPortClient commProxy = null;
@@ -33,6 +33,43 @@ namespace BPASmartClient.SCChip
         /// </summary>
         public bool OnLine { get { return DateTime.Now.Subtract(lastRefreshTime).TotalSeconds <= 3; } }
 
+        #region 无需上传的数据
+        /// <summary>
+        /// 1号舵机打开完成
+        /// </summary>
+        public bool CompletedOpen_SE_1 { get; set; }
+        /// <summary>
+        /// 2号舵机打开完成
+        /// </summary>
+        public bool CompletedOpen_SE_2 { get; set; }
+        /// <summary>
+        /// 3号舵机打开完成
+        /// </summary>
+        public bool CompletedOpen_SE_3 { get; set; }
+        /// <summary>
+        /// 1号舵机关闭完成
+        /// </summary>
+        public bool CompletedClose_SE_1 { get; set; }
+        /// <summary>
+        /// 2号舵机关闭完成
+        /// </summary>
+        public bool CompletedClose_SE_2 { get; set; }
+        /// <summary>
+        /// 3号舵机关闭完成
+        /// </summary>
+        public bool CompletedClose_SE_3 { get; set; }
+        /// <summary>
+        /// 是否存在物品
+        /// </summary>
+        public bool ArticleExits { get; set; }
+        /// <summary>
+        /// 物品距离
+        /// </summary>
+        public byte ArticleDist { get; set; }
+        #endregion
+
+
+
         public ICChipMachine()
         {
 
@@ -80,7 +117,7 @@ namespace BPASmartClient.SCChip
             ThreadManage.GetInstance().StartLong(new Action(() =>
             {
                 ResolveMsg();
-            }),"单片机解析线程");
+            }), "单片机解析线程");
         }
 
         private void ResolveMsg()
@@ -120,8 +157,8 @@ namespace BPASmartClient.SCChip
             IntPtr allocIntPtr = Marshal.AllocHGlobal(size);
             try
             {
-                Marshal.Copy(dataBuffer,0,allocIntPtr,size);
-                structure = (ICChipPackage)Marshal.PtrToStructure(allocIntPtr,typeof(ICChipPackage));
+                Marshal.Copy(dataBuffer, 0, allocIntPtr, size);
+                structure = (ICChipPackage)Marshal.PtrToStructure(allocIntPtr, typeof(ICChipPackage));
             }
             finally
             {
@@ -141,8 +178,8 @@ namespace BPASmartClient.SCChip
             IntPtr bufferIntPtr = Marshal.AllocHGlobal(size);
             try
             {
-                Marshal.StructureToPtr(structure,bufferIntPtr,true);
-                Marshal.Copy(bufferIntPtr,buffer,0,size);
+                Marshal.StructureToPtr(structure, bufferIntPtr, true);
+                Marshal.Copy(bufferIntPtr, buffer, 0, size);
             }
             finally
             {
@@ -176,13 +213,13 @@ namespace BPASmartClient.SCChip
                         switch ((IC_SE)data.Value)
                         {
                             case IC_SE.SE_1:
-                                status["CompletedOpen_SE_1"] = true;
-                                break;
+                                CompletedOpen_SE_1 = true;
+                                break; 
                             case IC_SE.SE_2:
-                                status["CompletedOpen_SE_2"] = true;
-                                break;
+                                CompletedOpen_SE_2 = true;
+                                break; 
                             case IC_SE.SE_3:
-                                status["CompletedOpen_SE_3"] = true;
+                                CompletedOpen_SE_3 = true;
                                 break;
                         }
                         break;
@@ -190,19 +227,19 @@ namespace BPASmartClient.SCChip
                         switch ((IC_SE)data.Value)
                         {
                             case IC_SE.SE_1:
-                                status["CompletedClose_SE_1"] = true;
+                                CompletedClose_SE_1 = true;
                                 break;
                             case IC_SE.SE_2:
-                                status["CompletedClose_SE_2"] = true;
+                                CompletedClose_SE_2= true;
                                 break;
                             case IC_SE.SE_3:
-                                status["CompletedClose_SE_3"] = true;
+                                CompletedClose_SE_3 = true;
                                 break;
                         }
                         break;
                 }
-                if(!OnLine) IsWork = false;
-                else IsWork = true; 
+                if (!OnLine) IsWork = false;
+                else IsWork = true;
             }
             catch (Exception ex)
             {
@@ -214,62 +251,62 @@ namespace BPASmartClient.SCChip
         {
             status["CompletedTake_CPU_CUP_ICECREAM"] = false;
             status["CompletedTake_CPU_CUP_COFFEE"] = false;
-            status["CompletedOpen_SE_1"] = false;
-            status["CompletedOpen_SE_2"] = false;
-            status["CompletedOpen_SE_3"] = false;
-            status["CompletedClose_SE_1"] = false;
-            status["CompletedClose_SE_2"] = false;
-            status["CompletedClose_SE_3"] = false;
+            //status["CompletedOpen_SE_1"] = false;
+            //status["CompletedOpen_SE_2"] = false;
+            //status["CompletedOpen_SE_3"] = false;
+            //status["CompletedClose_SE_1"] = false;
+            //status["CompletedClose_SE_2"] = false;
+            //status["CompletedClose_SE_3"] = false;
         }
 
         public override void Init()
         {
-            commProxy = new SerialPortClient(communicationPar.SerialPort,(BaudRates)communicationPar.BaudRate);
+            commProxy = new SerialPortClient(communicationPar.SerialPort, (BaudRates)communicationPar.BaudRate);
             commProxy.SetDataStorage(dataStorage);
 
             //STM32F103RCT6单片机下杯
-            EventBus.EventBus.GetInstance().Subscribe<SCChip_TakeCupEvent>(DeviceId,delegate (IEvent @event,EventCallBackHandle callBack)
-            {
-                try
-                {
-                    switch ((@event as SCChip_TakeCupEvent).Cup)
-                    {
-                        case IC_CUP.CUP_ICECREAM:
-                            status["CompletedTake_CPU_CUP_ICECREAM"] = false;
-                            break;
-                        case IC_CUP.CUP_COFFEE:
-                            status["CompletedTake_CPU_CUP_COFFEE"] = false;
-                            break;
-                    }
-                    package.Cmd = IC_CMD.TAKE_CUP;
-                    package.Value = (byte)(@event as SCChip_TakeCupEvent).Cup;
-                    commProxy.SendData(StructureToByte(package));
+            EventBus.EventBus.GetInstance().Subscribe<SCChip_TakeCupEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+             {
+                 try
+                 {
+                     switch ((@event as SCChip_TakeCupEvent).Cup)
+                     {
+                         case IC_CUP.CUP_ICECREAM:
+                             status["CompletedTake_CPU_CUP_ICECREAM"] = false;
+                             break;
+                         case IC_CUP.CUP_COFFEE:
+                             status["CompletedTake_CPU_CUP_COFFEE"] = false;
+                             break;
+                     }
+                     package.Cmd = IC_CMD.TAKE_CUP;
+                     package.Value = (byte)(@event as SCChip_TakeCupEvent).Cup;
+                     commProxy.SendData(StructureToByte(package));
 
-                    bool wait = true;
-                    var waitTimeout = DateTime.Now.AddSeconds(3);
-                    while (wait)
-                    {
-                        wait = DateTime.Now < waitTimeout;
-                        if (wait)
-                        {
-                            switch ((@event as SCChip_TakeCupEvent).Cup)
-                            {
-                                case IC_CUP.CUP_ICECREAM:
-                                    wait = !(bool)status["CompletedTake_CPU_CUP_ICECREAM"];
-                                    break;
-                                case IC_CUP.CUP_COFFEE:
-                                    wait = !(bool)status["CompletedTake_CPU_CUP_COFFEE"];
-                                    break;
-                            }
-                        }
-                        Thread.Sleep(10);
-                    }
-                }
-                catch (Exception ex)
-                {
-                    MessageLog.GetInstance.ShowEx($"BPASmartClient.SCChip 中引发错误,ICChipMachine 类,描述：[{ex.Message}]");
-                }
-            });
+                     bool wait = true;
+                     var waitTimeout = DateTime.Now.AddSeconds(3);
+                     while (wait)
+                     {
+                         wait = DateTime.Now < waitTimeout;
+                         if (wait)
+                         {
+                             switch ((@event as SCChip_TakeCupEvent).Cup)
+                             {
+                                 case IC_CUP.CUP_ICECREAM:
+                                     wait = !(bool)status["CompletedTake_CPU_CUP_ICECREAM"];
+                                     break;
+                                 case IC_CUP.CUP_COFFEE:
+                                     wait = !(bool)status["CompletedTake_CPU_CUP_COFFEE"];
+                                     break;
+                             }
+                         }
+                         Thread.Sleep(10);
+                     }
+                 }
+                 catch (Exception ex)
+                 {
+                     MessageLog.GetInstance.ShowEx($"BPASmartClient.SCChip 中引发错误,ICChipMachine 类,描述：[{ex.Message}]");
+                 }
+             });
 
             //STM32F103RCT6单片机舵机打料
             EventBus.EventBus.GetInstance().Subscribe<SCChip_MakeIceCreamEvent>(DeviceId,delegate (IEvent @event,EventCallBackHandle callBack)
@@ -279,13 +316,13 @@ namespace BPASmartClient.SCChip
                     switch ((IC_SE)(@event as SCChip_MakeIceCreamEvent).SteeringEngine)
                     {
                         case IC_SE.SE_1:
-                            status["CompletedOpen_SE_1"] = false;
+                            CompletedOpen_SE_1 = false;
                             break;
                         case IC_SE.SE_2:
-                            status["CompletedOpen_SE_2"] = false;
+                            CompletedOpen_SE_2 = false;
                             break;
                         case IC_SE.SE_3:
-                            status["CompletedOpen_SE_3"] = false;
+                            CompletedOpen_SE_3 = false;
                             break;
                     }
                     package.Cmd = IC_CMD.OPEN_SE;
@@ -302,19 +339,31 @@ namespace BPASmartClient.SCChip
                             switch ((IC_SE)(@event as SCChip_MakeIceCreamEvent).SteeringEngine)
                             {
                                 case IC_SE.SE_1:
-                                    wait = !(bool)status["CompletedOpen_SE_1"];
+                                    wait = !CompletedOpen_SE_1;
                                     break;
                                 case IC_SE.SE_2:
-                                    wait = !(bool)status["CompletedOpen_SE_2"];
+                                    wait = !CompletedOpen_SE_2;
                                     break;
                                 case IC_SE.SE_3:
-                                    wait = !(bool)status["CompletedOpen_SE_3"];
+                                    wait = !CompletedOpen_SE_3;
                                     break;
                             }
                         }
                         Thread.Sleep(10);
                     }
                     Thread.Sleep(2000);
+                    switch ((IC_SE)(@event as SCChip_MakeIceCreamEvent).SteeringEngine)
+                    {
+                        case IC_SE.SE_1:
+                            CompletedClose_SE_1 = false;
+                            break;
+                        case IC_SE.SE_2:
+                            CompletedClose_SE_2 = false;
+                            break;
+                        case IC_SE.SE_3:
+                            CompletedClose_SE_3 = false;
+                            break;
+                    }
                     package.Cmd = IC_CMD.CLOSE_SE;
                     package.Value = (byte)(@event as SCChip_MakeIceCreamEvent).SteeringEngine;
                     commProxy.SendData(StructureToByte(package));
@@ -329,13 +378,13 @@ namespace BPASmartClient.SCChip
                             switch ((IC_SE)(@event as SCChip_MakeIceCreamEvent).SteeringEngine)
                             {
                                 case IC_SE.SE_1:
-                                    wait = !(bool)status["CompletedClose_SE_1"];
+                                    wait = !CompletedClose_SE_1;
                                     break;
                                 case IC_SE.SE_2:
-                                    wait = !(bool)status["CompletedClose_SE_2"];
+                                    wait = !CompletedClose_SE_2;
                                     break;
                                 case IC_SE.SE_3:
-                                    wait = !(bool)status["CompletedClose_SE_3"];
+                                    wait = !CompletedClose_SE_3;
                                     break;
                             }
                         }
@@ -349,38 +398,42 @@ namespace BPASmartClient.SCChip
             });
 
             //STM32F103RCT6单片机舵机打开或者关闭
-            EventBus.EventBus.GetInstance().Subscribe<SCChip_SESwitchCreamEvent>(DeviceId,delegate (IEvent @event,EventCallBackHandle callBack)
-            {
-                try
-                {
-                    package.Cmd = (@event as SCChip_SESwitchCreamEvent).IsOpen ? IC_CMD.OPEN_SE : IC_CMD.CLOSE_SE;
-                    package.Value = (byte)(@event as SCChip_SESwitchCreamEvent).SteeringEngine;
-                    commProxy.SendData(StructureToByte(package));
-                }
-                catch (Exception ex)
-                {
-                    MessageLog.GetInstance.ShowEx($"BPASmartClient.SCChip 中引发错误,ICChipMachine 类,描述：[{ex.Message}]");
-                }
-            });
+            EventBus.EventBus.GetInstance().Subscribe<SCChip_SESwitchCreamEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+             {
+                 try
+                 {
+                     package.Cmd = (@event as SCChip_SESwitchCreamEvent).IsOpen ? IC_CMD.OPEN_SE : IC_CMD.CLOSE_SE;
+                     package.Value = (byte)(@event as SCChip_SESwitchCreamEvent).SteeringEngine;
+                     commProxy.SendData(StructureToByte(package));
+                 }
+                 catch (Exception ex)
+                 {
+                     MessageLog.GetInstance.ShowEx($"BPASmartClient.SCChip 中引发错误,ICChipMachine 类,描述：[{ex.Message}]");
+                 }
+             });
 
             //STM32F103RCT6单片机控制冰淇淋机器转
-            EventBus.EventBus.GetInstance().Subscribe<SCChip_RotorSwitchEvent>(DeviceId,delegate (IEvent @event,EventCallBackHandle callBack)
-            {
-                try
-                {
-                    package.Cmd = IC_CMD.ROTOR;
-                    package.Value = (@event as SCChip_RotorSwitchEvent).TurnOn ? (byte)IC_ROTOR.OPEN_ROTOR : (byte)IC_ROTOR.CLOSE_ROTOR;
-                    commProxy.SendData(StructureToByte(package));
-                }
-                catch (Exception ex)
-                {
-                    MessageLog.GetInstance.ShowEx($"BPASmartClient.SCChip 中引发错误,ICChipMachine 类,描述：[{ex.Message}]");
-                }
-            });
+            EventBus.EventBus.GetInstance().Subscribe<SCChip_RotorSwitchEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+             {
+                 try
+                 {
+                     package.Cmd = IC_CMD.ROTOR;
+                     package.Value = (@event as SCChip_RotorSwitchEvent).TurnOn ? (byte)IC_ROTOR.OPEN_ROTOR : (byte)IC_ROTOR.CLOSE_ROTOR;
+                     commProxy.SendData(StructureToByte(package));
+                 }
+                 catch (Exception ex)
+                 {
+                     MessageLog.GetInstance.ShowEx($"BPASmartClient.SCChip 中引发错误,ICChipMachine 类,描述：[{ex.Message}]");
+                 }
+             });
             InitStatus();
             //测试
             Start();
         }
+
+        public override void WriteData(string address, object value)
+        {
+        }
     }
 
 }

BPASmartClient.SCChip/Protocal/IC_CMD.cs

@@ -39,5 +39,6 @@ namespace BPASmartClient.SCChip
         /// 检测物品距离
         /// </summary>
         ARTICLE_DIST = 0x06
+
     }
 }

BPASmartClient.SerialPort/JuicerHelper.cs

@@ -0,0 +1,113 @@
+using BPASmartClient.Helper;
+using BPASmartClient.Message;
+using System;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.IO.Ports;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.SerialPort
+{
+    public class JuicerHelper
+    {
+
+        //private volatile static JuicerHelper _Instance;
+        //public static JuicerHelper GetInstance => _Instance ?? (_Instance = new JuicerHelper());
+        //private JuicerHelper() { }
+
+        private System.IO.Ports.SerialPort comPort = new System.IO.Ports.SerialPort();
+        ConcurrentQueue<byte[]> SerialMessages = new ConcurrentQueue<byte[]>();
+        public bool IsOpen => comPort.IsOpen;
+
+        public bool Open(string portName, int baudRate)
+        {
+            while (!System.IO.Ports.SerialPort.GetPortNames().Contains(portName))
+            {
+                Thread.Sleep(1000);
+            }
+            while (!comPort.IsOpen)
+            {
+                comPort.PortName = portName;
+                comPort.BaudRate = baudRate;
+                comPort.DataBits = 8;
+                comPort.Parity = Parity.None;
+                comPort.StopBits = StopBits.One;
+                comPort.ReadTimeout = 1000;
+                comPort.WriteTimeout = 1000;
+                //comPort.DataReceived += ComPort_DataReceived;
+                comPort.RtsEnable = true;
+                try
+                {
+                    comPort.Open();
+                }
+                catch (Exception ex)
+                {
+                    MessageLog.GetInstance.ShowEx(ex.ToString());
+                    Thread.Sleep(5000);
+                }
+            }
+            MessageLog.GetInstance.Show($"{portName} 串口打开成功");
+            return comPort.IsOpen;
+        }
+
+        /// <summary>
+        /// 开始制作
+        /// </summary>
+        /// <param name="aisle"></param>
+        /// <returns></returns>
+        public bool StartCook(byte aisle)
+        {
+            byte sum = (byte)(0x21 + aisle);
+            byte checksum = (byte)~sum;
+            checksum++;
+            byte[] buffers = new byte[6] { 0x7E, 0x03, 0x00, 0x21, aisle, checksum };
+
+            if (comPort.IsOpen)
+            {
+                comPort.Write(buffers, 0, buffers.Length);
+                while (comPort.BytesToRead < 6)
+                {
+                    Thread.Sleep(1);
+                }
+                byte[] receive = new byte[comPort.BytesToRead];
+                comPort.Read(receive, 0, receive.Length);
+                if (receive.Length == 6)
+                    return receive[4] == 1;
+            }
+            return false;
+        }
+
+        /// <summary>
+        /// 获取果汁机状态
+        /// </summary>
+        /// <param name="index"></param>
+        /// <returns></returns>
+        public int[] GetDeviceStatus()
+        {
+            List<int> res = new List<int>();
+            byte[] buffers = new byte[5] { 0x7E, 0x02, 0x00, 0x13, 0xED };
+            if (comPort.IsOpen)
+            {
+                comPort.Write(buffers, 0, buffers.Length);
+                DateTime newDate = DateTime.Now;
+                while (comPort.BytesToRead < 33)
+                {
+                    Thread.Sleep(1);
+                    if (DateTime.Now.Subtract(newDate).TotalSeconds >= 2) break;
+                }
+                byte[] receive = new byte[comPort.BytesToRead];
+                comPort.Read(receive, 0, receive.Length);
+                if (receive.Length == 33)
+                {
+                    res.Add(receive.Skip(24).Take(4).ToArray().BytesToInt());
+                    res.Add(receive.Skip(28).Take(4).ToArray().BytesToInt());
+                }
+                return res.ToArray();
+            }
+            return default;
+        }
+    }
+}

BPASmartClient.SerialPort/MCUSerialHelper.cs

@@ -0,0 +1,140 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.IO;
+using System.IO.Ports;
+using System.Threading;
+using System.Collections.Concurrent;
+using BPASmartClient.Message;
+
+namespace BPASmartClient.SerialPort
+{
+    public class MCUSerialHelper
+    {
+
+        //private volatile static MCUSerialHelper _Instance;
+        //public static MCUSerialHelper GetInstance => _Instance ?? (_Instance = new MCUSerialHelper());
+        //private MCUSerialHelper() { }
+
+        private System.IO.Ports.SerialPort comPort = new System.IO.Ports.SerialPort();
+        public bool IsOpen => comPort.IsOpen;
+
+        public bool Open(string portName, int baudRate)
+        {
+            while (!System.IO.Ports.SerialPort.GetPortNames().Contains(portName))
+            {
+                Thread.Sleep(1000);
+            }
+            while (!comPort.IsOpen)
+            {
+                comPort.PortName = portName;
+                comPort.BaudRate = baudRate;
+                comPort.DataBits = 8;
+                comPort.Parity = Parity.None;
+                comPort.StopBits = StopBits.One;
+                comPort.ReadTimeout = 1000;
+                comPort.WriteTimeout = 1000;
+                //comPort.RtsEnable = true; //设置为 true后会读取不到数据
+                //comPort.DtrEnable = true;//获取或设置一个值，该值在串行通信过程中启用数据终端就绪 (DTR) 信号。
+                //comPort.RtsEnable = true;//获取或设置一个值，该值指示在串行通信中是否启用请求发送 (RTS) 信号
+                try
+                {
+                    comPort.Open();
+                }
+                catch (Exception ex)
+                {
+                    MessageLog.GetInstance.ShowEx(ex.ToString());
+                    Thread.Sleep(5000);
+                }
+            }
+            MessageLog.GetInstance.Show($"{portName} 串口打开成功");
+            return comPort.IsOpen;
+        }
+
+        private static readonly object OutPutLock = new object();
+        /// <summary>
+        /// 单片机输出端口控制
+        /// </summary>
+        /// <param name="index">通道号 1 - 8 </param>
+        /// <param name="value">控制值</param>
+        public void OutputControl(byte index, bool value)
+        {
+            lock (OutPutLock)
+            {
+                byte NumValue = (byte)(value ? 0x01 : 0x00);
+                byte[] buffers = new byte[6] { 0xCC, 0x01, 0x01, index, NumValue, 0xDD };
+                if (IsOpen) comPort.Write(buffers, 0, buffers.Length);
+            }
+        }
+
+        /// <summary>
+        /// 舵机控制
+        /// </summary>
+        /// <param name="index">通道号 1 - 8</param>
+        /// <param name="value">舵机位置 0 - 180</param>
+        public void ServoControl(byte index, byte value)
+        {
+            byte[] buffers = new byte[6] { 0xCC, 0x01, 0x02, index, value, 0xDD };
+            if (IsOpen) comPort.Write(buffers, 0, buffers.Length);
+        }
+
+        /// <summary>
+        /// 获取单片机输入端口状态
+        /// </summary>
+        /// <param name="index"></param>
+        /// <returns>0:无意义 1：有信号 2：无信号 3：信号不正确</returns>
+        public int GetInputStatus(byte index)
+        {
+            if (index <= 0 || index > 8) return 0;
+            byte[] buffers = new byte[6] { 0xCC, 0x01, 0x03, index, 0x00, 0xDD };
+            if (IsOpen)
+            {
+                comPort.Write(buffers, 0, buffers.Length);
+                DateTime dt = DateTime.Now;
+                List<byte> receive = new List<byte>();
+                while (true)
+                {
+                    byte[] re = new byte[comPort.BytesToRead];
+                    comPort.Read(re, 0, re.Length);
+                    if (re.Contains<byte>(0xcc) && re.Contains<byte>(0xDD)) receive.AddRange(re);
+                    comPort.DiscardInBuffer();
+                    if (receive.Contains(0xcc) && receive.Contains(0xdd)) break;
+                    if (DateTime.Now.Subtract(dt).TotalSeconds >= 2) break;
+                    Thread.Sleep(1);
+                }
+                if (receive != null)
+                {
+                    int Reindex = Array.FindIndex(receive.ToArray(), p => p == 0xcc);
+                    if (Reindex < receive.Count && Reindex >= 0)
+                    {
+                        var res = receive.GetRange(Array.FindIndex(receive.ToArray(), p => p == 0xcc), 6);
+                        if (res.ElementAt(2) == 0x03)
+                        {
+                            if (res != null && res.Count() == 6 && res.ElementAt(4) == 0x01)
+                            {
+                                return 1;
+                            }
+                            else if (res != null && res.Count() == 6 && res.ElementAt(4) == 0x00)
+                            {
+                                return 2;
+                            }
+
+                        }
+                        else
+                        {
+                            return 3;
+                        }
+
+                    }
+                    else
+                    {
+                        return 0;
+                    }
+                }
+            }
+            return 0;
+        }
+    }
+}

BPASmartClient.ViewModel/MainViewModel.cs

@@ -65,6 +65,7 @@ namespace BPASmartClient.ViewModel
                 }));
             });
 
+
             dispatcherTimer = new DispatcherTimer();
             dispatcherTimer.Tick += delegate
             {

BPASmartClient/App.config

@@ -7,14 +7,14 @@
     <add key="IsEnableTest" value="false"/>
 
     <!--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="AppId" value="dev1_common"/>
-    <add key ="Namespaces" value="DEV.Config"/>
+    <add key ="Namespaces" value="DEV.Config"/>-->
 
     <!--正式环境-->
-    <!--<add key="apollouri" value="http://47.108.65.220:28080/"/>
+    <add key="apollouri" value="http://47.108.65.220:28080/"/>
     <add key="AppId" value="order"/>
-    <add key ="Namespaces" value="TEST1.Config"/>-->
+    <add key ="Namespaces" value="TEST1.Config"/>
 
     <!--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”-->

BPASmartClient/Control/DataVView.xaml

@@ -33,12 +33,19 @@
                 <TextBox x:Name="chen" Margin="10,0,0,0" Width="200" >1</TextBox>
                 <Button Tag="Inquire" Margin="10,0,0,0" Click="Button_Click"  Style="{DynamicResource CommonBtn_返回}" Width="45">查询</Button>
             </StackPanel>
+            
 
+            
             <StackPanel Orientation="Horizontal" Margin="0,10,0,0">
                 <TextBlock Width="80" HorizontalAlignment="Right" FontSize="12">客户端ID:</TextBlock>
                 <TextBox x:Name="clientId" Margin="10,0,0,0" Width="200" Text="{Binding device.ClientId, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"></TextBox>
             </StackPanel>
 
+            <StackPanel Orientation="Horizontal" Margin="0,10,0,0">
+                <TextBlock Width="80" HorizontalAlignment="Right" FontSize="12">设备ID:</TextBlock>
+                <TextBox x:Name="sbId" Margin="10,0,0,0" Width="200" Text="{Binding device.DeviceId, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"></TextBox>
+            </StackPanel>
+
             <StackPanel Orientation="Horizontal" Margin="0,10,0,0">
                 <TextBlock  Width="80" FontSize="12">devicename:</TextBlock>
                 <TextBox x:Name="devicename" Margin="10,0,0,0" Width="200" Text="{Binding device.devicename, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}"></TextBox>
@@ -100,6 +107,13 @@
                             </DataTemplate>
                         </DataGridTemplateColumn.CellTemplate>
                     </DataGridTemplateColumn>
+                    <DataGridTemplateColumn Header="设备ID" Width="2*">
+                        <DataGridTemplateColumn.CellTemplate>
+                            <DataTemplate>
+                                <TextBlock HorizontalAlignment="Center" Text="{Binding DeviceId, Mode=TwoWay, UpdateSourceTrigger=PropertyChanged}" FontSize="12" />
+                            </DataTemplate>
+                        </DataGridTemplateColumn.CellTemplate>
+                    </DataGridTemplateColumn>
                     <DataGridTemplateColumn Header="云名称" Width="5*">
                         <DataGridTemplateColumn.CellTemplate>
                             <DataTemplate>

SmartClient.sln

@@ -78,11 +78,19 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MorkF", "BPA
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.LebaiRobot", "BPASmartClient.LebaiRobot\BPASmartClient.LebaiRobot.csproj", "{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.MorkM", "BPASmartClient.MorkM\BPASmartClient.MorkM.csproj", "{74DB1F85-9B73-4113-8FE4-A63754BC7DF9}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MorkM", "BPASmartClient.MorkM\BPASmartClient.MorkM.csproj", "{74DB1F85-9B73-4113-8FE4-A63754BC7DF9}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.MorkT.Lebai.JC", "BPASmartClient.MorkT.Lebai.JC\BPASmartClient.MorkT.Lebai.JC.csproj", "{0A06C9E5-5C42-4BCE-B6E6-D8054C72255D}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MorkTLebaiJC", "BPASmartClient.MorkT.Lebai.JC\BPASmartClient.MorkTLebaiJC.csproj", "{0A06C9E5-5C42-4BCE-B6E6-D8054C72255D}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.Morkt.JAKA.JC", "BPASmartClient.Morkt.JAKA.JC\BPASmartClient.Morkt.JAKA.JC.csproj", "{6B0FD858-A60D-41B9-A923-358B0CE2A254}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MorkTJAKAJC", "BPASmartClient.Morkt.JAKA.JC\BPASmartClient.MorkTJAKAJC.csproj", "{6B0FD858-A60D-41B9-A923-358B0CE2A254}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.MCU", "BPASmartClient.MCU\BPASmartClient.MCU.csproj", "{1C7E17B3-40E0-44ED-B8E0-C52D824604DB}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.JakaRobot", "BPASmartClient.JakaRobot\BPASmartClient.JakaRobot.csproj", "{1055EA6E-6C10-4A0D-A053-85871AF8D7A9}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.JAKA", "BPASmartClient.JAKA\BPASmartClient.JAKA.csproj", "{C935435D-6182-4A01-8E59-B832B2FF0D72}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.Juicer", "BPASmartClient.Juicer\BPASmartClient.Juicer.csproj", "{C28A88B1-E449-484C-AC67-B5038FF2CA79}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
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 		{6B0FD858-A60D-41B9-A923-358B0CE2A254}.Release|x86.Build.0 = Release|Any CPU
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+		{1C7E17B3-40E0-44ED-B8E0-C52D824604DB}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{1C7E17B3-40E0-44ED-B8E0-C52D824604DB}.Debug|ARM.ActiveCfg = Debug|Any CPU
+		{1C7E17B3-40E0-44ED-B8E0-C52D824604DB}.Debug|ARM.Build.0 = Debug|Any CPU
+		{1C7E17B3-40E0-44ED-B8E0-C52D824604DB}.Debug|ARM64.ActiveCfg = Debug|Any CPU
+		{1C7E17B3-40E0-44ED-B8E0-C52D824604DB}.Debug|ARM64.Build.0 = Debug|Any CPU
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+		{1C7E17B3-40E0-44ED-B8E0-C52D824604DB}.Debug|x64.Build.0 = Debug|Any CPU
+		{1C7E17B3-40E0-44ED-B8E0-C52D824604DB}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{1C7E17B3-40E0-44ED-B8E0-C52D824604DB}.Debug|x86.Build.0 = Debug|Any CPU
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+		{C935435D-6182-4A01-8E59-B832B2FF0D72}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{C935435D-6182-4A01-8E59-B832B2FF0D72}.Release|Any CPU.Build.0 = Release|Any CPU
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+		{C935435D-6182-4A01-8E59-B832B2FF0D72}.Release|x64.Build.0 = Release|Any CPU
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+		{C935435D-6182-4A01-8E59-B832B2FF0D72}.Release|x86.Build.0 = Release|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Debug|ARM.ActiveCfg = Debug|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Debug|ARM.Build.0 = Debug|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Debug|ARM64.ActiveCfg = Debug|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Debug|ARM64.Build.0 = Debug|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Debug|x64.Build.0 = Debug|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Debug|x86.Build.0 = Debug|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Release|Any CPU.Build.0 = Release|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Release|ARM.ActiveCfg = Release|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Release|ARM.Build.0 = Release|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Release|ARM64.ActiveCfg = Release|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Release|ARM64.Build.0 = Release|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Release|x64.ActiveCfg = Release|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Release|x64.Build.0 = Release|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Release|x86.ActiveCfg = Release|Any CPU
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79}.Release|x86.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -775,6 +863,10 @@ Global
 		{74DB1F85-9B73-4113-8FE4-A63754BC7DF9} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F}
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 		{6B0FD858-A60D-41B9-A923-358B0CE2A254} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F}
+		{1C7E17B3-40E0-44ED-B8E0-C52D824604DB} = {666CB1A9-562E-453A-A2C7-FD9D77CFDFDD}
+		{1055EA6E-6C10-4A0D-A053-85871AF8D7A9} = {3D1D0E04-03FD-480A-8CF8-6E01A2E28625}
+		{C935435D-6182-4A01-8E59-B832B2FF0D72} = {666CB1A9-562E-453A-A2C7-FD9D77CFDFDD}
+		{C28A88B1-E449-484C-AC67-B5038FF2CA79} = {666CB1A9-562E-453A-A2C7-FD9D77CFDFDD}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {9AEC9B81-0222-4DE9-B642-D915C29222AC}