MiorkT

BPASmartClient.DRCoffee/CoffeeMachine.cs

@@ -191,6 +191,7 @@ namespace BPASmartClient.DRCoffee
                      commProxy.SendData(DrCoffee.Packe(drinksOrder));
                      Thread.Sleep(200);
                      free = false;
+                     MessageLog.GetInstance.Show($"咖啡机: 制作咖啡指令");
                  }
                  catch (Exception ex)
                  {
@@ -210,6 +211,7 @@ namespace BPASmartClient.DRCoffee
                      commProxy.SendData(DrCoffee.Packe(drinksOrder));
                      Thread.Sleep(200);
                      free = false;
+                     MessageLog.GetInstance.Show($"咖啡机: 咖啡取消指令");
                  }
                  catch (Exception ex)
                  {
@@ -228,6 +230,7 @@ namespace BPASmartClient.DRCoffee
                      commProxy.SendData(DrCoffee.Packe(drinksOrder));
                      Thread.Sleep(200);
                      free = false;
+                     MessageLog.GetInstance.Show($"咖啡机: 咖啡模式设置指令");
                  }
                  catch (Exception ex)
                  {

BPASmartClient.Juicer/JuicerMachine.cs

@@ -17,6 +17,7 @@ namespace BPASmartClient.Juicer
             ThreadManage.GetInstance().StartLong(new Action(() =>
             {
                 IsConnected = juicerHelper.IsOpen;
+                status["JuiceIsConnect"] = juicerHelper.IsOpen;
                 if (!IsConnected) IsWork = false;
                 while (IsConnected)
                 {
@@ -24,6 +25,7 @@ namespace BPASmartClient.Juicer
                     if (status != null)
                     {
                         SetStatus("GetDeviceStatus", juicerHelper.GetDeviceStatus());
+                        
                     }
                     Thread.Sleep(500);
                 }

BPASmartClient.KLMCoffee/CoffeeMachine.cs

@@ -139,12 +139,18 @@ namespace BPASmartClient.KLMCoffee
                 SystemStatusModel systemStatus = new K95Command().StateResolution(data);
                 if (systemStatus != null)
                 {
-                    status["Status"] = systemStatus.temStatus;
-                    status["drinkType"] = systemStatus.drinkType;
-                    status["AppStatus"] = systemStatus.taskIndex;
-                    status["progress"] = systemStatus.progress;
-                    status["Warning"] = systemStatus.faultMessage.dataFault();
-                    status["Keep"] = systemStatus.upkeepMessage;
+                    status["CoffeeIsconnected"] = OnLine;
+                    if((K95SysTemStatus)status["Status"] == K95SysTemStatus.正在制作咖啡&&systemStatus.temStatus != K95SysTemStatus.正在制作咖啡)
+                    {
+                        status["Status"] = systemStatus.temStatus;
+                        EventBus.EventBus.GetInstance().Publish(new KLMCoffee_CoffeEndCookEvent { DeviceId = DeviceId });
+                    }
+                    else status["CoffeeStatus"] = systemStatus.temStatus;
+                    status["CoffeedrinkType"] = systemStatus.drinkType;
+                    status["CoffeeAppStatus"] = systemStatus.taskIndex;
+                    status["Coffeeprogress"] = systemStatus.progress;
+                    status["CoffeeWarning"] = systemStatus.faultMessage.dataFault();
+                    status["CoffeeKeep"] = systemStatus.upkeepMessage;
                     if (systemStatus.faultMessage.IsFault() || systemStatus.upkeepMessage.IsUpkeep())
                         IsWork = false;
                     else
@@ -160,18 +166,18 @@ namespace BPASmartClient.KLMCoffee
 
         protected override void InitStatus()
         {
-            status["Status"] = K95SysTemStatus.空闲状态;
-            status["drinkType"] = DrinkType.意式;
-            status["AppStatus"] = TaskIndex.无任务;
-            status["progress"] = 0;
-            status["Warning"] = new FaultMessage(0x00, 0x00).dataFault();
-            status["Keep"] = new UpkeepMessage(0x00).dataFault();
+            status["CoffeeStatus"] = K95SysTemStatus.空闲状态;
+            status["CoffeedrinkType"] = DrinkType.意式;
+            status["CoffeeAppStatus"] = TaskIndex.无任务;
+            status["Coffeeprogress"] = 0;
+            status["CoffeeWarning"] = new FaultMessage(0x00, 0x00).dataFault();
+            status["CoffeeKeep"] = new UpkeepMessage(0x00).dataFault();
 
         }
 
         public override void Init()
         {
-            commProxy = new SerialPortClient(PortName, (BaudRates)Enum.Parse(typeof(BaudRates), BaudRate));
+            commProxy = new SerialPortClient(communicationPar.SerialPort, (BaudRates)communicationPar.BaudRate);
             commProxy.SetDataStorage(dataStorage);
 
             //伽乐美咖啡机制作

BPASmartClient.Lebai/LebaiRobot.cs

@@ -136,9 +136,9 @@ namespace BPASmartClient.Lebai
             EventBus.EventBus.GetInstance().Subscribe<LebaiRobot_SetOutPutEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
             {
                 if (@event == null) return;
-                if (@event is LebaiRobot_LebaiSenceEvent lebaiSenceEvent)
+                if (@event is LebaiRobot_SetOutPutEvent SetOutEvent)
                 {
-                    
+                    LebaiHelper.GetInstance().SetOutput(SetOutEvent.bDO, SetOutEvent.pin);
                 }
             });
 

BPASmartClient.LebaiRobot/LebaiHelper.cs

@@ -312,5 +312,37 @@ namespace BPASmartClient.LebaiRobot
             await client?.RunScene(id);
             MessageLog.GetInstance.Show($"调用场景：{id}");
         }
+        /// <summary>
+        /// 设置输出
+        /// </summary>
+        /// <param name="bDO"></param>
+        /// <param name="pin"></param>
+        public void SetOutput(bool bDO, int pin = 0)
+        {
+            try
+            {
+                if (client == null) { return; }
+                var res = client.SetDIO(new DIO() { Pin = pin, Value = bDO ? 1 : 0 });
+
+            }
+            catch (Exception ex)
+            {
+                MessageLog.GetInstance.ShowEx(ex.ToString());
+            }
+        }
+
+        public void MoveL(double pose)
+        {
+            //try
+            //{
+            //    if (client == null) { return; }
+            //    var res = client.MovePT(new PVATRequest() { })
+
+            //}
+            //catch (Exception ex)
+            //{
+            //    MessageLog.GetInstance.ShowEx(ex.ToString());
+            //}
+        }
     }
 }

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

@@ -29,6 +29,7 @@ namespace BPASmartClient.Model.乐白机器人.Enum
         public const int SENCE_冰淇淋杯回原点 = 10049;
         public const int SENCE_取咖啡出餐 = 10052;
 
+        public const int SENCE_机器人回原点 = 10058;
         // 单片机冰淇淋机器场景
         public const int SENCE_单片机接冰淇淋 = 10055;
         public const int SENCE_单片机放冰淇淋位置 = 10056;

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

@@ -48,7 +48,8 @@ namespace BPASmartClient.Model.乐白机器人
 
     public class LebaiRobot_SetOutPutEvent : BaseEvent
     {
-        public int RobotSetOut { get; set; }
+        public bool bDO { get; set; } = true;
+        public int pin { get; set; }
     }
 }
 

BPASmartClient.MorkT/Control_MorkT.cs

@@ -432,7 +432,7 @@ namespace BPASmartClient.MorkT
         /// </summary>
         private void DoCoffeeQC(OrderLocInfo order)
         {
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10052 }); //SENCE_取咖啡出餐
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_qsqdCode.SENCE_取咖啡出餐 }); //SENCE_取咖啡出餐
             Wait();
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
             //订单状态改变：完成
@@ -451,7 +451,7 @@ namespace BPASmartClient.MorkT
         {
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 },(o)=>{ });
             OrderChange(order.SuborderId, ORDER_STATUS.COOKING);
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10031 }); //SENCE_取咖啡杯
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_qsqdCode.SENCE_取咖啡杯  }); //SENCE_取咖啡杯
 
             Wait();
             EventBus.EventBus.GetInstance().Publish(new SCChip_TakeCupEvent { DeviceId = DeviceId, Cup = IC_CUP.CUP_COFFEE });//落碗控制
@@ -461,7 +461,7 @@ namespace BPASmartClient.MorkT
             int count = 1;
             bool result = true;
         p:
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10033 }); //SENCE_咖啡杯检测
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_qsqdCode.SENCE_咖啡杯检测  }); //SENCE_咖啡杯检测
             Wait();
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetTCPInputEvent { DeviceId = DeviceId, Pin = 1 }, (o)=>
@@ -478,14 +478,14 @@ namespace BPASmartClient.MorkT
                 {
                     //退出循环回到初始位置
                     DeviceProcessLogShow($"执行{count}次取咖啡杯,仍为成功,订单默认废弃,机器人回到初始位置!");
-                    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10050 }); //SENCE_咖啡杯回原点
+                    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_qsqdCode.SENCE_咖啡杯回原点   }); //SENCE_咖啡杯回原点
                     Wait();
                     EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
                     morkT.GetCoffeeCup = false;
                     return;
                 }
                 DeviceProcessLogShow("执行二次取咖啡杯");
-                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10035 }); //SENCE_二次取咖啡杯
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_qsqdCode.SENCE_二次取咖啡杯  }); //SENCE_二次取咖啡杯
                 Wait();
                 EventBus.EventBus.GetInstance().Equals(new SCChip_TakeCupEvent { DeviceId = DeviceId, Cup = IC_CUP.CUP_COFFEE });//落碗控制
                 EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
@@ -575,7 +575,7 @@ namespace BPASmartClient.MorkT
         {
             MessageLog.GetInstance.Show("准备开始制作冰淇淋");
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }, (o) => { });
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10032 }); //SENCE_取冰淇淋杯
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_qsqdCode.SENCE_取冰淇淋杯 }); //SENCE_取冰淇淋杯
             Wait();
             EventBus.EventBus.GetInstance().Publish(new SCChip_TakeCupEvent { DeviceId = DeviceId, Cup = IC_CUP.CUP_ICECREAM });//落碗控制
             Thread.Sleep(500);
@@ -592,7 +592,7 @@ namespace BPASmartClient.MorkT
             bool result = true;
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
         p:
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10034 }); //SENCE_冰淇淋杯检测
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_qsqdCode.SENCE_冰淇淋杯检测  }); //SENCE_冰淇淋杯检测
             Wait();
             Thread.Sleep(500);
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => 
@@ -627,14 +627,14 @@ namespace BPASmartClient.MorkT
                 {
                     //退出循环回到初始位置
                     DeviceProcessLogShow($"执行{count}次取冰淇淋杯,仍未成功,订单默认废弃,机器人回到初始位置!");
-                    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10049 }); //SENCE_冰淇淋杯回原点
+                    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_qsqdCode.SENCE_冰淇淋杯回原点 }); //SENCE_冰淇淋杯回原点
                     Wait();
                     EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 },(o) => { });
                     morkT.GetIceCreamCup = false;
                     return;
                 }
                 DeviceProcessLogShow($"执行{count}次取冰淇淋杯!");
-                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10036 }); //SENCE_二次取冰淇淋杯
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_qsqdCode.SENCE_二次取冰淇淋杯  }); //SENCE_二次取冰淇淋杯
                 EventBus.EventBus.GetInstance().Equals(new SCChip_TakeCupEvent { DeviceId = DeviceId, Cup = IC_CUP.CUP_ICECREAM });//落碗控制
                 Wait();
                 EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
@@ -655,7 +655,7 @@ namespace BPASmartClient.MorkT
             //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 }, (o) => { });
             OrderChange(order.SuborderId, ORDER_STATUS.COOKING);
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10055 }); //SENCE_接1号冰淇淋
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_qsqdCode.SENCE_单片机接冰淇淋 }); //SENCE_接1号冰淇淋
             Wait();
             bool doItResult = true;
 
@@ -663,7 +663,9 @@ namespace BPASmartClient.MorkT
             //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 LebaiRobot_LebaiSenceEvent { DeviceId=DeviceId,})
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetOutPutEvent { DeviceId = DeviceId, bDO = true ,pin = 1});
+            Thread.Sleep(500);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetOutPutEvent { DeviceId = DeviceId, bDO = false, pin = 1 });
 
             Thread.Sleep(500);
             EventBus.EventBus.GetInstance().Publish(new SCChip_MakeIceCreamEvent { DeviceId = DeviceId, SteeringEngine = IC_SE.SE_2 });//冰淇淋出料
@@ -714,7 +716,7 @@ namespace BPASmartClient.MorkT
                 Thread.Sleep(500);
             }
           
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10056 }); //SENCE_放冰淇淋位置
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_qsqdCode.SENCE_放冰淇淋位置 }); //SENCE_放冰淇淋位置
             Wait();
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
             //订单状态改变：完成

BPASmartClient.MorkT/View/DebugView.xaml

@@ -79,10 +79,16 @@
                             Command="{Binding Button_RobotControlCommand}"
                             CommandParameter="机器人急停"/>
 
+                    <!--<Button Content="机器人回原点"
+                            Margin="20,5"  Width="110" Height="60"
+                            Command="{Binding Button_GoToHomeCommand}"
+                            CommandParameter="机器人急停">-->
+                    <!--</Button>-->
+
                 </ListBox>
             </Grid>
         </GroupBox>
-        <!--<GroupBox  Grid.Row="2"
+        <GroupBox  Grid.Row="2"
             FontFamily="楷体"
             FontSize="20"
             Header=" 冰淇淋机器 ">
@@ -172,8 +178,8 @@
                     </StackPanel>
                 </StackPanel>
             </Grid>
-        </GroupBox>-->
-        <GroupBox Grid.Row="2" Grid.Column="0"
+        </GroupBox>
+        <!--<GroupBox Grid.Row="2" Grid.Column="0"
                   FontSize="20" FontFamily="楷体"
                   Header="单片机冰淇淋" >
             <Grid>
@@ -214,7 +220,7 @@
 
                 </ListBox>
             </Grid>   
-        </GroupBox>
+        </GroupBox>-->
                   
         <GroupBox  Grid.Row="2" Grid.Column="1"
             FontFamily="楷体"

BPASmartClient.MorkT/ViewModel/DebugViewModel.cs

@@ -8,6 +8,7 @@ using BPASmartClient.LebaiRobot;
 using BPASmartClient.Message;
 using BPASmartClient.Model;
 using BPASmartClient.Model.乐白机器人;
+using BPASmartClient.Model.乐白机器人.Enum;
 using BPASmartClient.Model.冰淇淋.Enum;
 using BPASmartClient.Model.单片机;
 using BPASmartClient.Model.单片机.Enum;
@@ -47,6 +48,8 @@ namespace BPASmartClient.MorkT.ViewModel
         
         public RelayCommand Button_SetValueCommand { get; set; }
 
+        public RelayCommand Button_GoToHomeCommand { get; set; }
+
         private void Button_SetValue()
         {
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
@@ -56,6 +59,14 @@ namespace BPASmartClient.MorkT.ViewModel
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiControlEvent { DeviceId = DeviceId, LebaiControl = o.ToString() });
         }
 
+        private void Button_GoToHome()
+        {
+            //EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }, (o) => { });
+            //MessageLog.GetInstance.Show("开始执行乐白机器人回原点");
+            //EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_qsqdCode.SENCE_机器人回原点 });
+            //MessageLog.GetInstance.Show("开始执行乐白机器人回原点-----");
+        }
+
         #endregion
 
         #region 冰淇淋机器
@@ -222,10 +233,13 @@ namespace BPASmartClient.MorkT.ViewModel
 
         private void Button_SCChipRefrigeration()
         {
-            EventBus.EventBus.GetInstance().Publish(new SCChip_RotorSwitchEvent { DeviceId = DeviceId, TurnOn = true });
+            //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 LebaiRobot_SetOutPutEvent { DeviceId = DeviceId, bDO = true, pin = 1 });
             Thread.Sleep(500);
-            EventBus.EventBus.GetInstance().Publish(new SCChip_RotorSwitchEvent { DeviceId = DeviceId, TurnOn = false });
-            
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetOutPutEvent { DeviceId = DeviceId, bDO = false, pin = 1 });
+
         }
 
         private void Button_SCChipDischarge()
@@ -248,6 +262,7 @@ namespace BPASmartClient.MorkT.ViewModel
         {
             Button_RobotControlCommand = new RelayCommand<object>(Button_RobotControl);
             Button_SetValueCommand = new RelayCommand(Button_SetValue);
+            Button_GoToHomeCommand = new RelayCommand(Button_GoToHome);
 
             Button_MakeIceCreamCommand = new RelayCommand(Button_MakeIceCream);
             Button_SetIceCreamModelCommand = new RelayCommand(Button_SetIceCreamModel);

BPASmartClient.MorkT_HQ/Control_MorkT_HQ.cs → BPASmartClient.MorkT_HQ/Control_MorkTHQ.cs

@@ -1,4 +1,5 @@
-using BPA.Message.Enum;
+using BPA.Message;
+using BPA.Message.Enum;
 using BPASmartClient.Device;
 using BPASmartClient.DRCoffee;
 using BPASmartClient.EventBus;
@@ -22,14 +23,14 @@ using System.Threading;
 using System.Threading.Tasks;
 using static BPASmartClient.EventBus.EventBus;
 
-namespace BPASmartClient.MorkT_HQ
+namespace BPASmartClient.MorkTHQ
 {
-    public class Control_MorkT_HQ : BaseDevice
+    public class Control_MorkTHQ : BaseDevice
     {
         public override global::BPA.Message.Enum.DeviceClientType DeviceType { get { return BPA.Message.Enum.DeviceClientType.MORKT; } }
 
-        GLV_MorkT_HQ morkT = new GLV_MorkT_HQ();
-
+        GLV_MorkTHQ morkT = new GLV_MorkTHQ();
+        int[] devStatusBy = new int[2] { 0, 0 };
 
         public override void DoMain()
         {
@@ -40,7 +41,7 @@ namespace BPASmartClient.MorkT_HQ
             IsHealth = true;
             ServerInit();
             DataParse();
-            EventBus.EventBus.GetInstance().Subscribe<DRCoffee_CoffeEndCookEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+            EventBus.EventBus.GetInstance().Subscribe<KLMCoffee_CoffeEndCookEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
             {
                 if (morkT.MakeCoffeeOrder != null)
                     morkT.MakeCoffeeOrder.OrderStatus = 1;
@@ -55,7 +56,7 @@ namespace BPASmartClient.MorkT_HQ
         public override void ResetProgram()
         {
             morkT = null;
-            morkT = new GLV_MorkT_HQ();
+            morkT = new GLV_MorkTHQ();
         }
 
 
@@ -72,34 +73,16 @@ namespace BPASmartClient.MorkT_HQ
 
         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;
-                        }
-                    }
-                });
-            }
+           //制作咖啡
             MakeCoffeeProcess();
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 0 },(o)=>
-            {
-                if(o != null && o.Length > 0 && o[0] is bool resultValue)
-                {
-                    if(!resultValue)//取餐口有空余位置
-                    {
-                        MakeIceCreamProcess();
-                        MakeCoffeeComplete();
-                    }
-                }
-            });
- 
+            //制作果汁
+            MakeJuiceProcess();
+            //制作冰淇淋
+            MakeIceCreamProcess();
+            //制作完取咖啡
+            MakeCoffeeComplete();
+           
+
 
         }
 
@@ -232,6 +215,14 @@ namespace BPASmartClient.MorkT_HQ
                     morkT.CaffeeFault = coffeeFault;
                 }
             }));
+            GetStatus("Coffeeprogress", new Action<object>((o) =>
+            {
+                if (o is int coffeeFault)
+                {
+                    morkT.Coffeeprogress = coffeeFault;
+                }
+            }));
+
             GetStatus("SCChipIsConnect", new Action<object>((o) =>
             {
                 if (o is bool b)
@@ -239,6 +230,13 @@ namespace BPASmartClient.MorkT_HQ
                     morkT.SCChipIsConnect = b;
                 }
             }));
+            GetStatus("JuiceIsConnect", new Action<object>((o) =>
+            {
+                if (o is bool b)
+                {
+                    morkT.JuiceIsConnect = b;
+                }
+            }));
         }
 
 
@@ -333,6 +331,20 @@ namespace BPASmartClient.MorkT_HQ
                                             });
                                         }
                                         break;
+                                    case GOODS_TYPE.JUICE:
+                                        if(morkT.morkOrderPushesIceCream.FirstOrDefault(p=>p.SuborderId == order?.MorkOrder.SuborderId) == null)
+                                        {
+                                            morkT.GuMake = order.MorkOrder.MakeID == "2";
+                                            morkT.morkOrderPushesJuice.Enqueue(new OrderLocInfo()
+                                            {
+                                                SuborderId = order.MorkOrder.SuborderId,
+                                                BatchingId = res.BatchingId,
+                                                Loc = loc_Goods,
+                                                GoodsName = order.MorkOrder.GoodsName,
+                                                SortNum = order.MorkOrder.SortNum
+                                            });
+                                        }
+                                        break;
                                     case GOODS_TYPE.NEITHER:
                                         DeviceProcessLogShow("未知的商品类型");
                                         break;
@@ -371,6 +383,7 @@ namespace BPASmartClient.MorkT_HQ
             }
         }
 
+        #region 咖啡
         /// <summary>
         /// 是否可以开始制作咖啡
         /// </summary>
@@ -397,7 +410,7 @@ namespace BPASmartClient.MorkT_HQ
                     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 }, (o) => { });
-                    EventBus.EventBus.GetInstance().Publish(new  DRCoffee_MakeCoffeeEvent() {DeviceId = DeviceId, DrinkCode = (Model.咖啡机.Enum.DrCoffeeDrinksCode)int.Parse(orderLoc.Loc) });//接咖啡控制
+                    EventBus.EventBus.GetInstance().Publish(new KLMCoffee_MakeCoffeeEvent() {DeviceId = DeviceId, DrinkCode = (Model.咖啡机.Enum.DrinkType)int.Parse(orderLoc.Loc) });//接咖啡控制
                     DeviceProcessLogShow($"发送咖啡机制作{orderLoc.Loc}!");
                     morkT.IsCoffeeMake = true; morkT.MakeCoffeeOrder = orderLoc;
                 }
@@ -450,50 +463,16 @@ namespace BPASmartClient.MorkT_HQ
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 },(o)=>{ });
             OrderChange(order.SuborderId, ORDER_STATUS.COOKING);
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10031 }); //SENCE_取咖啡杯
-
             Wait();
-            EventBus.EventBus.GetInstance().Publish(new SCChip_TakeCupEvent { DeviceId= DeviceId ,Cup = IC_CUP.CUP_COFFEE});//落碗控制
             Thread.Sleep(500);
-            DeviceProcessLogShow("尝试取咖啡杯!");
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
-            int count = 1;
-            bool result = true;
-        p:
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10033 }); //SENCE_咖啡杯检测
-            Wait();
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetTCPInputEvent { DeviceId = DeviceId, Pin = 1 }, (o)=>
-            {
-                if(o != null && o.Length > 0 && o[0] is bool resultValue)
-                {
-                    result = resultValue;
-                }
-            });
-
-            if (!result)
-            {
-                if (count >= 3)
-                {
-                    //退出循环回到初始位置
-                    DeviceProcessLogShow($"执行{count}次取咖啡杯,仍为成功,订单默认废弃,机器人回到初始位置!");
-                    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 }, (o) => { });
-                    morkT.GetCoffeeCup = false;
-                    return;
-                }
-                DeviceProcessLogShow("执行二次取咖啡杯");
-                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10035 }); //SENCE_二次取咖啡杯
-                Wait();
-                EventBus.EventBus.GetInstance().Equals(new SCChip_TakeCupEvent { DeviceId = DeviceId, Cup = IC_CUP.CUP_COFFEE });//落碗控制
-                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
-                count++;
-                goto p;
-            }
+         
             morkT.GetCoffeeCup = true;
             DeviceProcessLogShow("取咖啡杯完成");
         }
+        #endregion
 
+        #region 冰淇淋
         /// <summary>
         /// 冰淇淋是否可以开始制作
         /// </summary>
@@ -509,45 +488,40 @@ namespace BPASmartClient.MorkT_HQ
         /// </summary>
         private void MakeIceCreamProcess()
         {
-            //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);
-                //        }
-                //    }
-                //}
+            if (IceCreamCanMake())
+            {
+                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);
+                        }
+                    }
+                }
+
+            }
         }
 
 
@@ -557,12 +531,9 @@ namespace BPASmartClient.MorkT_HQ
         private void DoIceCream(OrderLocInfo order)
         {
             GetIceCreamCup();
-            CheckICeCreaCup();
-            if(morkT.GetIceCreamCup)
-            {
-                GetIceCream(order);
-                PutIceCream(order);
-            }
+            //CheckICeCreaCup();
+            GetIceCream(order);
+            PutIceCream(order);
            
         }
 
@@ -575,7 +546,6 @@ namespace BPASmartClient.MorkT_HQ
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }, (o) => { });
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10032 }); //SENCE_取冰淇淋杯
             Wait();
-            EventBus.EventBus.GetInstance().Publish(new SCChip_TakeCupEvent { DeviceId = DeviceId, Cup = IC_CUP.CUP_ICECREAM });//落碗控制
             Thread.Sleep(500);
             DeviceProcessLogShow("尝试取冰淇淋杯!");
 
@@ -657,37 +627,37 @@ namespace BPASmartClient.MorkT_HQ
             Wait();
             bool doItResult = true;
 
-            //出料
-            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 });
-            Thread.Sleep(500);
-            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(5000);
+            ////出料
+            //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 });
+            //Thread.Sleep(500);
+            //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(5000);
+
+           // 出料
+            EventBus.EventBus.GetInstance().Publish(new GSIceCream_DischargeEvent { DeviceId = DeviceId }, (o) =>
+             {
+                 doItResult = (bool)o[0];
+             });
+            if (doItResult)
+            {
+                IceCreamCookCheck();
+            }
+            else
+            {
+                int count_1 = 0;
 
-            //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();
-            //}
+                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 }, (o) => { });
         }
 
@@ -757,10 +727,138 @@ namespace BPASmartClient.MorkT_HQ
             Thread.Sleep(5000);
 
         }
+        #endregion
 
+        #region 果汁
+        /// <summary>
+        /// 制作果汁流程
+        /// </summary>
+        private void MakeJuiceProcess()
+        {
+            if(morkT.morkOrderPushesJuice.TryDequeue(out OrderLocInfo order))
+            {
+                OrderChange(order.SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 11111 });//SENCE_取果汁杯位置
+                int JuicerNum1 = int.Parse(order.Loc);
+                switch (JuicerNum1)
+                {
+                    case 52:
+                        if (morkT.GuMake)
+                        {
+                            morkT.JuicerNum = 0x00;
+                        }
+                        else
+                        {
+                            morkT.JuicerNum = 0x01;
+                        }
+                        EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_HQ.SENCE_接果汁公共位置 });
+                        Wait();
+
+                        EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_HQ.SENCE_接1号果汁位置 });
+                        Wait();
+                        break;
+                    case 53:
+                        if (morkT.GuMake)
+                        {
+                            morkT.JuicerNum = 0x02;
+                        }
+                        else
+                        {
+                            morkT.JuicerNum = 0x03;
+                        }
+                        EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_HQ.SENCE_接果汁公共位置 });
+                        Wait();
+
+                        EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_HQ.SENCE_接2号果汁位置 });
+                        Wait();
+                        break;
+                    case 54:
+                        if (morkT.GuMake)
+                        {
+                            morkT.JuicerNum = 0x04;
+                        }
+                        else
+                        {
+                            morkT.JuicerNum = 0x05;
+                        }
+                        EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_HQ.SENCE_接果汁公共位置 });
+                        Wait();
+
+                        EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_HQ.SENCE_接3号果汁位置 });
+                        Wait();
+                        break;
+                    case 55:
+                        if (morkT.GuMake)
+                        {
+                            morkT.JuicerNum = 0x06;
+                        }
+                        else
+                        {
+                            morkT.JuicerNum = 0x07;
+                        }
+                        EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_HQ.SENCE_接果汁公共位置 });
+                        Wait();
+
+                        EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_HQ.SENCE_接4号果汁位置 });
+                        Wait();
+                        break;
+                    default:
+                        morkT.JuicerNum = 0x00;
+                        EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_HQ.SENCE_接果汁公共位置 });
+                        Wait();
+
+                        EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_HQ.SENCE_接1号果汁位置 });
+                        Wait();
+                        break;
+                }
+                var devStatus = GetDeviceStatus<int[]>("GetDeviceStatus");
+                var devStatus1 = Convert.ToString(devStatus[0], 2);
+                var devStatus2 = devStatus[1];
+
+                if (devStatus1.IndexOf("0") == 1 && devStatus2 == 0)
+                {
+                    EventBus.EventBus.GetInstance().Publish(new WriteJuicer() { Value = morkT.JuicerNum });
+                    Thread.Sleep(100);
+                    devStatusBy = GetDeviceStatus<int[]>("GetDeviceStatus");
+                    while (!(devStatusBy[1] == 0))
+                    {
+                        Thread.Sleep(100);
+                        devStatusBy = GetDeviceStatus<int[]>("GetDeviceStatus");
+                        while (devStatusBy.Length != 2)
+                        {
+                            Thread.Sleep(100);
+                            devStatusBy = GetDeviceStatus<int[]>("GetDeviceStatus");
+                        }
+                    }
+                    devStatusBy = GetDeviceStatus<int[]>("GetDeviceStatus");
+                    Thread.Sleep(5000);
+                    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_HQ.SENCE_放果汁杯位置后回原点 });
+                    Wait();
+
+                    OrderChange(order.SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
+                    MessageLog.GetInstance.Show("果汁制作完成");
+                }
+            }
+           
+
+            
+        }
+
+        private T GetDeviceStatus<T>(string key)
+        {
+            if (peripheralStatus.ContainsKey(key))
+            {
+                if (peripheralStatus[key] != null)
+                {
+                    return (T)(peripheralStatus[key]);
+                }
+            }
+            return default;
+        }
+        #endregion
         public override void SimOrder()
         {
-            throw new NotImplementedException();
+            
         }
     }
 }

BPASmartClient.MorkT_HQ/GLV_MorkT_HQ.cs → BPASmartClient.MorkT_HQ/GLV_MorkTHQ.cs

@@ -11,9 +11,9 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 
-namespace BPASmartClient.MorkT_HQ
+namespace BPASmartClient.MorkTHQ
 {
-    public class GLV_MorkT_HQ:IStatus
+    public class GLV_MorkTHQ:IStatus
     {
         /// <summary>
         /// 咖啡订单队列
@@ -25,6 +25,10 @@ namespace BPASmartClient.MorkT_HQ
         /// </summary>
         public ConcurrentQueue<OrderLocInfo> morkOrderPushesIceCream = new ConcurrentQueue<OrderLocInfo>();
         /// <summary>
+        /// 果汁订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesJuice = new ConcurrentQueue<OrderLocInfo>();
+        /// <summary>
         /// 等待取餐订单
         /// </summary>
         public OrderLocInfo waitMorkOrder = null;
@@ -57,6 +61,16 @@ namespace BPASmartClient.MorkT_HQ
         /// </summary>
         public bool GetIceCreamCup;
 
+        /// <summary>
+        /// 果汁机做法，true:热饮，false:冷饮
+        /// </summary>
+        public bool GuMake = false;
+
+        /// <summary>
+        /// 果汁机控制信号
+        /// </summary>
+        public byte JuicerNum;
+
         #region
 
         [VariableMonitor("机器人连接状态")]
@@ -110,9 +124,36 @@ namespace BPASmartClient.MorkT_HQ
         [VariableMonitor("咖啡机故障")]
         public DrCoffeeFault CaffeeFault { get; set; }
 
+        [VariableMonitor("咖啡机制作进度")]
+        public int Coffeeprogress { get; set; }
+
         [VariableMonitor("单片机连接状态")]
         public bool SCChipIsConnect { get; set; }
 
+
+        [VariableMonitor("果汁机连接状态")]
+        public bool JuiceIsConnect { get; set; }
+        #endregion
+    }
+
+    public class Lebai_HQ
+    {
+        #region 环球设备
+        public const int SENCE_取咖啡杯 = 10001;
+        public const int SENCE_取冰淇淋杯 = 10002;
+        public const int SENCE_接咖啡后回原点 = 10003;
+        public const int SENCE_取咖啡出餐 = 10004;
+        public const int SENCE_接1号冰淇淋 = 10005;
+        public const int SENCE_放冰淇淋位置 = 10006;
+        public const int SENCE_取果汁杯位置 = 10007;
+        public const int SENCE_接果汁公共位置 = 10008;
+        public const int SENCE_接1号果汁位置 = 10009;
+        public const int SENCE_接2号果汁位置 = 10010;
+        public const int SENCE_接3号果汁位置 = 10011;
+        public const int SENCE_接4号果汁位置 = 10012;
+        public const int SENCE_放果汁杯位置后回原点 = 10013;
+
+
         #endregion
     }
 }

BPASmartClient.MorkT_HQ/OrderLocInfo.cs

@@ -4,7 +4,7 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 
-namespace BPASmartClient.MorkT_HQ
+namespace BPASmartClient.MorkTHQ
 {
     public class OrderLocInfo
     {
@@ -16,7 +16,7 @@ namespace BPASmartClient.MorkT_HQ
 
         public int OrderStatus { get; set; }
 
-        
+        public string MakeID { get; set; }
         public OrderLocInfo()
         {
             OrderStatus = 0;

BPASmartClient.MorkT_HQ/PolymerBatching.cs

@@ -8,7 +8,7 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 
-namespace BPASmartClient.MorkT_HQ
+namespace BPASmartClient.MorkTHQ
 {
     public enum GOODS_TYPE
     {
@@ -29,6 +29,10 @@ namespace BPASmartClient.MorkT_HQ
         internal const string ICE_MAIN_BATCHIN1_LOC = "52";
         internal const string ICE_MAIN_BATCHIN2_LOC = "53";
         internal const string ICE_MAIN_BATCHIN3_LOC = "54";
+        //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 COFFEE_HOLDER_LOC = "30";
         internal const string ICE_HOLDER_LOC = "51";
         public static Dictionary<string, GOODS_TYPE> GOODS_TYPES = new Dictionary<string, GOODS_TYPE>() {

BPASmartClient.MorkT_HQ/View/DebugView.xaml

@@ -1,9 +1,9 @@
-<UserControl x:Class="BPASmartClient.MorkT_HQ.View.DebugView"
+<UserControl x:Class="BPASmartClient.MorkTHQ.View.DebugView"
              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:vm ="clr-namespace:BPASmartClient.MorkT_HQ.ViewModel"
+             xmlns:vm ="clr-namespace:BPASmartClient.MorkTHQ.ViewModel"
              mc:Ignorable="d" 
              Name="调试界面"
              d:DesignHeight="500" d:DesignWidth="1000" Unloaded="Dubug_Unloaded">
@@ -25,7 +25,7 @@
         </Grid.ColumnDefinitions>
         <Grid.RowDefinitions>
             <RowDefinition Height="14*"/>
-            <RowDefinition Height="*"/>
+            <RowDefinition Height="10*"/>
             <RowDefinition Height="20*"/>
         </Grid.RowDefinitions>
 
@@ -198,6 +198,7 @@
                     <Grid.RowDefinitions>
                         <RowDefinition />
                         <RowDefinition />
+                        <RowDefinition />
                     </Grid.RowDefinitions>
                     <Grid.ColumnDefinitions>
                         <ColumnDefinition Width="99" />
@@ -209,20 +210,23 @@
                     <TextBlock FontSize="18" 
                             Grid.Column="1"
                             Text="{Binding CoffeeStatus}" Height="23" />
-                    <TextBlock Grid.Column="2" Height="23" Width="80" FontSize="18">应用状态</TextBlock>
+                    <TextBlock Grid.Column="2" Height="23" Width="80" FontSize="18">制作任务</TextBlock>
                     <TextBlock FontSize="18"
                             Grid.Column="3" 
-                            Text="{Binding AppStatus}" Height="23"/>
+                            Text="{Binding CoffeeAppStatus}" 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"
                             Grid.Column="1"
-                            Text="{Binding Warning}"  />
-                    <TextBlock Grid.Row="1" Grid.Column="2" Height="22" Width="80" FontSize="18">故障信息</TextBlock>
+                            Text="{Binding CoffeeWarning}"  />
+                    <TextBlock Grid.Row="1" Grid.Column="2" Height="22" Width="80" FontSize="18">保养信息</TextBlock>
                     <TextBlock FontSize="18"
                             Grid.Row="1"
                             Grid.Column="3"
-                            Text="{Binding CaffeeFault}" Height="22" Width="60" />
+                            Text="{Binding CoffeeFault}" Height="22" Width="60" />
+                    <TextBlock Text="制作进度" Grid.Row="2"/>
+                    <TextBlock Grid.Row="2" Grid.Column="1"
+                               Text="{Binding Coffeeprogress}"/>
                 </Grid>
                 <StackPanel Grid.Row="2" Orientation="Vertical">
                     <StackPanel Margin="0,10,0,0" Orientation="Horizontal">
@@ -238,28 +242,41 @@
                             Command="{}"
                                 Content="停止制作"/>
                     </StackPanel>
-                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal">
-                        <TextBlock>模式</TextBlock>
-                        <ComboBox Margin="10,0"
-                                Width="100"
-                                ItemsSource="{Binding CoffeeCmds}"
-                                SelectedItem="{Binding SelectedCoffeeCmd}"/>
-                        <Button Margin="10,0"
-                                Command="{}"
-                                Content="设置" Cursor="Hand"/>
-                    </StackPanel>
+                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal"/>
                 </StackPanel>
             </Grid>
         </GroupBox>
-        <GroupBox Header="单片机控制"
+        <GroupBox Header="果汁机" Margin="10" 
                    FontSize="18"
                   Grid.Row="1" Grid.ColumnSpan="2"
-                  Margin="0,0,0,10" HorizontalAlignment="Right" Width="1000">
-            <StackPanel Orientation="Horizontal"
-                     VerticalAlignment="Center" >
+                  HorizontalAlignment="Left" >
+            <Grid>
+                <Grid.ColumnDefinitions >
+                    <ColumnDefinition Width="*"/>
+                    <ColumnDefinition Width="*"/>
+                </Grid.ColumnDefinitions>
+                <TextBlock Text="连接状态" />
+                <TextBlock Text="{Binding JuiceIsConnect}"
+                           Margin="120,0,0,0"/>
+                <StackPanel Orientation="Horizontal" Grid.Column="1">
+                    <TextBlock Text="果汁:" Margin="10"/>
+                    <TextBlock Text="{Binding JuiceIsConnect}"/>
+                    <ComboBox Margin="10,0"
+                              Width="100" FontSize="16"
+                              ItemsSource="{Binding Juice}"
+                              SelectedItem="{Binding SelectedJuice}"
+                              IsReadOnly="True"/>
+                    <ComboBox Margin="10,0"
+                              Width="49" FontSize="16"
+                              ItemsSource="{Binding Temperature}"
+                              SelectedItem="{Binding SelectedTemperature}" 
+                              IsReadOnly="True"/>
+                    <Button Margin="10,0"
+                            Command="{Binding MakeJuiceCommand}"
+                                Content="制作"/>
 
-                
-            </StackPanel>
+                </StackPanel>
+            </Grid>
         </GroupBox>
 
     </Grid>

BPASmartClient.MorkT_HQ/View/DebugView.xaml.cs

@@ -14,7 +14,7 @@ using System.Windows.Media.Imaging;
 using System.Windows.Navigation;
 using System.Windows.Shapes;
 
-namespace BPASmartClient.MorkT_HQ.View
+namespace BPASmartClient.MorkTHQ.View
 {
     /// <summary>
     /// MorkT_DebugView.xaml 的交互逻辑

BPASmartClient.MorkT_HQ/View/Monitor.xaml

@@ -1,10 +1,10 @@
-<UserControl x:Class="BPASmartClient.MorkT_HQ.View.Monitor"
+<UserControl x:Class="BPASmartClient.MorkTHQ.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_HQ.View"
-             xmlns:vm="clr-namespace:BPASmartClient.MorkT_HQ.ViewModel"
+             xmlns:local="clr-namespace:BPASmartClient.MorkTHQ.View"
+             xmlns:vm="clr-namespace:BPASmartClient.MorkTHQ.ViewModel"
              mc:Ignorable="d" 
              Name="监控画面"
              d:DesignHeight="450" d:DesignWidth="800" Unloaded="Monitor_Unloaded">

BPASmartClient.MorkT_HQ/View/Monitor.xaml.cs

@@ -14,7 +14,7 @@ using System.Windows.Media.Imaging;
 using System.Windows.Navigation;
 using System.Windows.Shapes;
 
-namespace BPASmartClient.MorkT_HQ.View
+namespace BPASmartClient.MorkTHQ.View
 {
     /// <summary>
     /// Monitor.xaml 的交互逻辑

BPASmartClient.MorkT_HQ/View/ParSer.xaml

@@ -1,9 +1,9 @@
-<UserControl x:Class="BPASmartClient.MorkT_HQ.View.ParSer"
+<UserControl x:Class="BPASmartClient.MorkTHQ.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_HQ.View"
+             xmlns:local="clr-namespace:BPASmartClient.MorkTHQ.View"
              mc:Ignorable="d"
              Name="参数设置界面"
              d:DesignHeight="450" d:DesignWidth="800">

BPASmartClient.MorkT_HQ/View/ParSer.xaml.cs

@@ -13,7 +13,7 @@ using System.Windows.Media.Imaging;
 using System.Windows.Navigation;
 using System.Windows.Shapes;
 
-namespace BPASmartClient.MorkT_HQ.View
+namespace BPASmartClient.MorkTHQ.View
 {
     /// <summary>
     /// ParSer.xaml 的交互逻辑

BPASmartClient.MorkT_HQ/ViewModel/DebugViewModel.cs

@@ -20,7 +20,7 @@ using System.Collections.ObjectModel;
 using System.Linq;
 using System.Threading;
 
-namespace BPASmartClient.MorkT_HQ.ViewModel
+namespace BPASmartClient.MorkTHQ.ViewModel
 {
     public class DebugViewModel : ObservableObject
     {
@@ -124,7 +124,7 @@ namespace BPASmartClient.MorkT_HQ.ViewModel
 
         private void Button_MakeIceCream()
         {
-            
+            EventBus.EventBus.GetInstance().Publish(new GSIceCream_DischargeEvent { DeviceId = DeviceId });
         }
         private void Button_SetIceCreamModel()
         {
@@ -147,19 +147,21 @@ namespace BPASmartClient.MorkT_HQ.ViewModel
         /// <summary>
         /// 应用状态
         /// </summary>
-        public string AppStatus { get { return _appStatus; } set { _appStatus = value; OnPropertyChanged(); } }
-        private string _appStatus { get; set; }
+        public string CoffeeAppStatus { get { return _coffeAappStatus; } set { _coffeAappStatus = value; OnPropertyChanged(); } }
+        private string _coffeAappStatus { get; set; }
         /// <summary>
         /// 告警
         /// </summary>
-        public string Warning { get { return _warning; } set { _warning = value; OnPropertyChanged(); } }
-        public string _warning { get; set; }
+        public string CoffeeWarning { get { return _warning; } set { _warning = value; OnPropertyChanged(); } }
+        private string _warning { get; set; }
         /// <summary>
         /// 故障信息
         /// </summary>
-        public string CaffeeFault { get { return _caffeeFault; } set { _caffeeFault = value; OnPropertyChanged(); } }
-        public string _caffeeFault { get; set; }
+        public string CoffeeFault { get { return _coffeeFault; } set { _coffeeFault = value; OnPropertyChanged(); } }
+        private string _coffeeFault { get; set; }
 
+        public string Coffeeprogress { get { return _coffeeprogress; } set { _coffeeprogress = value; OnPropertyChanged(); } }
+        private string _coffeeprogress { get; set; }
         public List<string> Coffees { get; set; } = new List<string>();
         public string SelectedCoffee { get; set; }
 
@@ -235,6 +237,65 @@ namespace BPASmartClient.MorkT_HQ.ViewModel
 
         #endregion
 
+        #region 果汁机
+        /// <summary>
+        /// 果汁机连接状态
+        /// </summary>
+        public string JuiceIsConnect { get { return _juiceIsConnect; } set { _juiceIsConnect = value; OnPropertyChanged(); } }
+        private string _juiceIsConnect { get; set; }
+
+        public List<string> Juice { get; set; } = new List<string>() { "果汁1", "果汁2", "果汁3", "果汁4" };
+        public string SelectedJuice { get; set; } = "果汁1";
+
+        public List<string> Temperature { get; set; } = new List<string>() { "冷", "热" };
+
+        public string SelectedTemperature { get; set; } = "冷";
+
+        public RelayCommand MakeJuiceCommand { get; set; }
+
+        private void MakeJuice()
+        {
+            switch (SelectedJuice)
+            {
+                case "果汁1":
+                    if (SelectedTemperature == "冷")
+                    {
+                        MakeJuiceEvent(0x01);
+                    }
+                    else MakeJuiceEvent(0x00);
+                    break;
+                case "果汁2":
+                    if (SelectedTemperature == "冷")
+                    {
+                        MakeJuiceEvent(0x03);
+                    }
+                    else MakeJuiceEvent(0x02);
+                    break;
+                case "果汁3":
+                    if (SelectedTemperature == "冷")
+                    {
+                        MakeJuiceEvent(0x05);
+                    }
+                    else MakeJuiceEvent(0x04);
+                    break;
+                case "果汁4":
+                    if (SelectedTemperature == "冷")
+                    {
+                        MakeJuiceEvent(0x07);
+                    }
+                    else MakeJuiceEvent(0x06);
+                    break;
+                default:
+                    MakeJuiceEvent(0x00);
+                    break;
+            }
+        }
+        private void MakeJuiceEvent(byte b)
+        {
+            EventBus.EventBus.GetInstance().Publish(new WriteJuicer { DeviceId = DeviceId, Value = b });
+        }
+        #endregion
+
         /// <summary>
         /// 设备ID
         /// </summary>
@@ -266,7 +327,9 @@ namespace BPASmartClient.MorkT_HQ.ViewModel
                 Button_SCChipDischarge();
             });
 
-            foreach (DrCoffeeDrinksCode code in Enum.GetValues(typeof(DrCoffeeDrinksCode)))
+            MakeJuiceCommand = new RelayCommand(MakeJuice);
+
+            foreach (DrinkType code in Enum.GetValues(typeof(DrinkType)))
             {
                 Coffees.Add(code.ToString());
             }
@@ -283,9 +346,11 @@ namespace BPASmartClient.MorkT_HQ.ViewModel
             }
             SelecteIceCreamdMode = IceCreamModes[0];
 
+            
+
             Plugin.GetInstance()?.GetPlugin<DeviceMgr>()?.GetDevices().ForEach(device =>
             {
-                if (device.Name == "MorkT") DeviceId = device.DeviceId
+                if (device.Name == "MorkTHQ") DeviceId = device.DeviceId
                 ;
             });
             ThreadManage.GetInstance().StartLong(new Action(() =>
@@ -299,13 +364,15 @@ namespace BPASmartClient.MorkT_HQ.ViewModel
                     IceCreamConnected = variableMonitors.FirstOrDefault(p => p.Notes == "冰淇淋连接状态").CurrentValue == "True" ? "已连接" : "未连接";
                     CoffeeConnected = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机连接状态").CurrentValue == "True" ? "已连接" : "未连接";
                     SCChipIsConnect = variableMonitors.FirstOrDefault(p => p.Notes == "单片机连接状态").CurrentValue == "True" ? "已连接" : "未连接";
+                    JuiceIsConnect = variableMonitors.FirstOrDefault(p => p.Notes == "果汁机连接状态").CurrentValue == "True" ? "已连接" : "未连接";
 
                     RobotMode = variableMonitors.FirstOrDefault(p => p.Notes == "机器人状态").CurrentValue;
 
                     CoffeeStatus = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机状态").CurrentValue;
-                    AppStatus = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机应用状态").CurrentValue;
-                    Warning = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机告警").CurrentValue;
-                    CaffeeFault = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机故障").CurrentValue;
+                    CoffeeAppStatus = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机应用状态").CurrentValue;
+                    CoffeeWarning = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机告警").CurrentValue;
+                    CoffeeFault = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机故障").CurrentValue;
+                    Coffeeprogress = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机制作进度").CurrentValue;
 
                     YLWD = variableMonitors.FirstOrDefault(p => p.Notes == "冰淇淋机器预冷温度").CurrentValue;
                     HQWD = variableMonitors.FirstOrDefault(p => p.Notes == "冰淇淋机器回气温度").CurrentValue;

BPASmartClient.MorkT_HQ/ViewModel/MonitorViewModel.cs

@@ -12,7 +12,7 @@ using System.Threading.Tasks;
 using System.Windows.Data;
 using System.Windows.Media;
 
-namespace BPASmartClient.MorkT_HQ.ViewModel
+namespace BPASmartClient.MorkTHQ.ViewModel
 {
 
     public class MonitorViewModel: ObservableObject

BPASmartClient.SCChip/CommandHandler.cs

@@ -1,5 +1,6 @@
 
 using BPASmartClient.EventBus;
+using BPASmartClient.Message;
 using BPASmartClient.Model.单片机;
 using BPASmartClient.Model.单片机.Enum;
 using BPASmartClient.SCChip;
@@ -148,6 +149,7 @@ namespace BPASmartClient.SCChip
             package.Cmd = IC_CMD.TAKE_CUP;
             package.Value = (byte)(@event as SCChip_TakeCupEvent).Cup;
             commProxy.SendData(StructureToByte(package));
+            MessageLog.GetInstance.Show($"发送落杯指令--{(@event as SCChip_TakeCupEvent).Cup}");
 
             bool wait = true;
             var waitTimeout = DateTime.Now.AddSeconds(3);
@@ -166,7 +168,7 @@ namespace BPASmartClient.SCChip
                             break;
                     }
                 }
-                Thread.Sleep(10);
+                Thread.Sleep(50);
             }
         }
 

BPASmartClient.SCChip/ICChipMachine.cs

@@ -144,7 +144,7 @@ namespace BPASmartClient.SCChip
                 }
                 continue;
             }
-            Thread.Sleep(5);
+            Thread.Sleep(10);
         }
 
         /// <summary>  
@@ -281,7 +281,7 @@ namespace BPASmartClient.SCChip
                      package.Cmd = IC_CMD.TAKE_CUP;
                      package.Value = (byte)(@event as SCChip_TakeCupEvent).Cup;
                      commProxy.SendData(StructureToByte(package));
-
+                     MessageLog.GetInstance.Show($"发送落杯指令--{(@event as SCChip_TakeCupEvent).Cup}");
                      bool wait = true;
                      var waitTimeout = DateTime.Now.AddSeconds(3);
                      while (wait)
@@ -351,7 +351,7 @@ namespace BPASmartClient.SCChip
                         }
                         Thread.Sleep(10);
                     }
-                    Thread.Sleep(1700);
+                    Thread.Sleep(1800);
                     switch ((IC_SE)(@event as SCChip_MakeIceCreamEvent).SteeringEngine)
                     {
                         case IC_SE.SE_1:

SmartClient.sln

@@ -92,7 +92,7 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.JAKA", "BPAS
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.Juicer", "BPASmartClient.Juicer\BPASmartClient.Juicer.csproj", "{C28A88B1-E449-484C-AC67-B5038FF2CA79}"
 EndProject
-Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MorkT_HQ", "BPASmartClient.MorkT_HQ\BPASmartClient.MorkT_HQ.csproj", "{00C17D87-A323-4A97-BC21-7039E55614DE}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MorkTHQ", "BPASmartClient.MorkT_HQ\BPASmartClient.MorkTHQ.csproj", "{00C17D87-A323-4A97-BC21-7039E55614DE}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution