From c3efa98fdb217786ab1cd389ca0a946e8073aafc Mon Sep 17 00:00:00 2001 From: pengliangyang <1406009520@qq.com> Date: Mon, 20 Jun 2022 16:58:00 +0800 Subject: [PATCH] =?UTF-8?q?JakaDO=E6=B7=BB=E5=8A=A0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- BPASmartClient.JAKA/JakaMachine.cs | 3 + .../节卡机器人/JakaModel.cs | 2 + .../Control_MORKJC2.cs | 6 +- .../BPASmartClient.MorkT_Show.csproj | 19 + .../Control_MORKJC_Show.cs | 851 ++++++++++++++++++ BPASmartClient.MorkT_Show/GVL_MorkTLebeiJC.cs | 76 ++ BPASmartClient.MorkT_Show/OrderLocInfo.cs | 17 + BPASmartClient.MorkT_Show/PolymerBatching.cs | 152 ++++ .../Control_MORKJC.cs | 6 +- SmartClient.sln | 25 +- 10 files changed, 1150 insertions(+), 7 deletions(-) create mode 100644 BPASmartClient.MorkT_Show/BPASmartClient.MorkT_Show.csproj create mode 100644 BPASmartClient.MorkT_Show/Control_MORKJC_Show.cs create mode 100644 BPASmartClient.MorkT_Show/GVL_MorkTLebeiJC.cs create mode 100644 BPASmartClient.MorkT_Show/OrderLocInfo.cs create mode 100644 BPASmartClient.MorkT_Show/PolymerBatching.cs diff --git a/BPASmartClient.JAKA/JakaMachine.cs b/BPASmartClient.JAKA/JakaMachine.cs index 2df5fbc5..eafd2835 100644 --- a/BPASmartClient.JAKA/JakaMachine.cs +++ b/BPASmartClient.JAKA/JakaMachine.cs @@ -52,6 +52,9 @@ namespace BPASmartClient.JAKA case "JaKaProgramName": if (par?.Value is string stringvalue) jaKaHelper.JaKaProgramName(stringvalue); break; + case "JakaDOutput": + if (par?.Value is bool DO_value && par?.DO_Index is int DO_Index) jaKaHelper.Set_RobotDO(DO_Index, DO_value); + break; default: break; } diff --git a/BPASmartClient.Model/节卡机器人/JakaModel.cs b/BPASmartClient.Model/节卡机器人/JakaModel.cs index 6ec5a876..00d4702f 100644 --- a/BPASmartClient.Model/节卡机器人/JakaModel.cs +++ b/BPASmartClient.Model/节卡机器人/JakaModel.cs @@ -39,6 +39,7 @@ namespace BPASmartClient.Model { public string Address { get; set; } public object Value { get; set; } + public int DO_Index { get; set; } } public class ReadJaka : BaseEvent @@ -47,5 +48,6 @@ namespace BPASmartClient.Model public ushort Length { get; set; } public object ReadPar { get; set; } } + } diff --git a/BPASmartClient.MorkT.Lebai.JC/Control_MORKJC2.cs b/BPASmartClient.MorkT.Lebai.JC/Control_MORKJC2.cs index 45f2817e..2e379311 100644 --- a/BPASmartClient.MorkT.Lebai.JC/Control_MORKJC2.cs +++ b/BPASmartClient.MorkT.Lebai.JC/Control_MORKJC2.cs @@ -190,7 +190,7 @@ namespace BPASmartClient.MorkTLebaiJC bFirstTrig_Coffee = true; delayTimeOut_Coffee = DateTime.Now; } - if (DateTime.Now.Subtract(delayTimeOut_Coffee).TotalSeconds > 180 ) + else if (DateTime.Now.Subtract(delayTimeOut_Coffee).TotalSeconds > 180 && bFirstTrig_Coffee == true) { bFirstTrig_Coffee = false; if (morkTLebaiJC.IsHaveCoffeeCup) @@ -219,7 +219,7 @@ namespace BPASmartClient.MorkTLebaiJC bFirstTrig_Juice = true; delayTimeOut_Juice = DateTime.Now; } - if (DateTime.Now.Subtract(delayTimeOut_Juice).TotalSeconds > 30) + else if (DateTime.Now.Subtract(delayTimeOut_Juice).TotalSeconds > 30 && bFirstTrig_Juice == true) { bFirstTrig_Juice = false; morkTLebaiJC.MakeJuiceEnd = true; @@ -232,7 +232,7 @@ namespace BPASmartClient.MorkTLebaiJC bFirstTrig_TeaWater = true; delayTimeOut = DateTime.Now; } - if (DateTime.Now.Subtract(delayTimeOut).TotalSeconds >= 50) + else if (DateTime.Now.Subtract(delayTimeOut).TotalSeconds >= 50 && bFirstTrig_TeaWater == true) { bFirstTrig_TeaWater = false; morkTLebaiJC.MakeTeaEnd = true; diff --git a/BPASmartClient.MorkT_Show/BPASmartClient.MorkT_Show.csproj b/BPASmartClient.MorkT_Show/BPASmartClient.MorkT_Show.csproj new file mode 100644 index 00000000..ded7616d --- /dev/null +++ b/BPASmartClient.MorkT_Show/BPASmartClient.MorkT_Show.csproj @@ -0,0 +1,19 @@ + + + + net6.0 + enable + enable + + + + + + + + + + + + + diff --git a/BPASmartClient.MorkT_Show/Control_MORKJC_Show.cs b/BPASmartClient.MorkT_Show/Control_MORKJC_Show.cs new file mode 100644 index 00000000..cd59083a --- /dev/null +++ b/BPASmartClient.MorkT_Show/Control_MORKJC_Show.cs @@ -0,0 +1,851 @@ +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; +using BPASmartClient.Model.PLC; + +namespace BPASmartClient.MorkT_Show +{ + /* + * 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_Show : BaseDevice + { + private Dictionary batchings = new Dictionary(); + //容器位置 + private string holderLoc; + //主料位置 + private string mainMaterialLoc; + public override global::BPA.Message.Enum.DeviceClientType DeviceType { get { return BPA.Message.Enum.DeviceClientType.MORKT; } } + + GVL_MorkTLebaiJC morkTLebaiJC =new GVL_MorkTLebaiJC(); + /// + /// 果汁机做法，true:热饮，false:冷饮 + /// + private bool GuMake = false; + public override void DoMain() + { + if (Json.Data.IsVerify) + { + IsHealth = true; + } + IsHealth = true; + serverInit(); + DataParse(); + ActionManage.GetInstance.Register(new Action((o) => { SimOrder(o); }), "SimOrder");//模拟订单委托注册 + + } + + private void serverInit() + { + EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack) + { + if (@event == null) return; + if (@event is MaterialDeliveryEvent material) + { + orderMaterialDelivery = material.orderMaterialDelivery; + } + }); + } + private void DataParse() + { + + EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBackHandle) + { + if (@event == null) return; + if (@event is DoOrderEvent order) + { + if (order.MorkOrder.GoodBatchings == null) return; + OrderCount++; + DeviceProcessLogShow($"接收到{OrderCount}次订单"); + batchings = PolymerBatching.BuildAll(); + + //商品类型 + GOODS_TYPE currentGoodsType = GOODS_TYPE.NEITHER; + + foreach (var item in order.MorkOrder.GoodBatchings) + { + var res = orderMaterialDelivery?.BatchingInfo?.FirstOrDefault(p => p.BatchingId == item.BatchingId); + if (res != null) + { + //验证商品是做的某种饮料 + if (ValidateGoodsByBatching(res.BatchingLoc) != GOODS_TYPE.NEITHER) + { + //获取当前物料所属商品类型 + currentGoodsType = ValidateGoodsByBatching(res.BatchingLoc); + } + // + switch (batchings[res.BatchingLoc].BatchingClass) + { + case BATCHING_CLASS.HOLDER: + holderLoc = res.BatchingLoc; + break; + case BATCHING_CLASS.MAIN_MATERIAL: + mainMaterialLoc = res.BatchingLoc; + break; + } + //根据商品类型执行具体制作流程 + switch (currentGoodsType) + { + case GOODS_TYPE.COFFEE: + if (morkTLebaiJC.morkOrderPushesCoffee.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) + { + morkTLebaiJC.morkOrderPushesCoffee.Enqueue(new OrderLocInfo() + { + SuborderId = order.MorkOrder.SuborderId, + BatchingId = res.BatchingId, + Loc = ushort.Parse( mainMaterialLoc), + GoodName = order.MorkOrder.GoodsName, + }); + } + break; + case GOODS_TYPE.JUICE: + GuMake = order.MorkOrder.MakeID == "2";//判断果汁的冷热 + if (morkTLebaiJC.morkOrderPushesJuicer.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) + { + morkTLebaiJC.morkOrderPushesJuicer.Enqueue(new OrderLocInfo() + { + SuborderId = order.MorkOrder.SuborderId, + BatchingId = res.BatchingId, + Loc = ushort.Parse(mainMaterialLoc), + GoodName = order.MorkOrder.GoodsName, + }); + } + break; + case GOODS_TYPE.TEA: + if (morkTLebaiJC.morkOrderPushesTea.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) + { + morkTLebaiJC.morkOrderPushesTea.Enqueue(new OrderLocInfo() + { + SuborderId = order.MorkOrder.SuborderId, + BatchingId = res.BatchingId, + Loc = ushort.Parse(mainMaterialLoc), + GoodName = order.MorkOrder.GoodsName, + }); + } + break; + case GOODS_TYPE.WATER: + if (morkTLebaiJC.morkOrderPushesWater.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) + { + morkTLebaiJC.morkOrderPushesWater.Enqueue(new OrderLocInfo() + { + SuborderId = order.MorkOrder.SuborderId, + BatchingId = res.BatchingId, + Loc = ushort.Parse(mainMaterialLoc), + GoodName = order.MorkOrder.GoodsName, + }); + } + break; + case GOODS_TYPE.NEITHER: + DeviceProcessLogShow("未知的商品类型"); + break; + } + } + } + } + }); + } + /// + /// 将空杯放好到接饮料的地方的标志位 + /// + private bool bFirstTrig_TeaWater = false; + private bool bFirstTrig_Coffee = false; + private bool bFirstTrig_Juice = false; + /// + /// 延迟的超时时间 + /// + DateTime delayTimeOut_Water; + DateTime delayTimeOut_Coffee; + DateTime delayTimeOut_Juice; + public override void MainTask() + { + EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack) + { + if (morkTLebaiJC.IsHaveCoffeeCup) + morkTLebaiJC.MakeCoffeeEnd = true; + }); + if (pickUpCoffeeHaveCup) + { + if (!bFirstTrig_Coffee) + { + bFirstTrig_Coffee = true; + delayTimeOut_Coffee = DateTime.Now; + } + else if (DateTime.Now.Subtract(delayTimeOut_Coffee).TotalSeconds > 180 && bFirstTrig_Coffee == true) + { + bFirstTrig_Coffee = false; + if (morkTLebaiJC.IsHaveCoffeeCup) + morkTLebaiJC.MakeCoffeeEnd = true; + } + } + + if (morkTLebaiJC.IsHaveJuiceCup) + { + var Juicestate = GetStatus("GetDeviceStatus"); + if (Juicestate != null) + { + if (Juicestate.Length > 0) + { + var Juicestate1 = Convert.ToString(Juicestate[0], 2); + var Juicestate2 = Juicestate[1]; + if (Juicestate1.IndexOf("0") == 1 && Juicestate2 == 0) + { + morkTLebaiJC.MakeJuiceEnd = true; + } + } + } + //若无状态返回 则加延迟 + if (!bFirstTrig_Juice) + { + bFirstTrig_Juice = true; + delayTimeOut_Juice = DateTime.Now; + } + else if (DateTime.Now.Subtract(delayTimeOut_Juice).TotalSeconds > 30 && bFirstTrig_Juice==true) + { + bFirstTrig_Juice = false; + morkTLebaiJC.MakeJuiceEnd = true; + } + } + if (morkTLebaiJC.IsHaveTeaWaterCup) + { + if (!bFirstTrig_TeaWater) + { + bFirstTrig_TeaWater = true; + delayTimeOut_Water = DateTime.Now;//开启接水信号后，记录当前时间 + } + else if (DateTime.Now.Subtract(delayTimeOut_Water).TotalSeconds >= 50 && bFirstTrig_TeaWater == true)//接水超过50s后，启动接水完成标志，开启接水程序 + { + bFirstTrig_TeaWater = false; + morkTLebaiJC.MakeTeaEnd = true; + } + } + DoCoffee(); + DoJuice(); + DoBoiledTea(); + DoBoiledWater(); + } + + /// + /// 订单状态改变 + /// + /// + /// + private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS) + { + EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType }); + } + /// + /// 验证商品是做的某种饮料 + /// + /// 物料位置 + private GOODS_TYPE ValidateGoodsByBatching(string batchingLoc) + { + if (batchings.ContainsKey(batchingLoc)) + return batchings[batchingLoc].GoodsType; + return GOODS_TYPE.NEITHER; + } + /// + /// 乐白的场景结束等待 + /// + /// + 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(); + } + /// + /// 乐白的场景 + /// + /// + private void Sence(int sen) + { + new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = sen }.Publish(); + } + /// + /// 乐白的数字量输出 + /// + /// + /// + private void Output(bool value,int pin) + { + new LebaiRobot_SetOutPutEvent { DeviceId = DeviceId, Pin = pin,Value=value }.Publish(); + } + + private T GetStatus(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 + /// + /// 判断接咖啡的位置是否有杯子 + /// + bool pickUpCoffeeHaveCup = false; + /// + /// 判断接果汁的位置是否有杯子 + /// + bool pickUpJuiceHaveCup = false; + /// + /// 判断接开水的位置是否有杯子 + /// + bool pickUpHotWaterHaveCup = false; + /// + /// 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 + /// + int bSensorInput; + + + private bool IsMakeCoffee() + { + bool bMake = (IsHealth && morkTLebaiJC.morkOrderPushesCoffee.Count > 0 && !morkTLebaiJC.IsHaveCoffeeCup) ? true : false; + return bMake; + } + private bool IsMakeJuice() + { + bool bMake = (IsHealth && morkTLebaiJC.morkOrderPushesJuicer.Count > 0 && !morkTLebaiJC.IsHaveJuiceCup) ? true : false; + return bMake; + } + private bool IsMakeTeaWater() + { + bool bMake = (IsHealth && morkTLebaiJC.morkOrderPushesTea.Count > 0 && !morkTLebaiJC.IsHaveTeaWaterCup) ? true : false; + return bMake; + } + private bool IsMakeWater() + { + bool bMake = (IsHealth && morkTLebaiJC.morkOrderPushesWater.Count > 0 && !morkTLebaiJC.IsHaveTeaWaterCup) ? true : false; + return bMake; + } + /// + /// 做咖啡流程 + /// + private void DoCoffee() + { + if (IsMakeCoffee()) + { + if (morkTLebaiJC.morkOrderPushesCoffee.TryDequeue(out OrderLocInfo orderLoc)) + { + PickUpCoffee();//接咖啡 + morkTLebaiJC.IsHaveCoffeeCup = true; + } + } + else if(morkTLebaiJC.MakeCoffeeEnd) + { + PutCoffeeCup(); + pickUpCoffeeHaveCup = false; + morkTLebaiJC.IsHaveCoffeeCup = false; + } + } + private void DoJuice() + { + if (IsMakeJuice()) + { + if (morkTLebaiJC.morkOrderPushesJuicer.TryDequeue(out OrderLocInfo orderLoc)) + { + PickUpJuicer(); + morkTLebaiJC.IsHaveJuiceCup = true; + } + } + else if (morkTLebaiJC.MakeJuiceEnd) + { + Thread.Sleep(5000);//延迟五秒，防止接饮料口滴饮料 + putJuice(); + pickUpJuiceHaveCup = false; + morkTLebaiJC.IsHaveJuiceCup = false; + morkTLebaiJC.MakeJuiceEnd = false; + } + } + private void DoBoiledTea() + { + if (IsMakeTeaWater()) + { + if (morkTLebaiJC.morkOrderPushesTea.TryDequeue(out OrderLocInfo orderLoc)) + { + PickUpTea(); + morkTLebaiJC.IsHaveTeaWaterCup = true; + } + } + else if(morkTLebaiJC.MakeTeaEnd) + { + PutWaterCup(); + pickUpHotWaterHaveCup = false; + morkTLebaiJC.IsHaveTeaWaterCup = false ; + morkTLebaiJC.MakeTeaEnd = false; + } + } + private void DoBoiledWater() + { + if (IsMakeWater()) + { + if (morkTLebaiJC.morkOrderPushesWater.TryDequeue(out OrderLocInfo orderLoc)) + { + PickUpWater(); + } + } + else if (morkTLebaiJC.MakeTeaEnd) + { + PutWaterCup(); + pickUpHotWaterHaveCup = false; + morkTLebaiJC.IsHaveTeaWaterCup = false; + morkTLebaiJC.MakeTeaEnd = false; + } + } + + #region 做咖啡流程 + /// + /// 接咖啡 + /// + private void PickUpCoffee() + { + //while (GetStatus("RobotValue1"))//判断放杯位置是否有物品 + //{ + // if (!outCupCheck) + // DeviceProcessLogShow("成品处有纸杯存在，请取走！！"); + // outCupCheck = true; + //} + if (!pickUpCoffeeHaveCup) + { + outCupCheck = false; + OrderChange(morkTLebaiJC.morkOrderPushesCoffee.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING); + int resultTakeCup = takeCup(); + if (resultTakeCup == 1) + { + DeviceProcessLogShow("咖啡杯取杯完成"); + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(JuicerModel.JUICE2_接咖啡); + Wait(); + pickUpCoffeeHaveCup = true; + new DRCoffee_MakeCoffeeEvent() { DrinkCode = (DrCoffeeDrinksCode)int.Parse(mainMaterialLoc) }.Publish(); //接咖啡控制 //DrCoffeeDrinksCode.热水 + } + else + { + DeviceProcessLogShow("取杯失败 回到初始位，请及时处理！！"); + Sence(JuicerModel.JUICE2_初始位); + } + } + } + /// + /// 咖啡杯接好，放咖啡杯 + /// + private void PutCoffeeCup() + { + while (GetStatus("RobotValue1"))//判断放杯位置是否有物品 + { + if (!outCupCheck) + DeviceProcessLogShow("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(morkTLebaiJC.morkOrderPushesCoffee.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE); + DeviceProcessLogShow("咖啡制作完成"); + } + #endregion + #region 做开水流程 + /// + /// 接开水 + /// + private void PickUpWater() + { + #region 接水流程 + if (!pickUpHotWaterHaveCup) + { + OrderChange(morkTLebaiJC.morkOrderPushesWater.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING); + int resultTakeCup = takeCup(); + if (resultTakeCup == 1) + { + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(JuicerModel.JUICE2_接开水); + Wait(); + Output(false, 1); + Output(false, 0); + Thread.Sleep(100); + Output(true, 0); + Thread.Sleep(3000); + Output(false, 0); + Thread.Sleep(100); + + Output(false, 1); + Thread.Sleep(100); + Output(true, 1); + Thread.Sleep(500); + Output(false, 1); + } + else + { + return; + } + } + #endregion + } + #endregion + #region 做茶流程 + /// + /// 做茶 + /// + private void PickUpTea() + { + #region 接茶流程 + if (!pickUpHotWaterHaveCup) + { + OrderChange(morkTLebaiJC.morkOrderPushesTea.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING); + int resultTakeCup = takeCup(); + if (resultTakeCup == 1) + { + DeviceProcessLogShow("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(); + Output(false, 1); + Output(false, 0); + Thread.Sleep(100); + Output(true, 0); + Thread.Sleep(3000); + Output(false, 0); + Thread.Sleep(100); + + Output(false, 1); + Thread.Sleep(100); + Output(true, 1); + Thread.Sleep(500); + Output(false, 1); + pickUpHotWaterHaveCup = true; + } + else + { + return; + } + } + #endregion + } + /// + /// 放水杯流程 + /// + private void PutWaterCup() + { + while (GetStatus("RobotValue1"))//判断放杯位置是否有物品 + { + if (!outCupCheck) + DeviceProcessLogShow("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(morkTLebaiJC.morkOrderPushesWater.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE); + DeviceProcessLogShow("茶水制作完成"); + } + + #endregion + #region 做果汁流程 + /// + /// 果汁机控制信号 + /// + private byte JuicerNum; + private int JuiceCH; + /// + /// 接果汁 + /// + private void PickUpJuicer() + { + #region 接果汁流程 + if (!pickUpJuiceHaveCup) + { + OrderChange(morkTLebaiJC.morkOrderPushesJuicer.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING); + int resultTakeCup = takeCup(); + JuiceCH = int.Parse(mainMaterialLoc); + if (resultTakeCup == 1) + { + switch (JuiceCH) + { + case 52: + if (GuMake) + JuicerNum = 0x00; + else + JuicerNum = 0x01; + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(JuicerModel.JUICE2_接果汁1); + 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2); + 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3); + 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4); + Wait(); + break; + default: + JuicerNum = 0x00; + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(JuicerModel.JUICE2_接果汁1); + Wait(); + break; + } + new WriteJuicer() { Value = JuicerNum }.Publish(); + pickUpJuiceHaveCup = true; + } + else + { + return; + } + } + #endregion + } + /// + /// 取接好果汁杯 + /// + private void putJuice() + { + while (GetStatus("RobotValue1"))//判断放杯位置是否有物品 + { + if (!outCupCheck) + DeviceProcessLogShow("成品处有纸杯存在，请取走！！"); + outCupCheck = true; + } + outCupCheck = false; + switch (JuiceCH) + { + case 52: + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(JuicerModel.JUICE2_放果汁杯1); + Wait(); + break; + case 53: + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(JuicerModel.JUICE2_放果汁杯2); + Wait(); + break; + case 54: + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(JuicerModel.JUICE2_放果汁杯3); + Wait(); + break; + case 55: + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(JuicerModel.JUICE2_放果汁杯4); + Wait(); + break; + default: + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(JuicerModel.JUICE2_放果汁杯1); + Wait(); + break; + } + OrderChange(morkTLebaiJC.morkOrderPushesJuicer.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE); + DeviceProcessLogShow("果汁制作完成"); + } + #endregion + + /// + /// 取杯的次数 + /// + private int nCnt; + /// + /// 传感器的检测次数 + /// + private int checkCnt; + /// + /// 取杯流程 + /// + /// 0:无意义，1：取杯成功 2：取杯失败 + 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_取纸杯检测); + Wait(); + nCnt++; + Thread.Sleep(2000); + while (checkCnt < 3) + { + if (!GetStatus("GetInput")) + { + new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish(); + Sence(JuicerModel.JUICE2_再检测); + Wait(); + } + else + { + break; + } + checkCnt++; + } + checkCnt = 0; + while (!GetStatus("GetInput")) //读取传感器的值 + { + if (nCnt > 3) + { + nCnt = 0; + DeviceProcessLogShow("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_取纸杯检测); + Wait(); + checkCnt = 0; + while (checkCnt < 3) + { + if (!GetStatus("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) + { + DeviceProcessLogShow(ex.ToString()); + } + return 2; + } + /// + /// 放杯 + /// + /// 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 + private int putCup() + { + try + { + if (GetStatus("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("GetInput2")) + { + return 1; + } + else + { + return 3; + } + } + catch (Exception ex) + { + DeviceProcessLogShow(ex.ToString()); + return 0; + } + } + public void SimOrder(T simOrder) + { + + } + #region PLC 控制函数 + + private void WritePLCData(string address, object value) + { + EventBus.EventBus.GetInstance().Publish(new WriteModel() { DeviceId = DeviceId, Address = address, Value = value }); + } + + public override void Stop() + { + } + + public override void ReadData() + { + + } + + public override void ResetProgram() + { + } + public override void SimOrder() + { + } + } +} diff --git a/BPASmartClient.MorkT_Show/GVL_MorkTLebeiJC.cs b/BPASmartClient.MorkT_Show/GVL_MorkTLebeiJC.cs new file mode 100644 index 00000000..0460871d --- /dev/null +++ b/BPASmartClient.MorkT_Show/GVL_MorkTLebeiJC.cs @@ -0,0 +1,76 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; +using BPASmartClient.Device; +using System.Collections.Concurrent; + +namespace BPASmartClient.MorkT_Show +{ + public class GVL_MorkTLebaiJC : IStatus + { + /// + /// + /// 咖啡订单队列 + /// + public ConcurrentQueue morkOrderPushesCoffee = new ConcurrentQueue(); + /// + /// 是否有咖啡杯 + /// + public bool IsHaveCoffeeCup = false; + + /// + /// 咖啡是否制作完成 + /// + public bool MakeCoffeeEnd = false; + + /// + /// 果汁订单队列 + /// + public ConcurrentQueue morkOrderPushesJuicer = new ConcurrentQueue(); + /// + /// 果汁是否在制作中 + /// + public bool IsHaveJuiceCup = false; + /// + /// 咖啡是否制作完成 + /// + public bool MakeJuiceEnd = false; + + /// + /// 做茶订单队列 + /// + public ConcurrentQueue morkOrderPushesTea = new ConcurrentQueue(); + /// + /// 茶或水是否在制作中 + /// + public bool IsHaveTeaWaterCup = false; + /// + /// 咖啡是否制作完成 + /// + public bool MakeTeaEnd = false; + + /// + /// 做开水订单队列 + /// + public ConcurrentQueue morkOrderPushesWater = new ConcurrentQueue(); + + /// + /// 等待取餐订单 + /// + public OrderLocInfo waitMorkOrder = new OrderLocInfo(); + + /// + /// 当前正在制作咖啡 + /// + public OrderLocInfo MakeCoffeeOrder = new OrderLocInfo(); + + /// + /// 订单ID + /// + public string SuborderId = null; + + } + +} diff --git a/BPASmartClient.MorkT_Show/OrderLocInfo.cs b/BPASmartClient.MorkT_Show/OrderLocInfo.cs new file mode 100644 index 00000000..5ac4b4d7 --- /dev/null +++ b/BPASmartClient.MorkT_Show/OrderLocInfo.cs @@ -0,0 +1,17 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace BPASmartClient.MorkT_Show +{ + public class OrderLocInfo + { + public string SuborderId { get; set; } + public ushort Loc { get; set; } + public ushort RecipeNumber { get; set; } + public int BatchingId { get; set; } + public string GoodName { get; set; } + } +} diff --git a/BPASmartClient.MorkT_Show/PolymerBatching.cs b/BPASmartClient.MorkT_Show/PolymerBatching.cs new file mode 100644 index 00000000..68f93849 --- /dev/null +++ b/BPASmartClient.MorkT_Show/PolymerBatching.cs @@ -0,0 +1,152 @@ +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; +using System.Threading.Tasks; + +namespace BPASmartClient.MorkT_Show +{ + internal enum GOODS_TYPE + { + /// + /// 未知 + /// + NEITHER, + /// + /// 咖啡 + /// + COFFEE, + /// + /// 果汁 + /// + JUICE, + /// + /// 茶水 + /// + TEA, + /// + /// 水 + /// + WATER, + /// + /// 杯子 + /// + 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 GOODS_TYPES = new Dictionary() { + {"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 BuildAll() + { + Dictionary temp = new Dictionary(); + 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; + // } + //} + } +} diff --git a/BPASmartClient.Morkt.JAKA.JC/Control_MORKJC.cs b/BPASmartClient.Morkt.JAKA.JC/Control_MORKJC.cs index 6d7c31f8..7ecb3f9c 100644 --- a/BPASmartClient.Morkt.JAKA.JC/Control_MORKJC.cs +++ b/BPASmartClient.Morkt.JAKA.JC/Control_MORKJC.cs @@ -190,7 +190,7 @@ namespace BPASmartClient.MorktJAKAJC bFirstTrig_Coffee = true; delayTimeOut_Coffee = DateTime.Now; } - if (DateTime.Now.Subtract(delayTimeOut_Coffee).TotalSeconds > 180) + else if (DateTime.Now.Subtract(delayTimeOut_Coffee).TotalSeconds > 180 && bFirstTrig_Coffee == true) { bFirstTrig_Coffee = false; if (morkTJakaJC.IsHaveCoffeeCup) @@ -218,7 +218,7 @@ namespace BPASmartClient.MorktJAKAJC bFirstTrig_Juice = true; delayTimeOut_Juice = DateTime.Now; } - if (DateTime.Now.Subtract(delayTimeOut_Juice).TotalSeconds > 30) + else if (DateTime.Now.Subtract(delayTimeOut_Juice).TotalSeconds > 30 && bFirstTrig_Juice == true) { bFirstTrig_Juice = false; morkTJakaJC.MakeJuiceEnd = true; @@ -231,7 +231,7 @@ namespace BPASmartClient.MorktJAKAJC bFirstTrig_TeaWater = true; delayTimeOut = DateTime.Now; } - if (DateTime.Now.Subtract(delayTimeOut).TotalSeconds >= 50) + else if (DateTime.Now.Subtract(delayTimeOut).TotalSeconds >= 50 && bFirstTrig_TeaWater == true) { bFirstTrig_TeaWater = false; morkTJakaJC.MakeTeaEnd = true; diff --git a/SmartClient.sln b/SmartClient.sln index 8856d1df..680789cc 100644 --- a/SmartClient.sln +++ b/SmartClient.sln @@ -98,7 +98,9 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "DosingSystem", "DosingSyste EndProject Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MorkTJuicer", "BPASmartClient.MorkTJuicer\BPASmartClient.MorkTJuicer.csproj", "{724087A3-E7E7-4494-B844-414FF5CD1D40}" EndProject -Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.AGV", "BPASmartClient.AGV\BPASmartClient.AGV.csproj", "{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}" +Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.AGV", "BPASmartClient.AGV\BPASmartClient.AGV.csproj", "{507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}" +EndProject +Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.MorkT_Show", "BPASmartClient.MorkT_Show\BPASmartClient.MorkT_Show.csproj", "{3653724D-3683-4722-B978-EB88DD4AE5DB}" EndProject Global GlobalSection(SolutionConfigurationPlatforms) = preSolution @@ -914,6 +916,26 @@ Global {507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Release|x64.Build.0 = Release|Any CPU {507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Release|x86.ActiveCfg = Release|Any CPU {507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8}.Release|x86.Build.0 = Release|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Debug|Any CPU.ActiveCfg = Debug|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Debug|Any CPU.Build.0 = Debug|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Debug|ARM.ActiveCfg = Debug|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Debug|ARM.Build.0 = Debug|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Debug|ARM64.ActiveCfg = Debug|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Debug|ARM64.Build.0 = Debug|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Debug|x64.ActiveCfg = Debug|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Debug|x64.Build.0 = Debug|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Debug|x86.ActiveCfg = Debug|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Debug|x86.Build.0 = Debug|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Release|Any CPU.ActiveCfg = Release|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Release|Any CPU.Build.0 = Release|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Release|ARM.ActiveCfg = Release|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Release|ARM.Build.0 = Release|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Release|ARM64.ActiveCfg = Release|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Release|ARM64.Build.0 = Release|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Release|x64.ActiveCfg = Release|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Release|x64.Build.0 = Release|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Release|x86.ActiveCfg = Release|Any CPU + {3653724D-3683-4722-B978-EB88DD4AE5DB}.Release|x86.Build.0 = Release|Any CPU EndGlobalSection GlobalSection(SolutionProperties) = preSolution HideSolutionNode = FALSE @@ -959,6 +981,7 @@ Global {4E0B01AD-CFD0-4BD5-BBE6-AD2A4183B4DB} = {8712125E-14CD-4E1B-A1CE-4BDE03805942} {724087A3-E7E7-4494-B844-414FF5CD1D40} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F} {507A30E2-246E-4AC9-82F4-BE8FBBC1C5B8} = {3D1D0E04-03FD-480A-8CF8-6E01A2E28625} + {3653724D-3683-4722-B978-EB88DD4AE5DB} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F} EndGlobalSection GlobalSection(ExtensibilityGlobals) = postSolution SolutionGuid = {9AEC9B81-0222-4DE9-B642-D915C29222AC}