using BPA.Message; using BPA.Message.Enum; using BPASmartClient.Device; using BPASmartClient.DRCoffee; using BPASmartClient.EventBus; using BPASmartClient.GSIceCream; using BPASmartClient.Helper; using BPASmartClient.KLMCoffee.Protocal; using BPASmartClient.Lebai; using BPASmartClient.LebaiRobot; using BPASmartClient.Message; using BPASmartClient.Model; using BPASmartClient.Model.乐白机器人; using BPASmartClient.Model.冰淇淋.Enum; using BPASmartClient.Model.单片机; using BPASmartClient.Model.单片机.Enum; using BPASmartClient.Peripheral; using Robotc; using System; using System.Collections.Generic; using System.Linq; using System.Text; using System.Threading; using System.Threading.Tasks; using static BPASmartClient.EventBus.EventBus; namespace BPASmartClient.MorkTHQ { public class Control_MorkTHQ : BaseDevice { public override global::BPA.Message.Enum.DeviceClientType DeviceType { get { return BPA.Message.Enum.DeviceClientType.MORKT; } } GLV_MorkTHQ morkT = new GLV_MorkTHQ(); int[] devStatusBy = new int[2] { 0, 0 }; public override void DoMain() { if(Json.Data.IsVerify) { IsHealth = true; } IsHealth = true; ServerInit(); DataParse(); EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack) { if (morkT.MakeCoffeeOrder != null) morkT.MakeCoffeeOrder.OrderStatus = 1; }); int i = 0; EventBus.EventBus.GetInstance().Publish(new GSIceCream_ModeSetEvent { DeviceId = DeviceId, Mode = MORKI_MODE.制冷模式 }); MessageLog.GetInstance.Show("MORKT 设备初始化完成"); } public override void ResetProgram() { morkT = null; morkT = new GLV_MorkTHQ(); } private void GetStatus(string key, Action action) { if (peripheralStatus.ContainsKey(key)) { if (peripheralStatus[key] != null) { action?.Invoke(peripheralStatus[key]); } } } public override void MainTask() { //制作咖啡 MakeCoffeeProcess(); //制作果汁 MakeJuiceProcess(); //制作冰淇淋 MakeIceCreamProcess(); //制作完取咖啡 MakeCoffeeComplete(); } public override void ReadData() { GetStatus("RobotIsConnected", new Action((o) => { if (o is bool b) { morkT.RobotIsConnected = b; } })); GetStatus("RobotMode", new Action((o) => { if (o is ELebaiRModel eLebaiRModel) { morkT.RobotMode = eLebaiRModel; } })); GetStatus("IceCreamIsConnected", new Action((o) => { if (o is bool b) { morkT.IceCreamIsConnected = b; } })); GetStatus("IceCreamYLWD", new Action((o) => { if (o is short s) { morkT.YLWD = s; } })); GetStatus("IceCreamHQWD", new Action((o) => { if (o is short s) { morkT.HQWD = s; } })); GetStatus("IceCreamDL", new Action((o) => { if (o is short s) { morkT.DL = s; } })); GetStatus("IceCreamDY", new Action((o) => { if (o is short s) { morkT.DY = s; } })); GetStatus("IceCreamCXB", new Action((o) => { if (o is byte bt) { morkT.CBX = bt; } })); GetStatus("IceCreamCurrentMode", new Action((o) => { if (o is MORKI_MODE mORKI_MODE) { morkT.IceCreamMode = mORKI_MODE; } })); GetStatus("IceCreamFault", new Action((o) => { if (o is MORKI_FAULT mORKI_FAULT) { morkT.IceCreamFault = mORKI_FAULT; } })); GetStatus("IceCreamDLCompleted", new Action((o) => { if (o is bool b) { morkT.DLCompleted = b; } })); GetStatus("CoffeeIsConnected", new Action((o) => { if (o is bool b) { morkT.CoffeeIsConnected = b; } })); GetStatus("CoffeeStatus", new Action((o) => { if (o is K95SysTemStatus coffeeStatus) { morkT.DrCoffeeStatus = coffeeStatus; } })); GetStatus("CoffeeAppStatus", new Action((o) => { if (o is TaskIndex appStatus) { morkT.CoffeeAppStatus = appStatus; } })); GetStatus("CoffeeWarning", new Action((o) => { if (o is FaultMessage coffeeWarning) { morkT.CoffeeWarning = coffeeWarning; } })); GetStatus("CoffeeFault", new Action((o) => { if (o is UpkeepMessage coffeeFault) { morkT.CaffeeFault = coffeeFault; } })); GetStatus("Coffeeprogress", new Action((o) => { if (o is int coffeeFault) { morkT.Coffeeprogress = coffeeFault; } })); GetStatus("SCChipIsConnect", new Action((o) => { if (o is bool b) { morkT.SCChipIsConnect = b; } })); GetStatus("JuiceIsConnect", new Action((o) => { if (o is bool b) { morkT.JuiceIsConnect = b; } })); } public override void Stop() { } private void ServerInit() { //物料信息 EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack) { if (@event == null) return; if (@event is MaterialDeliveryEvent material) { orderMaterialDelivery = material.orderMaterialDelivery; } }); //配方数据信息 EventBus.EventBus.GetInstance().Subscribe(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack) { if (@event == null) return; if (@event is RecipeBomEvent recipe) { recipeBoms = recipe.recipeBoms; } }); } /// /// 数据解析 /// 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"); //构建所有商品物料信息 morkT.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) { //验证商品是咖啡还是冰淇淋 if (ValidateGoodsByBatching(res.BatchingLoc) != GOODS_TYPE.NEITHER) { //获取当前物料所属商品类型 currentGoodsType = ValidateGoodsByBatching(res.BatchingLoc); } string loc_Goods = string.Empty; //获取主料和容器位置 if (morkT.batchings[res.BatchingLoc].BatchingClass == BATCHING_CLASS.MAIN_MATERIAL) loc_Goods = res.BatchingLoc; if (!string.IsNullOrEmpty(loc_Goods)) { switch (currentGoodsType) { case GOODS_TYPE.COFFEE: if (morkT.morkOrderPushesCoffee.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) { morkT.morkOrderPushesCoffee.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.ICECREAM: if (morkT.morkOrderPushesIceCream.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null) { morkT.morkOrderPushesIceCream.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.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; } } } } } }); } /// /// 验证当前是做咖啡还是做冰淇淋 /// /// 物料位置 private GOODS_TYPE ValidateGoodsByBatching(string batchingLoc) { if (morkT.batchings.ContainsKey(batchingLoc)) return morkT.batchings[batchingLoc].GoodsType; return GOODS_TYPE.NEITHER; } private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS) { EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType }); } private void Wait(int value = 101) { while (!((bool)peripheralStatus["RobotOK"] && (int)peripheralStatus["RobotValue"] == value)) { Thread.Sleep(5); } } #region 咖啡 /// /// 是否可以开始制作咖啡 /// /// private bool CoffeeCanMake() { bool canMake = (IsHealth && morkT.morkOrderPushesCoffee.Count > 0 && !morkT.IsCoffeeMake) ? true : false; return canMake; } /// /// 制作咖啡流程 /// private void MakeCoffeeProcess() { if (CoffeeCanMake()) { if (morkT.morkOrderPushesCoffee.TryDequeue(out OrderLocInfo orderLoc)) { DeviceProcessLogShow($"开始制作 [咖啡] 订单[{orderLoc.SortNum}]"); GetAndCheeckCoffe(orderLoc);//取咖啡杯 if (!morkT.GetCoffeeCup) return; EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10051}); //接咖啡后回原点 Wait(); EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { }); 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($"发送咖啡机制作{orderLoc.Loc}!"); morkT.IsCoffeeMake = true; morkT.MakeCoffeeOrder = orderLoc; } } } /// /// 咖啡机制作完咖啡，取走并放到取餐口，最后回原点 /// private void MakeCoffeeComplete() { if (morkT.IsCoffeeMake && IsHealth) { if (morkT.MakeCoffeeOrder != null && morkT.MakeCoffeeOrder.OrderStatus == 1) { DeviceProcessLogShow($"将咖啡移动到取餐位 [咖啡] 订单[{morkT.MakeCoffeeOrder.SortNum}]"); DoCoffeeQC(morkT.MakeCoffeeOrder); morkT.MakeCoffeeOrder = null; morkT.IsCoffeeMake = false; } } } /// /// 将咖啡杯从咖啡机 取走到 取餐口 /// private void DoCoffeeQC(OrderLocInfo order) { EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10052 }); //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 OrderChange(order.SuborderId, ORDER_STATUS.COMPLETED_COOK); morkT.waitMorkOrder = order; DeviceProcessLogShow($"{order.GoodsName}等待取餐"); //WaitTakeMealOrder.Enqueue(order); } /// /// 取咖啡杯&&咖啡杯检测 若检测失败机器人回原点 /// /// private void GetAndCheeckCoffe(OrderLocInfo order) { EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 },(o)=>{ }); OrderChange(order.SuborderId, ORDER_STATUS.COOKING); EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10031 }); //SENCE_取咖啡杯 Wait(); Thread.Sleep(500); EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { }); morkT.GetCoffeeCup = true; DeviceProcessLogShow("取咖啡杯完成"); } #endregion #region 冰淇淋 /// /// 冰淇淋是否可以开始制作 /// /// private bool IceCreamCanMake() { bool canMake = (IsHealth && morkT.morkOrderPushesIceCream.Count > 0) ? true : false; return canMake; } /// /// 制作冰淇淋流程 /// private void MakeIceCreamProcess() { if (IceCreamCanMake()) { if (peripheralStatus.ContainsKey("IceCreamCurrentMode")) { if ((MORKI_MODE)peripheralStatus["IceCreamCurrentMode"] != MORKI_MODE.制冷模式) EventBus.EventBus.GetInstance().Publish(new GSIceCream_ModeSetEvent { DeviceId = DeviceId, Mode = MORKI_MODE.制冷模式 }); } if (peripheralStatus.ContainsKey("IceCreamCXB")) { if ((byte)peripheralStatus["IceCreamCXB"] >= 86 && morkT.morkOrderPushesIceCream.Count > 0)//成型比大于86才可以制作 { bool result = true; EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 3 }, (res) => { if (res[0] is bool resultValue) { result = resultValue; } }); if (result) { if (morkT.IceIsOK) DeviceProcessLogShow("请检查冰淇淋出料口有无遮挡"); morkT.IceIsOK = false; } else if (morkT.morkOrderPushesIceCream.TryDequeue(out OrderLocInfo order)) { morkT.IceIsOK = true; DeviceProcessLogShow($"开始制作 [冰淇淋] 订单[{order.SortNum}]"); DoIceCream(order); } } } } } /// /// 做冰淇淋 /// private void DoIceCream(OrderLocInfo order) { GetIceCreamCup(); //CheckICeCreaCup(); GetIceCream(order); PutIceCream(order); } /// /// 取冰淇淋杯 /// private void GetIceCreamCup() { 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 Wait(); Thread.Sleep(500); DeviceProcessLogShow("尝试取冰淇淋杯!"); } /// /// 冰淇淋杯检测，失败后机器人回到原点 /// private void CheckICeCreaCup() { int count = 2; 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 Wait(); Thread.Sleep(500); EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { if (o != null && o.Length > 0 && o[0] is SignalResult res) { MessageLog.GetInstance.Show(res.ToString()); } }); while((int)peripheralStatus["RobotValue"] != 0) { Thread.Sleep(10); } MessageLog.GetInstance.Show($"乐白机器人信号值{peripheralStatus["RobotValue"].ToString()}"); //while ((ELebaiRModel)peripheralStatus["RobotMode"] !=ELebaiRModel.空闲状态) //{ // EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }); // Thread.Sleep(500); //} EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetTCPInputEvent { DeviceId = DeviceId, Pin = 1 }, (o) => { if (o != null && o.Length > 0 && o[0] is bool resultValue) { result = resultValue; } }); if (!result) { if (count >= 3) { //退出循环回到初始位置 DeviceProcessLogShow($"执行{count}次取冰淇淋杯,仍未成功,订单默认废弃,机器人回到初始位置!"); EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10049 }); //SENCE_冰淇淋杯回原点 Wait(); EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 },(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().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) => { }); count++; goto p; } morkT.GetIceCreamCup = true; DeviceProcessLogShow("冰淇淋杯检测完成"); } /// /// 机器人取接冰淇淋 /// /// private void GetIceCream(OrderLocInfo order) { //制冷模式 //EventBus.EventBus.GetInstance().Publish(new GSIceCream_ModeSetEvent {DeviceId = DeviceId, Mode = MORKI_MODE.制冷模式 }); EventBus.EventBus.GetInstance().Publish(new 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 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 GSIceCream_DischargeEvent { DeviceId = DeviceId }, (o) => { doItResult = (bool)o[0]; }); if (doItResult) { IceCreamCookCheck(); } else { int count_1 = 0; while ((byte)peripheralStatus["IceCreamCXB"] <= 86) { Thread.Sleep(5); count_1++; if (count_1 >= 2000) break; } IceCreamCookCheck(); } EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { }); } /// /// 把冰淇淋放到取餐位后回原点 /// /// private void PutIceCream(OrderLocInfo order) { bool resultValue = true; while (resultValue) { EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 0 }, (res) => { if (res[0] is bool b) { resultValue = b; } }); Thread.Sleep(500); } EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10056 }); //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 OrderChange(order.SuborderId, ORDER_STATUS.COMPLETED_COOK); morkT.waitMorkOrder = order; DeviceProcessLogShow($"{order.GoodsName}等待取餐"); //WaitTakeMealOrder.Enqueue(order); } /// /// 冰淇淋机器制作冰淇淋 /// public void IceCreamCookCheck() { bool result = false; int retry = 3; DateTime beginTime = DateTime.Now; while (!result) { EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 3 }, (res) => { if (res[0] is bool resultValue) { result = resultValue; } }); if (retry <= 0 || DateTime.Now.Subtract(beginTime).TotalSeconds >= 10) { DeviceProcessLogShow("超时未出料，重试次数用尽"); break; } if (DateTime.Now.Subtract(beginTime).TotalSeconds > 5) { DeviceProcessLogShow("超时未出料，重新发送打料指令"); EventBus.EventBus.GetInstance().Publish( new GSIceCream_ModeSetEvent() { DeviceId =DeviceId, Mode = MORKI_MODE.打料 }); beginTime = DateTime.Now; retry--; } Thread.Sleep(10); } DeviceProcessLogShow("开始等待6s"); Thread.Sleep(5000); } #endregion #region 果汁 /// /// 制作果汁流程 /// 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("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("GetDeviceStatus"); while (!(devStatusBy[1] == 0)) { Thread.Sleep(100); devStatusBy = GetDeviceStatus("GetDeviceStatus"); while (devStatusBy.Length != 2) { Thread.Sleep(100); devStatusBy = GetDeviceStatus("GetDeviceStatus"); } } devStatusBy = GetDeviceStatus("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(string key) { if (peripheralStatus.ContainsKey(key)) { if (peripheralStatus[key] != null) { return (T)(peripheralStatus[key]); } } return default; } #endregion public override void SimOrder() { } } }