BPASmartClient/BPASmartClient.MorkT_Container/Control_MorkT_Container.cs

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 BPA.Helper;
using BPASmartClient.Model.咖啡机.Enum;
using BPASmartClient.Model;


 
using BPASmartClient.Model.乐白机器人;
using BPASmartClient.Model.单片机;
using BPASmartClient.Model.PLC;
using BPASmartClient.DRCoffee;
using BPASmartClient.LebaiRobot;
using System.Text.RegularExpressions;

namespace BPASmartClient.MorkT_Container
{
    public class Control_MorkT_Container : BaseDevice
    {
        private Dictionary<string, PolymerBatching> batchings = new Dictionary<string, PolymerBatching>();
        //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_MorkT morkTLebaiJC =new GVL_MorkT();
        public override void DoMain()
        {
            if (Json<KeepDataBase>.Data.IsVerify)
            {
                IsHealth = true;
            }
            IsHealth = true;
            serverInit();
            DataParse();
            ActionManage.GetInstance.Register(new Action<object>((o) => { SimOrder(o); }), "SimOrder");//模拟订单委托注册
        }

        private void serverInit()
        {
            EventBus.GetInstance().Subscribe<MaterialDeliveryEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
            {
                if (@event == null) return;
                if (@event is MaterialDeliveryEvent material)
                {
                    orderMaterialDelivery = material.orderMaterialDelivery;
                }
            });
        }
        private void DataParse()
        {
            EventBus.GetInstance().Subscribe<DoOrderEvent>(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.NEITHER:
                                    DeviceProcessLogShow("未知的商品类型");
                                    break;
                            }
                        }
                    }
                }
            });
        }
        /// <summary>
        /// 将空杯放好到接饮料的地方的标志位
        /// </summary>
        private bool bFirstTrig_Coffee   = false;
        /// <summary>
        /// 延迟的超时时间
        /// </summary>
        DateTime delayTimeOut_Coffee;
        public override void MainTask()
        {
            if (morkTLebaiJC.morkOrderPushesCoffee.Count > 0 && morkTLebaiJC.IsHaveCoffeeCup) 
            {
                EventBus.GetInstance().Subscribe<DRCoffee_CoffeEndCookEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
                {
                    if (morkTLebaiJC.IsHaveCoffeeCup && morkTLebaiJC.MakeCoffeeEnd != true) 
                    { 
                        morkTLebaiJC.MakeCoffeeEnd = true;
                        bFirstTrig_Coffee = false;
                    }
                });
                if (morkTLebaiJC.IsHaveCoffeeCup && morkTLebaiJC.MakeCoffeeEnd != true)
                {
                    if (!bFirstTrig_Coffee)
                    {
                        bFirstTrig_Coffee = true;
                        delayTimeOut_Coffee = DateTime.Now;
                    }
                    else if (DateTime.Now.Subtract(delayTimeOut_Coffee).TotalSeconds > 180 && bFirstTrig_Coffee == true) 
                    {
                        DeviceProcessLogShow("接咖啡超时，接咖啡结束，等待取咖啡");
                        bFirstTrig_Coffee = false;
                        morkTLebaiJC.MakeCoffeeEnd = true;
                    }
                }
            }
            
            DoCoffee();
        }

        /// <summary>
        /// 订单状态改变
        /// </summary>
        /// <param name="subid"></param>
        /// <param name="oRDER_STATUS"></param>
        private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
        {
            EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType });
        }
        /// <summary>
        /// 验证商品是做的某种饮料
        /// </summary>
        /// <param name="batchingLoc">物料位置</param>
        private GOODS_TYPE ValidateGoodsByBatching(string batchingLoc)
        {
            if (batchings.ContainsKey(batchingLoc))
                return batchings[batchingLoc].GoodsType;
            return GOODS_TYPE.NEITHER;
        }
        /// <summary>
        /// 乐白的场景结束等待
        /// </summary>
        /// <param name="value"></param>
        private void Wait(int value = 101)
        {
            while (!((bool)peripheralStatus["RobotOK"] && (int)peripheralStatus["RobotValue"] == value))
            {
                Thread.Sleep(5);
            }

            EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }, (o) => { });
        }
        /// <summary>
        /// 乐白的场景
        /// </summary>
        /// <param name="sen"></param>
        private void Sence(int sen)
        {
            new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = sen }.Publish();
        }
        /// <summary>
        /// 乐白的数字量输出
        /// </summary>
        /// <param name="value"></param>
        /// <param name="pin"></param>
        private void Output(bool value,int pin)
        {
            new LebaiRobot_SetOutPutEvent { DeviceId = DeviceId, Pin = pin,Value=value }.Publish();
        }
        bool outCupCheck = false;//放纸杯位置有无判断
        
        /// <summary>
        /// 判断是否有咖啡订单
        /// </summary>
        /// <returns></returns>
        private bool IsMakeCoffee()
        {
            bool bMake = (IsHealth && morkTLebaiJC.morkOrderPushesCoffee.Count > 0 && !morkTLebaiJC.IsHaveCoffeeCup) ? true : false;
            return bMake;
        }
        /// <summary>
        /// 做咖啡流程
        /// </summary>
        private void DoCoffee() 
        {
            if (IsMakeCoffee())
            {
                PickUpCoffee();//接咖啡
                morkTLebaiJC.IsHaveCoffeeCup = true;
            }
            else if(morkTLebaiJC.MakeCoffeeEnd)
            {
                try
                {
                    PutCoffeeCup();
                    morkTLebaiJC.MakeCoffeeEnd = false;
                    morkTLebaiJC.IsHaveCoffeeCup = false;
                    morkTLebaiJC.morkOrderPushesCoffee.TryDequeue(out OrderLocInfo orderLoc);
                }
                catch (Exception ex)
                {
                    MessageLog.GetInstance.ShowEx(ex.ToString());
                }
            }
        }
        


        #region 做咖啡流程
        /// <summary>
        /// 接咖啡
        /// </summary>
        private void PickUpCoffee()
        {
            if (!morkTLebaiJC.IsHaveCoffeeCup)
            {
                outCupCheck = false;
                OrderChange(morkTLebaiJC.morkOrderPushesCoffee.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
                EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }, (o) => { });
                int resultTakeCup = takeCup();
                if (resultTakeCup == 1)
                {
                    Sence(GVL_MorkT.攀华_接咖啡);
                    Wait();
                    new DRCoffee_MakeCoffeeEvent() { DeviceId=DeviceId, DrinkCode = (DrCoffeeDrinksCode)(morkTLebaiJC.morkOrderPushesCoffee.ElementAt(0).Loc)}.Publish();
                }
                else
                {
                    DeviceProcessLogShow("取杯失败 回到初始位，请及时处理！！");
                    /*new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
                    Sence(GVL_MorkT.攀华_初始位);
                    Wait();*/
                }
            }
        }
        /// <summary>
        /// 咖啡杯接好，放咖啡杯
        /// </summary>
        private void PutCoffeeCup()
        {
            while (morkTLebaiJC.RobotGetInput0)//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;

            Sence(GVL_MorkT.攀华_放杯);
            Wait();
            if (!morkTLebaiJC.RobotGetInput0)
            {
                DeviceProcessLogShow("咖啡杯未安全放置在放杯位");
            }
            Sence(GVL_MorkT.攀华_初始位);
            Wait();
            while (morkTLebaiJC.RobotGetTcpInput)
            {
                DeviceProcessLogShow("咖啡杯仍在夹爪上");
            }
            OrderChange(morkTLebaiJC.morkOrderPushesCoffee.ElementAt(0).SuborderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
            DeviceProcessLogShow($"-------------{Regex.Replace(morkTLebaiJC.morkOrderPushesCoffee.ElementAt(0).GoodName, @"[\r\n]", "")}制作完成------------");
        }
        #endregion

        /// <summary>
        /// 取杯的次数
        /// </summary>
        private int nCnt;
        /// <summary>
        /// 取杯流程
        /// </summary>
        /// <returns>0:无意义，1：取杯成功 2：取杯失败</returns>
        private int takeCup()
        {
            try
            {
                nCnt = 0;

                Sence(GVL_MorkT.攀华_初始位);
                Wait();

                Sence(GVL_MorkT.攀华_取杯);
                Wait();

                Sence(GVL_MorkT.攀华_落杯);
                Wait();//落杯使用机器人控制
                /*new LebaiRobot_SetOutPutEvent { DeviceId = DeviceId, Value = true, Pin = 1 }.Publish();//落杯器电机转动

                while (true) 
                {
                    if (GetStatus<bool>("LeibaiGetInput2")) 
                    {
                        break;
                    }
                }
                while (true)
                {
                    if (!GetStatus<bool>("LeibaiGetInput2"))
                    {
                        break;
                    }
                }
                new LebaiRobot_SetOutPutEvent { DeviceId = DeviceId, Value = true, Pin = 0 }.Publish();//落杯器电机转动*/

                nCnt++;
                Thread.Sleep(2000);
                while (!morkTLebaiJC.RobotGetTcpInput) //读取传感器的值
                {
                    if (nCnt > 3)
                    {
                        nCnt = 0;
                        DeviceProcessLogShow("三次取杯失败，回原点");
                        Sence(GVL_MorkT.攀华_安全位);
                        Wait();
                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
                        Sence(GVL_MorkT.攀华_初始位);
                        Wait();
                        new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }.Publish();
                        return 2;
                    }
                    else
                    {
                        nCnt++;
                        Sence(GVL_MorkT.攀华_二次取杯);
                        Wait();
                        EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }, (o) => { });

                        Sence(GVL_MorkT.攀华_落杯);
                        Wait(); 
                        EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }, (o) => { });
                    }
                    Thread.Sleep(100);
                }
                return 1;
            }
            catch (Exception ex)
            {
                DeviceProcessLogShow(ex.ToString());
            }
            return 2;
        }
        public void SimOrder<T>(T simOrder)
        {
             
        }
        #region 流程控制

        private void GetStatus(string key, Action<object> action)
        {
            if (peripheralStatus.ContainsKey(key))
            {
                if (peripheralStatus[key] != null)
                {
                    action?.Invoke(peripheralStatus[key]);
                }
            }
        }

        public override void ReadData()
        {
            #region 乐白机器人状态
            GetStatus("RobotIsConnected", new Action<object>((o) =>
            {
                if (o is bool b)
                {
                    morkTLebaiJC.RobotIsConnected = b;
                }
            }));
            GetStatus("RobotMode", new Action<object>((o) =>
            {
                if (o is ELebaiRModel eLebaiRModel)
                {
                    morkTLebaiJC.RobotMode = eLebaiRModel;
                }
            }));
            GetStatus("LeibaiGetTcpInput", new Action<object>((o) =>
            {
                if (o is bool b)
                {
                    morkTLebaiJC.RobotGetTcpInput = b;
                }
            }));
            GetStatus("LeibaiGetInput1", new Action<object>((o) =>
            {
                if (o is bool b)
                {
                    morkTLebaiJC.RobotGetInput0 = b;
                }
            }));
            GetStatus("LeibaiGetInput2", new Action<object>((o) =>
            {
                if (o is bool b)
                {
                    morkTLebaiJC.RobotGetInput1 = b;
                }
            }));
            GetStatus("LeibaiGetInput3", new Action<object>((o) =>
            {
                if (o is bool b)
                {
                    morkTLebaiJC.RobotGetInput2 = b;
                }
            }));
            GetStatus("LeibaiGetInput4", new Action<object>((o) =>
            {
                if (o is bool b)
                {
                    morkTLebaiJC.RobotGetInput3 = b;
                }
            }));

            #endregion
        }
        #endregion
        public override void Stop()
        {

        }

        public override void ResetProgram()
        {

        }

        public override void SimOrder()
        {
            EventBus.GetInstance().Subscribe<MorkTSimOrder>(0, delegate (IEvent @event, EventCallBackHandle callBackHandle)
            {
                string guid = Guid.NewGuid().ToString();
                if (@event != null && @event is MorkTSimOrder msm)
                {
                    DeviceProcessLogShow("----开始模拟订单----");
                    if (msm.OrderNum == 1)
                    {
                        morkTLebaiJC.morkOrderPushesCoffee.Enqueue(new OrderLocInfo() { Loc =(ushort)msm.DrinkCode, SuborderId = guid, GoodName="模拟咖啡订单" });
                    }
                }
            });
        }
    }
}