From 1d6a0dd6a7e18e2ce65fad321e0d7d372a2c19b6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E5=A6=82=E6=84=8F=20=E5=BD=AD?= <2417589739@qq.com>
Date: Fri, 29 Apr 2022 16:56:26 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8D=95=E7=89=87=E6=9C=BA=E5=8D=8F=E8=AE=AE?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
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---
HBLConsole.Business/AbstractServer/Base.cs | 1 +
HBLConsole.Communication/MCUSerialHelper.cs | 68 +++++---------
.../Serial/SerialPortClient.cs | 4 +-
HBLConsole.MORKM/Control_MORKM.cs | 94 +++++++++++++++----
HBLConsole.MORKM/GVL_MORKM.cs | 19 +++-
HBLConsole.MainConsole/Main.cs | 8 ++
6 files changed, 127 insertions(+), 67 deletions(-)
diff --git a/HBLConsole.Business/AbstractServer/Base.cs b/HBLConsole.Business/AbstractServer/Base.cs
index 1f473c0..aa78b38 100644
--- a/HBLConsole.Business/AbstractServer/Base.cs
+++ b/HBLConsole.Business/AbstractServer/Base.cs
@@ -134,6 +134,7 @@ namespace HBLConsole.Business.AbstractServer
///
public override bool OrderStatusChange(string subOrderId, ORDER_STATUS status)
{
+ return false;
string result = string.Empty;
OrderStatusChange orderStatusChange = new OrderStatusChange() { CookingStatus = status, SuborderId = subOrderId };
try
diff --git a/HBLConsole.Communication/MCUSerialHelper.cs b/HBLConsole.Communication/MCUSerialHelper.cs
index a5b1788..4bcc6ac 100644
--- a/HBLConsole.Communication/MCUSerialHelper.cs
+++ b/HBLConsole.Communication/MCUSerialHelper.cs
@@ -19,11 +19,6 @@ namespace HBLConsole.Communication
private MCUSerialHelper() { }
private SerialPort comPort = new SerialPort();
- ConcurrentQueue SerialMessages = new ConcurrentQueue();
- //帧尾
- private byte end = 0xDD;
- //帧头
- private byte start = 0xCC;
public bool IsOpen => comPort.IsOpen;
public bool Open(string portName, int baudRate)
@@ -41,8 +36,9 @@ namespace HBLConsole.Communication
comPort.StopBits = StopBits.One;
comPort.ReadTimeout = 1000;
comPort.WriteTimeout = 1000;
- comPort.DataReceived += ComPort_DataReceived;
- comPort.RtsEnable = true;
+ //comPort.RtsEnable = true; //设置为 true后会读取不到数据
+ //comPort.DtrEnable = true;//获取或设置一个值，该值在串行通信过程中启用数据终端就绪 (DTR) 信号。
+ //comPort.RtsEnable = true;//获取或设置一个值，该值指示在串行通信中是否启用请求发送 (RTS) 信号
try
{
comPort.Open();
@@ -57,28 +53,6 @@ namespace HBLConsole.Communication
return comPort.IsOpen;
}
- private void ComPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
- {
- int len = comPort.BytesToRead;
- if (len <= 0) return;
- byte[] receive = new byte[len];
- comPort.Read(receive, 0, receive.Length);
- if (receive[len - 1] != end) return;
- List ReceiveList = new List();
- for (int i = 0; i < receive.Length; i++)
- {
- ReceiveList.Add(receive[i]);
- if (ReceiveList.Count > 0)
- {
- if (ReceiveList.ElementAt(0) == start && ReceiveList.ElementAt(ReceiveList.Count - 1) == end)
- {
- SerialMessages.Enqueue(ReceiveList.ToArray());
- ReceiveList.Clear();
- }
- }
- }
- comPort.DiscardInBuffer();
- }
///
/// 单片机输出端口控制
@@ -87,13 +61,9 @@ namespace HBLConsole.Communication
/// 控制值
public void OutputControl(byte index, bool value)
{
- byte NumValue = (byte)(value ? 1 : 0);
+ byte NumValue = (byte)(value ? 0x01 : 0x00);
byte[] buffers = new byte[6] { 0xCC, 0x01, 0x01, index, NumValue, 0xDD };
- if (comPort.IsOpen)
- {
- comPort.Write(buffers, 0, buffers.Length);
- }
-
+ if (IsOpen) comPort.Write(buffers, 0, buffers.Length);
}
///
@@ -104,10 +74,7 @@ namespace HBLConsole.Communication
public void ServoControl(byte index, byte value)
{
byte[] buffers = new byte[6] { 0xCC, 0x01, 0x02, index, value, 0xDD };
- if (comPort.IsOpen)
- {
- comPort.Write(buffers, 0, buffers.Length);
- }
+ if (IsOpen) comPort.Write(buffers, 0, buffers.Length);
}
///
@@ -119,21 +86,28 @@ namespace HBLConsole.Communication
{
if (index <= 0 || index > 8) return false;
byte[] buffers = new byte[6] { 0xCC, 0x01, 0x03, index, 0x00, 0xDD };
- if (comPort.IsOpen)
+ if (IsOpen)
{
comPort.Write(buffers, 0, buffers.Length);
- while (SerialMessages.Count <= 0)
+ DateTime dt = DateTime.Now;
+ List receive = new List();
+ while (true)
{
+ byte[] re = new byte[comPort.BytesToRead];
+ comPort.Read(re, 0, re.Length);
+ if (re.Contains(0xcc) && re.Contains(0xDD)) receive.AddRange(re);
+ comPort.DiscardInBuffer();
+ if (receive.Contains(0xcc) && receive.Contains(0xdd)) break;
+ if (DateTime.Now.Subtract(dt).TotalSeconds >= 2) break;
Thread.Sleep(1);
}
- if (SerialMessages.TryDequeue(out byte[] receive))
+ if (receive != null)
{
- if (receive.Length == 6)
+ int Reindex = Array.FindIndex(receive.ToArray(), p => p == 0xcc);
+ if (Reindex < receive.Count && Reindex >= 0)
{
- if (receive[2] == 0x03)
- {
- return receive[4] == 0x01;
- }
+ var res = receive.GetRange(Array.FindIndex(receive.ToArray(), p => p == 0xcc), 6);
+ return res != null && res.Count() == 6 && res.ElementAt(4) == 0x01;
}
}
}
diff --git a/HBLConsole.Communication/Serial/SerialPortClient.cs b/HBLConsole.Communication/Serial/SerialPortClient.cs
index c750aab..c54a847 100644
--- a/HBLConsole.Communication/Serial/SerialPortClient.cs
+++ b/HBLConsole.Communication/Serial/SerialPortClient.cs
@@ -202,7 +202,7 @@ namespace HBLConsole.Communication
}
}
-
+
///
/// 读取数据
///
@@ -215,7 +215,7 @@ namespace HBLConsole.Communication
if (!(comPort.IsOpen)) comPort.Open();
byte[] buffer = new byte[1024];
comPort.Read(buffer, 0, buffer.Length);
- return buffer;
+ return buffer;
}
}
public void Start()
diff --git a/HBLConsole.MORKM/Control_MORKM.cs b/HBLConsole.MORKM/Control_MORKM.cs
index 0e7fb1f..6fce87b 100644
--- a/HBLConsole.MORKM/Control_MORKM.cs
+++ b/HBLConsole.MORKM/Control_MORKM.cs
@@ -474,7 +474,9 @@ namespace HBLConsole.MORKM
{
if (mORKS.RBTakeNoodleTask.TryDequeue(out OrderLocInfo orderLocInfo))
{
- mORKS.CookNodelId[loc] = orderLocInfo.SuborderId;
+ mORKS.CookNodelId.ElementAt(loc).CookNodelId = orderLocInfo.SuborderId;
+ mORKS.CookNodelId.ElementAt(loc).Loc = mORKS.TurntableFeedbackloc;
+
SetFallNoodleLoc((ushort)(loc + 1));
//机器人开始取面
RobotTakeNoodle();
@@ -500,28 +502,86 @@ namespace HBLConsole.MORKM
{
if (mORKS.AllowFallNoodle && mORKS.RobotTaskInterlock && !mORKS.TakeNoodleInterlock && mORKS.RobotIdle && !mORKS.TakeMealDetect)
{
- int loc = Array.FindIndex(mORKS.CookNodelId, p => p == mORKS.IngredientsCompleteId && p.Length > 0);
- if (loc >= 0 && loc <= 5)
+ var CookNodelIdList = mORKS.CookNodelId.Where(p => p.CookNodelId == mORKS.IngredientsCompleteId && p.CookNodelId.Length > 0).ToList();
+ if (CookNodelIdList != null)
{
- if (mORKS.CookNoodlesComplete[loc])
+ var res = mORKS.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == mORKS.IngredientsCompleteId);
+ if (res == null)//排队订单中不存在该订单
{
- SetTakeNoodleLoc((ushort)(loc + 1));
- RobotOutMeal();
- CookNoodleStatusReset((ushort)(loc + 1));
- ResetAllowFallNoodle();
- mORKS.OutMealId = mORKS.IngredientsCompleteId;
- mORKS.IngredientsCompleteId = string.Empty;
- mORKS.CookNodelId[loc] = string.Empty;
-
- if (mORKS.CookNodelId.GetIndex(mORKS.OutMealId) < 0)
+ var isHaveEven = CookNodelIdList.FirstOrDefault(p => p.Loc > 0 && p.Loc % 2 == 0);//偶数，判断是否有素菜
+ var isHaveOddNumber = CookNodelIdList.FirstOrDefault(p => p.Loc % 2 != 0);//奇数，判断是否有荤菜
+ if (isHaveEven != null)
+ {
+ //素菜
+ OutMealControl(Array.FindIndex(mORKS.CookNodelId.ToArray(), p => p.CookNodelId == isHaveEven.CookNodelId && p.CookNodelId.Length > 0));
+ }
+ else
{
- CookComplete(); //告诉机器人冒菜已经煮完
- //IsAddSoup();//判断是否加汤
+ if (isHaveOddNumber != null)
+ //荤菜
+ OutMealControl(Array.FindIndex(mORKS.CookNodelId.ToArray(), p => p.CookNodelId == isHaveOddNumber.CookNodelId && p.CookNodelId.Length > 0));
}
- MessageLog.GetInstance.Show($"{loc + 1}号位置出餐控制");
- mORKS.OutNoodleing = true;
}
+ else//排队订单中有该订单
+ {
+
+ }
+ }
+
+ //int loc = Array.FindIndex(mORKS.CookNodelId.ToArray(), p => p.CookNodelId == mORKS.IngredientsCompleteId && p.CookNodelId.Length > 0);
+
+ //if (loc >= 0 && loc <= 5)
+ //{
+ // if (mORKS.CookNoodlesComplete[loc])
+ // {
+ // SetTakeNoodleLoc((ushort)(loc + 1));
+ // RobotOutMeal();
+ // CookNoodleStatusReset((ushort)(loc + 1));
+ // mORKS.OutMealId = mORKS.IngredientsCompleteId;
+ // mORKS.IngredientsCompleteId = string.Empty;
+ // mORKS.CookNodelId.ElementAt(loc).CookNodelId = string.Empty;
+ // mORKS.CookNodelId.ElementAt(loc).Loc = -1;
+
+ // if (mORKS.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == mORKS.OutMealId) == null && mORKS.CookNodelId.FirstOrDefault(p => p.CookNodelId == mORKS.OutMealId) == null)
+ // {
+ // CookComplete(); //告诉机器人冒菜已经煮完
+ // //IsAddSoup();//判断是否加汤
+ // ResetAllowFallNoodle();
+ // MessageLog.GetInstance.Show($"{mORKS.OutMealId} 出餐完成");
+ // }
+
+ // MessageLog.GetInstance.Show($"{loc + 1}号位置出餐控制");
+ // mORKS.OutNoodleing = true;
+ // }
+ //}
+ }
+ }
+
+ private void OutMealControl(int loc)
+ {
+ if (loc >= 0 && loc <= 5)
+ {
+ if (mORKS.CookNoodlesComplete[loc])
+ {
+ SetTakeNoodleLoc((ushort)(loc + 1));
+ RobotOutMeal();
+ CookNoodleStatusReset((ushort)(loc + 1));
+ mORKS.CookNodelId.ElementAt(loc).CookNodelId = string.Empty;
+ mORKS.CookNodelId.ElementAt(loc).Loc = -1;
+
+ if (mORKS.RBTakeNoodleTask.FirstOrDefault(p => p.SuborderId == mORKS.IngredientsCompleteId) == null && mORKS.CookNodelId.FirstOrDefault(p => p.CookNodelId == mORKS.IngredientsCompleteId) == null)
+ {
+ CookComplete(); //告诉机器人冒菜已经煮完
+ //IsAddSoup();//判断是否加汤
+ ResetAllowFallNoodle();
+ mORKS.OutMealId = mORKS.IngredientsCompleteId;
+ mORKS.IngredientsCompleteId = string.Empty;
+ MessageLog.GetInstance.Show($"{mORKS.OutMealId} 出餐完成");
+ }
+
+ MessageLog.GetInstance.Show($"{loc + 1}号位置出餐控制");
+ mORKS.OutNoodleing = true;
}
}
}
diff --git a/HBLConsole.MORKM/GVL_MORKM.cs b/HBLConsole.MORKM/GVL_MORKM.cs
index 4ac359f..cd0626e 100644
--- a/HBLConsole.MORKM/GVL_MORKM.cs
+++ b/HBLConsole.MORKM/GVL_MORKM.cs
@@ -16,6 +16,14 @@ namespace HBLConsole.MORKM
///
public class GVL_MORKM : IGvl
{
+ public GVL_MORKM()
+ {
+ for (int i = 0; i < 6; i++)
+ {
+ CookNodelId.Add(new CookNodleLocAndId() { CookNodelId = "", Loc = -1 });
+ }
+ }
+
///
/// 机器人取面
/// PLC -> M0.3
@@ -330,7 +338,9 @@ namespace HBLConsole.MORKM
///
/// 煮面口对应的订单ID
///
- public string[] CookNodelId = new string[6] { string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, };
+ //public string[] CookNodelId = new string[6] { string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, string.Empty, };
+ public List CookNodelId { get; set; } = new List();
+
///
/// 出餐订单ID
@@ -350,4 +360,11 @@ namespace HBLConsole.MORKM
#endregion
}
+
+ public class CookNodleLocAndId
+ {
+ public string CookNodelId { get; set; }
+
+ public int Loc { get; set; }
+ }
}
diff --git a/HBLConsole.MainConsole/Main.cs b/HBLConsole.MainConsole/Main.cs
index 7ba26e4..65e87dd 100644
--- a/HBLConsole.MainConsole/Main.cs
+++ b/HBLConsole.MainConsole/Main.cs
@@ -12,6 +12,7 @@ using HBLConsole.Business;
using HBLConsole.Factory;
using BPA.Message.Enum;
using System.Collections.ObjectModel;
+using System.Threading;
namespace HBLConsole.MainConsole
{
@@ -67,6 +68,13 @@ namespace HBLConsole.MainConsole
public void BusinessInit()
{
+ //MCUSerialHelper.GetInstance.Open("COM7", 9600);
+ //MCUSerialHelper.GetInstance.OutputControl(1, true);
+ //while (true)
+ //{
+ // Thread.Sleep(1000);
+ //}
+ //var res = MCUSerialHelper.GetInstance.GetInputStatus(1);
ThreadManage.GetInstance.Start(new Action(() =>
{
InternetInfo.ConfigInit();//从 consul 获取配置数据