单片机协议

HBLConsole.Business/AbstractServer/Base.cs

@@ -134,6 +134,7 @@ namespace HBLConsole.Business.AbstractServer
         /// <returns></returns>
         public override bool OrderStatusChange(string subOrderId, ORDER_STATUS status)
         {
+            return false;
             string result = string.Empty;
             OrderStatusChange orderStatusChange = new OrderStatusChange() { CookingStatus = status, SuborderId = subOrderId };
             try

HBLConsole.Communication/MCUSerialHelper.cs

@@ -19,11 +19,6 @@ namespace HBLConsole.Communication
         private MCUSerialHelper() { }
 
         private SerialPort comPort = new SerialPort();
-        ConcurrentQueue<byte[]> SerialMessages = new ConcurrentQueue<byte[]>();
-        //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<byte> ReceiveList = new List<byte>();
-            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();
-        }
 
         /// <summary>
         /// 单片机输出端口控制
@@ -87,13 +61,9 @@ namespace HBLConsole.Communication
         /// <param name="value">控制值</param>
         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);
         }
 
         /// <summary>
@@ -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);
         }
 
         /// <summary>
@@ -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<byte> receive = new List<byte>();
+                while (true)
                 {
+                    byte[] re = new byte[comPort.BytesToRead];
+                    comPort.Read(re, 0, re.Length);
+                    if (re.Contains<byte>(0xcc) && re.Contains<byte>(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;
                     }
                 }
             }

HBLConsole.Communication/Serial/SerialPortClient.cs

@@ -202,7 +202,7 @@ namespace HBLConsole.Communication
             }
         }
 
-       
+
         /// <summary>
         /// 读取数据
         /// </summary>
@@ -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()

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;
                 }
             }
         }

HBLConsole.MORKM/GVL_MORKM.cs

@@ -16,6 +16,14 @@ namespace HBLConsole.MORKM
     /// </summary>
     public class GVL_MORKM : IGvl
     {
+        public GVL_MORKM()
+        {
+            for (int i = 0; i < 6; i++)
+            {
+                CookNodelId.Add(new CookNodleLocAndId() { CookNodelId = "", Loc = -1 });
+            }
+        }
+
         /// <summary>
         /// 机器人取面
         /// PLC -> M0.3
@@ -330,7 +338,9 @@ namespace HBLConsole.MORKM
         /// <summary>
         /// 煮面口对应的订单ID
         /// </summary>
-        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<CookNodleLocAndId> CookNodelId { get; set; } = new List<CookNodleLocAndId>();
+
 
         /// <summary>
         /// 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; }
+    }
 }

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