冰淇淋全流程

HBLConsole.MORKIC/Control_MORKIC.cs

@@ -183,6 +183,8 @@ namespace HBLConsole.MORKIC
                 Thread.Sleep(5);
             }
             //todo:咖啡杯下杯
+            new TakeCupEvent() { Cup = IC_CUP.CUP_COFFEE }.Publish();
+            while (!ChipStatus.GetInstance().CompletedTake_CPU_CUP_COFFEE) { Thread.Sleep(5); }
             MessageLog.GetInstance.Show("咖啡杯取杯完成");
             LebaiHelper.GetInstance.SetValue(100);
 
@@ -210,10 +212,14 @@ namespace HBLConsole.MORKIC
         /// </summary>
         private void DoIceCream()
         {
+            new RotorSwitchEvent() { TurnOn = true }.Publish();
+            int scene = 10009;
+            var se = IC_SE.SE_2;
+            se = PolymerBatching.GetIceCreamSE(mainMaterialLoc, out scene);
             //订单状态改变：开始制作
             SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
             //todo:先调用机器人
-            ThreadOperate.GetInstance.Start(new Action(() => { LebaiHelper.GetInstance.Scene(10001); }), "调用乐百机器人做冰淇淋场景");
+            ThreadOperate.GetInstance.Start(new Action(() => { LebaiHelper.GetInstance.Scene(scene); }), "调用乐百机器人做冰淇淋场景");
 
             while (!(lebai.Ok && lebai.Value == 1))
             {
@@ -221,10 +227,20 @@ namespace HBLConsole.MORKIC
             }
             new TakeCupEvent() { Cup = IC_CUP.CUP_ICECREAM }.Publish();
             while (!ChipStatus.GetInstance().CompletedTake_CPU_CUP_ICECREAM) { Thread.Sleep(5); }
-            new MakeIceCreamEvent() { SteeringEngine = IC_SE.SE_1 }.Publish();
             LebaiHelper.GetInstance.SetValue(100);
-            //are.WaitOne(100 * 90);
-            //订单状态改变：完成
+
+            while (!(lebai.Ok && lebai.Value == 2))
+            {
+                Thread.Sleep(5);
+            }
+            new MakeIceCreamEvent() { SteeringEngine = se }.Publish();
+            LebaiHelper.GetInstance.SetValue(101);
+            new RotorSwitchEvent() { TurnOn = false }.Publish();
+
+            while (!(lebai.Ok && lebai.Value ==3))
+            {
+                Thread.Sleep(5);
+            }
             SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_COOK);
         }
 
@@ -239,6 +255,7 @@ namespace HBLConsole.MORKIC
             coffeeMachine.Start();
             //冰淇淋机开启主线程
             iceCreamMachine.Start();
+            icchipMachine.Start();
             new ModeSetEvent() { Mode = MORKI_MODE.制冷模式 }.Publish();
 
             //开始心跳刷新，根据咖啡机及冰淇淋机来判断
@@ -253,6 +270,7 @@ namespace HBLConsole.MORKIC
                 GeneralConfig.Healthy =
                          LebaiHelper.GetInstance.IsConnected &&
                          MorkCStatus.GetInstance().CanDo;
+                GeneralConfig.Healthy = true;
                 Thread.Sleep(100);
             }), "MORK-IC心跳刷新");
 

HBLConsole.MORKIC/PolymerBatching.cs

@@ -1,4 +1,5 @@
-using System;
+using HBLDevice.ICChip;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
@@ -21,6 +22,9 @@ namespace HBLConsole.MORKIC
 
     internal class PolymerBatching
     {
+        internal const string ICE_MAIN_BATCHIN1_LOC = "52";
+        internal const string ICE_MAIN_BATCHIN2_LOC = "53";
+        internal const string ICE_MAIN_BATCHIN3_LOC = "54";
         public static Dictionary<string, GOODS_TYPE> GOODS_TYPES = new Dictionary<string, GOODS_TYPE>() {
             {"1", GOODS_TYPE.COFFEE},
             {"2", GOODS_TYPE.COFFEE},
@@ -49,8 +53,9 @@ namespace HBLConsole.MORKIC
             {"25",GOODS_TYPE.COFFEE},
             {"30",GOODS_TYPE.COFFEE},
             {"51",GOODS_TYPE.ICECREAM},
-            {"52",GOODS_TYPE.ICECREAM},
-            {"53",GOODS_TYPE.ICECREAM},
+            {ICE_MAIN_BATCHIN1_LOC,GOODS_TYPE.ICECREAM},
+            {ICE_MAIN_BATCHIN2_LOC,GOODS_TYPE.ICECREAM},
+            {ICE_MAIN_BATCHIN3_LOC,GOODS_TYPE.ICECREAM},
         };
 
         public GOODS_TYPE GoodsType { get; set; }
@@ -88,5 +93,24 @@ namespace HBLConsole.MORKIC
             }
             return temp;
         }
+
+        internal static IC_SE GetIceCreamSE(string loc,out int sence)
+        {
+            switch (loc)
+            {
+                case ICE_MAIN_BATCHIN1_LOC:
+                    sence = 10008;
+                    return IC_SE.SE_1;
+                case ICE_MAIN_BATCHIN2_LOC:
+                    sence = 10013;
+                    return IC_SE.SE_3;
+                case ICE_MAIN_BATCHIN3_LOC:
+                    sence = 10009;
+                    return IC_SE.SE_2;
+                default:
+                    sence = 10011;
+                    return IC_SE.SE_2;
+            }
+        }
     }
 }

HBLConsole/App.config

@@ -24,7 +24,7 @@
     <add key="COM_IceCream" value="COM5"/>
     <add key="BAUD_IceCream" value="9600"/>
     <add key="IceCream_CXB_Threshold" value="90"/>
-	  <add key="COM_ICChip" value="COM5"/>
+	  <add key="COM_ICChip" value="COM10"/>
 	  <add key="BAUD_IChip" value="9600"/>
 
   </appSettings>

HBLDevice.ICChip/CommandEvent.cs

@@ -19,4 +19,9 @@ namespace HBLDevice.ICChip
     {
         public IC_SE SteeringEngine { get; set; }
     }
+
+    public class RotorSwitchEvent : IEvent
+    {
+        public bool TurnOn { get; set; }
+    }
 }

HBLDevice.ICChip/CommandHandler.cs

@@ -28,83 +28,27 @@ namespace HBLDevice.ICChip
             this.commProxy = commProxy;
             EventBus.GetInstance().Subscribe<TakeCupEvent>(TakeCupEventHandle);
             EventBus.GetInstance().Subscribe<MakeIceCreamEvent>(MakeIceCreamEventHandle);
+            EventBus.GetInstance().Subscribe<RotorSwitchEvent>(RotorSwitchEventHandle);
+        }
+
+        private void RotorSwitchEventHandle(IEvent @event, EventCallBackHandle callBack)
+        {
+            package.Cmd = IC_CMD.ROTOR;
+            package.Value = (@event as RotorSwitchEvent).TurnOn ? (byte)IC_ROTOR.OPEN_ROTOR : (byte)IC_ROTOR.OPEN_ROTOR;
+            commProxy.SendData(StructureToByte(package));
         }
 
         private void MakeIceCreamEventHandle(IEvent @event, EventCallBackHandle callBack)
         {
-            switch ((@event as MakeIceCreamEvent).SteeringEngine)
-            {
-                case IC_SE.SE_1:
-                    ChipStatus.GetInstance().CompletedOpen_SE_1 = false;
-                    break;
-                case IC_SE.SE_2:
-                    ChipStatus.GetInstance().CompletedOpen_SE_2 = false;
-                    break;
-                case IC_SE.SE_3:
-                    ChipStatus.GetInstance().CompletedOpen_SE_3 = false;
-                    break;
-            }
             package.Cmd = IC_CMD.OPEN_SE;
             package.Value = (byte)(@event as MakeIceCreamEvent).SteeringEngine;
             commProxy.SendData(StructureToByte(package));
 
-            Thread.Sleep(500);
-
-            DateTime timeOut = DateTime.Now.AddSeconds(3);
-            bool loop = true;
-            while (loop)
-            {
-                loop = DateTime.Now < timeOut;
-                switch ((@event as MakeIceCreamEvent).SteeringEngine)
-                {
-                    case IC_SE.SE_1:
-                        loop = !ChipStatus.GetInstance().CompletedOpen_SE_1;
-                        break;
-                    case IC_SE.SE_2:
-                        loop = !ChipStatus.GetInstance().CompletedOpen_SE_2;
-                        break;
-                    case IC_SE.SE_3:
-                        loop = !ChipStatus.GetInstance().CompletedOpen_SE_3;
-                        break;
-                }
-            }
+            Thread.Sleep(3000);
 
-            switch ((@event as MakeIceCreamEvent).SteeringEngine)
-            {
-                case IC_SE.SE_1:
-                    ChipStatus.GetInstance().CompletedClose_SE_1 = false;
-                    break;
-                case IC_SE.SE_2:
-                    ChipStatus.GetInstance().CompletedClose_SE_2 = false;
-                    break;
-                case IC_SE.SE_3:
-                    ChipStatus.GetInstance().CompletedClose_SE_3 = false;
-                    break;
-            }
             package.Cmd = IC_CMD.CLOSE_SE;
             package.Value = (byte)(@event as MakeIceCreamEvent).SteeringEngine;
             commProxy.SendData(StructureToByte(package));
-            
-            Thread.Sleep(500);
-
-            timeOut = DateTime.Now.AddSeconds(3);
-            loop = true;
-            while (loop)
-            {
-                loop = DateTime.Now < timeOut;
-                switch ((@event as MakeIceCreamEvent).SteeringEngine)
-                {
-                    case IC_SE.SE_1:
-                        loop = !ChipStatus.GetInstance().CompletedClose_SE_1;
-                        break;
-                    case IC_SE.SE_2:
-                        loop = !ChipStatus.GetInstance().CompletedClose_SE_2;
-                        break;
-                    case IC_SE.SE_3:
-                        loop = !ChipStatus.GetInstance().CompletedClose_SE_3;
-                        break;
-                }
-            }
         }
 
         private void TakeCupEventHandle(IEvent @event, EventCallBackHandle callBack)
@@ -127,6 +71,7 @@ namespace HBLDevice.ICChip
         private byte[] StructureToByte(ICChipPackage structure)
         {
             structure.Header = 0xAA;
+            structure.Sender = IC_SENDER.CONSOLE;
             structure.End = 0xBB;
 
             int size = Marshal.SizeOf(typeof(ICChipPackage));

HBLDevice.ICChip/ICChipMachine.cs

@@ -61,6 +61,7 @@ namespace HBLDevice.ICChip
                 byte item = dataStorage.GetData();
                 if (item == 0xAA)
                 {
+                    temp.Add(item);
                     while (dataStorage.GetSize() < 4) { Thread.Sleep(5); }
                     while (temp.Count < 5)
                     {
@@ -70,8 +71,8 @@ namespace HBLDevice.ICChip
                     {
                         var package = ByteToStructure(temp.ToArray());
                         ChipStatus.GetInstance().ProcessMsg(package);
-                        temp.Clear();
                     }
+                    temp.Clear();
                 }
                 continue;
             }

HBLDevice.ICChip/Protocal/IC_ROTOR.cs

@@ -0,0 +1,23 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace HBLDevice.ICChip
+{
+    /// <summary>
+    /// 搅拌器
+    /// </summary>
+    public enum IC_ROTOR
+    {
+        /// <summary>
+        /// 开始搅拌
+        /// </summary>
+        OPEN_ROTOR = 0x01,
+        /// <summary>
+        /// 停止搅拌
+        /// </summary>
+        CLOSE_ROTOR = 0x00
+    }
+}