冲突解决

HBLConsole.Debug/Debug_MORKJC.xaml

@@ -20,6 +20,7 @@
         <TextBox HorizontalAlignment="Left" Margin="90,292,0,0" TextWrapping="Wrap" IsEnabled="false" Text="{Binding Path=failureCnt}" VerticalAlignment="Top" Width="68"/>
         <Label Content="成功次数" HorizontalAlignment="Left" Margin="27,262,0,0" VerticalAlignment="Top" Name="success"  />
         <Label Content="失败次数" HorizontalAlignment="Left" Margin="27,288,0,0" VerticalAlignment="Top" Name="fail"  />
+        <Button Click="Btn_Test_Click" Content="测试" Margin="590,244,73,145" Background="White" />
     </Grid>
 
 

HBLConsole.Debug/Debug_MORKJC.xaml.cs

@@ -269,19 +269,19 @@ namespace HBLConsole.Debug
                 Thread.Sleep(3000);
                 JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_接茶_接水);
                 Wait(int.Parse(JaKaHelper.SENCE_接茶_接水));
+                MCUSerialHelper.GetInstance.OutputControl(4, false);
                 MCUSerialHelper.GetInstance.OutputControl(3, false);
-                MCUSerialHelper.GetInstance.OutputControl(2, false);
                 Thread.Sleep(100);
-                MCUSerialHelper.GetInstance.OutputControl(2, true);
+                MCUSerialHelper.GetInstance.OutputControl(3, true);
                 Thread.Sleep(3000);
-                MCUSerialHelper.GetInstance.OutputControl(2, false);
+                MCUSerialHelper.GetInstance.OutputControl(3, false);
                 Thread.Sleep(100);
 
-                MCUSerialHelper.GetInstance.OutputControl(3, false);
+                MCUSerialHelper.GetInstance.OutputControl(4, false);
                 Thread.Sleep(100);
-                MCUSerialHelper.GetInstance.OutputControl(3, true);
+                MCUSerialHelper.GetInstance.OutputControl(4, true);
                 Thread.Sleep(500);
-                MCUSerialHelper.GetInstance.OutputControl(3, false);
+                MCUSerialHelper.GetInstance.OutputControl(4, false);
 
                 Thread.Sleep(60000);
 
@@ -311,19 +311,19 @@ namespace HBLConsole.Debug
             {
                 JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_接水);
                 Wait(int.Parse(JaKaHelper.SENCE_接水));
+                MCUSerialHelper.GetInstance.OutputControl(4, false);
                 MCUSerialHelper.GetInstance.OutputControl(3, false);
-                MCUSerialHelper.GetInstance.OutputControl(2, false);
                 Thread.Sleep(100);
-                MCUSerialHelper.GetInstance.OutputControl(2, true);
+                MCUSerialHelper.GetInstance.OutputControl(3, true);
                 Thread.Sleep(3000);
-                MCUSerialHelper.GetInstance.OutputControl(2, false);
+                MCUSerialHelper.GetInstance.OutputControl(3, false);
                 Thread.Sleep(100);
 
-                MCUSerialHelper.GetInstance.OutputControl(3, false);
+                MCUSerialHelper.GetInstance.OutputControl(4, false);
                 Thread.Sleep(100);
-                MCUSerialHelper.GetInstance.OutputControl(3, true);
+                MCUSerialHelper.GetInstance.OutputControl(4, true);
                 Thread.Sleep(500);
-                MCUSerialHelper.GetInstance.OutputControl(3, false);
+                MCUSerialHelper.GetInstance.OutputControl(4, false);
 
                 Thread.Sleep(60000);
                 JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放茶水杯);
@@ -486,5 +486,56 @@ namespace HBLConsole.Debug
             }
             return 1;
         }
+
+        private void Btn_Test_Click(object sender, RoutedEventArgs e)
+        {
+            bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(1);
+            Thread.Sleep(1000);
+            bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(2);
+            bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(1);
+            Thread.Sleep(1000);
+            bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(2);
+            bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(1);
+            Thread.Sleep(1000);
+            bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(2);
+            bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(1);
+            Thread.Sleep(1000);
+            bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(2);
+            bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(1);
+            Thread.Sleep(1000);
+            bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(2);
+            /*
+            MCUSerialHelper.GetInstance.OutputControl(1, true);
+            Thread.Sleep(1000);
+            MCUSerialHelper.GetInstance.OutputControl(1, false);
+
+            MCUSerialHelper.GetInstance.OutputControl(2, true);
+            Thread.Sleep(1000);
+            MCUSerialHelper.GetInstance.OutputControl(2, false);
+
+            MCUSerialHelper.GetInstance.OutputControl(4, false);
+            MCUSerialHelper.GetInstance.OutputControl(3, false);
+            Thread.Sleep(100);
+            MCUSerialHelper.GetInstance.OutputControl(3, true);
+            Thread.Sleep(3000);
+            MCUSerialHelper.GetInstance.OutputControl(3, false);
+            Thread.Sleep(100);
+
+            MCUSerialHelper.GetInstance.OutputControl(4, false);
+            Thread.Sleep(100);
+            MCUSerialHelper.GetInstance.OutputControl(4, true);
+            Thread.Sleep(500);
+            MCUSerialHelper.GetInstance.OutputControl(4, false);*/
+
+            MCUSerialHelper.GetInstance.ServoControl(1, 105);
+            Thread.Sleep(1000);
+            MCUSerialHelper.GetInstance.ServoControl(1, 130);
+            Thread.Sleep(1000);
+            MCUSerialHelper.GetInstance.ServoControl(1, 105);
+
+            JuicerHelper.GetInstance.StartCook(1);
+            new MakeCoffeeEvent() { DrinkCode = DrCoffeeDrinksCode.热水 }.Publish();  //接咖啡控制 //DrCoffeeDrinksCode.热水
+
+        }
     }
 }

HBLConsole.MORKJC/Control_MORKJC.cs

@@ -282,20 +282,20 @@ namespace HBLConsole.MORKJC
                 Thread.Sleep(3000);
                 JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_接茶_接水);
                 Wait(int.Parse(JaKaHelper.SENCE_接茶_接水));
-                MCUSerialHelper.GetInstance.OutputControl(3, false);
+                MCUSerialHelper.GetInstance.OutputControl(4, false);
 
-                MCUSerialHelper.GetInstance.OutputControl(2, false);
+                MCUSerialHelper.GetInstance.OutputControl(3, false);
                 Thread.Sleep(100);
-                MCUSerialHelper.GetInstance.OutputControl(2, true);
+                MCUSerialHelper.GetInstance.OutputControl(3, true);
                 Thread.Sleep(3000);
-                MCUSerialHelper.GetInstance.OutputControl(2, false);
+                MCUSerialHelper.GetInstance.OutputControl(3, false);
                 Thread.Sleep(100);
 
-                MCUSerialHelper.GetInstance.OutputControl(3, false);
+                MCUSerialHelper.GetInstance.OutputControl(4, false);
                 Thread.Sleep(100);
-                MCUSerialHelper.GetInstance.OutputControl(3, true);
+                MCUSerialHelper.GetInstance.OutputControl(4, true);
                 Thread.Sleep(500);
-                MCUSerialHelper.GetInstance.OutputControl(3, false);
+                MCUSerialHelper.GetInstance.OutputControl(4, false);
 
                 Thread.Sleep(60000);
 
@@ -334,13 +334,13 @@ namespace HBLConsole.MORKJC
                 Wait(int.Parse(JaKaHelper.SENCE_接水));
                 are.WaitOne(1000 * 180);
 
-                MCUSerialHelper.GetInstance.OutputControl(2, true);
-                Thread.Sleep(1000);
-                MCUSerialHelper.GetInstance.OutputControl(2, false);
-                Thread.Sleep(10000);
                 MCUSerialHelper.GetInstance.OutputControl(3, true);
                 Thread.Sleep(1000);
                 MCUSerialHelper.GetInstance.OutputControl(3, false);
+                Thread.Sleep(10000);
+                MCUSerialHelper.GetInstance.OutputControl(4, true);
+                Thread.Sleep(1000);
+                MCUSerialHelper.GetInstance.OutputControl(4, false);
                 Thread.Sleep(3000);
                 //添加控制接水机构程序
 

HBLConsole.MORKJC2/Control_MORKJC.cs

@@ -0,0 +1,721 @@
+using System;
+using System.Collections.Generic;
+using System.Configuration;
+using System.Linq;
+using System.Threading;
+using BPA.Message;
+using HBLConsole.Communication;
+using HBLConsole.Factory;
+using HBLConsole.GVL;
+using HBLConsole.Interface;
+using HBLConsole.Model;
+using HBLConsole.Service;
+using HBLDevice.Coffee;
+using Robotc;
+using System.Collections.Concurrent;
+using System.Diagnostics;
+using BPA.Message.IOT;
+using System.Threading.Tasks;
+
+namespace HBLConsole.MORKJC
+{
+    /*
+     * 冰淇淋咖啡机组合套装
+     * 物料位置：
+     * 1：冰淇料
+     * 2：冰淇淋杯
+     * 5：咖啡
+     * 6：咖啡杯
+     * 9: 茶
+     * 10: 茶杯
+     */
+    public class Control_MORKJC : IControl
+    {
+        //咖啡机主控程序
+        private CoffeeMachine coffeeMachine;
+        //物料存放位置
+        private Dictionary<string, PolymerBatching> batchings = new Dictionary<string, PolymerBatching>();
+        //容器位置
+        private string holderLoc;
+        //主料位置
+        private string mainMaterialLoc;
+        //子订单ID
+        private string subOrderId;
+
+        private bool enableFunny = false;
+        private DateTime lastRecvdOrder = DateTime.Now;
+        private bool working = false;
+        /// <summary>
+        /// 果汁机做法，true:热饮，false:冷饮
+        /// </summary>
+        private bool GuMake = false;
+
+        private SerialPortClient commProxy;
+        public void ConnectOk()
+        {
+
+        }
+        ConcurrentQueue<MorkOrderPush> morkOrderPushes = new ConcurrentQueue<MorkOrderPush>();
+        public void Init()
+        {
+            ActionManage.GetInstance.Register(new Action<object>((s) =>
+            {
+                if (s is DrCoffeeDrinksCode cf)
+                {
+                    DoCoffee();
+                }
+                else if (s is Dictionary<string, string> ms)
+                {
+                    if (ms.ContainsKey("Button"))
+                    {
+                        switch (ms["Button"])
+                        {
+                            case "启动示教":
+                                LebaiHelper.GetInstance.StartTeachMode();
+                                break;
+                            case "停止示教":
+                                LebaiHelper.GetInstance.EndtTeachMode();
+                                break;
+                            case "启动机器人":
+                                LebaiHelper.GetInstance.StartRobot();
+                                break;
+                            case "急停":
+                                LebaiHelper.GetInstance.EStopRobot();
+                                break;
+                            default:
+                                break;
+                        }
+                    }
+                }
+            }), "SimCoffee");
+
+            //构建所有商品物料信息
+            batchings = PolymerBatching.BuildAll();
+
+            EventBus.GetInstance().Subscribe<CoffeEndCook>(CoffeEndCookHandle);
+
+            System.Configuration.Configuration config = System.Configuration.ConfigurationManager.OpenExeConfiguration(System.Configuration.ConfigurationUserLevel.None);
+            //一系列外围基础配置
+            var com_Coffee = config.AppSettings.Settings["COM_Coffee"].Value;
+            var baud_Coffee = config.AppSettings.Settings["BAUD_Coffee"].Value;
+            //咖啡机创建
+            coffeeMachine = new CoffeeMachine(com_Coffee, (BaudRates)Enum.Parse(typeof(BaudRates), baud_Coffee));
+
+            Main();
+            ReadData();
+            ThreadManage.GetInstance.StartLong(new Action(() =>
+            {
+                while (GeneralConfig.Healthy && (morkOrderPushes.Count > 0))
+                {
+                    /*while (enableFunny) { Thread.Sleep(10); }
+                    MessageLog.GetInstance.Show("当前非自嗨模式，允许开工");*/
+                    working = true;
+                    if (morkOrderPushes.TryDequeue(out MorkOrderPush order))
+                    {
+                        MessageLog.GetInstance.Show($"开始制作订单[{order.SortNum}]");
+
+                        //Thread.Sleep(5000);
+                        //SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_COOK);
+
+                        //商品类型
+                        GOODS_TYPE currentGoodsType = GOODS_TYPE.NEITHER;
+                        //子订单ID
+                        subOrderId = order.SuborderId;
+                        //遍历物料
+                        foreach (var item in order.GoodBatchings)
+                        {
+                            var res = Json<BatchingInfoPar>.Data.orderMaterialDelivery.BatchingInfo.FirstOrDefault(p => p.BatchingId == item.BatchingId);
+                            if (res != null)
+                            {
+                                //获取主料和容器位置
+                                switch (batchings[res.BatchingLoc].BatchingClass)
+                                {
+                                    case BATCHING_CLASS.HOLDER:
+                                        holderLoc = res.BatchingLoc;
+                                        break;
+                                    case BATCHING_CLASS.MAIN_MATERIAL:
+                                        // mainMaterialLoc ="1";
+                                        mainMaterialLoc = res.BatchingLoc;
+                                        //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);
+                                        }
+                                        break;
+                                }
+                            }
+                        }
+
+                        //根据商品类型执行具体制作流程
+                        switch (currentGoodsType)
+                        {
+                            case GOODS_TYPE.COFFEE:
+                                DoCoffee();
+                                break;
+                            case GOODS_TYPE.JUICE:
+                                GuMake = order.MakeID == "2";
+                                DoJuicer();
+                                break;
+                            case GOODS_TYPE.TEA:
+                                DoTea();
+                                break;
+                            case GOODS_TYPE.WATER:
+                                DoWater();
+                                break;
+                            case GOODS_TYPE.NEITHER:
+                                MessageLog.GetInstance.Show("未知的商品类型");
+                                break;
+                        }
+                    }
+                    working = false;
+                    lastRecvdOrder = DateTime.Now;
+                }
+                Thread.Sleep(1000);
+            }), "订单制作");
+        }
+
+        public void Main()
+        {
+            //咖啡机开启主线程
+            coffeeMachine.Start();
+            //开始心跳刷新，根据咖啡机及冰淇淋机来判断
+            ThreadManage.GetInstance.StartLong(new Action(() =>
+            {
+                GeneralConfig.Healthy =
+                         LebaiHelper.GetInstance.IsConnected &&
+                         MorkCStatus.GetInstance().CanDo &&
+                         JuicerHelper.GetInstance.IsOpen &&
+                         MCUSerialHelper.GetInstance.IsOpen;
+                //GeneralConfig.Healthy = true;
+                Thread.Sleep(100);
+            }), "MORK-IC心跳刷新");
+            ThreadManage.GetInstance.Start(new Action(() =>
+            {
+                while (!LebaiHelper.GetInstance.IsConnected)
+                {
+                    Thread.Sleep(10);
+                }
+                //LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_欢迎);
+            }), "MORK-JC欢迎");
+        }
+
+        public void DataParse<T>(T order)
+        {
+            if (order is MorkOrderPush morkOrderPush)
+            {
+                morkOrderPushes.Enqueue(morkOrderPush);
+            }
+        }
+
+        /// <summary>
+        /// 验证当前是做咖啡还是做冰淇淋
+        /// </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;
+        }
+
+        private AutoResetEvent are = new AutoResetEvent(false);
+
+        private void Wait(int value)
+        {
+            while (!((JaKaHelper.GetInstance.Get_RobotAO1() == value) && JaKaHelper.GetInstance.GetProgramStatus() == 0))//判断文件是否已经执行结束 且 文件末端变量值==文件名
+            {
+                Thread.Sleep(5);
+            }
+        }
+        int[] devStatusBy = new int[2] { 0, 0 };
+
+        /// <summary>
+        /// 传感器的输入信号 0:无意义 1：有信号 2：无信号 3：信号不正确
+        /// </summary>
+        int bSensorInput;
+        /// <summary>
+        /// 延迟的超时时间
+        /// </summary>
+        DateTime delayTimeOut;
+        /// <summary>
+        /// 做咖啡
+        /// </summary>
+        private void DoCoffee()
+        {
+            #region 接咖啡流程
+            are.Reset();
+            SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
+            int resultTakeCup = takeCup();
+            if (resultTakeCup == 1)
+            {
+                MessageLog.GetInstance.Show("咖啡杯取杯完成");
+                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_接咖啡);
+                Wait(int.Parse(JaKaHelper.SENCE_接咖啡));
+                new MakeCoffeeEvent() { DrinkCode = (DrCoffeeDrinksCode)int.Parse(mainMaterialLoc) }.Publish();  //接咖啡控制 //DrCoffeeDrinksCode.热水
+                are.WaitOne(1000 * 120);
+
+                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放咖啡杯);
+                Wait(int.Parse(JaKaHelper.SENCE_放咖啡杯));
+                int resultputCup = putCup();
+                if (resultputCup == 1)
+                {
+                    //订单状态改变：完成
+                    SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
+                }
+                else
+                {
+                    JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_初始位);
+                    Wait(int.Parse(JaKaHelper.SENCE_初始位));
+                }
+            }
+            else if (resultTakeCup == 2 || resultTakeCup == 3)
+            {
+                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_初始位);
+                Wait(int.Parse(JaKaHelper.SENCE_初始位));
+            }
+            #endregion
+        }
+        /// <summary>
+        /// 做茶
+        /// </summary>
+        private void DoTea()
+        {
+            #region 接茶流程
+            SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
+            int resultTakeCup = takeCup();
+            if (resultTakeCup == 1)
+            {
+                MessageLog.GetInstance.Show("取茶杯完成");
+                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_接茶);
+                Wait(int.Parse(JaKaHelper.SENCE_接茶));
+
+                MCUSerialHelper.GetInstance.ServoControl(1, 105);
+                Thread.Sleep(1000);
+                MCUSerialHelper.GetInstance.ServoControl(1, 130);
+                Thread.Sleep(1000);
+                MCUSerialHelper.GetInstance.ServoControl(1, 105);
+
+                Thread.Sleep(3000);
+                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_接茶_接水);
+                Wait(int.Parse(JaKaHelper.SENCE_接茶_接水));
+                MCUSerialHelper.GetInstance.OutputControl(4, false);
+
+                MCUSerialHelper.GetInstance.OutputControl(3, false);
+                Thread.Sleep(100);
+                MCUSerialHelper.GetInstance.OutputControl(3, true);
+                Thread.Sleep(3000);
+                MCUSerialHelper.GetInstance.OutputControl(3, false);
+                Thread.Sleep(100);
+
+                MCUSerialHelper.GetInstance.OutputControl(4, false);
+                Thread.Sleep(100);
+                MCUSerialHelper.GetInstance.OutputControl(4, true);
+                Thread.Sleep(500);
+                MCUSerialHelper.GetInstance.OutputControl(4, false);
+
+                Thread.Sleep(60000);
+
+                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放茶水杯);
+                Wait(int.Parse(JaKaHelper.SENCE_放茶水杯));
+                int resultputCup = putCup();
+                if (resultputCup == 1)
+                {
+                    SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
+                }
+                else
+                {
+                    JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_初始位);
+                    Wait(int.Parse(JaKaHelper.SENCE_初始位));
+                }
+            }
+            else if (resultTakeCup == 2 || resultTakeCup == 3)
+            {
+                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_初始位);
+                Wait(int.Parse(JaKaHelper.SENCE_初始位));
+            }
+            #endregion
+        }
+
+        /// <summary>
+        /// 接开水
+        /// </summary>
+        private void DoWater()
+        {
+            #region 接水流程
+            SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
+            int resultTakeCup = takeCup();
+            if (resultTakeCup == 1)
+            {
+                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_接水);
+                Wait(int.Parse(JaKaHelper.SENCE_接水));
+                are.WaitOne(1000 * 180);
+
+                MCUSerialHelper.GetInstance.OutputControl(3, true);
+                Thread.Sleep(1000);
+                MCUSerialHelper.GetInstance.OutputControl(3, false);
+                Thread.Sleep(10000);
+                MCUSerialHelper.GetInstance.OutputControl(4, true);
+                Thread.Sleep(1000);
+                MCUSerialHelper.GetInstance.OutputControl(4, false);
+                Thread.Sleep(3000);
+                //添加控制接水机构程序
+
+                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放茶水杯);
+                Wait(int.Parse(JaKaHelper.SENCE_放茶水杯));
+                int resultputCup = putCup();
+                if (resultputCup == 1)
+                {
+                    SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
+                }
+                else
+                {
+                    JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_初始位);
+                    Wait(int.Parse(JaKaHelper.SENCE_初始位));
+                }
+            }
+            else if (resultTakeCup == 2 || resultTakeCup == 3)
+            {
+                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_初始位);
+                Wait(int.Parse(JaKaHelper.SENCE_初始位));
+            }
+            #endregion
+        }
+        /// <summary>
+        /// 果汁机控制信号
+        /// </summary>
+        private byte JuicerNum;
+        /// <summary>
+        /// 做果汁
+        /// </summary>
+        private void DoJuicer()
+        {
+            #region 接果汁流程
+            are.Reset();
+            SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
+            int resultTakeCup = takeCup();
+            if (resultTakeCup == 1)
+            {
+                int JuicerNum1 = int.Parse(mainMaterialLoc);
+                switch (JuicerNum1)
+                {
+                    case 52:
+                        if(GuMake)
+                        {
+                            JuicerNum = 0x00;
+                        }
+                        else
+                        {
+                            JuicerNum = 0x01;
+                        }
+                        JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_接果汁1);
+                        Wait(int.Parse(JaKaHelper.SENCE_接果汁1));
+                        break;
+                    case 53:
+                        if (GuMake)
+                        {
+                            JuicerNum = 0x02;
+                        }
+                        else
+                        {
+                            JuicerNum = 0x03;
+                        }
+                        JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_接果汁2);
+                        Wait(int.Parse(JaKaHelper.SENCE_接果汁2));
+                        break;
+                    case 54:
+                        if (GuMake)
+                        {
+                            JuicerNum = 0x04;
+                        }
+                        else
+                        {
+                            JuicerNum = 0x05;
+                        }
+                        JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_接果汁3);
+                        Wait(int.Parse(JaKaHelper.SENCE_接果汁3));
+                        break;
+                    case 55:
+                        if (GuMake)
+                        {
+                            JuicerNum = 0x06;
+                        }
+                        else
+                        {
+                            JuicerNum = 0x07;
+                        }
+                        JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_接果汁4);
+                        Wait(int.Parse(JaKaHelper.SENCE_接果汁4));
+                        break;
+                    default:
+                        JuicerNum = 0x00;
+                        JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_接果汁1);
+                        Wait(int.Parse(JaKaHelper.SENCE_接果汁1));
+                        break;
+                }
+                var devStatus = JuicerHelper.GetInstance.GetDeviceStatus();
+                var devStatus1 = Convert.ToString(devStatus[0], 2);
+                var devStatus2 = devStatus[1];
+
+                if (devStatus1.IndexOf("0") == 1 && devStatus2 == 0)
+                {
+                    JuicerHelper.GetInstance.StartCook(JuicerNum);
+                    Thread.Sleep(100);
+                    devStatusBy = JuicerHelper.GetInstance.GetDeviceStatus();
+                    while (!(devStatusBy[1] == 0))
+                    {
+                        Thread.Sleep(100);
+                        devStatusBy = JuicerHelper.GetInstance.GetDeviceStatus();
+                        while (devStatusBy.Length != 2)
+                        {
+                            Thread.Sleep(100);
+                            devStatusBy = JuicerHelper.GetInstance.GetDeviceStatus();
+                        }
+                    }
+                    devStatusBy = JuicerHelper.GetInstance.GetDeviceStatus();
+                    Thread.Sleep(5000);
+                    switch (JuicerNum1)
+                    {
+                        case 52:
+                            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放果汁杯1);
+                            Wait(int.Parse(JaKaHelper.SENCE_放果汁杯1));
+                            break;
+                        case 53:
+                            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放果汁杯2);
+                            Wait(int.Parse(JaKaHelper.SENCE_放果汁杯2));
+                            break;
+                        case 54:
+                            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放果汁杯3);
+                            Wait(int.Parse(JaKaHelper.SENCE_放果汁杯3));
+                            break;
+                        case 55:
+                            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放果汁杯4);
+                            Wait(int.Parse(JaKaHelper.SENCE_放果汁杯4));
+                            break;
+                        default:
+                            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放果汁杯1);
+                            Wait(int.Parse(JaKaHelper.SENCE_放果汁杯1));
+                            break;
+                    }
+                    int resultputCup = putCup();
+                    if (resultputCup == 1)
+                    {
+                        SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
+                    }
+                    else
+                    {
+                        JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_初始位);
+                        Wait(int.Parse(JaKaHelper.SENCE_初始位));
+                    }
+                }
+            }
+            else if (resultTakeCup == 2 || resultTakeCup == 3)
+            {
+                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_初始位);
+                Wait(int.Parse(JaKaHelper.SENCE_初始位));
+            }
+            #endregion
+        }
+        /// <summary>
+        /// 取杯流程
+        /// </summary>
+        /// <returns>0:无意义，1：取杯成功 2：机构有杯子，但夹爪未取到杯子 3：机构没有杯子</returns>
+        private int takeCup() 
+        {
+            try
+            {
+               /* int resultCheck = checkCup();
+                if (resultCheck != 1) return 2;*/
+                JaKaHelper.GetInstance.Set_RobotAO1(0);
+                Wait(0);
+                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_初始位);
+                Wait(int.Parse(JaKaHelper.SENCE_初始位));
+                MCUSerialHelper.GetInstance.OutputControl(1, true);
+                JaKaHelper.GetInstance.Set_RobotAO1(0);
+                Wait(0);
+                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_取杯);
+                Wait(int.Parse(JaKaHelper.SENCE_取杯));
+                bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(1);
+                while (bSensorInput == 3 || bSensorInput == 2)
+                {
+                    Thread.Sleep(100);
+                    bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(1);
+                    if (DateTime.Now.Subtract(delayTimeOut).TotalSeconds >= 2)
+                    {
+                        MessageLog.GetInstance.Show("取杯机构，没有杯子");
+                        break;
+                    }
+                }
+                if (bSensorInput == 1)
+                {
+                    MCUSerialHelper.GetInstance.OutputControl(1, false);
+                    Thread.Sleep(500);
+                    JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_取杯检测);
+                    Wait(int.Parse(JaKaHelper.SENCE_取杯检测));
+                    bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(1);
+                    delayTimeOut = DateTime.Now;
+                    while (bSensorInput == 3 || bSensorInput == 2)
+                    {
+                        Thread.Sleep(100);
+                        bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(1);
+                        if (DateTime.Now.Subtract(delayTimeOut).TotalSeconds >= 2)
+                        {
+                            MessageLog.GetInstance.Show("取杯子失败");
+                            return 2;
+                        }
+                    }
+                    return bSensorInput;
+                }
+                else 
+                {
+                    MCUSerialHelper.GetInstance.OutputControl(1, false);
+                    Thread.Sleep(500);
+                    JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_取杯检测);
+                    Wait(int.Parse(JaKaHelper.SENCE_取杯检测));
+                    return 3;
+                }
+            }
+            catch (Exception ex)
+            {
+                MessageLog.GetInstance.Show(ex.ToString());
+                return 0;
+            }
+        }
+        /// <summary>
+        /// 放杯
+        /// </summary>
+        /// <returns>0:无意义 1：执行成功 2：执行失败(传感器还有信号)</returns>
+        private int putCup()
+        {
+            try
+            {
+                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放杯);
+                Wait(int.Parse(JaKaHelper.SENCE_放杯));
+                MCUSerialHelper.GetInstance.OutputControl(1, true);
+                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放杯检测);
+                Wait(int.Parse(JaKaHelper.SENCE_放杯检测));
+                bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(1);
+                delayTimeOut = DateTime.Now;
+                while (bSensorInput != 2)
+                {
+                    Thread.Sleep(100);
+                    bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(1);
+                    if (DateTime.Now.Subtract(delayTimeOut).TotalSeconds >= 2) return 2;
+                }
+                if (bSensorInput == 2)
+                {
+                    JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_初始位);
+                    Wait(int.Parse(JaKaHelper.SENCE_初始位));
+                    return 1;
+                }
+            }
+            catch (Exception ex) 
+            {
+                MessageLog.GetInstance.Show(ex.ToString());
+                return 0;
+            }
+            return 1;
+        }
+
+        /// <summary>
+        /// 检测放杯位，是否有杯子
+        /// </summary>
+        /// <returns>0：无意义 1：没有杯子  2：有杯子 </returns>
+        private int checkCup() 
+        {
+            try
+            {/*
+                JaKaHelper.GetInstance.Set_RobotAO1(0);
+                Wait(0);
+                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_初始位);
+                Wait(int.Parse(JaKaHelper.SENCE_初始位));
+                MCUSerialHelper.GetInstance.OutputControl(1, true);
+                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放杯位检测);
+                Wait(int.Parse(JaKaHelper.SENCE_放杯位检测));*/
+                bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(2);
+                delayTimeOut = DateTime.Now;
+                while (bSensorInput == 1)
+                {
+                    Thread.Sleep(100);
+                    bSensorInput = MCUSerialHelper.GetInstance.GetInputStatus(1);
+                    MessageLog.GetInstance.Show("放杯位有杯子未取走，等待取走，最多等待60s，即跳出流程");
+                    if (DateTime.Now.Subtract(delayTimeOut).TotalSeconds >= 1) return 2;
+                }
+                return 1;
+            }
+            catch (Exception ex) 
+            {
+                MessageLog.GetInstance.Show(ex.ToString());
+                return 0;
+            }
+        }
+
+        private void CoffeEndCookHandle(IEvent @event, EventBus.EventCallBackHandle callBack)
+        {
+            are.Set();
+        }
+
+
+        public void ReadData()
+        {
+            //ThreadManage.GetInstance.StartLong(new Action(() =>
+            //{
+
+            //    Thread.Sleep(100);
+            //}), "机器人数据读取", true);
+        }
+
+        public void SimOrder<T>(T simOrder)
+        {
+
+        }
+
+
+
+        /// <summary>
+        /// IOT 广播消息命令
+        /// </summary>
+        public void IotBroadcast<T>(T broadcast)
+        {
+            if (broadcast != null && broadcast is IOTCommandModel iOTCommand)
+            {
+                switch (iOTCommand.CommandName)
+                {
+                    case 0://控制类
+                        if (iOTCommand.CommandValue != null)
+                        {
+                            if (iOTCommand.CommandValue.ContainsKey("SimOrder"))
+                            {
+                                //SimOrder(new SimOrderData { NoodleLoc = 1, BowlLoc = 10 });
+                            }
+                        }
+                        break;
+                    case 1://设置属性
+
+                        break;
+                    case 2://通知消息
+
+                        break;
+                    default:
+                        break;
+                }
+            }
+        }
+        public class SimOrderData
+        {
+            public string id { get; set; }
+
+            public int OrderStatus { get; set; }
+
+            public string Loc { get; set; }
+
+            public MorkOrderPush morkOrder { get; set; }
+
+            public SimOrderData()
+            {
+                id = Guid.NewGuid().ToString();
+                OrderStatus = 0;
+            }
+        }
+    }
+}

HBLConsole.MORKJC2/HBLConsole.MORKJC2.csproj

@@ -0,0 +1,16 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net6.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\HBLConsole.Factory\HBLConsole.Factory.csproj" />
+    <ProjectReference Include="..\HBLConsole.Model\HBLConsole.Model.csproj" />
+    <ProjectReference Include="..\HBLConsole.Service\HBLConsole.Service.csproj" />
+    <ProjectReference Include="..\HBLDevice.Coffee\HBLDevice.Coffee.csproj" />
+  </ItemGroup>
+
+</Project>

HBLConsole.MORKJC2/PolymerBatching.cs

@@ -0,0 +1,153 @@
+using HBLConsole.Communication;
+//using HBLDevice.ICChip;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace HBLConsole.MORKJC
+{
+    internal enum GOODS_TYPE
+    {
+        /// <summary>
+        /// 未知
+        /// </summary>
+        NEITHER,
+        /// <summary>
+        /// 咖啡
+        /// </summary>
+        COFFEE,
+        /// <summary>
+        /// 果汁
+        /// </summary>
+        JUICE,
+        /// <summary>
+        /// 茶水
+        /// </summary>
+        TEA,
+        /// <summary>
+        /// 水
+        /// </summary>
+        WATER,
+        /// <summary>
+        /// 杯子
+        /// </summary>
+        CUP
+    }
+
+    internal enum BATCHING_CLASS
+    {
+        HOLDER,
+        MAIN_MATERIAL,
+    }
+
+    internal class PolymerBatching
+    {
+        internal const string Juicer_MAIN_BATCHIN1_LOC = "52";
+        internal const string Juicer_MAIN_BATCHIN2_LOC = "53";
+        internal const string Juicer_MAIN_BATCHIN3_LOC = "54";
+        internal const string Juicer_MAIN_BATCHIN4_LOC = "55";
+        //internal const string Juicer_MAIN_BATCHIN5_LOC = "56";
+        //internal const string Juicer_MAIN_BATCHIN6_LOC = "57";
+        //internal const string Juicer_MAIN_BATCHIN7_LOC = "58";
+        //internal const string Juicer_MAIN_BATCHIN8_LOC = "59";
+
+        internal const string COFFEE_HOLDER_LOC = "30";
+        internal const string TEA_HOLDER_LOC = "51";
+        public static Dictionary<string, GOODS_TYPE> GOODS_TYPES = new Dictionary<string, GOODS_TYPE>() {
+            {"1", GOODS_TYPE.COFFEE},
+            {"2", GOODS_TYPE.COFFEE},
+            {"3", GOODS_TYPE.COFFEE},
+            {"4", GOODS_TYPE.COFFEE},
+            {"5", GOODS_TYPE.COFFEE},
+            {"6", GOODS_TYPE.COFFEE},
+            {"7", GOODS_TYPE.COFFEE},
+            {"8", GOODS_TYPE.COFFEE},
+            {"9", GOODS_TYPE.COFFEE},
+            {"10",GOODS_TYPE.COFFEE},
+            {"11",GOODS_TYPE.COFFEE},
+            {"12",GOODS_TYPE.COFFEE},
+            {"13",GOODS_TYPE.COFFEE},
+            {"14",GOODS_TYPE.COFFEE},
+            {"15",GOODS_TYPE.COFFEE},
+            {"16",GOODS_TYPE.COFFEE},
+            {"17",GOODS_TYPE.COFFEE},
+            {"18",GOODS_TYPE.COFFEE},
+            {"19",GOODS_TYPE.COFFEE},
+            {"20",GOODS_TYPE.COFFEE},
+            {"21",GOODS_TYPE.COFFEE},
+            {"22",GOODS_TYPE.COFFEE},
+            {"23",GOODS_TYPE.COFFEE},
+            {"24",GOODS_TYPE.COFFEE},
+            {"25",GOODS_TYPE.COFFEE},
+            { COFFEE_HOLDER_LOC,GOODS_TYPE.CUP},
+            {"56",GOODS_TYPE.TEA },
+            {Juicer_MAIN_BATCHIN1_LOC,GOODS_TYPE.JUICE},
+            {Juicer_MAIN_BATCHIN2_LOC,GOODS_TYPE.JUICE},
+            {Juicer_MAIN_BATCHIN3_LOC,GOODS_TYPE.JUICE},
+            {Juicer_MAIN_BATCHIN4_LOC,GOODS_TYPE.JUICE},
+            //{Juicer_MAIN_BATCHIN5_LOC,GOODS_TYPE.JUICE},
+            //{Juicer_MAIN_BATCHIN6_LOC,GOODS_TYPE.JUICE},
+            //{Juicer_MAIN_BATCHIN7_LOC,GOODS_TYPE.JUICE},
+            //{Juicer_MAIN_BATCHIN8_LOC,GOODS_TYPE.JUICE},
+        };
+
+        public GOODS_TYPE GoodsType { get; set; }
+        public BATCHING_CLASS BatchingClass { get; set; }
+        private string loc;
+
+        public string Loc
+        {
+            get { return loc; }
+            set
+            {
+                loc = value;
+                if (GOODS_TYPES.ContainsKey(loc))
+                    GoodsType = GOODS_TYPES[loc];
+                switch (loc)
+                {
+                    case COFFEE_HOLDER_LOC:
+                    case TEA_HOLDER_LOC:
+                        BatchingClass = BATCHING_CLASS.HOLDER;
+                        break;
+                    default:
+                        BatchingClass = BATCHING_CLASS.MAIN_MATERIAL;
+                        break;
+                }
+            }
+        }
+
+        internal static Dictionary<string, PolymerBatching> BuildAll()
+        {
+            Dictionary<string, PolymerBatching> temp = new Dictionary<string, PolymerBatching>();
+            foreach (var item in GOODS_TYPES)
+            {
+                temp.Add(item.Key, new PolymerBatching() { Loc = item.Key });
+            }
+            return temp;
+        }
+
+        //internal static IC_SE GetIceCreamSE(string loc, out string sence)
+        //{
+        //    switch (loc)
+        //    {
+        //        case Juicer_MAIN_BATCHIN1_LOC:
+        //            sence = JaKaHelper.SENCE_接果汁1;
+        //            return IC_SE.SE_1;
+
+        //        case Juicer_MAIN_BATCHIN2_LOC:
+        //            sence = JaKaHelper.SENCE_接果汁2;
+        //            return IC_SE.SE_2;
+
+        //        case Juicer_MAIN_BATCHIN3_LOC:
+        //            sence = JaKaHelper.SENCE_接果汁3;
+        //            return IC_SE.SE_3;
+
+        //        default:
+        //            sence = JaKaHelper.SENCE_接果汁1;
+        //            return IC_SE.SE_1;
+        //    }
+        //}
+    }
+}

HBLConsole.sln

@@ -49,7 +49,9 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "HBLConsole.MORKM", "HBLCons
 EndProject
 Project("{2150E333-8FDC-42A3-9474-1A3956D46DE8}") = "Devices", "Devices", "{D6D3D62A-F72B-4940-8579-B2DBF35D3059}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "HBLConsole.MORKJC", "HBLConsole.MORKJC\HBLConsole.MORKJC.csproj", "{07DB7E09-6899-4B9F-8BA3-72D5D93E8881}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "HBLConsole.MORKJC", "HBLConsole.MORKJC\HBLConsole.MORKJC.csproj", "{07DB7E09-6899-4B9F-8BA3-72D5D93E8881}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "HBLConsole.MORKJC2", "HBLConsole.MORKJC2\HBLConsole.MORKJC2.csproj", "{28F93257-7F44-4B96-B0C7-EFC6EDAD89F9}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
@@ -145,6 +147,10 @@ Global
 		{07DB7E09-6899-4B9F-8BA3-72D5D93E8881}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{07DB7E09-6899-4B9F-8BA3-72D5D93E8881}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{07DB7E09-6899-4B9F-8BA3-72D5D93E8881}.Release|Any CPU.Build.0 = Release|Any CPU
+		{28F93257-7F44-4B96-B0C7-EFC6EDAD89F9}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{28F93257-7F44-4B96-B0C7-EFC6EDAD89F9}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{28F93257-7F44-4B96-B0C7-EFC6EDAD89F9}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{28F93257-7F44-4B96-B0C7-EFC6EDAD89F9}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -158,6 +164,7 @@ Global
 		{4A451647-FB80-4D19-85CF-C04A9548A17E} = {CFF94828-163A-4907-B951-081B18F3CBBD}
 		{77F458A8-2550-490C-9DEF-CE220663E6FE} = {D6D3D62A-F72B-4940-8579-B2DBF35D3059}
 		{07DB7E09-6899-4B9F-8BA3-72D5D93E8881} = {D6D3D62A-F72B-4940-8579-B2DBF35D3059}
+		{28F93257-7F44-4B96-B0C7-EFC6EDAD89F9} = {D6D3D62A-F72B-4940-8579-B2DBF35D3059}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {1968105D-1913-4F0B-A03E-7C18AFA58912}

HBLConsole/App.config

@@ -14,7 +14,7 @@
     <!--<add key="ClientId" value="11"/>
     <add key="deviceId" value="13"/>-->
 
-    <add key="ClientId" value="49"/>
+    <add key="ClientId" value="50"/>
     <add key="deviceId" value="31"/>
 
     <!--<add key="ApolloUri" value="http://111.9.47.105:28080/"/>
@@ -43,7 +43,7 @@
     <add key="IsEnableTest" value="false"/>
 
     <!--http://111.9.47.105:21528/kitchen/-->
-    <add key="COM_Coffee" value="COM10"/>
+    <add key="COM_Coffee" value="COM5"/>
     <add key="BAUD_Coffee" value="115200"/>
 
     <add key="COM_IceCream" value="COM5"/>