增加测距传感器

HBLConsole.MORKIC/Control_MORKIC.cs

@@ -35,9 +35,8 @@ namespace HBLConsole.MORKIC
         GVL_MORIC mORKD = new GVL_MORIC();
         //咖啡机主控程序
         private CoffeeMachine coffeeMachine;
+        //单片机主控程序
         private ICChipMachine icchipMachine;
-        //冰淇淋主控程序
-        private IceCreamMachine iceCreamMachine;
         //物料存放位置
         private Dictionary<string, PolymerBatching> batchings = new Dictionary<string, PolymerBatching>();
         //容器位置
@@ -98,8 +97,7 @@ namespace HBLConsole.MORKIC
             }
             //咖啡机创建
             coffeeMachine = new CoffeeMachine(com_Coffee, (BaudRates)Enum.Parse(typeof(BaudRates), baud_Coffee));
-            //冰淇淋机创建
-            iceCreamMachine = new IceCreamMachine(com_IceCream, (BaudRates)Enum.Parse(typeof(BaudRates), baud_IceCream));
+            //单片机机创建
             icchipMachine = new ICChipMachine(com_ICChip, (BaudRates)Enum.Parse(typeof(BaudRates), baud_ICChip));
 
             Main();
@@ -171,23 +169,17 @@ namespace HBLConsole.MORKIC
         {
             //咖啡机开启主线程
             coffeeMachine.Start();
-            //冰淇淋机开启主线程
-            iceCreamMachine.Start();
+            //单片机开启主线程
             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
             ThreadManage.GetInstance.StartLong(new Action(() =>
             {
-
-                //GeneralConfig.Healthy = true;
-                //GeneralConfig.Healthy =
-                //           LebaiHelper.GetInstance.IsConnected &&
-                //           MorkIStatus.GetInstance().CanDo &&
-                //           MorkCStatus.GetInstance().CanDo;
                 GeneralConfig.Healthy =
                          LebaiHelper.GetInstance.IsConnected &&
-                         MorkCStatus.GetInstance().CanDo;
+                         MorkCStatus.GetInstance().CanDo &&
+                         ChipStatus.GetInstance().CanDo;
                 //GeneralConfig.Healthy = true;
                 Thread.Sleep(100);
             }), "MORK-IC心跳刷新");

HBLDevice.ICChip/ChipStatus.cs

@@ -47,6 +47,14 @@ namespace HBLDevice.ICChip
         /// 3号舵机关闭完成
         /// </summary>
         public bool CompletedClose_SE_3 { get; set; }
+        /// <summary>
+        /// 是否存在物品
+        /// </summary>
+        public bool ArticleExits { get; set; }
+        /// <summary>
+        /// 物品距离
+        /// </summary>
+        public byte ArticleDist { get; set; }
 
         public bool CanDo
         {
@@ -105,6 +113,12 @@ namespace HBLDevice.ICChip
                                 break;
                         }
                         break;
+                    case IC_CMD.ARTICLE_EXITS:
+                        ArticleExits = data.Value > 0;
+                        break;
+                    case IC_CMD.ARTICLE_DIST:
+                        ArticleDist = data.Value;
+                        break;
                 }
             }
             catch (Exception ex)

HBLDevice.ICChip/CommandEvent.cs

@@ -30,4 +30,14 @@ namespace HBLDevice.ICChip
     {
         public bool TurnOn { get; set; }
     }
+
+    public class ArticleExitsEvent : IEvent
+    {
+
+    }
+
+    public class ArticleDistEvent : IEvent
+    {
+
+    }
 }

HBLDevice.ICChip/CommandHandler.cs

@@ -30,10 +30,26 @@ namespace HBLDevice.ICChip
             EventBus.GetInstance().Subscribe<MakeIceCreamEvent>(MakeIceCreamEventHandle);
             EventBus.GetInstance().Subscribe<SESwitchCreamEvent>(StopMakeIceCreamEventHandle);
             EventBus.GetInstance().Subscribe<RotorSwitchEvent>(RotorSwitchEventHandle);
+            EventBus.GetInstance().Subscribe<ArticleExitsEvent>(ArticleExitsEventHandle);
+            EventBus.GetInstance().Subscribe<ArticleDistEvent>(ArticleDistEventHandle);
+        }
+
+        private void ArticleDistEventHandle(IEvent @event, EventCallBackHandle callBack)
+        {
+            package.Cmd = IC_CMD.ARTICLE_DIST;
+            commProxy.SendData(StructureToByte(package));
+        }
+
+        private void ArticleExitsEventHandle(IEvent @event, EventCallBackHandle callBack)
+        {
+            ChipStatus.GetInstance().ArticleExits = false;
+            package.Cmd = IC_CMD.ARTICLE_EXITS;
+            commProxy.SendData(StructureToByte(package));
         }
 
         private void StopMakeIceCreamEventHandle(IEvent @event, EventCallBackHandle callBack)
         {
+            ChipStatus.GetInstance().ArticleDist = 0;
             package.Cmd = (@event as SESwitchCreamEvent).IsOpen ? IC_CMD.OPEN_SE : IC_CMD.CLOSE_SE;
             package.Value = (byte)(@event as SESwitchCreamEvent).SteeringEngine;
             commProxy.SendData(StructureToByte(package));

HBLDevice.ICChip/Protocal/ICChipPackage.cs

@@ -26,7 +26,7 @@ namespace HBLDevice.ICChip
         /// </summary>
         public IC_CMD Cmd;
         /// <summary>
-        /// 故障（咖啡机负责写，工控机负责读）
+        /// 值
         /// </summary>
         public byte Value;
         /// <summary>

HBLDevice.ICChip/Protocal/IC_CMD.cs

@@ -9,20 +9,20 @@ namespace HBLDevice.ICChip
     /// <summary>
     /// 命令
     /// </summary>
-    public enum IC_CMD:byte
+    public enum IC_CMD : byte
     {
         /// <summary>
         /// 心跳
         /// </summary>
-        HEART_BEAT=0x00,
+        HEART_BEAT = 0x00,
         /// <summary>
         /// 下杯（带上碗参数）
         /// </summary>
-        TAKE_CUP=0x01,
+        TAKE_CUP = 0x01,
         /// <summary>
         /// 打开舵机（带上舵机参数）
         /// </summary>
-        OPEN_SE=0x02,
+        OPEN_SE = 0x02,
         /// <summary>
         /// 关闭舵机（带上舵机参数）
         /// </summary>
@@ -30,6 +30,14 @@ namespace HBLDevice.ICChip
         /// <summary>
         /// 使能冰淇淋转子（带上开关参数）
         /// </summary>
-        ROTOR=0x04,
+        ROTOR = 0x04,
+        /// <summary>
+        /// 检测是否有物品
+        /// </summary>
+        ARTICLE_EXITS = 0x05,
+        /// <summary>
+        /// 检测物品距离
+        /// </summary>
+        ARTICLE_DIST = 0x06
     }
 }