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HBLConsole/HBLConsole.MORKJC2/Control_MORKJC2.cs

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  1. using System;

  2. using System.Collections.Generic;

  3. using System.Configuration;

  4. using System.Linq;

  5. using System.Threading;

  6. using BPA.Message;

  7. using HBLConsole.Communication;

  8. using HBLConsole.Factory;

  9. using HBLConsole.GVL;

  10. using HBLConsole.Interface;

  11. using HBLConsole.Model;

  12. using HBLConsole.Service;

  13. using HBLDevice.Coffee;

  14. using Robotc;

  15. using System.Collections.Concurrent;

  16. using System.Diagnostics;

  17. using BPA.Message.IOT;

  18. using System.Threading.Tasks;

  19. 

  20. namespace HBLConsole.MORKJC2

  21. {

  22.     /*

  23.      * 冰淇淋咖啡机组合套装

  24.      * 物料位置：

  25.      * 1：冰淇料

  26.      * 2：冰淇淋杯

  27.      * 5：咖啡

  28.      * 6：咖啡杯

  29.      * 9: 茶

  30.      * 10: 茶杯

  31.      */

  32.     public class Control_MORKJC2 : IControl

  33.     {

  34.         private CoffeEndCook coffeEndCook = new CoffeEndCook();//模拟咖啡制作成功

  35.         //咖啡机主控程序

  36.         private CoffeeMachine coffeeMachine;

  37.         //物料存放位置

  38.         private Dictionary<string, PolymerBatching> batchings = new Dictionary<string, PolymerBatching>();

  39.         //容器位置

  40.         private string holderLoc;

  41.         /// <summary>

  42.         /// 获取乐百机器人的数据

  43.         /// </summary>

  44.         SignalResult lebai = new SignalResult();

  45.         //主料位置

  46.         private string mainMaterialLoc;

  47.         //子订单ID

  48.         private string subOrderId;

  49. 

  50.         private bool enableFunny = false;

  51.         private DateTime lastRecvdOrder = DateTime.Now;

  52.         private bool working = false;

  53.         /// <summary>

  54.         /// 果汁机做法，true:热饮，false:冷饮

  55.         /// </summary>

  56.         private bool GuMake = false;

  57. 

  58.         private SerialPortClient commProxy;

  59.         public void ConnectOk()

  60.         {

  61. 

  62.         }

  63.         ConcurrentQueue<MorkOrderPush> morkOrderPushes = new ConcurrentQueue<MorkOrderPush>();

  64.         public void Init()

  65.         {

  66.             ActionManage.GetInstance.Register(new Action<object>((s) =>

  67.             {

  68.                 if (s is DrCoffeeDrinksCode cf)

  69.                 {

  70.                     DoCoffee();

  71.                 }

  72.                 else if (s is Dictionary<string, string> ms)

  73.                 {

  74.                     if (ms.ContainsKey("Button"))

  75.                     {

  76.                         switch (ms["Button"])

  77.                         {

  78.                             case "启动示教":

  79.                                 LebaiHelper.GetInstance.StartTeachMode();

  80.                                 break;

  81.                             case "停止示教":

  82.                                 LebaiHelper.GetInstance.EndtTeachMode();

  83.                                 break;

  84.                             case "启动机器人":

  85.                                 LebaiHelper.GetInstance.StartRobot();

  86.                                 break;

  87.                             case "急停":

  88.                                 LebaiHelper.GetInstance.EStopRobot();

  89.                                 break;

  90.                             default:

  91.                                 break;

  92.                         }

  93.                     }

  94.                 }

  95.             }), "SimCoffee");

  96. 

  97.             //构建所有商品物料信息

  98.             batchings = PolymerBatching.BuildAll();

  99. 

  100.             EventBus.GetInstance().Subscribe<CoffeEndCook>(CoffeEndCookHandle);

  101. 

  102.             System.Configuration.Configuration config = System.Configuration.ConfigurationManager.OpenExeConfiguration(System.Configuration.ConfigurationUserLevel.None);

  103.             //一系列外围基础配置

  104.             var com_Coffee = config.AppSettings.Settings["COM_Coffee"].Value;

  105.             var baud_Coffee = config.AppSettings.Settings["BAUD_Coffee"].Value;

  106.             //咖啡机创建

  107.             coffeeMachine = new CoffeeMachine(com_Coffee, (BaudRates)Enum.Parse(typeof(BaudRates), baud_Coffee));

  108. 

  109.             Main();

  110.             ReadData();

  111.             ThreadManage.GetInstance.StartLong(new Action(() =>

  112.             {

  113.                 while (GeneralConfig.Healthy && (morkOrderPushes.Count > 0))

  114.                 {

  115.                     working = true;

  116.                     if (morkOrderPushes.TryDequeue(out MorkOrderPush order))

  117.                     {

  118.                         MessageLog.GetInstance.Show($"开始制作订单[{order.SortNum}]");

  119.                         //商品类型

  120.                         GOODS_TYPE currentGoodsType = GOODS_TYPE.NEITHER;

  121.                         //子订单ID

  122.                         subOrderId = order.SuborderId;

  123.                         //遍历物料

  124.                         foreach (var item in order.GoodBatchings)

  125.                         {

  126.                             var res = Json<BatchingInfoPar>.Data.orderMaterialDelivery.BatchingInfo.FirstOrDefault(p => p.BatchingId == item.BatchingId);

  127.                             if (res != null)

  128.                             {

  129.                                 //获取主料和容器位置

  130.                                 switch (batchings[res.BatchingLoc].BatchingClass)

  131.                                 {

  132.                                     case BATCHING_CLASS.HOLDER:

  133.                                         holderLoc = res.BatchingLoc;

  134.                                         break;

  135.                                     case BATCHING_CLASS.MAIN_MATERIAL:

  136.                                         // mainMaterialLoc ="1";

  137.                                         mainMaterialLoc = res.BatchingLoc;

  138.                                         //验证商品是咖啡还是冰淇淋

  139.                                         if (ValidateGoodsByBatching(res.BatchingLoc) != GOODS_TYPE.NEITHER)

  140.                                         {

  141.                                             //获取当前物料所属商品类型

  142.                                             currentGoodsType = ValidateGoodsByBatching(res.BatchingLoc);

  143.                                         }

  144.                                         break;

  145.                                 }

  146.                             }

  147.                         }

  148. 

  149.                         //根据商品类型执行具体制作流程

  150.                         switch (currentGoodsType)

  151.                         {

  152.                             case GOODS_TYPE.COFFEE:

  153.                                 DoCoffee();

  154.                                 break;

  155.                             case GOODS_TYPE.JUICE:

  156.                                 GuMake = order.MakeID == "2";

  157.                                 DoJuicer();

  158.                                 break;

  159.                             case GOODS_TYPE.TEA:

  160.                                 DoTea();

  161.                                 break;

  162.                             case GOODS_TYPE.WATER:

  163.                                 DoWater();

  164.                                 break;

  165.                             case GOODS_TYPE.NEITHER:

  166.                                 MessageLog.GetInstance.Show("未知的商品类型");

  167.                                 break;

  168.                         }

  169.                     }

  170.                     working = false;

  171.                     lastRecvdOrder = DateTime.Now;

  172.                 }

  173.                 Thread.Sleep(1000);

  174.             }), "订单制作");

  175.         }

  176. 

  177.         public void Main()

  178.         {

  179.             //咖啡机开启主线程

  180.             coffeeMachine.Start();

  181.             //开始心跳刷新，根据咖啡机及冰淇淋机来判断

  182.             ThreadManage.GetInstance.StartLong(new Action(() =>

  183.             {

  184.                 //GeneralConfig.Healthy =

  185.                 //         LebaiHelper.GetInstance.IsConnected &&

  186.                 //         MorkCStatus.GetInstance().CanDo &&

  187.                 //         JuicerHelper.GetInstance.IsOpen &&

  188.                 //         MCUSerialHelper.GetInstance.IsOpen;

  189.                 GeneralConfig.Healthy = true;

  190.                 Thread.Sleep(100);

  191.             }), "MORK-IC心跳刷新");

  192.             ThreadManage.GetInstance.Start(new Action(() =>

  193.             {

  194.                 while (!LebaiHelper.GetInstance.IsConnected)

  195.                 {

  196.                     Thread.Sleep(10);

  197.                 }

  198.                 //LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_欢迎);

  199.             }), "MORK-JC欢迎");

  200.         }

  201. 

  202.         public void DataParse<T>(T order)

  203.         {

  204.             if (order is MorkOrderPush morkOrderPush)

  205.             {

  206.                 morkOrderPushes.Enqueue(morkOrderPush);

  207.             }

  208.         }

  209. 

  210.         /// <summary>

  211.         /// 验证当前是做咖啡还是做冰淇淋

  212.         /// </summary>

  213.         /// <param name="batchingLoc">物料位置</param>

  214.         private GOODS_TYPE ValidateGoodsByBatching(string batchingLoc)

  215.         {

  216.             if (batchings.ContainsKey(batchingLoc))

  217.                 return batchings[batchingLoc].GoodsType;

  218.             return GOODS_TYPE.NEITHER;

  219.         }

  220. 

  221.         private AutoResetEvent are = new AutoResetEvent(false);

  222. 

  223.         private void Wait(int value = 101)

  224.         {

  225.             while (!(lebai.Ok && lebai.Value == value))

  226.             {

  227.                 Thread.Sleep(5);

  228.             }

  229.         }

  230.         int[] devStatusBy = new int[2] { 0, 0 };

  231.         bool outCupCheck = false;//放纸杯位置有无判断

  232.         /// <summary>

  233.         /// 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

  234.         /// </summary>

  235.         int bSensorInput;

  236.         /// <summary>

  237.         /// 延迟的超时时间

  238.         /// </summary>

  239.         DateTime delayTimeOut;

  240.         /// <summary>

  241.         /// 做咖啡

  242.         /// </summary>

  243.         private void DoCoffee()

  244.         {

  245. 

  246.             #region 接咖啡流程

  247.             are.Reset();

  248.             while (LebaiHelper.GetInstance.GetInput(1))//判断放杯位置是否有物品

  249.             {

  250.                 if (!outCupCheck)

  251.                     MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");

  252.                 outCupCheck = true;

  253.             }

  254.             outCupCheck = false;

  255.             SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);

  256.             int resultTakeCup = takeCup();

  257.             if (resultTakeCup == 1)

  258.             {

  259.                 MessageLog.GetInstance.Show("咖啡杯取杯完成");

  260.                 LebaiHelper.GetInstance.SetValue(0);

  261.                 LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_接咖啡);

  262.                 Wait();

  263.              

  264.                  new MakeCoffeeEvent() { DrinkCode = (DrCoffeeDrinksCode)int.Parse(mainMaterialLoc) }.Publish();  //接咖啡控制 //DrCoffeeDrinksCode.热水

  265.                 //Task.Delay(10000).Wait();//模拟接咖啡

  266.                 //coffeEndCook.Publish();//模拟咖啡制作完成

  267.                 are.WaitOne(1000 * 120);

  268.                 while (LebaiHelper.GetInstance.GetInput(1))//判断放杯位置是否有物品

  269.                 {

  270.                     if (!outCupCheck)

  271.                         MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");

  272.                     outCupCheck = true;

  273.                 }

  274.                 outCupCheck = false;

  275.                 LebaiHelper.GetInstance.SetValue(0);

  276.                 LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_放咖啡杯);

  277.                 Wait();

  278.                 SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);

  279.                 MessageLog.GetInstance.Show("咖啡制作完成");

  280. 

  281.             }

  282.             else

  283.             {

  284.                 return;

  285.             }

  286.             #endregion

  287.         }

  288.         /// <summary>

  289.         /// 做茶

  290.         /// </summary>

  291.         private void DoTea()

  292.         {

  293.             #region 接茶流程

  294.             while (LebaiHelper.GetInstance.GetInput(1))//判断放杯位置是否有物品

  295.             {

  296.                 if (!outCupCheck)

  297.                     MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");

  298.                 outCupCheck = true;

  299.             }

  300.             outCupCheck = false;

  301.             SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);

  302.             int resultTakeCup = takeCup();

  303.             if (resultTakeCup == 1)

  304.             {

  305.                 MessageLog.GetInstance.Show("取茶杯完成");

  306.                 LebaiHelper.GetInstance.SetValue(0);

  307.                 LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_接茶叶);

  308.                 Wait();

  309.                

  310.                // MCUSerialHelper.GetInstance.ServoControl(1, 105);

  311.                 Thread.Sleep(1000);

  312.               //  MCUSerialHelper.GetInstance.ServoControl(1, 130);

  313.                 Thread.Sleep(1000);

  314.                // MCUSerialHelper.GetInstance.ServoControl(1, 105);

  315. 

  316.                 Thread.Sleep(3000);

  317.                 LebaiHelper.GetInstance.SetValue(0);

  318.                 LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_接茶水);

  319.                 Wait();

  320. 

  321.                 // MCUSerialHelper.GetInstance.OutputControl(4, false);

  322.                 LebaiHelper.GetInstance.SetOutput(false,1);

  323.                 //  MCUSerialHelper.GetInstance.OutputControl(3, false);

  324.                 LebaiHelper.GetInstance.SetOutput(false, 0);

  325.                 Thread.Sleep(100);

  326.                 // MCUSerialHelper.GetInstance.OutputControl(3, true);

  327.                 LebaiHelper.GetInstance.SetOutput(true, 0);

  328.                 Thread.Sleep(3000);

  329.                 // MCUSerialHelper.GetInstance.OutputControl(3, false);

  330.                 LebaiHelper.GetInstance.SetOutput(false, 0);

  331.                 Thread.Sleep(100);

  332. 

  333.                 LebaiHelper.GetInstance.SetOutput(false, 1);

  334.                 //  MCUSerialHelper.GetInstance.OutputControl(4, false);

  335.                 Thread.Sleep(100);

  336.                 LebaiHelper.GetInstance.SetOutput(true, 1);

  337.                 //  MCUSerialHelper.GetInstance.OutputControl(4, true);

  338.                 Thread.Sleep(500);

  339.                 //  MCUSerialHelper.GetInstance.OutputControl(4, false);

  340.                 LebaiHelper.GetInstance.SetOutput(false, 1);

  341.                 Thread.Sleep(60000);

  342.                 while (LebaiHelper.GetInstance.GetInput(1))//判断放杯位置是否有物品

  343.                 {

  344.                     if (!outCupCheck)

  345.                         MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");

  346.                     outCupCheck = true;

  347.                 }

  348.                 outCupCheck = false;

  349.                 LebaiHelper.GetInstance.SetValue(0);

  350.                 LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_放水杯);

  351.                 Wait();

  352.                 

  353.                 SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);

  354.                 MessageLog.GetInstance.Show("茶水制作完成");

  355.               

  356.             }

  357.             else

  358.             {

  359.                 return;

  360.             }

  361.             #endregion

  362.         }

  363. 

  364.         /// <summary>

  365.         /// 接开水

  366.         /// </summary>

  367.         private void DoWater()

  368.         {

  369.             #region 接水流程

  370.             while (LebaiHelper.GetInstance.GetInput(1))//判断放杯位置是否有物品

  371.             {

  372.                 if (!outCupCheck)

  373.                     MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");

  374.                 outCupCheck = true;

  375.             }

  376.             outCupCheck = false;

  377.             SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);

  378.             int resultTakeCup = takeCup();

  379.             if (resultTakeCup == 1)

  380.             {

  381.                 LebaiHelper.GetInstance.SetValue(0);

  382.                 LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_接水);

  383.                 Wait();

  384.                 //   LebaiHelper.GetInstance.SetOutput(true,0);

  385.                 ////   MCUSerialHelper.GetInstance.OutputControl(3, true);

  386.                 //   Thread.Sleep(1000);

  387.                 //   LebaiHelper.GetInstance.SetOutput(false, 0);

  388.                 //   // MCUSerialHelper.GetInstance.OutputControl(3, false);

  389.                 //   Thread.Sleep(10000);

  390.                 //   LebaiHelper.GetInstance.SetOutput(true,1);

  391.                 //   //  MCUSerialHelper.GetInstance.OutputControl(4, true);

  392.                 //   Thread.Sleep(1000);

  393.                 //   LebaiHelper.GetInstance.SetOutput(false, 1);

  394.                 //   //  MCUSerialHelper.GetInstance.OutputControl(4, false);

  395.                 //   Thread.Sleep(3000);

  396.                 LebaiHelper.GetInstance.SetOutput(false, 1);

  397.                 //  MCUSerialHelper.GetInstance.OutputControl(3, false);

  398.                 LebaiHelper.GetInstance.SetOutput(false, 0);

  399.                 Thread.Sleep(100);

  400.                 // MCUSerialHelper.GetInstance.OutputControl(3, true);

  401.                 LebaiHelper.GetInstance.SetOutput(true, 0);

  402.                 Thread.Sleep(3000);

  403.                 // MCUSerialHelper.GetInstance.OutputControl(3, false);

  404.                 LebaiHelper.GetInstance.SetOutput(false, 0);

  405.                 Thread.Sleep(100);

  406. 

  407.                 LebaiHelper.GetInstance.SetOutput(false, 1);

  408.                 //  MCUSerialHelper.GetInstance.OutputControl(4, false);

  409.                 Thread.Sleep(100);

  410.                 LebaiHelper.GetInstance.SetOutput(true, 1);

  411.                 //  MCUSerialHelper.GetInstance.OutputControl(4, true);

  412.                 Thread.Sleep(500);

  413.                 //  MCUSerialHelper.GetInstance.OutputControl(4, false);

  414.                 LebaiHelper.GetInstance.SetOutput(false, 1);

  415.                 Thread.Sleep(60000);

  416.                 while (LebaiHelper.GetInstance.GetInput(1))//判断放杯位置是否有物品

  417.                 {

  418.                     if (!outCupCheck)

  419.                         MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");

  420.                     outCupCheck = true;

  421.                 }

  422.                 outCupCheck = false;

  423.                 //添加控制接水机构程序

  424.                 LebaiHelper.GetInstance.SetValue(0);

  425.                 LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_放水杯);

  426.                 Wait();

  427.                 SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);

  428.                 MessageLog.GetInstance.Show("纯净水制作完成");

  429.                

  430.             }

  431.             else 

  432.             {

  433.                 return;

  434.             }

  435.             #endregion

  436.         }

  437.         /// <summary>

  438.         /// 果汁机控制信号

  439.         /// </summary>

  440.         private byte JuicerNum;

  441.         /// <summary>

  442.         /// 做果汁

  443.         /// </summary>

  444.         private void DoJuicer()

  445.         {

  446.             #region 接果汁流程

  447.             are.Reset();

  448.             while (LebaiHelper.GetInstance.GetInput(1))//判断放杯位置是否有物品

  449.             {

  450.                 if (!outCupCheck)

  451.                     MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");

  452.                 outCupCheck = true;

  453.             }

  454.             SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);

  455.             int resultTakeCup = takeCup();

  456.             if (resultTakeCup == 1)

  457.             {

  458.                 int JuicerNum1 = int.Parse(mainMaterialLoc);

  459.                 switch (JuicerNum1)

  460.                 {

  461.                     case 52:

  462.                         if(GuMake)

  463.                         {

  464.                             JuicerNum = 0x00;

  465.                         }

  466.                         else

  467.                         {

  468.                             JuicerNum = 0x01;

  469.                         }

  470.                         LebaiHelper.GetInstance.SetValue(0);

  471.                         LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_接果汁公共位);

  472.                         Wait();

  473.                         

  474.                         LebaiHelper.GetInstance.SetValue(0);

  475.                         LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_接1号果汁);

  476.                         Wait();

  477.                         

  478.                         break;

  479.                     case 53:

  480.                         if (GuMake)

  481.                         {

  482.                             JuicerNum = 0x02;

  483.                         }

  484.                         else

  485.                         {

  486.                             JuicerNum = 0x03;

  487.                         }

  488.                         LebaiHelper.GetInstance.SetValue(0);

  489.                         LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_接果汁公共位);

  490.                         Wait();

  491.                        

  492.                         LebaiHelper.GetInstance.SetValue(0);

  493.                         LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_接2号果汁);

  494.                         Wait();

  495.                        

  496.                         break;

  497.                     case 54:

  498.                         if (GuMake)

  499.                         {

  500.                             JuicerNum = 0x04;

  501.                         }

  502.                         else

  503.                         {

  504.                             JuicerNum = 0x05;

  505.                         }

  506.                         LebaiHelper.GetInstance.SetValue(0);

  507.                         LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_接果汁公共位);

  508.                         Wait();

  509.                         

  510.                         LebaiHelper.GetInstance.SetValue(0);

  511.                         LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_接3号果汁);

  512.                         Wait();

  513.                         

  514.                         break;

  515.                     case 55:

  516.                         if (GuMake)

  517.                         {

  518.                             JuicerNum = 0x06;

  519.                         }

  520.                         else

  521.                         {

  522.                             JuicerNum = 0x07;

  523.                         }

  524.                         LebaiHelper.GetInstance.SetValue(0);

  525.                         LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_接果汁公共位);

  526.                         Wait();

  527.                        

  528.                         LebaiHelper.GetInstance.SetValue(0);

  529.                         LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_接4号果汁); ;

  530.                         Wait();

  531.                        

  532.                         break;

  533.                     default:

  534.                         JuicerNum = 0x00;

  535.                         LebaiHelper.GetInstance.SetValue(0);

  536.                         LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_接果汁公共位);

  537.                         Wait();

  538.                        

  539.                         LebaiHelper.GetInstance.SetValue(0);

  540.                         LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE_接1号果汁);

  541.                         Wait();

  542.                        

  543.                         break;

  544.                 }

  545.                // var devStatus = JuicerHelper.GetInstance.GetDeviceStatus();

  546.                 //var devStatus1 = Convert.ToString(devStatus[0], 2);

  547.                 //var devStatus2 = devStatus[1];

  548. 

  549.                 //if (devStatus1.IndexOf("0") == 1 && devStatus2 == 0)

  550.                 //{

  551.                 //    JuicerHelper.GetInstance.StartCook(JuicerNum);

  552.                 //    Thread.Sleep(100);

  553.                 //    devStatusBy = JuicerHelper.GetInstance.GetDeviceStatus();

  554.                 //    while (!(devStatusBy[1] == 0))

  555.                 //    {

  556.                 //        Thread.Sleep(100);

  557.                 //        devStatusBy = JuicerHelper.GetInstance.GetDeviceStatus();

  558.                 //        while (devStatusBy.Length != 2)

  559.                 //        {

  560.                 //            Thread.Sleep(100);

  561.                 //            devStatusBy = JuicerHelper.GetInstance.GetDeviceStatus();

  562.                 //        }

  563.                 //    }

  564.                 //    devStatusBy = JuicerHelper.GetInstance.GetDeviceStatus();

  565.                 //    Thread.Sleep(5000);

  566.                 //    LebaiHelper.GetInstance.SetValue(0);

  567.                 //    LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_放果汁杯);

  568.                 //    Wait();

  569.                 

  570.                 //    SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);

  571.                 //    MessageLog.GetInstance.Show("果汁制作完成");

  572.                     

  573.                 //}

  574.                 //模拟果汁

  575.                 Thread.Sleep(15000);

  576.                 while (LebaiHelper.GetInstance.GetInput(1))//判断放杯位置是否有物品

  577.                 {

  578.                     if (!outCupCheck)

  579.                         MessageLog.GetInstance.ShowEx("成品处有纸杯存在，请取走！！");

  580.                     outCupCheck = true;

  581.                 }

  582.                 outCupCheck = false;

  583.                 LebaiHelper.GetInstance.SetValue(0);

  584.                 LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_放果汁杯);

  585.                 Wait();

  586.                

  587.                 SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);

  588.                 MessageLog.GetInstance.Show("果汁制作完成");

  589.             }

  590.             else

  591.             {

  592.                 return;

  593.             }

  594.             #endregion

  595.         }

  596.         /// <summary>

  597.         /// 取杯的次数

  598.         /// </summary>

  599.         private int nCnt;

  600.         /// <summary>

  601.         /// 取杯流程

  602.         /// </summary>

  603.         /// <returns>0:无意义，1：取杯成功 2：取杯失败</returns>

  604.         private int takeCup() 

  605.         {

  606.             try

  607.             {

  608.                 

  609.                 nCnt = 0;

  610.                 LebaiHelper.GetInstance.SetValue(0);

  611.                 LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_初始位);

  612.                 Wait();

  613.                

  614. 

  615.                 LebaiHelper.GetInstance.SetValue(0);

  616.                 LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_取纸杯);

  617.                 Wait();

  618.               

  619.                

  620.                 LebaiHelper.GetInstance.SetValue(0);

  621.                 LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_纸杯检测);

  622.                 Wait();

  623.               

  624.                 nCnt++;

  625.                 while (!LebaiHelper.GetInstance.GetInput(0)) //读取传感器的值

  626.                 {

  627.                     if (nCnt > 3)

  628.                     {

  629.                         nCnt = 0;

  630.                         MessageLog.GetInstance.ShowEx("三次取杯失败，请查看");

  631.                         return 2;

  632.                     }

  633.                     else

  634.                     {

  635. 

  636.                         nCnt++;

  637.                         LebaiHelper.GetInstance.SetValue(0);

  638.                         LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_二次取杯);

  639.                         Wait();

  640. 

  641.                         LebaiHelper.GetInstance.SetValue(0);

  642.                         LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE2_纸杯检测);

  643.                         Wait();

  644. 

  645.                     }

  646.                     Thread.Sleep(100);

  647.                 }

  648.             }

  649.             catch (Exception ex)

  650.             {

  651.                 MessageLog.GetInstance.Show(ex.ToString());

  652.             }

  653.             return 1;

  654.         }

  655.         /// <summary>

  656.         /// 放杯

  657.         /// </summary>

  658.         /// <returns>0:无意义 1：放杯成功 2：执行失败(传感器还有信号) 3：放杯异常</returns>

  659.         private int putCup()

  660.         {

  661.             try

  662.             {

  663.                 if (LebaiHelper.GetInstance.GetInput(1)) return 2; 

  664.                 LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE_放杯);

  665.                 Wait();

  666.                 LebaiHelper.GetInstance.SetValue(1);

  667.                 LebaiHelper.GetInstance.Scene(LebaiHelper.JUICE_放杯检测);

  668.                 Wait();

  669.                 LebaiHelper.GetInstance.SetValue(1);

  670.                 if (LebaiHelper.GetInstance.GetInput(2))

  671.                 {

  672.                     return 1;

  673.                 }

  674.                 else 

  675.                 {

  676.                     return 3;

  677.                 }

  678.             }

  679.             catch (Exception ex) 

  680.             {

  681.                 MessageLog.GetInstance.Show(ex.ToString());

  682.                 return 0;

  683.             }

  684.         }

  685. 

  686.         /// <summary>

  687.         /// 检测放杯位，是否有杯子

  688.         /// </summary>

  689.         /// <returns>0：无意义 1：没有杯子  2：有杯子 </returns>

  690.         private int checkCup() 

  691.         {

  692.             try

  693.             {

  694.                 while (LebaiHelper.GetInstance.GetInput(1))

  695.                 {

  696.                     Thread.Sleep(100);

  697.                     if (DateTime.Now.Subtract(delayTimeOut).TotalSeconds >= 1) return 2;

  698.                 }

  699.                 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");

  700.                 return 1;

  701.             }

  702.             catch (Exception ex) 

  703.             {

  704.                 MessageLog.GetInstance.Show(ex.ToString());

  705.                 return 0;

  706.             }

  707.         }

  708. 

  709.         private void CoffeEndCookHandle(IEvent @event, EventBus.EventCallBackHandle callBack)

  710.         {

  711.             are.Set();

  712.         }

  713. 

  714. 

  715.         public void ReadData()

  716.         {

  717.             ThreadManage.GetInstance.StartLong(new Action(() =>

  718.             {

  719.                 lebai = LebaiHelper.GetInstance.GetValueAsync();

  720.                 LebaiHelper.GetInstance.GetRobotModeStatus();

  721.                 //LebaiHelper.GetInstance.GetInput();

  722. 

  723. 

  724.                 Thread.Sleep(100);

  725.             }), "乐百机器人数据读取", true);

  726.         }

  727. 

  728.         public void SimOrder<T>(T simOrder)

  729.         {

  730.             //if (morkOrderPushes.Count > 0)

  731.             //{

  732.             //    morkOrderPushes.Clear();

  733.             //}

  734.             //morkOrderPushes.Enqueue(simOrder as MorkOrderPush);

  735.         }

  736. 

  737. 

  738. 

  739.         /// <summary>

  740.         /// IOT 广播消息命令

  741.         /// </summary>

  742.         public void IotBroadcast<T>(T broadcast)

  743.         {

  744.             if (broadcast != null && broadcast is IOTCommandModel iOTCommand)

  745.             {

  746.                 switch (iOTCommand.CommandName)

  747.                 {

  748.                     case 0://控制类

  749.                         if (iOTCommand.CommandValue != null)

  750.                         {

  751.                             if (iOTCommand.CommandValue.ContainsKey("SimOrder"))

  752.                             {

  753.                                 //SimOrder(new SimOrderData { NoodleLoc = 1, BowlLoc = 10 });

  754.                             }

  755.                         }

  756.                         break;

  757.                     case 1://设置属性

  758. 

  759.                         break;

  760.                     case 2://通知消息

  761. 

  762.                         break;

  763.                     default:

  764.                         break;

  765.                 }

  766.             }

  767.         }

  768.         public class SimOrderData

  769.         {

  770.             public string id { get; set; }

  771. 

  772.             public int OrderStatus { get; set; }

  773. 

  774.             public string Loc { get; set; }

  775. 

  776.             public MorkOrderPush morkOrder { get; set; }

  777. 

  778.             public SimOrderData()

  779.             {

  780.                 id = Guid.NewGuid().ToString();

  781.                 OrderStatus = 0;

  782.             }

  783.         }

  784.     }

  785. }