HBLConsole/HBLConsole.MORKJC/Control_MORKJC.cs

using System;
using System.Collections.Generic;
using System.Configuration;
using System.Linq;
using System.Threading;
using BPA.Message;
//using HBLDevice.ICChip;
using HBLConsole.Communication;
using HBLConsole.Factory;
using HBLConsole.GVL;
using HBLConsole.Interface;
using HBLConsole.Model;
using HBLConsole.Service;
using HBLDevice.Coffee;
//using HBLDevice.Juicer;
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
    {
        GVL_MORKJC mORKD = new GVL_MORKJC();
        //咖啡机主控程序
        private CoffeeMachine coffeeMachine;
        ////果汁机主控程序
        //private JuicerMachine juicerMachine;
        ////单片机主控程序
        //private ICChipMachine icchipMachine;
        //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;


        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)
                {
                    mainMaterialLoc = ((int)cf).ToString();
                    DoCoffee();
                }
            }), "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;

            //var com_Juicer = config.AppSettings.Settings["COM_Juicer"].Value;
            //var baud_Juicer = config.AppSettings.Settings["BAUD_Juicer"].Value;

            //var com_ICChip = config.AppSettings.Settings["COM_ICChip"].Value;
            //var baud_ICChip = config.AppSettings.Settings["BAUD_IChip"].Value;

            //咖啡机创建
            coffeeMachine = new CoffeeMachine(com_Coffee, (BaudRates)Enum.Parse(typeof(BaudRates), baud_Coffee));
            ////单片机机创建
            //icchipMachine = new ICChipMachine(com_ICChip, (BaudRates)Enum.Parse(typeof(BaudRates), baud_ICChip));
            ////果汁机创建
            //juicerMachine = new JuicerMachine(com_Juicer, (BaudRates)Enum.Parse(typeof(BaudRates), baud_Juicer));

            Main();
            ReadData();
            ThreadManage.GetInstance.StartLong(new Action(() =>
            {
                while (morkOrderPushes.Count > 0)
                {
                    if (!LebaiHelper.GetInstance.GetInput())
                    {
                        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)
                                {
                                    //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);
                                    }
                                    //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 = 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:
                                    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 =
                         JaKaHelper.GetInstance.IsConnected &&
                         MorkCStatus.GetInstance().CanDo;
                //GeneralConfig.Healthy = true;
                Thread.Sleep(100);
            }), "MORK-IC心跳刷新");
            ThreadManage.GetInstance.Start(new Action(() =>
            {
                while (!JaKaHelper.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);
            }
        }

        /// <summary>
        /// 做咖啡
        /// </summary>
        private void DoCoffee()
        {

            #region 且时且多入场设备程序
            int checkeNum = 0;
            are.Reset();
            SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
            JaKaHelper.GetInstance.Set_RobotAO1(0);
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_取杯);
            Wait(int.Parse(JaKaHelper.SENCE_取杯));

            Thread.Sleep(500);
            MessageLog.GetInstance.Show("咖啡杯取杯完成");
        p:
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_取杯检测);
            Wait(int.Parse(JaKaHelper.SENCE_取杯检测));

            if (!LebaiHelper.GetInstance.GetTcpInput())
            {
                MessageLog.GetInstance.Show("执行二次取咖啡杯");
                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_取杯);
                Wait(int.Parse(JaKaHelper.SENCE_取杯));
                goto p;
            }
            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
            are.WaitOne(1000 * 180);

            Thread.Sleep(3000);
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放咖啡杯);
            Wait(int.Parse(JaKaHelper.SENCE_放咖啡杯));
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放杯检测);
            Wait(int.Parse(JaKaHelper.SENCE_放杯检测));
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_初始位);
            Wait(int.Parse(JaKaHelper.SENCE_初始位));
            //订单状态改变：完成
            SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
            #endregion
        }
        /// <summary>
        /// 做茶
        /// </summary>
        private void DoTea()
        {
            if (JaKaHelper.GetInstance.Get_RobotDI(1))
                return;
            #region 流程
            are.Reset();
            JaKaHelper.GetInstance.Set_RobotAO1(0);
            SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_取杯);
            Wait(int.Parse(JaKaHelper.SENCE_取杯));

            Thread.Sleep(500);
            MessageLog.GetInstance.Show("茶水杯取杯完成");
        p:
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_取杯检测);
            Wait(int.Parse(JaKaHelper.SENCE_取杯检测));
            if (!LebaiHelper.GetInstance.GetTcpInput())
            {
                MessageLog.GetInstance.Show("执行二次取茶水杯");
                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_取杯);
                Wait(int.Parse(JaKaHelper.SENCE_取杯));
                goto p;
            }
            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);
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_接茶_接水);
            Wait(int.Parse(JaKaHelper.SENCE_接茶_接水));
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_接水);
            Wait(int.Parse(JaKaHelper.SENCE_接水));
            MCUSerialHelper.GetInstance.OutputControl(2, true);
            Thread.Sleep(1000);
            MCUSerialHelper.GetInstance.OutputControl(2, false);
            Thread.Sleep(1000);
            MCUSerialHelper.GetInstance.OutputControl(3, true);
            Thread.Sleep(1000);
            MCUSerialHelper.GetInstance.OutputControl(3, false);
            Thread.Sleep(3000);
            are.WaitOne(1000 * 180);
            //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));

            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放杯检测);
            Wait(int.Parse(JaKaHelper.SENCE_放杯检测));
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_初始位);
            Wait(int.Parse(JaKaHelper.SENCE_初始位));
            SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
            #endregion
        }

        /// <summary>
        /// 接开水
        /// </summary>
        private void DoWater()
        {
            if (JaKaHelper.GetInstance.Get_RobotDI(1))
                return;
            #region 流程
            are.Reset();
            JaKaHelper.GetInstance.Set_RobotAO1(0);
            SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_取杯);
            Wait(int.Parse(JaKaHelper.SENCE_取杯));

            Thread.Sleep(500);
            MessageLog.GetInstance.Show("水杯取杯完成");
        p:
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_取杯检测);
            Wait(int.Parse(JaKaHelper.SENCE_取杯检测));
            if (!LebaiHelper.GetInstance.GetTcpInput())
            {
                MessageLog.GetInstance.Show("执行二次取水杯");
                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_取杯);
                Wait(int.Parse(JaKaHelper.SENCE_取杯));
                goto p;
            }
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_接水);
            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(1000);
            MCUSerialHelper.GetInstance.OutputControl(3, true);
            Thread.Sleep(1000);
            MCUSerialHelper.GetInstance.OutputControl(3, false);
            Thread.Sleep(3000);
            //添加控制接水机构程序

            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放水杯);
            Wait(int.Parse(JaKaHelper.SENCE_放水杯));
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放杯检测);
            Wait(int.Parse(JaKaHelper.SENCE_放杯检测));
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_初始位);
            Wait(int.Parse(JaKaHelper.SENCE_初始位));
            SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
            #endregion
        }
        /// <summary>
        /// 做果汁
        /// </summary>
        private void DoJuicer()
        {
            if (JaKaHelper.GetInstance.Get_RobotDI(1))
                return;
            #region 入场设备程序
            are.Reset();
            JaKaHelper.GetInstance.Set_RobotAO1(0);
            SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_取杯);
            Wait(int.Parse(JaKaHelper.SENCE_取杯));
            MessageLog.GetInstance.Show("果汁杯取杯完成");
            //new TakeCupEvent() { Cup = IC_CUP.CUP_ICECREAM }.Publish();//落碗控制
            Thread.Sleep(10);
        p:
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_取杯检测);
            Wait(int.Parse(JaKaHelper.SENCE_取杯检测));

            if (!JaKaHelper.GetInstance.Get_RobotDI(2))
            {
                MessageLog.GetInstance.Show("执行二次取果汁杯");
                JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_取杯);
                Wait(int.Parse(JaKaHelper.SENCE_取杯));
                MessageLog.GetInstance.Show("二次果汁杯取杯完成");
                goto p;
            }
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_接果汁1);
            Wait(int.Parse(JaKaHelper.SENCE_接果汁1));
            are.WaitOne(1000 * 180);

            Thread.Sleep(3000);//等待几秒，饮料口延迟 防止有饮料滴在杯口
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放果汁杯1);
            Wait(int.Parse(JaKaHelper.SENCE_放果汁杯1));
            //订单状态改变：完成
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_放杯检测);
            Wait(int.Parse(JaKaHelper.SENCE_放杯检测));
            JaKaHelper.GetInstance.JaKaProgramName(JaKaHelper.SENCE_初始位);
            Wait(int.Parse(JaKaHelper.SENCE_初始位));
            SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);

            #endregion
        }


        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;
                }
            }
        }
    }
}