HBLConsole/HBLConsole.MORKIC/Control_MORKIC.cs

using System;
using System.Collections.Generic;
using System.Configuration;
using System.Linq;
using System.Threading;
using BPA.Message;
using BPA.Utility;
using HBLConsole.Communication;
using HBLConsole.Factory;
using HBLConsole.GVL;
using HBLConsole.Interface;
using HBLConsole.Model;
using HBLConsole.Service;
using HBLDevice.Coffee;
using HBLDevice.IceCream;
using Robotc;
using System.Collections.Concurrent;
using System.Diagnostics;
using BPA.Message.IOT;
using HBLDevice.ICChip;
using System.Threading.Tasks;

namespace HBLConsole.MORKIC
{
    /*
     * 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
     */
    public class Control_MORKIC : IControl
    {

        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;
        //广绅单口冰淇淋机
        private IceCreamMachine iceCreamMachine;
        //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;
        /// <summary>
        /// 获取乐百机器人的数据
        /// </summary>
        SignalResult lebai = new SignalResult();

        private bool enableFunny = false;
        private DateTime lastRecvdOrder = DateTime.Now;
        private bool working = false;

        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_IceCream = config.AppSettings.Settings["COM_IceCream"].Value;
            var baud_IceCream = config.AppSettings.Settings["BAUD_IceCream"].Value;
            var iceCreamCXBThreshold = int.Parse(config.AppSettings.Settings["IceCream_CXB_Threshold"].Value);

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


            if (iceCreamCXBThreshold > 0)
            {
                //设置冰淇淋成型比
                MorkIStatus.GetInstance().CXB_Threshold = (byte)iceCreamCXBThreshold;
            }
            //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));
            //冰淇淋机创建
            iceCreamMachine = new IceCreamMachine(com_IceCream, (BaudRates)Enum.Parse(typeof(BaudRates), baud_IceCream));

            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.ICECREAM:
                                    DoIceCream();
                                    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();
            //单片机开启主线程
            icchipMachine.Start();
            //冰淇淋机开启主线程
            iceCreamMachine.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 =
                         LebaiHelper.GetInstance.IsConnected &&
                         MorkCStatus.GetInstance().CanDo &&
                         ChipStatus.GetInstance().CanDo;
                //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-IC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 = 101)
        {
            while (!(lebai.Ok && lebai.Value == value))
            {
                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();
            LebaiHelper.GetInstance.SetValue(0);
            SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
            LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_取咖啡杯);
            Wait();
            new TakeCupEvent() { Cup = IC_CUP.CUP_COFFEE }.Publish();//落碗控制


            Thread.Sleep(500);
            MessageLog.GetInstance.Show("咖啡杯取杯完成");
            LebaiHelper.GetInstance.SetValue(1);
        p:
            LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_咖啡杯检测);
            Wait();
            LebaiHelper.GetInstance.SetValue(1);
           
            if (!LebaiHelper.GetInstance.GetTcpInput())
            {
                MessageLog.GetInstance.Show("执行二次取咖啡杯");
                LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_二次取咖啡杯);
                Wait();

                new TakeCupEvent() { Cup = IC_CUP.CUP_COFFEE }.Publish();//落碗控制
                LebaiHelper.GetInstance.SetValue(1);
                goto p;
            }
            LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_接咖啡);
            Wait();

            new MakeCoffeeEvent() { DrinkCode = (DrCoffeeDrinksCode)int.Parse(mainMaterialLoc) }.Publish();  //接咖啡控制
            are.WaitOne(1000 * 180);

            Thread.Sleep(3000);
            LebaiHelper.GetInstance.SetValue(1);

            while (LebaiHelper.GetInstance.GetInput())
            {
                Thread.Sleep(500);
            }
            LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_放咖啡位置);
            Wait();
            LebaiHelper.GetInstance.SetValue(1);
            //订单状态改变：完成
            SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
            #endregion

        }

        /// <summary>
        /// 做冰淇淋
        /// </summary>
        private void DoIceCream()
        {
            if (LebaiHelper.GetInstance.GetInput(3))
                return;
            #region 且时且多入场设备程序
            int checkeNum = 0;
            are.Reset();
            LebaiHelper.GetInstance.SetValue(0);
           // SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
            LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_取冰淇淋杯);

            Wait();

            new TakeCupEvent() { Cup = IC_CUP.CUP_ICECREAM }.Publish();//落碗控制


            Thread.Sleep(500);
            MessageLog.GetInstance.Show("冰淇淋杯取杯完成");
            LebaiHelper.GetInstance.SetValue(1);
        p:
            LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_冰淇淋杯检测);
            //Thread.Sleep(2000);
            //if (lebai.Value != 101)
            //    LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_冰淇淋杯检测);
            Wait();
            LebaiHelper.GetInstance.SetValue(1);
            if (!LebaiHelper.GetInstance.GetTcpInput())
            {
                MessageLog.GetInstance.Show("执行二次取冰淇淋杯");
                //LebaiHelper.GetInstance.SetValue(1);
                LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_二次取冰淇淋杯);
                //Thread.Sleep(2000);
                //if (lebai.Value != 101)
                //    LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_二次取冰淇淋杯);
                new TakeCupEvent() { Cup = IC_CUP.CUP_ICECREAM }.Publish();//落碗控制


                Wait();
                LebaiHelper.GetInstance.SetValue(1);


                goto p;
            }
            //LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_接冰淇淋公共点);
            //Wait();
            //LebaiHelper.GetInstance.SetValue(1);

            #region 通讯冰淇淋机
           
            //制冷模式
            new ModeSetEvent() { Mode = MORKI_MODE.制冷模式 }.Publish();
            LebaiHelper.GetInstance.SetValue(0);
            SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
            LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_接1号冰淇淋);
            Wait();
            bool doItResult = true;
            //出料
            new DischargeEvent().Publish(delegate (object[] args)
            {
                doItResult = (bool)args[0];
            });
            if (doItResult)
            {
                int retry = 3;
                DateTime beginTime = DateTime.Now;
                while (!LebaiHelper.GetInstance.GetInput(3))
                {
                    if (retry <= 0 && DateTime.Now.Subtract(beginTime).TotalSeconds >= 10)
                    {
                        MessageLog.GetInstance.Show("超时未出料，重试次数用尽");
                        break;
                    }
                    if (DateTime.Now.Subtract(beginTime).TotalSeconds > 5)
                    {
                        MessageLog.GetInstance.Show("超时未出料，重新发送打料指令");
                        new ModeSetEvent() { Mode = MORKI_MODE.打料 }.Publish();
                        beginTime = DateTime.Now;
                        retry--;
                    }
                    Thread.Sleep(10);
                }
                MessageLog.GetInstance.Show("开始等待6s");
                Thread.Sleep(5000);
            }
            LebaiHelper.GetInstance.SetValue(1);
            #endregion
            //var res = PolymerBatching.GetIceCreamSE(mainMaterialLoc, out int scene);
            //LebaiHelper.GetInstance.Scene(scene);

            //Wait();
            //new MakeIceCreamEvent() { SteeringEngine = res }.Publish();   //控制舵机


            //Thread.Sleep(500);
            //LebaiHelper.GetInstance.SetValue(1);
            while (LebaiHelper.GetInstance.GetInput())
            {
                Thread.Sleep(500);
            }
            LebaiHelper.GetInstance.SetValue(1);
            #endregion

           

        }

        private void CoffeEndCookHandle(IEvent @event, EventBus.EventCallBackHandle callBack)
        {
            are.Set();
        }


        public void ReadData()
        {
            ThreadManage.GetInstance.StartLong(new Action(() =>
            {
                lebai = LebaiHelper.GetInstance.GetValueAsync();
                LebaiHelper.GetInstance.GetRobotModeStatus();
                //LebaiHelper.GetInstance.GetInput();


                Thread.Sleep(100);
            }), "乐百机器人数据读取", 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;
                }
            }
        }
    }
}