冲突解决

HBLConsole.Communication/LebaiHelper.cs

@@ -23,9 +23,13 @@ namespace HBLConsole.Communication
         #region 新增场景
         public const int SENCE_取咖啡杯 = 10013;
         public const int SENCE_咖啡杯检测 = 10014;
-        public const int SENCE_接咖啡 = 10015;
-        public const int SENCE_送咖啡 = 10016;
         public const int SENCE_再次取杯 = 10017;
+        public const int SENCE_接咖啡 = 10015;
+        public const int SENCE_送咖啡 = 10016; //无取走咖啡检测配合场景
+        public const int SENCE_New送咖啡 = 10021;//有取走咖啡检测配合场景
+        public const int SENCE_有无咖啡检测 = 10019;
+        public const int SENCE_再送咖啡 = 10020;
+        public const int SENCE_复位 = 10018;
         #endregion
         public const int SENCE_欢迎 = 10002;
 
@@ -140,14 +144,23 @@ namespace HBLConsole.Communication
         public void Scene(int id)
         {
             if (robotData == null || client == null) return;
-            client?.RunScene(id);
+            var r= client?.RunScene(id).Result;
+            int t = r.Id;
             TaskInfo res = client.GetTask(id).Result;
-            while (res.Status != Lebai.SDK.Dtos.TaskStatus.Running)
-            {
-                client?.RunScene(id);
-                res = client.GetTask(id).Result;
-                Thread.Sleep(1);
-            }
+            //var res1 = GetValueAsync();
+            //while (res1.Value != id)
+            //{
+            //    client?.RunScene(id);
+            //    Thread.Sleep(5);
+            //}
+            //LebaiHelper.GetInstance.SetValue(1000);
+          
+            //while (res.Status != Lebai.SDK.Dtos.TaskStatus.RunSuccess)
+            //{
+            //    client?.RunScene(id);
+            //    res = client.GetTask(id).Result;
+            //    Thread.Sleep(1);
+            //}
 
         }
     }

HBLConsole.MORKIC/Control_MORKIC.cs

@@ -315,6 +315,7 @@ namespace HBLConsole.MORKIC
             //while (!ChipStatus.GetInstance().CompletedTake_CPU_CUP_COFFEE) { Thread.Sleep(5); }
             MessageLog.GetInstance.Show("咖啡杯取杯完成");
             LebaiHelper.GetInstance.SetValue(100);
+            Thread.Sleep(1500);
             //咖啡杯检测场景
              while (!ChipStatus.GetInstance().ArticleExits)
              {
@@ -330,8 +331,10 @@ namespace HBLConsole.MORKIC
                     Thread.Sleep(500);
                 }
                 LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_咖啡杯检测);
-                    
-                
+                //场景需要两次才能进去
+                Thread.Sleep(2000);
+                if (lebai.Value != 2)
+                  LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_咖啡杯检测);
                 while (!(lebai.Ok && lebai.Value == 2))
                  {
                      Thread.Sleep(5);
@@ -341,6 +344,7 @@ namespace HBLConsole.MORKIC
                 
              }
             checkeNum = 0;
+            ChipStatus.GetInstance().ArticleExits = false;
             LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_接咖啡);
             
             while (!(lebai.Ok && lebai.Value == 4))
@@ -354,14 +358,55 @@ namespace HBLConsole.MORKIC
             //are.WaitOne(1 * 180);
             MessageLog.GetInstance.Show("咖啡机制作咖啡完成");
             LebaiHelper.GetInstance.SetValue(101);
-            LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_送咖啡);
+            Thread.Sleep(2000);
+            //LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_送咖啡);
+            //while (!(lebai.Ok && lebai.Value == 5))
+            //{
+            //    Thread.Sleep(5);
+            //}
+            //MessageLog.GetInstance.Show("机器人到达顾客取咖啡位置");
+            LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_New送咖啡);
+            Thread.Sleep(500);
             while (!(lebai.Ok && lebai.Value == 5))
             {
                 Thread.Sleep(5);
             }
             MessageLog.GetInstance.Show("机器人到达顾客取咖啡位置");
-            //订单状态改变：完成
             SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_COOK);
+            LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_有无咖啡检测);
+            while (!(lebai.Ok && lebai.Value == 6))
+            {
+                Thread.Sleep(5);
+            }
+            new ArticleExitsEvent() { }.Publish();
+            Thread.Sleep(1000);
+            //有咖啡
+            while (ChipStatus.GetInstance().ArticleExits)
+            {
+                LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_再送咖啡);
+                while (!(lebai.Ok&&lebai.Value==7))
+                {
+                    Thread.Sleep(5);  
+                }
+                LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_有无咖啡检测);
+                while (!(lebai.Ok && lebai.Value == 6))
+                {
+                    Thread.Sleep(5);
+                }
+                new ArticleExitsEvent() { }.Publish();
+                Thread.Sleep(1000);
+            }
+            ChipStatus.GetInstance().ArticleExits = false;
+            MessageLog.GetInstance.Show("顾客已经取走咖啡");
+            //无咖啡
+            LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_复位);
+            while (!(lebai.Ok && lebai.Value == 8))
+            {
+                Thread.Sleep(8);
+            }
+            MessageLog.GetInstance.Show("机器人复位");
+            //订单状态改变：完成
+            SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
             #endregion
         }
 
@@ -404,6 +449,7 @@ namespace HBLConsole.MORKIC
             {
                 Thread.Sleep(5);
             }
+            MessageLog.GetInstance.Show("冰淇凌制作完成");
             SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_COOK);
         }
 

HBLConsole/App.xaml.cs

@@ -111,7 +111,7 @@ namespace HBLConsole
                 LogTime = DateTime.Now,
                 LogType = "1",
                 LogMessage = ErroLog,
-                LogVla = "正常",
+                LogVla = "异常",
             });
             // Process.Start($"{AppDomain.CurrentDomain.BaseDirectory}{AppDomain.CurrentDomain.FriendlyName}.exe");
         }

HBLConsole/ViewModel/ViewModelBase.cs

@@ -46,7 +46,7 @@ namespace HBLConsole.ViewModel
                     LogTime = DateTime.Now,
                     LogType = "1",
                     LogMessage = s,
-                    LogVla = "正常",
+                    LogVla = "异常",
                 });
             });
         }