调试修改

HBLConsole.Business/MessageServer/Base.cs

@@ -32,7 +32,7 @@ namespace HBLConsole.Business.MessageServer
                         OrderPush = morkOrderpush
                     });
                     ActionOperate.GetInstance.Send("AddOrder",morkOrderpush);
-                    ActionOperate.GetInstance.Send("DataParse",morkOrderpush);
+                    ActionOperate.GetInstance.Send("DataParse", morkOrderpush);
                 }
             }
         }

HBLConsole.Communication/LebaiHelper.cs

@@ -41,16 +41,24 @@ namespace HBLConsole.Communication
             }
             StartRobot();
             MessageLog.GetInstance.Show("乐百机器人连接成功！");
-            //GetSpeed();
-            //ActionOperate.GetInstance.Send($"{GVL.GeneralConfig.DeviceType.ToString()}/ConnectOk");
         }
 
 
         public void GetSpeed()
         {
-            //client.StartSys().GetAwaiter();
             var aa = client.GetActualTcpSpeed().GetAwaiter();
-            //robotData.RobotMode.Mode
+          
+
+        }
+
+        /// <summary>
+        /// 获取机器人当前运行的命令
+        /// </summary>
+        /// <returns></returns>
+        public CmdStatus GetRobotRunCmd()
+        {
+            if (robotData == null) return default(CmdStatus);
+            return robotData.CurrentCmd;
         }
 
         /// <summary>

HBLConsole.Debug/Debug_MORKIC.xaml

@@ -121,7 +121,7 @@
 
                     <Grid.RowDefinitions>
                         <RowDefinition />
-                        <RowDefinition />
+                        <RowDefinition  Height="0.5*"/>
                     </Grid.RowDefinitions>
 
                     <Grid>
@@ -137,6 +137,7 @@
                             <TextBlock Text="环境温度：" />
                             <TextBlock HorizontalAlignment="Right" Text="电流：" />
                             <TextBlock HorizontalAlignment="Right" Text="成型比：" />
+                            <TextBlock HorizontalAlignment="Right" Text="打料完成：" />
                         </StackPanel>
 
                         <StackPanel Grid.Column="1" Margin="10,0,0,0">
@@ -144,6 +145,7 @@
                             <TextBlock Text="{Binding HJWD}" />
                             <TextBlock Text="{Binding DL}" />
                             <TextBlock Text="{Binding CXB}" />
+                            <TextBlock Text="{Binding DLCompleted}" />
                         </StackPanel>
 
                         <StackPanel Grid.Column="2" HorizontalAlignment="Right">

HBLConsole.Debug/ViewModel/ViewModel_MORKIC.cs

@@ -70,6 +70,10 @@ namespace HBLConsole.Debug
         /// 成型比
         /// </summary>
         public byte CXB { get; set; }
+        /// <summary>
+        /// 打料完成状态
+        /// </summary>
+        public string DLCompleted { get; set; }
 
         public List<string> IceCreamModes { get; set; } = new List<string>();
         public string SelecteIceCreamdMode { get; set; }
@@ -111,7 +115,7 @@ namespace HBLConsole.Debug
                 CurrentMode = MorkIStatus.GetInstance().CurrentMode;
                 IceCreamFault = MorkIStatus.GetInstance().Fault;
                 CXB = MorkIStatus.GetInstance().CXB;
-
+                DLCompleted = MorkIStatus.GetInstance().DLCompleted?"打料完成":"打料中";
                 Thread.Sleep(500);
             }), "MORK IC-状态刷新");
         }

HBLConsole.MORKIC/Control_MORKIC.cs

@@ -15,6 +15,7 @@ using HBLDevice.Coffee;
 using HBLDevice.IceCream;
 using Robotc;
 using System.Collections.Concurrent;
+using System.Diagnostics;
 
 namespace HBLConsole.MORKIC
 {
@@ -244,20 +245,22 @@ namespace HBLConsole.MORKIC
             //开始心跳刷新，根据咖啡机及冰淇淋机来判断
             ThreadOperate.GetInstance.StartLong(new Action(() =>
             {
-                //GeneralConfig.Healthy = true;
-                GeneralConfig.Healthy =
-                           MorkIStatus.GetInstance().CanDo &&
-                           MorkCStatus.GetInstance().CanDo;
+                GeneralConfig.Healthy = true;
+                //GeneralConfig.Healthy =
+                //           MorkIStatus.GetInstance().CanDo &&
+                //           MorkCStatus.GetInstance().CanDo;
                 Thread.Sleep(100);
             }), "MORK-IC心跳刷新");
 
         }
 
+
         public void ReadData()
         {
             ThreadOperate.GetInstance.StartLong(new Action(() =>
             {
                 lebai = LebaiHelper.GetInstance.GetValueAsync();
+                Debug.WriteLine(LebaiHelper.GetInstance.GetClawWdight());
                 Thread.Sleep(100);
             }), "乐百机器人数据读取");
         }

HBLConsole/App.xaml.cs

@@ -50,7 +50,7 @@ namespace HBLConsole
 
         protected override void OnExit(ExitEventArgs e)
         {
-            IotReport.GetInstance.Close();
+            //IotReport.GetInstance.Close();
             base.OnExit(e);
             SqlHelper.GetInstance.Save();
             MainConsole.Main.GetInstance.DataSave();

HBLDevice.IceCream/CommandHandler.cs

@@ -20,6 +20,8 @@ namespace HBLDevice.IceCream
 
         private SerialPortClient commProxy;
         private IceCreamEndCook iceCreamEndCook = new IceCreamEndCook();
+        public Action<bool> PauseAsk { get; set; }
+
         /// <summary>
         /// 初始化
         /// </summary>
@@ -42,9 +44,12 @@ namespace HBLDevice.IceCream
 
         public void ModeSetEventHandle(IEvent @event, EventCallBackHandle callBack = null)
         {
+            PauseAsk?.Invoke(true);
+            Thread.Sleep(200);
             var data = IcPack.StructureToByte(ICMSG_MODE_DW.Build(((ModeSetEvent)@event).Mode));
             commProxy.SendData(data);
-            
+            Thread.Sleep(200);
+            PauseAsk?.Invoke(false);
             MessageLog.GetInstance.Show(string.Format("设置模式[{0}]", ((ModeSetEvent)@event).Mode));
         }
 
@@ -81,8 +86,12 @@ namespace HBLDevice.IceCream
 
             if (modeRight)
             {
+                PauseAsk?.Invoke(true);
+                Thread.Sleep(200);
                 var data = IcPack.StructureToByte(ICMSG_MODE_DW.Build(MORKI_MODE.打料));
                 commProxy.SendData(data);
+                Thread.Sleep(200);
+                PauseAsk?.Invoke(false);
                 iceCreamEndCook.Publish();
                 MessageLog.GetInstance.Show(string.Format("出料操作->设置模式[{0}]", MORKI_MODE.打料));
             }

HBLDevice.IceCream/IceCreamMachine.cs

@@ -19,7 +19,8 @@ namespace HBLDevice.IceCream
         private DataStorage<byte> dataStorage = new DataStorage<byte>();
         //主线程运行标识
         private bool running = false;
-
+        //是否下发指令，主线程等待
+        private bool free = true;
         public Action<string> SendCallback;
         public Action<string> ReciveCallback;
 
@@ -30,7 +31,10 @@ namespace HBLDevice.IceCream
             commProxy = new SerialPortClient(portName, baud);
             commProxy.SetDataStorage(dataStorage);
             commandHandler.Init(commProxy);
-
+            commandHandler.PauseAsk = delegate (bool pause)
+            {
+                free = !pause;
+            };
         }
 
         public void Start()
@@ -49,8 +53,11 @@ namespace HBLDevice.IceCream
         {
             ThreadOperate.GetInstance.StartLong(new Action(() =>
             {
-                commProxy.SendData(commandHandler.GetHeartDW());
-                SendCallback?.Invoke(BitConverter.ToString(commandHandler.GetHeartDW()));
+                if (free)
+                {
+                    commProxy.SendData(commandHandler.GetHeartDW());
+                    SendCallback?.Invoke(BitConverter.ToString(commandHandler.GetHeartDW()));
+                }
                 Thread.Sleep(500);
             }), "冰淇淋询问线程");
 

HBLDevice.IceCream/MorkIStatus.cs

@@ -52,6 +52,10 @@ namespace HBLDevice.IceCream
         /// 成型比(门限)
         /// </summary>
         public byte CXB_Threshold { get; set; }
+        /// <summary>
+        /// 打料完成（完成为true，正在打料为false）
+        /// </summary>
+        public bool DLCompleted { get; set; }
 
         public bool CanDo
         {
@@ -76,7 +80,17 @@ namespace HBLDevice.IceCream
             DL = BitConverter.ToInt16(new byte[] { heartUpMsg.DL_L, heartUpMsg.DL_H }, 0);
             Fault = (MORKI_FAULT)BitConverter.ToInt16(new byte[] { heartUpMsg.GZ_L, heartUpMsg.GZ_H }, 0);
             CXB = heartUpMsg.CXB;
+            DLCompleted = (heartUpMsg.DLTJ >> 4 & 1) == 1;
 
+            if (RTrig.GetInstance("打料完成检测").Start(DLCompleted))
+            {
+                MessageLog.GetInstance.Show("打料完成");
+            }
+
+            if(RTrig.GetInstance("打料中检测").Start(!DLCompleted))
+            {
+                MessageLog.GetInstance.Show("打料中");
+            }
             //MessageLog.GetInstance.Show(string.Format("当前模式为：{0}", CurrentMode));
         }