Merge branch 'master' of http://111.9.47.105:3000/PRY/HBLConsole

HBLConsole.Communication/LebaiHelper.cs

@@ -20,6 +20,13 @@ namespace HBLConsole.Communication
         public const int SENCE_接冰淇淋2 = 10003;
         public const int SENCE_接冰淇淋3 = 10005;
         public const int SENCE_咖啡 = 10006;
+        #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;
+        #endregion
         public const int SENCE_欢迎 = 10002;
 
         private volatile static LebaiHelper _Instance;

HBLConsole.Communication/Serial/SerialPortClient.cs

@@ -202,21 +202,22 @@ namespace HBLConsole.Communication
             }
         }
 
+       
         /// <summary>
-        /// 写入数据
+        /// 读取数据
         /// </summary>
-        /// <param name="buffer">写入端口的字节数组</param>
-        public void Write(byte[] buffer)
+        /// <returns></returns>
+        public byte[] Read()
         {
             lock (lck4Serial)
             {
-                if (!IsHavePort) return;
+                if (!IsHavePort) return new byte[0];
                 if (!(comPort.IsOpen)) comPort.Open();
-                comPort.Write(buffer, 0, buffer.Length);
+                byte[] buffer = new byte[1024];
+                comPort.Read(buffer, 0, buffer.Length);
+                return buffer; 
             }
-
         }
-
         public void Start()
         {
             Open();

HBLConsole.MORKIC/Control_MORKIC.cs

@@ -249,13 +249,58 @@ namespace HBLConsole.MORKIC
         /// </summary>
         private void DoCoffee()
         {
+
+            //are.Reset();
+            //LebaiHelper.GetInstance.SetValue(0);
+            ////订单状态改变：开始制作
+            //SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
+            ////todo:先调用机器人
+
+            //LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_咖啡);
+            ////ThreadManage.GetInstance.Start(new Action(() => { LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_咖啡); }), "调用乐百机器人做咖啡场景");
+            //Thread.Sleep(2000);
+
+            //while (!(lebai.Ok && lebai.Value == 1))
+            //{
+            //    Thread.Sleep(5);
+            //}
+            ////todo:咖啡杯下杯
+            //new TakeCupEvent() { Cup = IC_CUP.CUP_COFFEE }.Publish();
+            //Thread.Sleep(500);
+
+            ////while (!ChipStatus.GetInstance().CompletedTake_CPU_CUP_COFFEE) { Thread.Sleep(5); }
+            //MessageLog.GetInstance.Show("咖啡杯取杯完成");
+            //LebaiHelper.GetInstance.SetValue(100);
+
+
+            //while (!(lebai.Ok && lebai.Value == 2))
+            //{
+            //    Thread.Sleep(5);
+            //}
+            //MessageLog.GetInstance.Show("机器人到达接咖啡口位置");
+            //new MakeCoffeeEvent() { DrinkCode = (DrCoffeeDrinksCode)int.Parse(mainMaterialLoc) }.Publish();
+            //are.WaitOne(1000 * 180);
+
+            ////are.WaitOne(1 * 180);
+            //MessageLog.GetInstance.Show("咖啡机制作咖啡完成");
+            //LebaiHelper.GetInstance.SetValue(101);
+            //while (!(lebai.Ok && lebai.Value == 3))
+            //{
+            //    Thread.Sleep(5);
+            //}
+            //MessageLog.GetInstance.Show("机器人到达接咖啡口位置");
+            ////订单状态改变：完成
+            //SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_COOK);
+            //---------------------------------------------------------含咖啡杯检测-----------------------------------------//
+            #region 含咖啡杯检测的多场景
+            int checkeNum = 0;
             are.Reset();
             LebaiHelper.GetInstance.SetValue(0);
             //订单状态改变：开始制作
             SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
             //todo:先调用机器人
 
-            LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_咖啡);
+            LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_取咖啡杯);
             //ThreadManage.GetInstance.Start(new Action(() => { LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_咖啡); }), "调用乐百机器人做咖啡场景");
             Thread.Sleep(2000);
 
@@ -270,9 +315,35 @@ 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);
-
-
-            while (!(lebai.Ok && lebai.Value == 2))
+            //咖啡杯检测场景
+             while (!ChipStatus.GetInstance().ArticleExits)
+             {
+                checkeNum++;
+                if (checkeNum > 1)
+                {
+                    LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_再次取杯);
+                    while (!(lebai.Ok && lebai.Value ==3))
+                    {
+                        Thread.Sleep(5);
+                    }
+                    new TakeCupEvent() { Cup = IC_CUP.CUP_COFFEE }.Publish();
+                    Thread.Sleep(500);
+                }
+                LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_咖啡杯检测);
+                    
+                
+                while (!(lebai.Ok && lebai.Value == 2))
+                 {
+                     Thread.Sleep(5);
+                 }
+                 new ArticleExitsEvent() { }.Publish();
+                 Thread.Sleep(1000);
+                
+             }
+            checkeNum = 0;
+            LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_接咖啡);
+            
+            while (!(lebai.Ok && lebai.Value == 4))
             {
                 Thread.Sleep(5);
             }
@@ -283,13 +354,15 @@ namespace HBLConsole.MORKIC
             //are.WaitOne(1 * 180);
             MessageLog.GetInstance.Show("咖啡机制作咖啡完成");
             LebaiHelper.GetInstance.SetValue(101);
-            while (!(lebai.Ok && lebai.Value == 3))
+            LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_送咖啡);
+            while (!(lebai.Ok && lebai.Value == 5))
             {
                 Thread.Sleep(5);
             }
-            MessageLog.GetInstance.Show("机器人到达接咖啡口位置");
+            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);
+            #endregion
         }
 
         /// <summary>
@@ -368,12 +441,12 @@ namespace HBLConsole.MORKIC
 
         public void ReadData()
         {
-            //ThreadManage.GetInstance.StartLong(new Action(() =>
-            //{
-            lebai = LebaiHelper.GetInstance.GetValueAsync();
+            ThreadManage.GetInstance.StartLong(new Action(() =>
+            {
+                lebai = LebaiHelper.GetInstance.GetValueAsync();
             LebaiHelper.GetInstance.GetRobotModeStatus();
-            //    Thread.Sleep(100);
-            //}), "乐百机器人数据读取");
+                Thread.Sleep(100);
+            }), "乐百机器人数据读取");
         }
 
         public void SimOrder<T>(T simOrder)

HBLConsole.MainConsole/Main.cs

@@ -53,7 +53,7 @@ namespace HBLConsole.MainConsole
             ThreadManage.GetInstance.Start(new Action(() =>
             {
                 InternetInfo.ConfigInit();//从 consul 获取配置数据
-                IotReport.GetInstance.Initialize();
+                //IotReport.GetInstance.Initialize();
                 Topics.Clear();
                 Topics.Add(TOPIC.GetInstance.GetOrderPushTopic(GeneralConfig.DeviceType, InternetInfo.ClientId));
                 Topics.Add(TOPIC.GetInstance.GetBusinessTopic(GeneralConfig.DeviceType, InternetInfo.ClientId));

HBLConsole/App.config

@@ -11,7 +11,7 @@
 
     <!--客户端ID-->
     <!--MorkD = 2,MorkS 且时且多 = 8,MorkS 珠海 = 9,冰淇淋 = 4,咖啡机 = 13-->
-    <add key="ClientId" value="5"/>
+    <add key="ClientId" value="4"/>
 
     <add key="COM_Coffee" value="COM8"/>
     <add key="BAUD_Coffee" value="115200"/>

HBLDevice.ICChip/CommandEvent.cs

@@ -30,12 +30,16 @@ namespace HBLDevice.ICChip
     {
         public bool TurnOn { get; set; }
     }
-
+    /// <summary>
+    /// 检测有无杯子
+    /// </summary>
     public class ArticleExitsEvent : IEvent
     {
-
+        
     }
-
+    /// <summary>
+    /// 检测物品距离
+    /// </summary>
     public class ArticleDistEvent : IEvent
     {