From 4b7f84b4e63c8d18cf0179e7330fae65bfcb2204 Mon Sep 17 00:00:00 2001
From: itachilee <3050155685@qq.com>
Date: Tue, 22 Mar 2022 18:32:42 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E5=8F=96=E6=9D=AF=E6=B5=81?=
 =?UTF-8?q?=E7=A8=8B?=
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Content-Transfer-Encoding: 8bit

---
 HBLConsole.MORKIC/Control_MORKIC.cs | 29 +++++++++++++++++++++++++----
 HBLConsole.Service/ThreadOperate.cs | 15 +++++++++++++--
 HBLConsole/App.config               |  6 +++---
 HBLConsole/View/MainView.xaml       |  2 +-
 4 files changed, 42 insertions(+), 10 deletions(-)

diff --git a/HBLConsole.MORKIC/Control_MORKIC.cs b/HBLConsole.MORKIC/Control_MORKIC.cs
index d01f24b..1e93aaa 100644
--- a/HBLConsole.MORKIC/Control_MORKIC.cs
+++ b/HBLConsole.MORKIC/Control_MORKIC.cs
@@ -107,6 +107,9 @@ namespace HBLConsole.MORKIC
                 {
                     if (morkOrderPushes.TryDequeue(out MorkOrderPush order))
                     {
+                        //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
@@ -183,8 +186,17 @@ namespace HBLConsole.MORKIC
             //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
+            
 
             ThreadOperate.GetInstance.Start(new Action(() => { LebaiHelper.GetInstance.Scene(10002); }), "调用乐百机器人做咖啡场景");
+            while (!(lebai.Ok && lebai.Value == 1))
+            {
+                Thread.Sleep(5);
+            }
+            //todo:咖啡杯下杯
+            MessageLog.GetInstance.Show("咖啡杯取杯完成");
+            LebaiHelper.GetInstance.SetValue(100);
+
 
             while (!(lebai.Ok && lebai.Value == 2))
             {
@@ -192,9 +204,14 @@ namespace HBLConsole.MORKIC
             }
             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 * 90);
+            are.WaitOne(1000 * 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);
         }
@@ -245,11 +262,15 @@ 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 =
+                //           LebaiHelper.GetInstance.IsConnected &&
+                //           MorkIStatus.GetInstance().CanDo &&
+                //           MorkCStatus.GetInstance().CanDo;
                 GeneralConfig.Healthy =
-                           LebaiHelper.GetInstance.IsConnected &&
-                           MorkIStatus.GetInstance().CanDo &&
-                           MorkCStatus.GetInstance().CanDo;
+                         LebaiHelper.GetInstance.IsConnected  &&
+                         MorkCStatus.GetInstance().CanDo;
                 Thread.Sleep(100);
             }), "MORK-IC心跳刷新");
 
diff --git a/HBLConsole.Service/ThreadOperate.cs b/HBLConsole.Service/ThreadOperate.cs
index 1013455..442ae7e 100644
--- a/HBLConsole.Service/ThreadOperate.cs
+++ b/HBLConsole.Service/ThreadOperate.cs
@@ -43,9 +43,20 @@ namespace HBLConsole.Service
             CancellationTokenSources.TryAdd(TaskName, new CancellationTokenSource());
             bool result = Threads.TryAdd(TaskName, Task.Factory.StartNew(new Action(() =>
             {
-                while (!CancellationTokenSources[TaskName].IsCancellationRequested)
+                try
                 {
-                    if (action != null) action();
+                    while (!CancellationTokenSources[TaskName].IsCancellationRequested)
+                    {
+                        if (action != null) action();
+                    }
+                }
+                catch (Exception ex)
+                {
+                    CancellationTokenSources.TryRemove(TaskName, out CancellationTokenSource temp);
+                    Threads.TryRemove(TaskName, out Task temp1);
+                    MessageLog.GetInstance.Show($"【{TaskName}】任务线程出现异常，已退出，并重启\r\n{ex.Message}");
+                    StartLong(action, TaskName, RunComplete);
+                    
                 }
             }), CancellationTokenSources[TaskName].Token).ContinueWith(new Action<Task, object>((t, o) =>
             {
diff --git a/HBLConsole/App.config b/HBLConsole/App.config
index b48be48..f4b9b90 100644
--- a/HBLConsole/App.config
+++ b/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="2"/>
+    <add key="ClientId" value="4"/>
     <!--IOT大屏上报-->
     <add key="ProductKey" value="grgpECHSL7q"/>
     <add key="DeviceName" value="qsqd_zmj"/>
@@ -19,9 +19,9 @@
     <add key="DeviceMS" value="成都银泰且时且多"/>
 
 
-    <add key="COM_Coffee" value="COM10"/>
+    <add key="COM_Coffee" value="COM8"/>
     <add key="BAUD_Coffee" value="115200"/>
-    <add key="COM_IceCream" value="COM12"/>
+    <add key="COM_IceCream" value="COM5"/>
     <add key="BAUD_IceCream" value="9600"/>
     <add key="IceCream_CXB_Threshold" value="90"/>
 
diff --git a/HBLConsole/View/MainView.xaml b/HBLConsole/View/MainView.xaml
index c7c33a0..1943525 100644
--- a/HBLConsole/View/MainView.xaml
+++ b/HBLConsole/View/MainView.xaml
@@ -235,7 +235,7 @@
                 Grid.RowSpan="2"
                 Margin="10">
                 <Grid.RowDefinitions>
-                    <RowDefinition Height="{Binding ContentHeight}" />
+                    <RowDefinition Height="50" />
                     <RowDefinition />
                 </Grid.RowDefinitions>