Merge branch 'master' of http://3or6717322.eicp.vip/PRY/HBLConsole

HBLConsole.MORKIC/Control_MORKIC.cs

@@ -17,6 +17,8 @@ using Robotc;
 using System.Collections.Concurrent;
 using System.Diagnostics;
 using BPA.Message.IOT;
+using HBLDevice.ICChip;
+
 namespace HBLConsole.MORKIC
 {
     /*
@@ -33,6 +35,7 @@ namespace HBLConsole.MORKIC
         GVL_MORIC mORKD = new GVL_MORIC();
         //咖啡机主控程序
         private CoffeeMachine coffeeMachine;
+        private ICChipMachine icchipMachine;
         //冰淇淋主控程序
         private IceCreamMachine iceCreamMachine;
         //物料存放位置
@@ -60,7 +63,6 @@ namespace HBLConsole.MORKIC
             //构建所有商品物料信息
             batchings = PolymerBatching.BuildAll();
 
-            EventBus.GetInstance().Subscribe<IceCreamEndCook>(IceCreamEndCookHandle);
             EventBus.GetInstance().Subscribe<CoffeEndCook>(CoffeEndCookHandle);
 
             System.Configuration.Configuration config = System.Configuration.ConfigurationManager.OpenExeConfiguration(System.Configuration.ConfigurationUserLevel.None);
@@ -70,6 +72,11 @@ namespace HBLConsole.MORKIC
             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
@@ -79,6 +86,7 @@ namespace HBLConsole.MORKIC
             coffeeMachine = new CoffeeMachine(com_Coffee, (BaudRates)Enum.Parse(typeof(BaudRates), baud_Coffee));
             //冰淇淋机创建
             iceCreamMachine = new IceCreamMachine(com_IceCream, (BaudRates)Enum.Parse(typeof(BaudRates), baud_IceCream));
+            icchipMachine = new ICChipMachine(com_ICChip, (BaudRates)Enum.Parse(typeof(BaudRates), baud_ICChip));
             Main();
             ReadData();
 
@@ -167,7 +175,7 @@ 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))
@@ -211,10 +219,9 @@ namespace HBLConsole.MORKIC
             {
                 Thread.Sleep(5);
             }
-            new DischargeEvent().Publish();
-
-            //冰淇淋没有模式切换，强制等待10s
-            Thread.Sleep(10000);
+            new TakeCupEvent() { Cup = IC_CUP.CUP_ICECREAM }.Publish();
+            while (!ChipStatus.GetInstance().CompletedTake_CPU_CUP_ICECREAM) { Thread.Sleep(5); }
+            new MakeIceCreamEvent() { SteeringEngine = IC_SE.SE_1 }.Publish();
             LebaiHelper.GetInstance.SetValue(100);
             //are.WaitOne(100 * 90);
             //订单状态改变：完成
@@ -226,12 +233,6 @@ namespace HBLConsole.MORKIC
             are.Set();
         }
 
-        private void IceCreamEndCookHandle(IEvent @event, EventBus.EventCallBackHandle callBack)
-        {
-            //are.Set();
-        }
-
-
         public void Main()
         {
             //咖啡机开启主线程
@@ -250,7 +251,7 @@ namespace HBLConsole.MORKIC
                 //           MorkIStatus.GetInstance().CanDo &&
                 //           MorkCStatus.GetInstance().CanDo;
                 GeneralConfig.Healthy =
-                         LebaiHelper.GetInstance.IsConnected  &&
+                         LebaiHelper.GetInstance.IsConnected &&
                          MorkCStatus.GetInstance().CanDo;
                 Thread.Sleep(100);
             }), "MORK-IC心跳刷新");

HBLConsole.MORKIC/HBLConsole.MORKIC.csproj

@@ -13,6 +13,7 @@
     <ProjectReference Include="..\HBLConsole.Interface\HBLConsole.Interface.csproj" />
     <ProjectReference Include="..\HBLConsole.Model\HBLConsole.Model.csproj" />
     <ProjectReference Include="..\HBLDevice.Coffee\HBLDevice.Coffee.csproj" />
+    <ProjectReference Include="..\HBLDevice.ICChip\HBLDevice.ICChip.csproj" />
     <ProjectReference Include="..\HBLDevice.IceCream\HBLDevice.IceCream.csproj" />
     <ProjectReference Include="..\Lebai.SDK\Lebai.SDK.csproj" />
   </ItemGroup>

HBLConsole.sln

@@ -41,7 +41,9 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "HBLDevice.Coffee", "HBLDevi
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "HBLDevice.IceCream", "HBLDevice.IceCream\HBLDevice.IceCream.csproj", "{6F9FD1DA-D17A-4243-83F3-E24ADC0B8CF7}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "HBLConsole.Debug", "HBLConsole.Debug\HBLConsole.Debug.csproj", "{8F75DF03-50F7-4ECF-8535-E59E6486B652}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "HBLConsole.Debug", "HBLConsole.Debug\HBLConsole.Debug.csproj", "{8F75DF03-50F7-4ECF-8535-E59E6486B652}"
+EndProject
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "HBLDevice.ICChip", "HBLDevice.ICChip\HBLDevice.ICChip.csproj", "{4A451647-FB80-4D19-85CF-C04A9548A17E}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
@@ -125,6 +127,10 @@ Global
 		{8F75DF03-50F7-4ECF-8535-E59E6486B652}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{8F75DF03-50F7-4ECF-8535-E59E6486B652}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{8F75DF03-50F7-4ECF-8535-E59E6486B652}.Release|Any CPU.Build.0 = Release|Any CPU
+		{4A451647-FB80-4D19-85CF-C04A9548A17E}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{4A451647-FB80-4D19-85CF-C04A9548A17E}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{4A451647-FB80-4D19-85CF-C04A9548A17E}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{4A451647-FB80-4D19-85CF-C04A9548A17E}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -132,6 +138,7 @@ Global
 	GlobalSection(NestedProjects) = preSolution
 		{1E33FFE0-3B82-47F9-9E48-6FC870F36FF0} = {CFF94828-163A-4907-B951-081B18F3CBBD}
 		{6F9FD1DA-D17A-4243-83F3-E24ADC0B8CF7} = {CFF94828-163A-4907-B951-081B18F3CBBD}
+		{4A451647-FB80-4D19-85CF-C04A9548A17E} = {CFF94828-163A-4907-B951-081B18F3CBBD}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {1968105D-1913-4F0B-A03E-7C18AFA58912}

HBLConsole/App.config

@@ -24,6 +24,8 @@
     <add key="COM_IceCream" value="COM5"/>
     <add key="BAUD_IceCream" value="9600"/>
     <add key="IceCream_CXB_Threshold" value="90"/>
+	  <add key="COM_ICChip" value="COM5"/>
+	  <add key="BAUD_IChip" value="9600"/>
 
   </appSettings>
 </configuration>

HBLDevice.ICChip/ChipStatus.cs

@@ -0,0 +1,116 @@
+using BPA.Utility;
+using HBLConsole.Service;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace HBLDevice.ICChip
+{
+    public class ChipStatus : Singleton<ChipStatus>
+    {
+        private DateTime lastRefreshTime = DateTime.MinValue;
+        /// <summary>
+        /// 是否在线
+        /// </summary>
+        public bool OnLine { get { return DateTime.Now.Subtract(lastRefreshTime).TotalSeconds <= 3; } }
+        /// <summary>
+        /// 取冰淇淋杯完成
+        /// </summary>
+        public bool CompletedTake_CPU_CUP_ICECREAM { get; set; }
+        /// <summary>
+        /// 取咖啡杯完成
+        /// </summary>
+        public bool CompletedTake_CPU_CUP_COFFEE { get; set; }
+        /// <summary>
+        /// 1号舵机打开完成
+        /// </summary>
+        public bool CompletedOpen_SE_1 { get; set; }
+        /// <summary>
+        /// 2号舵机打开完成
+        /// </summary>
+        public bool CompletedOpen_SE_2 { get; set; }
+        /// <summary>
+        /// 3号舵机打开完成
+        /// </summary>
+        public bool CompletedOpen_SE_3 { get; set; }
+        /// <summary>
+        /// 1号舵机关闭完成
+        /// </summary>
+        public bool CompletedClose_SE_1 { get; set; }
+        /// <summary>
+        /// 2号舵机关闭完成
+        /// </summary>
+        public bool CompletedClose_SE_2 { get; set; }
+        /// <summary>
+        /// 3号舵机关闭完成
+        /// </summary>
+        public bool CompletedClose_SE_3 { get; set; }
+
+        public bool CanDo
+        {
+            get
+            {
+                if (!OnLine)
+                    return false;
+                return true;
+            }
+        }
+
+        public void ProcessMsg(ICChipPackage data)
+        {
+            try
+            {
+                switch (data.Cmd)
+                {
+                    case IC_CMD.HEART_BEAT:
+                        lastRefreshTime = DateTime.Now;
+                        break;
+                    case IC_CMD.TAKE_CUP:
+                        switch ((IC_CUP)data.Value) {
+                            case IC_CUP.CUP_COFFEE:
+                                CompletedTake_CPU_CUP_COFFEE = true;
+                                break;
+                            case IC_CUP.CUP_ICECREAM:
+                                CompletedTake_CPU_CUP_ICECREAM = true;
+                                break;
+                        }
+                        break;
+                    case IC_CMD.OPEN_SE:
+                        switch ((IC_SE)data.Value)
+                        {
+                            case IC_SE.SE_1:
+                                CompletedOpen_SE_1 = true;
+                                break;
+                            case IC_SE.SE_2:
+                                CompletedOpen_SE_2 = true;
+                                break;
+                            case IC_SE.SE_3:
+                                CompletedOpen_SE_3 = true;
+                                break;
+                        }
+                        break;
+                    case IC_CMD.CLOSE_SE:
+                        switch ((IC_SE)data.Value)
+                        {
+                            case IC_SE.SE_1:
+                                CompletedClose_SE_1 = true;
+                                break;
+                            case IC_SE.SE_2:
+                                CompletedClose_SE_2 = true;
+                                break;
+                            case IC_SE.SE_3:
+                                CompletedClose_SE_3 = true;
+                                break;
+                        }
+                        break;
+                }
+            }
+            catch (Exception ex)
+            {
+
+            }
+        }
+    }
+}

HBLDevice.ICChip/CommandEvent.cs

@@ -0,0 +1,22 @@
+using BPA.Utility;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace HBLDevice.ICChip
+{
+    public class TakeCupEvent : IEvent
+    {
+        /// <summary>
+        /// 杯
+        /// </summary>
+        public IC_CUP Cup { get; set; }
+    }
+
+    public class MakeIceCreamEvent : IEvent
+    {
+        public IC_SE SteeringEngine { get; set; }
+    }
+}

HBLDevice.ICChip/CommandHandler.cs

@@ -0,0 +1,149 @@
+using BPA.Utility;
+using HBLConsole.Communication;
+using HBLConsole.Service;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using static BPA.Utility.EventBus;
+
+namespace HBLDevice.ICChip
+{
+    /// <summary>
+    /// 指令封装
+    /// </summary>
+    internal class CommandHandler
+    {
+        private SerialPortClient commProxy;
+        private ICChipPackage package = new ICChipPackage();
+
+        /// <summary>
+        /// 初始化
+        /// </summary>
+        internal void Init(SerialPortClient commProxy)
+        {
+            this.commProxy = commProxy;
+            EventBus.GetInstance().Subscribe<TakeCupEvent>(TakeCupEventHandle);
+            EventBus.GetInstance().Subscribe<MakeIceCreamEvent>(MakeIceCreamEventHandle);
+        }
+
+        private void MakeIceCreamEventHandle(IEvent @event, EventCallBackHandle callBack)
+        {
+            switch ((@event as MakeIceCreamEvent).SteeringEngine)
+            {
+                case IC_SE.SE_1:
+                    ChipStatus.GetInstance().CompletedOpen_SE_1 = false;
+                    break;
+                case IC_SE.SE_2:
+                    ChipStatus.GetInstance().CompletedOpen_SE_2 = false;
+                    break;
+                case IC_SE.SE_3:
+                    ChipStatus.GetInstance().CompletedOpen_SE_3 = false;
+                    break;
+            }
+            package.Cmd = IC_CMD.OPEN_SE;
+            package.Value = (byte)(@event as MakeIceCreamEvent).SteeringEngine;
+            commProxy.SendData(StructureToByte(package));
+
+            Thread.Sleep(500);
+
+            DateTime timeOut = DateTime.Now.AddSeconds(3);
+            bool loop = true;
+            while (loop)
+            {
+                loop = DateTime.Now < timeOut;
+                switch ((@event as MakeIceCreamEvent).SteeringEngine)
+                {
+                    case IC_SE.SE_1:
+                        loop = !ChipStatus.GetInstance().CompletedOpen_SE_1;
+                        break;
+                    case IC_SE.SE_2:
+                        loop = !ChipStatus.GetInstance().CompletedOpen_SE_2;
+                        break;
+                    case IC_SE.SE_3:
+                        loop = !ChipStatus.GetInstance().CompletedOpen_SE_3;
+                        break;
+                }
+            }
+
+            switch ((@event as MakeIceCreamEvent).SteeringEngine)
+            {
+                case IC_SE.SE_1:
+                    ChipStatus.GetInstance().CompletedClose_SE_1 = false;
+                    break;
+                case IC_SE.SE_2:
+                    ChipStatus.GetInstance().CompletedClose_SE_2 = false;
+                    break;
+                case IC_SE.SE_3:
+                    ChipStatus.GetInstance().CompletedClose_SE_3 = false;
+                    break;
+            }
+            package.Cmd = IC_CMD.CLOSE_SE;
+            package.Value = (byte)(@event as MakeIceCreamEvent).SteeringEngine;
+            commProxy.SendData(StructureToByte(package));
+            
+            Thread.Sleep(500);
+
+            timeOut = DateTime.Now.AddSeconds(3);
+            loop = true;
+            while (loop)
+            {
+                loop = DateTime.Now < timeOut;
+                switch ((@event as MakeIceCreamEvent).SteeringEngine)
+                {
+                    case IC_SE.SE_1:
+                        loop = !ChipStatus.GetInstance().CompletedClose_SE_1;
+                        break;
+                    case IC_SE.SE_2:
+                        loop = !ChipStatus.GetInstance().CompletedClose_SE_2;
+                        break;
+                    case IC_SE.SE_3:
+                        loop = !ChipStatus.GetInstance().CompletedClose_SE_3;
+                        break;
+                }
+            }
+        }
+
+        private void TakeCupEventHandle(IEvent @event, EventCallBackHandle callBack)
+        {
+            switch ((@event as TakeCupEvent).Cup)
+            {
+                case IC_CUP.CUP_ICECREAM:
+                    ChipStatus.GetInstance().CompletedTake_CPU_CUP_ICECREAM = false;
+                    break;
+                case IC_CUP.CUP_COFFEE:
+                    ChipStatus.GetInstance().CompletedTake_CPU_CUP_COFFEE = false;
+                    break;
+            }
+            package.Cmd = IC_CMD.TAKE_CUP;
+            package.Value = (byte)(@event as TakeCupEvent).Cup;
+            commProxy.SendData(StructureToByte(package));
+        }
+
+
+        private byte[] StructureToByte(ICChipPackage structure)
+        {
+            structure.Header = 0xAA;
+            structure.End = 0xBB;
+
+            int size = Marshal.SizeOf(typeof(ICChipPackage));
+            byte[] buffer = new byte[size];
+            IntPtr bufferIntPtr = Marshal.AllocHGlobal(size);
+            try
+            {
+                Marshal.StructureToPtr(structure, bufferIntPtr, true);
+                Marshal.Copy(bufferIntPtr, buffer, 0, size);
+            }
+            finally
+            {
+                Marshal.FreeHGlobal(bufferIntPtr);
+            }
+            return buffer;
+        }
+
+
+    }
+}

HBLDevice.ICChip/HBLDevice.ICChip.csproj

@@ -0,0 +1,17 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net5.0</TargetFramework>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\HBLConsole.Communication\HBLConsole.Communication.csproj" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <Reference Include="BPA.Utility">
+      <HintPath>..\..\..\BPACommon_output\net5.0\BPA.Utility.dll</HintPath>
+    </Reference>
+  </ItemGroup>
+
+</Project>

HBLDevice.ICChip/ICChipMachine.cs

@@ -0,0 +1,102 @@
+using HBLConsole.Communication;
+using HBLConsole.Model;
+using HBLConsole.Service;
+using System;
+using System.Collections.Generic;
+using System.Runtime.InteropServices;
+using System.Threading;
+
+namespace HBLDevice.ICChip
+{
+    public class ICChipMachine
+    {
+        //指令组装
+        private CommandHandler commandHandler = new CommandHandler();
+        //通讯代理
+        SerialPortClient commProxy = null;
+        //数据仓库
+        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
+        public Action<string> SendCallback;
+        public Action<string> ReciveCallback;
+
+
+
+        public ICChipMachine(string portName, BaudRates baud)
+        {
+            commProxy = new SerialPortClient(portName, baud);
+            commProxy.SetDataStorage(dataStorage);
+            commandHandler.Init(commProxy);
+        }
+
+        public void Start()
+        {
+            commProxy.Start();
+            running = true;
+            MainLoop();
+        }
+
+        public void Stop()
+        {
+        }
+
+        private void MainLoop()
+        {
+            ThreadOperate.GetInstance.StartLong(new Action(() =>
+            {
+                ResolveMsg();
+                //Thread.Sleep(2000);
+            }), "冰淇淋解析线程");
+        }
+        int contentLength = 0;
+        int currentContentOffset = 0;
+        private void ResolveMsg()
+        {
+            List<byte> temp = new List<byte>();
+            //一系列解包
+            while (dataStorage.GetSize() > 0)
+            {
+                byte item = dataStorage.GetData();
+                if (item == 0xAA)
+                {
+                    while (dataStorage.GetSize() < 4) { Thread.Sleep(5); }
+                    while (temp.Count < 5)
+                    {
+                        temp.Add(dataStorage.GetData());
+                    }
+                    if (temp[4] == 0xBB)
+                    {
+                        var package = ByteToStructure(temp.ToArray());
+                        ChipStatus.GetInstance().ProcessMsg(package);
+                        temp.Clear();
+                    }
+                }
+                continue;
+            }
+            Thread.Sleep(5);
+        }
+
+        /// <summary>  
+        /// 由byte数组转换为结构体  
+        /// </summary>  
+        private ICChipPackage ByteToStructure(byte[] dataBuffer)
+        {
+            ICChipPackage structure = new ICChipPackage();
+            int size = Marshal.SizeOf(typeof(ICChipPackage));
+            IntPtr allocIntPtr = Marshal.AllocHGlobal(size);
+            try
+            {
+                Marshal.Copy(dataBuffer, 0, allocIntPtr, size);
+                structure = (ICChipPackage)Marshal.PtrToStructure(allocIntPtr, typeof(ICChipPackage));
+            }
+            finally
+            {
+                Marshal.FreeHGlobal(allocIntPtr);
+            }
+            return structure;
+        }
+    }
+
+}

HBLDevice.ICChip/Protocal/ICChipPackage.cs

@@ -0,0 +1,37 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Runtime.InteropServices;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace HBLDevice.ICChip
+{
+    /// <summary>
+    /// Dr咖啡机基础协议
+    /// </summary>
+    [StructLayoutAttribute(LayoutKind.Sequential, CharSet = CharSet.Ansi, Pack = 1)]
+    public struct ICChipPackage
+    {
+        /// <summary>
+        /// 包头（固定0xAA）
+        /// </summary>
+        public byte Header;
+        /// <summary>
+        /// 发送方
+        /// </summary>
+        public IC_SENDER Sender;
+        /// <summary>
+        /// 命令
+        /// </summary>
+        public IC_CMD Cmd;
+        /// <summary>
+        /// 故障（咖啡机负责写，工控机负责读）
+        /// </summary>
+        public byte Value;
+        /// <summary>
+        /// 包尾（固定为0xBB）
+        /// </summary>
+        public byte End;
+    }
+}

HBLDevice.ICChip/Protocal/IC_CMD.cs

@@ -0,0 +1,35 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace HBLDevice.ICChip
+{
+    /// <summary>
+    /// 命令
+    /// </summary>
+    public enum IC_CMD:byte
+    {
+        /// <summary>
+        /// 心跳
+        /// </summary>
+        HEART_BEAT=0x00,
+        /// <summary>
+        /// 下杯（带上碗参数）
+        /// </summary>
+        TAKE_CUP=0x01,
+        /// <summary>
+        /// 打开舵机（带上舵机参数）
+        /// </summary>
+        OPEN_SE=0x02,
+        /// <summary>
+        /// 关闭舵机（带上舵机参数）
+        /// </summary>
+        CLOSE_SE = 0x03,
+        /// <summary>
+        /// 使能冰淇淋转子（带上开关参数）
+        /// </summary>
+        ROTOR=0x04,
+    }
+}

HBLDevice.ICChip/Protocal/IC_CUP.cs

@@ -0,0 +1,23 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace HBLDevice.ICChip
+{
+    /// <summary>
+    /// 杯子
+    /// </summary>
+    public enum IC_CUP : byte
+    {
+        /// <summary>
+        /// 冰淇淋杯
+        /// </summary>
+        CUP_ICECREAM = 0x01,
+        /// <summary>
+        /// 咖啡杯
+        /// </summary>
+        CUP_COFFEE = 0x02
+    }
+}

HBLDevice.ICChip/Protocal/IC_SE.cs

@@ -0,0 +1,27 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace HBLDevice.ICChip
+{
+    /// <summary>
+    /// 冰淇淋舵机
+    /// </summary>
+    public enum IC_SE:byte
+    {
+        /// <summary>
+        /// 舵机1
+        /// </summary>
+        SE_1=0x01,
+        /// <summary>
+        /// 舵机2
+        /// </summary>
+        SE_2=0x02,
+        /// <summary>
+        /// 舵机3
+        /// </summary>
+        SE_3=0x03,
+    }
+}

HBLDevice.ICChip/Protocal/IC_SENDER.cs

@@ -0,0 +1,23 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace HBLDevice.ICChip
+{
+    /// <summary>
+    /// 命令发送方
+    /// </summary>
+    public enum IC_SENDER:byte
+    {
+        /// <summary>
+        /// 上位机
+        /// </summary>
+        CONSOLE=0x01,
+        /// <summary>
+        /// 单片机
+        /// </summary>
+        DEVICE=0x02,
+    }
+}

HBLDevice.IceCreamV1/HBLDevice.ICChip.csproj

@@ -0,0 +1,17 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net5.0</TargetFramework>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\HBLConsole.Communication\HBLConsole.Communication.csproj" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <Reference Include="BPA.Utility">
+      <HintPath>..\..\..\BPACommon_output\net5.0\BPA.Utility.dll</HintPath>
+    </Reference>
+  </ItemGroup>
+
+</Project>