入场代码修改

HBLConsole.Communication/LebaiHelper.cs

@@ -139,6 +139,18 @@ namespace HBLConsole.Communication
             return client.SetSignal(signalValue).Result;
         }
 
+        public bool GetInput(int pin=0)
+        {
+            if (client == null) return false;
+            var res =  client.GetDIO(new IOPin() { Pin=pin}).Result;
+            if (res != null)
+            {
+                return res.Value == 1 ? true : false;
+            }
+            //int a = res.Value;
+            return false;
+        }
+
         /// <summary>
         /// 运行指定的场景
         /// </summary>
@@ -146,23 +158,21 @@ namespace HBLConsole.Communication
         public void Scene(int id)
         {
             if (robotData == null || client == null) return;
-            var r= client?.RunScene(id).Result;
-            int t = r.Id;
-            TaskInfo res = client.GetTask(id).Result;
-            //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)
+            if (!client.GetIsCanRunTask().Result) return;
+
+            client?.RunScene(id);
+            //var r =  client.RunSceneUntilDone(id).Result;
+
+            //var res =  client.GetTask(id).Result;
+            //var res1 = GetValueAsync().Value;
+            //while (res1!=id)
             //{
             //    client?.RunScene(id);
-            //    res = client.GetTask(id).Result;
-            //    Thread.Sleep(1);
+            //    Thread.Sleep(100);
             //}
+            //SetValue(1000);
+
+
 
         }
     }

HBLConsole.MORKIC/Control_MORKIC.cs

@@ -317,7 +317,7 @@ namespace HBLConsole.MORKIC
             LebaiHelper.GetInstance.SetValue(100);
             Thread.Sleep(1500);
             //咖啡杯检测场景
-             while (!ChipStatus.GetInstance().ArticleExits)
+             while (!LebaiHelper.GetInstance.GetInput())
              {
                 checkeNum++;
                 if (checkeNum > 1)
@@ -325,6 +325,8 @@ namespace HBLConsole.MORKIC
                     LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_再次取杯);
                     while (!(lebai.Ok && lebai.Value ==3))
                     {
+
+                        //LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_再次取杯);
                         Thread.Sleep(5);
                     }
                     new TakeCupEvent() { Cup = IC_CUP.CUP_COFFEE }.Publish();
@@ -334,12 +336,12 @@ namespace HBLConsole.MORKIC
                 //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);
+                    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);
                 
              }
@@ -357,6 +359,7 @@ namespace HBLConsole.MORKIC
 
             //are.WaitOne(1 * 180);
             MessageLog.GetInstance.Show("咖啡机制作咖啡完成");
+            SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_COOK);
             LebaiHelper.GetInstance.SetValue(101);
             Thread.Sleep(2000);
             //LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_送咖啡);
@@ -372,39 +375,42 @@ namespace HBLConsole.MORKIC
                 Thread.Sleep(5);
             }
             MessageLog.GetInstance.Show("机器人到达顾客取咖啡位置");
-            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_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");
+            if (!(morkOrderPushes.Count > 0))
             {
-                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);
+                LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_复位);
                 while (!(lebai.Ok && lebai.Value == 6))
                 {
-                    Thread.Sleep(5);
+                    Thread.Sleep(8);
                 }
-                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");
+                
             }
-            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
@@ -490,7 +496,10 @@ namespace HBLConsole.MORKIC
             ThreadManage.GetInstance.StartLong(new Action(() =>
             {
                 lebai = LebaiHelper.GetInstance.GetValueAsync();
-            LebaiHelper.GetInstance.GetRobotModeStatus();
+                LebaiHelper.GetInstance.GetRobotModeStatus();
+                //LebaiHelper.GetInstance.GetInput();
+
+
                 Thread.Sleep(100);
             }), "乐百机器人数据读取");
         }