咖啡模拟

HBLConsole.Communication/LebaiHelper.cs

@@ -192,6 +192,7 @@ namespace HBLConsole.Communication
         /// <param name="id"></param>
         public void Scene(int id)
         {
+            Thread.Sleep(1000);
             if (robotData == null || client == null) return;
             if (!client.GetIsCanRunTask().Result) return;
             client?.RunScene(id);

HBLConsole.MORKIC/Control_MORKIC.cs

@@ -192,7 +192,7 @@ namespace HBLConsole.MORKIC
                 {
                     Thread.Sleep(10);
                 }
-                LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_欢迎);
+                //LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_欢迎);
             }), "MORK-IC欢迎");
             //ThreadManage.GetInstance.StartLong(new Action(() =>
             //{
@@ -247,9 +247,9 @@ namespace HBLConsole.MORKIC
 
         private AutoResetEvent are = new AutoResetEvent(false);
 
-        private void Wait()
+        private void Wait(int value = 101)
         {
-            while (!(lebai.Ok && lebai.Value == 101))
+            while (!(lebai.Ok && lebai.Value == value))
             {
                 Thread.Sleep(5);
             }
@@ -268,31 +268,45 @@ namespace HBLConsole.MORKIC
             SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
             LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_取咖啡杯);
             Wait();
-            new TakeCupEvent() { Cup = IC_CUP.CUP_COFFEE }.Publish();//落碗控制
+            //new TakeCupEvent() { Cup = IC_CUP.CUP_COFFEE }.Publish();//落碗控制
+            Thread.Sleep(3000);
+
             Thread.Sleep(500);
             MessageLog.GetInstance.Show("咖啡杯取杯完成");
             LebaiHelper.GetInstance.SetValue(1);
+            p:
             LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_咖啡杯检测);
             Wait();
-            p:
+            LebaiHelper.GetInstance.SetValue(1);
+
             if (!LebaiHelper.GetInstance.GetInput())
             {
                 MessageLog.GetInstance.Show("执行二次取咖啡杯");
-                LebaiHelper.GetInstance.SetValue(1);
                 LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_二次取咖啡杯);
                 Wait();
+
+                //new TakeCupEvent() { Cup = IC_CUP.CUP_COFFEE }.Publish();//落碗控制
+                Thread.Sleep(3000);
+
+                LebaiHelper.GetInstance.SetValue(1);
                 goto p;
             }
             LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_接咖啡);
             Wait();
-            new MakeCoffeeEvent() { DrinkCode = (DrCoffeeDrinksCode)int.Parse(mainMaterialLoc) }.Publish();
-            are.WaitOne(1000 * 180);
+
+            //new MakeCoffeeEvent() { DrinkCode = (DrCoffeeDrinksCode)int.Parse(mainMaterialLoc) }.Publish();  //接咖啡控制
+            //are.WaitOne(1000 * 180);
+
+            Thread.Sleep(3000);
+            LebaiHelper.GetInstance.SetValue(1);
+
             while (LebaiHelper.GetInstance.GetInput(1))
             {
                 Thread.Sleep(500);
             }
             LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_放咖啡位置);
             Wait();
+            LebaiHelper.GetInstance.SetValue(1);
             //订单状态改变：完成
             SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
             #endregion
@@ -521,28 +535,42 @@ namespace HBLConsole.MORKIC
             SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COOKING);
             LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_取冰淇淋杯);
             Wait();
-            new TakeCupEvent() { Cup = IC_CUP.CUP_ICECREAM }.Publish();//落碗控制
+
+            //new TakeCupEvent() { Cup = IC_CUP.CUP_ICECREAM }.Publish();//落碗控制
+            Thread.Sleep(3000);
+
             Thread.Sleep(500);
             MessageLog.GetInstance.Show("冰淇淋杯取杯完成");
             LebaiHelper.GetInstance.SetValue(1);
+            p:
             LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_冰淇淋杯检测);
             Wait();
-            p:
+            LebaiHelper.GetInstance.SetValue(1);
             if (!LebaiHelper.GetInstance.GetInput())
             {
                 MessageLog.GetInstance.Show("执行二次取冰淇淋杯");
-                LebaiHelper.GetInstance.SetValue(1);
+                //LebaiHelper.GetInstance.SetValue(1);
                 LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_二次取冰淇淋杯);
+
+                //new TakeCupEvent() { Cup = IC_CUP.CUP_ICECREAM }.Publish();//落碗控制
+                Thread.Sleep(3000);
+
                 Wait();
+                LebaiHelper.GetInstance.SetValue(1);
+
+
                 goto p;
             }
             LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_接冰淇淋公共点);
             Wait();
+            LebaiHelper.GetInstance.SetValue(1);
 
             var res = PolymerBatching.GetIceCreamSE(mainMaterialLoc, out int scene);
             LebaiHelper.GetInstance.Scene(scene);
             Wait();
-            new MakeIceCreamEvent() { SteeringEngine = res }.Publish();
+            //new MakeIceCreamEvent() { SteeringEngine = res }.Publish();   //控制舵机
+            Thread.Sleep(3000);
+
             Thread.Sleep(500);
             LebaiHelper.GetInstance.SetValue(1);
             while (LebaiHelper.GetInstance.GetInput(1))
@@ -551,6 +579,7 @@ namespace HBLConsole.MORKIC
             }
             LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_放冰淇淋位置);
             Wait();
+            LebaiHelper.GetInstance.SetValue(1);
             //订单状态改变：完成
             SimpleFactory.GetInstance.OrderChanged(subOrderId, BPA.Message.Enum.ORDER_STATUS.COMPLETED_TAKE);
             #endregion

HBLConsole.MainConsole/Main.cs

@@ -52,6 +52,7 @@ namespace HBLConsole.MainConsole
         {
             ThreadManage.GetInstance.Start(new Action(() =>
             {
+                SimpleFactory.GetInstance.DeviceInit();//设备初始化
                 InternetInfo.ConfigInit();//从 consul 获取配置数据
                 IotReport.GetInstance.Initialize();
                 Topics.Clear();