diff --git a/HBLConsole.Communication/LebaiHelper.cs b/HBLConsole.Communication/LebaiHelper.cs
index f4199be..69cc9f5 100644
--- a/HBLConsole.Communication/LebaiHelper.cs
+++ b/HBLConsole.Communication/LebaiHelper.cs
@@ -100,6 +100,7 @@ namespace HBLConsole.Communication
public void GetRobotModeStatus()
{
+
if (robotData == null) return;
int mode = robotData.RobotMode.Mode;
IsIdle = mode == 5;
@@ -161,7 +162,7 @@ namespace HBLConsole.Communication
///
///
///
- public SignalResult SetValue(int value,int index = 0)
+ public SignalResult SetValue(int value, int index = 0)
{
if (robotData == null) return default(SignalResult);
SignalValue signalValue = new SignalValue();
@@ -193,13 +194,13 @@ namespace HBLConsole.Communication
public async void Scene(int id)
{
CancellationToken cancellationToken = default(CancellationToken);
- var result = await client.GetTasks(new GetTasksInput { PageIndex = 1,PageSize = 1 },cancellationToken);
+ var result = await client.GetTasks(new GetTasksInput { PageIndex = 1, PageSize = 1 }, cancellationToken);
var first = result?.Items?.FirstOrDefault();
var r = first == null || first.Status != Lebai.SDK.Dtos.TaskStatus.Running && first.Status != Lebai.SDK.Dtos.TaskStatus.Pause;
while (!r)
{
Thread.Sleep(5);
- result = await client.GetTasks(new GetTasksInput { PageIndex = 1,PageSize = 1 },cancellationToken);
+ result = await client.GetTasks(new GetTasksInput { PageIndex = 1, PageSize = 1 }, cancellationToken);
first = result?.Items?.FirstOrDefault();
r = first == null || first.Status != Lebai.SDK.Dtos.TaskStatus.Running && first.Status != Lebai.SDK.Dtos.TaskStatus.Pause;
}
diff --git a/HBLConsole.MORKIC/Control_MORKIC.cs b/HBLConsole.MORKIC/Control_MORKIC.cs
index 411acb8..df7ec67 100644
--- a/HBLConsole.MORKIC/Control_MORKIC.cs
+++ b/HBLConsole.MORKIC/Control_MORKIC.cs
@@ -272,12 +272,12 @@ namespace HBLConsole.MORKIC
LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_取咖啡杯);
Wait();
new TakeCupEvent() { Cup = IC_CUP.CUP_COFFEE }.Publish();//落碗控制
-
+
Thread.Sleep(500);
MessageLog.GetInstance.Show("咖啡杯取杯完成");
LebaiHelper.GetInstance.SetValue(1);
- p:
+ p:
LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_咖啡杯检测);
Wait();
LebaiHelper.GetInstance.SetValue(1);
@@ -289,7 +289,7 @@ namespace HBLConsole.MORKIC
Wait();
new TakeCupEvent() { Cup = IC_CUP.CUP_COFFEE }.Publish();//落碗控制
-
+
LebaiHelper.GetInstance.SetValue(1);
goto p;
@@ -537,16 +537,16 @@ namespace HBLConsole.MORKIC
LebaiHelper.GetInstance.SetValue(0);
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
-
+
Thread.Sleep(500);
MessageLog.GetInstance.Show("冰淇淋杯取杯完成");
LebaiHelper.GetInstance.SetValue(1);
- p:
+ p:
LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_冰淇淋杯检测);
//Thread.Sleep(2000);
//if (lebai.Value != 101)
@@ -562,7 +562,7 @@ namespace HBLConsole.MORKIC
//if (lebai.Value != 101)
// LebaiHelper.GetInstance.Scene(LebaiHelper.SENCE_二次取冰淇淋杯);
new TakeCupEvent() { Cup = IC_CUP.CUP_ICECREAM }.Publish();//落碗控制
-
+
Wait();
LebaiHelper.GetInstance.SetValue(1);
@@ -584,7 +584,7 @@ namespace HBLConsole.MORKIC
// LebaiHelper.GetInstance.Scene(scene);
Wait();
new MakeIceCreamEvent() { SteeringEngine = res }.Publish(); //控制舵机
-
+
Thread.Sleep(500);
LebaiHelper.GetInstance.SetValue(1);
@@ -646,7 +646,7 @@ namespace HBLConsole.MORKIC
Thread.Sleep(100);
- }), "乐百机器人数据读取");
+ }), "乐百机器人数据读取", true);
}
public void SimOrder(T simOrder)
diff --git a/HBLConsole.MORKS/Control_MORKS.cs b/HBLConsole.MORKS/Control_MORKS.cs
index 47cf014..0a22fae 100644
--- a/HBLConsole.MORKS/Control_MORKS.cs
+++ b/HBLConsole.MORKS/Control_MORKS.cs
@@ -122,11 +122,8 @@ namespace HBLConsole.MORKS
mORKS.TurntableUpLimit = bools[13];
mORKS.FeedComplete = bools[14];
mORKS.TurntableMoveInPlace = bools[15];
-
-
}));
- //Read(startAddress, ReadType.Coils, len);
var errorStatus = ModbusTcpHelper.GetInstance.Read((ushort)ModbusTcpHelper.GetInstance.GetBoolAddress("M235.0"), ReadType.Coils, 1);
if (errorStatus != null && errorStatus is bool error) mORKS.Error = error;
@@ -522,6 +519,7 @@ namespace HBLConsole.MORKS
private void WriteRecipeBoms()
{
List recipeBoms = new List();
+ if (Json.Data.recipeBoms == null) return;
foreach (var item in Json.Data.recipeBoms.RecipeIds)
{
foreach (var rec in item.Recipes)
diff --git a/HBLConsole.Service/MessageLog.cs b/HBLConsole.Service/MessageLog.cs
index acb7c13..b5aa46f 100644
--- a/HBLConsole.Service/MessageLog.cs
+++ b/HBLConsole.Service/MessageLog.cs
@@ -1,6 +1,7 @@
using System;
using System.Collections.Generic;
using System.Diagnostics;
+using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
@@ -17,7 +18,7 @@ namespace HBLConsole.Service
///
/// 日志显示委托
///
- public Action InfoNotify { get; set; }
+ public Action InfoNotify { get; set; }
///
/// 日志信息
@@ -28,11 +29,12 @@ namespace HBLConsole.Service
/// 普通日志输出
///
///
- public void Show(string info)
+ public void Show(string info, Color color = default(Color))
{
+ if (color.A == 0 && color.R == 0 && color.G == 0 && color.B == 0) color = Color.Aqua;
Debug.WriteLine($"{DateTime.Now.ToString("HH:mm:ss")}：{info}");
LogInfo = $"{DateTime.Now.ToString("HH:mm:ss")}：{info} \n\r {LogInfo}";
- if (InfoNotify != null) InfoNotify(info);
+ if (InfoNotify != null) InfoNotify(info, color);
}
#endregion
diff --git a/HBLConsole/App.config b/HBLConsole/App.config
index bcc9894..acb9fdf 100644
--- a/HBLConsole/App.config
+++ b/HBLConsole/App.config
@@ -10,8 +10,8 @@
-
-
+
+
diff --git a/HBLConsole/ViewModel/ViewModelBase.cs b/HBLConsole/ViewModel/ViewModelBase.cs
index 7a465ea..2031ee8 100644
--- a/HBLConsole/ViewModel/ViewModelBase.cs
+++ b/HBLConsole/ViewModel/ViewModelBase.cs
@@ -19,6 +19,7 @@ using System.Threading;
using HBLConsole.Business;
using HBLConsole.GVL;
using HBLConsole.Communication;
+using System.Drawing;
namespace HBLConsole.ViewModel
{
@@ -32,15 +33,16 @@ namespace HBLConsole.ViewModel
public static void Init()
{
- MessageLog.GetInstance.InfoNotify = new Action((s) =>
- {
- LogMessage = $"{DateTime.Now.ToString("HH:mm:ss")}：{s} \n\r {LogMessage}";
- //LogMessage = MessageLog.GetInstance.LogInfo;
+ MessageLog.GetInstance.InfoNotify = new Action((s, c) =>
+ {
+ LogMessage = $"{DateTime.Now.ToString("HH:mm:ss")}：{s} \n\r {LogMessage}";
+ //Messages.Add($"{DateTime.Now.ToString("HH:mm:ss")}：{s}");
});
MessageLog.GetInstance.ExInfoNotify = new Action((s) =>
{
LogMessage = $"{DateTime.Now.ToString("HH:mm:ss")}：{s} \n\r {LogMessage}";
+ //Messages.Add($"{DateTime.Now.ToString("HH:mm:ss")}：{s}");
IotReport.GetInstance.HttpAddLog(new BPA.Message.API请求.LogTable
{
ClientId = InternetInfo.ClientId.ToString(),
@@ -99,6 +101,11 @@ namespace HBLConsole.ViewModel
///
public static ObservableCollection WaitTakeMeal { get; set; } = new ObservableCollection();
+ ///
+ /// 消息列表
+ ///
+ public static ObservableCollection Messages { get; set; } = new ObservableCollection();
+
///
/// 显示当前窗体名称
///