调酒机更新

BPASmartClient.Business/BPASmartClient.Business.csproj

@@ -9,7 +9,7 @@
   <ItemGroup>
     <PackageReference Include="BPA.ApolloClient" Version="1.0.12" />
     <PackageReference Include="BPA.Helper" Version="1.0.28" />
-    <PackageReference Include="BPA.Message" Version="1.0.74" />
+    <PackageReference Include="BPA.Message" Version="1.0.79" />
     <PackageReference Include="Microsoft.Extensions.Configuration" Version="6.0.1" />
     <PackageReference Include="Microsoft.Extensions.Configuration.FileExtensions" Version="6.0.0" />
     <PackageReference Include="System.Configuration.ConfigurationManager" Version="6.0.0" />

BPASmartClient.CustomResource/BPASmartClient.CustomResource.csproj

@@ -410,7 +410,7 @@
 
   <ItemGroup>
     <PackageReference Include="BPA.Helper" Version="1.0.28" />
-    <PackageReference Include="BPA.Message" Version="1.0.74" />
+    <PackageReference Include="BPA.Message" Version="1.0.79" />
     <PackageReference Include="MahApps.Metro.IconPacks.FontAwesome" Version="4.11.0" />
     <PackageReference Include="Microsoft.Toolkit.Mvvm" Version="7.1.2" />
   </ItemGroup>

BPASmartClient.Device/BPASmartClient.Device.csproj

@@ -7,7 +7,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Message" Version="1.0.74" />
+    <PackageReference Include="BPA.Message" Version="1.0.79" />
   </ItemGroup>
 
   <ItemGroup>

BPASmartClient.JXJFoodBigStation/Properties/Settings.Designer.cs

@@ -12,7 +12,7 @@ namespace BPASmartClient.JXJFoodBigStation.Properties {
     
     
     [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
-    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "17.1.0.0")]
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "17.3.0.0")]
     internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
         
         private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));

BPASmartClient.JXJFoodSmallStation/BPASmartClient.JXJFoodSmallStation.csproj

@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Message" Version="1.0.74" />
+    <PackageReference Include="BPA.Message" Version="1.0.79" />
     <PackageReference Include="Microsoft.Toolkit.Mvvm" Version="7.1.2" />
     <PackageReference Include="Newtonsoft.Json" Version="13.0.1" />
   </ItemGroup>

BPASmartClient.Model/BPASmartClient.Model.csproj

@@ -17,7 +17,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Message" Version="1.0.74" />
+    <PackageReference Include="BPA.Message" Version="1.0.79" />
     <PackageReference Include="Microsoft.Toolkit.Mvvm" Version="7.1.2" />
   </ItemGroup>
 

BPASmartClient.Model/MixWinkModel.cs

@@ -0,0 +1,25 @@
+using Microsoft.Toolkit.Mvvm.ComponentModel;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.Model
+{
+    public  class MixWinkModel:ObservableObject
+    {
+        private string _materialName;
+        public string materialName { get { return _materialName; } set { _materialName = value;OnPropertyChanged(); } }
+        /// <summary>
+        /// 位置
+        /// </summary>
+        private int _loc;
+        public int Loc { get { return _loc; } set { _loc = value;OnPropertyChanged(); } }
+        /// <summary>
+        /// 停留时间
+        /// </summary>
+        public int Time { get { return _time; } set { _time = value;OnPropertyChanged(); } }
+        private int _time;
+    }
+}

BPASmartClient.Model/订单/MorkMWSimOrder.cs

@@ -0,0 +1,13 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.Model.订单
+{
+    public class MorkMWSimOrder:BaseEvent
+    {
+        public List<MixWinkModel> mixWink = new List<MixWinkModel>();
+    }
+}

BPASmartClient.MorkF/BPASmartClient.MorkF.csproj

@@ -10,7 +10,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Message" Version="1.0.74" />
+    <PackageReference Include="BPA.Message" Version="1.0.79" />
   </ItemGroup>
 
   <ItemGroup>

BPASmartClient.MorkMW/BPASmartClient.MorkMW.csproj

@@ -0,0 +1,21 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net6.0-windows</TargetFramework>
+    <Nullable>enable</Nullable>
+    <UseWPF>true</UseWPF>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <PackageReference Include="BPA.Message" Version="1.0.79" />
+    <PackageReference Include="BPA.Models" Version="1.0.34" />
+    <PackageReference Include="CommunityToolkit.Common" Version="8.0.0" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\BPASmartClient.CustomResource\BPASmartClient.CustomResource.csproj" />
+    <ProjectReference Include="..\BPASmartClient.Device\BPASmartClient.Device.csproj" />
+    <ProjectReference Include="..\BPASmartClient.Modbus\BPASmartClient.Modbus.csproj" />
+  </ItemGroup>
+
+</Project>

BPASmartClient.MorkMW/Control_MorkMW.cs

@@ -0,0 +1,313 @@
+using BPA.Helper;
+using BPA.Message.Enum;
+using BPASmartClient.Device;
+using BPASmartClient.EventBus;
+using BPASmartClient.Modbus;
+using BPASmartClient.Model;
+using BPASmartClient.Model.PLC;
+using BPASmartClient.Model.订单;
+using BPASmartClient.MorkMW.Model;
+using Org.BouncyCastle.Bcpg.OpenPgp;
+using System;
+using System.Collections.Concurrent;
+using System.Threading;
+using static BPASmartClient.EventBus.EventBus;
+
+namespace BPASmartClient.MorkMW
+{
+    public class Control_MorkMW : BaseDevice
+    {
+        ModbusTcp modbus;
+        public override DeviceClientType DeviceType => DeviceClientType.MORKMW;
+        GVL_MorkMW morkMW = new GVL_MorkMW();
+        public override void DoMain()
+        {
+
+            ConnectKlpRobot("192.168.0.100", 8001);
+        }
+
+        public override void MainTask()
+        {
+            ToGetWink();
+            ToMixWink();
+            ToPourWink();
+            SignalDetect();
+        }
+        /// <summary>
+        /// 接酒过程
+        /// </summary>
+        public void ToGetWink()
+        {
+            
+            if (morkMW.RobotIdle && orderLocInfos.Count > 0 && !morkMW.TaskLock&&!morkMW.PourWinkComplete&& morkMW.CupSignal)
+            {
+                DeviceProcessLogShow("订单开始制作");
+                morkMW.TaskLock = true;
+                if (orderLocInfos.TryDequeue(out OrderLocInfo res))
+                {
+                    foreach (var item in res.mixWink)
+                    {
+                        switch (item.Loc)
+                        {
+                           // case 7: ToMixWink(); break;
+                            case 1: ToSpecifiedLocTakeWink(item.Loc, item.Time); break;
+                            case 2: ToSpecifiedLocTakeWink(item.Loc, item.Time); break;
+                            case 3: ToSpecifiedLocTakeWink(item.Loc, item.Time); break;
+                            case 4: ToSpecifiedLocTakeWink(item.Loc, item.Time); break;
+                            case 5: ToSpecifiedLocTakeWink(item.Loc, item.Time); break;
+                            case 6: ToSpecifiedLocTakeWink(item.Loc, item.Time); break;
+
+                        }
+                        switch (item.Loc)
+                        {
+                            //case 7: while (!morkMW.MixWinkComplte) { Thread.Sleep(5); } break;
+                            case 1: while (!morkMW.TakeWinkOneComplete) { Thread.Sleep(5); } break;
+                            case 2: while (!morkMW.TakeWinkTwoComplete) { Thread.Sleep(5); } break;
+                            case 3: while (!morkMW.TakeWinkThreeComplete) { Thread.Sleep(5); } break;
+                            case 4: while (!morkMW.TakeWinkFourComplete) { Thread.Sleep(5); } break;
+                            case 5: while (!morkMW.TakeWinkFiveComplete) { Thread.Sleep(5); } break;
+                            case 6: while (!morkMW.TakeWinkSixComplete) { Thread.Sleep(5); } break;
+
+                        }
+
+
+                    }
+                    
+                    morkMW.AllowMixWink = true;//接酒完成，允许调酒
+                   // morkMW.AllowPourWink = true;//调酒完成，允许倒酒
+                }
+            }
+        }
+        /// <summary>
+        /// 调酒过程
+        /// </summary>
+        public void ToMixWink()
+        {
+            // modbus.WriteSingleRegister(0000, 7);//机器人调酒
+
+            if (morkMW.AllowMixWink)
+            {
+                DeviceProcessLogShow("开始调酒");
+                modbus.WriteSingleRegister(0000, 7);//机器人调酒
+                morkMW.AllowMixWink = false;
+            }
+        }
+        /// <summary>
+        /// 去对应位置接酒
+        /// </summary>
+        /// <param name="loc"></param>
+        /// <param name="time"></param>
+        public void ToSpecifiedLocTakeWink(int loc, int time)
+        {
+            //发送接酒信号
+            switch (loc)
+            {
+                case 1: modbus.WriteSingleRegister(0000, 1); break;
+                case 2: modbus.WriteSingleRegister(0000, 2); break;
+                case 3: modbus.WriteSingleRegister(0000, 3); break;
+                case 4: modbus.WriteSingleRegister(0000, 4); break;
+                case 5: modbus.WriteSingleRegister(0000, 5); break;
+                case 6: modbus.WriteSingleRegister(0000, 6); break;
+
+            }
+            //等待机器人到达接酒位置
+            switch (loc)
+            {
+                case 1: while (!morkMW.ArriveWinkOneLoc) { Thread.Sleep(5); } break;
+                case 2: while (!morkMW.ArriveWinkTwoLoc) { Thread.Sleep(5); } break;
+                case 3: while (!morkMW.ArriveWinkThreeLoc) { Thread.Sleep(5); } break;
+                case 4: while (!morkMW.ArriveWinkFourLoc) { Thread.Sleep(5); } break;
+                case 5: while (!morkMW.ArriveWinkFiveLoc) { Thread.Sleep(5); } break;
+                case 6: while (!morkMW.ArriveWinkSixLoc) { Thread.Sleep(5); } break;
+
+            }
+            Thread.Sleep(time * 1000);//接酒等待时间 
+            //发送接酒完成信号
+            switch (loc)
+            {
+                case 1: modbus.WriteSingleCoil(4596, true); break;
+                case 2: modbus.WriteSingleCoil(4597, true); break;
+                case 3: modbus.WriteSingleCoil(4598, true); break;
+                case 4: modbus.WriteSingleCoil(4599, true); break;
+                case 5: modbus.WriteSingleCoil(4600, true); break;
+                case 6: modbus.WriteSingleCoil(4601, true); break;
+
+            }
+
+        }
+        /// <summary>
+        /// 倒酒过程
+        /// </summary>
+        public void ToPourWink()
+        {
+            //if (morkMW.AllowPourWink && morkMW.CupSignal)
+            //{
+            //    morkMW.AllowPourWink = false;
+            //    modbus.WriteSingleRegister(0000, 8);//倒酒
+
+            //}
+            if (morkMW.CupSignal && RTrig.GetInstance("AllowOut").Start(morkMW.MixWinkComplte))
+            {
+                DeviceProcessLogShow("开始倒酒");
+                modbus.WriteSingleRegister(0000, 8);//倒酒
+
+            }
+
+        }
+        /// <summary>
+        /// 信号检测
+        /// </summary>
+        public void SignalDetect()
+        {
+            if (RTrig.GetInstance("AllComplete").Start(morkMW.ProcessComplete))
+            {
+                morkMW.PourWinkComplete = true;
+                DeviceProcessLogShow("订单制作完成，请取走调好酒杯");
+            }
+            if (morkMW.PourWinkComplete)
+            {
+                if (TTrig.GetInstance("PoutWinkCom").Start(morkMW.CupSignal))
+                {
+                    DeviceProcessLogShow("客户取走调好酒杯,请放置空酒杯，以待下次订单制作");
+                }
+                if (RTrig.GetInstance("PoutWinkCom").Start(morkMW.CupSignal))
+                {
+                    DeviceProcessLogShow("空酒杯就位，允许执行下一订单");
+                    morkMW.PourWinkComplete = false;
+                    morkMW.TaskLock = false;
+                    Thread.Sleep(2000);
+                }
+            }
+        }
+
+
+        /// <summary>
+        /// 读卡乐普机器人状态
+        /// </summary>
+        public override void ReadData()
+        {
+            //GetStatus("M230.0", new Action<object>((obj) =>
+            //{
+
+            //}));
+            if (modbus.Connected)
+            {
+                morkMW.ArriveWinkOneLoc = modbus.ReadCoils(4616);
+                morkMW.ArriveWinkTwoLoc = modbus.ReadCoils(4617);
+                morkMW.ArriveWinkThreeLoc = modbus.ReadCoils(4618);
+                morkMW.ArriveWinkFourLoc = modbus.ReadCoils(4619);
+                morkMW.ArriveWinkFiveLoc = modbus.ReadCoils(4620);
+                morkMW.ArriveWinkSixLoc = modbus.ReadCoils(4621);
+
+                morkMW.RobotIdle = modbus.ReadCoils(4201);
+
+
+                morkMW.CupSignal = modbus.ReadInputs(0);
+
+
+                morkMW.TakeWinkOneComplete = modbus.ReadCoils(4606);
+                morkMW.TakeWinkTwoComplete = modbus.ReadCoils(4607);
+                morkMW.TakeWinkThreeComplete = modbus.ReadCoils(4608);
+                morkMW.TakeWinkFourComplete = modbus.ReadCoils(4609);
+                morkMW.TakeWinkFiveComplete = modbus.ReadCoils(4610);
+                morkMW.TakeWinkSixComplete = modbus.ReadCoils(4611);
+                morkMW.MixWinkComplte = modbus.ReadCoils(4612);
+                morkMW.ProcessComplete = modbus.ReadCoils(4613);
+            }
+            else
+            {
+                modbus.ModbusTcpConnect("192.168.0.100", 8001);
+            }
+        }
+
+        public override void ResetProgram()
+        {
+            morkMW = null;
+            morkMW = new GVL_MorkMW();
+        }
+
+
+        public override void SimOrder()
+        {
+            EventBus.EventBus.GetInstance().Subscribe<MorkMWSimOrder>(0, delegate (IEvent @event, EventCallBackHandle callBackHandle)
+            {
+
+                if (@event != null && @event is MorkMWSimOrder order)
+                {
+                    if (order.mixWink.Count > 0)
+                    {
+                        string guid = Guid.NewGuid().ToString();
+                        orderLocInfos.Enqueue(new OrderLocInfo { mixWink = order.mixWink, SuborderId = guid });
+                        DeviceProcessLogShow("收到订单");
+                    }
+                }
+
+            });
+        }
+
+        public override void Stop()
+        {
+
+        }
+        private void GetStatus(string key, Action<object> action)
+        {
+            if (peripheralStatus.ContainsKey(key))
+            {
+                if (peripheralStatus[key] != null)
+                {
+                    action?.Invoke(peripheralStatus[key]);
+                }
+            }
+        }
+        /// <summary>
+        /// 卡乐普写数据
+        /// </summary>
+        /// <param name="address"></param>
+        /// <param name="value"></param>
+        private void WriteData(string address, object value)
+        {
+            EventBus.EventBus.GetInstance().Publish(new WriteModel() { DeviceId = DeviceId, Address = address, Value = value });
+        }
+        /// <summary>
+        /// 数据解析
+        /// </summary>
+        public void DataParse()
+        {
+            EventBus.EventBus.GetInstance().Subscribe<DoOrderEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBackHandle)
+            {
+
+                if (@event != null && @event is DoOrderEvent order)
+                {
+
+                }
+
+            });
+        }
+        #region 调试代码
+        /// <summary>
+        /// 连接卡乐普机器人
+        /// </summary>
+        /// <param name="ip"></param>
+        /// <param name="port"></param>
+        public void ConnectKlpRobot(string ip, int port)
+        {
+            modbus = new ModbusTcp();
+            modbus.Show += new Action<string>((s) =>
+            {
+                if (s != null) DeviceProcessLogShow(s);
+            });
+            modbus.ShowEx += new Action<string>((s) =>
+            {
+                if ((s != null)) DeviceProcessLogShow(s);
+            });
+            modbus.ModbusTcpConnect(ip, port);
+
+        }
+        #endregion
+        /// <summary>
+        /// 调酒订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> orderLocInfos = new ConcurrentQueue<OrderLocInfo>();
+
+    }
+}

BPASmartClient.MorkMW/GVL_MorkMW.cs

@@ -0,0 +1,75 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkMW
+{
+    public  class GVL_MorkMW
+    {
+        #region 机器人信号
+      
+
+        /// <summary>
+        /// 机器人空闲信号
+        /// </summary>
+        public bool RobotIdle { get; set; }
+
+        public bool TakeWinkOneComplete { get; set; }
+        public bool TakeWinkTwoComplete { get; set; }
+        public bool TakeWinkThreeComplete { get; set; }
+        public bool TakeWinkFourComplete { get; set; }
+        public bool TakeWinkFiveComplete { get; set; }
+        public bool TakeWinkSixComplete { get; set; }
+
+        
+
+
+        public bool ArriveWinkOneLoc { get; set; }
+
+        public bool ArriveWinkTwoLoc { get; set; }
+
+        public bool ArriveWinkThreeLoc { get; set; }
+
+        public bool ArriveWinkFourLoc { get; set; }
+
+        public bool ArriveWinkFiveLoc { get; set; }
+
+        public bool ArriveWinkSixLoc { get; set; }
+        /// <summary>
+        /// 放杯处传感器信号
+        /// </summary>
+        public bool CupSignal { get; set; }
+        /// <summary>
+        /// 摇酒完成信号
+        /// </summary>
+        public bool MixWinkComplte { get; set; }
+        /// <summary>
+        /// 机器人倒完酒并回到初始位的完成信号
+        /// </summary>
+        public bool ProcessComplete { get; set; }
+        #endregion
+
+
+        #region 流程控制
+        /// <summary>
+        /// 任务锁
+        /// </summary>
+        public bool TaskLock { get; set; }
+        /// <summary>
+        /// 接酒完成
+        /// </summary>
+        public bool AllowMixWink { get; set; }
+       
+        /// <summary>
+        /// 调酒完成
+        /// </summary>
+        public bool AllowPourWink { get; set; }
+        /// <summary>
+        /// 倒酒结束标志
+        /// </summary>
+        public bool PourWinkComplete { get; set; }
+        #endregion
+    }
+}

BPASmartClient.MorkMW/Model/OrderLocInfo.cs

@@ -0,0 +1,19 @@
+using BPASmartClient.Model;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkMW.Model
+{
+    public class OrderLocInfo
+    {
+        public string SuborderId { get; set; }
+        /// <summary>
+        /// 单个订单的制作流程
+        /// </summary>
+        public List<MixWinkModel> mixWink=new List<MixWinkModel>();
+        public string GoodName { get; set; }
+    }
+}

BPASmartClient.MorkMW/Model/SimRecipeModel.cs

@@ -0,0 +1,18 @@
+using BPASmartClient.Model;
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkMW.Model
+{
+    public class SimRecipeModel
+    {
+
+        public string GoodsName { get; set; }
+
+        public ObservableCollection<MixWinkModel> recipe { get; set; } = new ObservableCollection<MixWinkModel>();// { new MixWinkModel { materialName="白兰地",Loc=7,Time=2} }; 
+    }
+}

BPASmartClient.MorkMW/View/DebugView.xaml

@@ -0,0 +1,75 @@
+<UserControl x:Class="BPASmartClient.MorkMW.View.DebugView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:local="clr-namespace:BPASmartClient.MorkMW.View"
+             xmlns:vm="clr-namespace:BPASmartClient.MorkMW.ViewModel"
+             mc:Ignorable="d" 
+             Name="本地调试"
+             d:DesignHeight="450" d:DesignWidth="800">
+    <UserControl.DataContext>
+        <vm:DebugViewModel/>
+    </UserControl.DataContext>
+    <UserControl.Resources>
+        <ResourceDictionary>
+            <ResourceDictionary.MergedDictionaries>
+                <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/GenricStyle.xaml" />
+                <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/MyStyle.xaml" />
+            </ResourceDictionary.MergedDictionaries>
+        </ResourceDictionary>
+
+
+
+
+    </UserControl.Resources>
+    <Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition />
+            <RowDefinition Height="500"/>
+        </Grid.RowDefinitions>
+        <StackPanel>
+        <Grid Width="600"> 
+            <Grid.ColumnDefinitions>
+                <ColumnDefinition/>
+                <ColumnDefinition/>
+                <ColumnDefinition/>
+            </Grid.ColumnDefinitions>
+            <TextBlock Text="物料名称" HorizontalAlignment="Center" />
+                <TextBlock Text="物料位置" Grid.Column="1" HorizontalAlignment="Center"/>
+                <TextBlock Text="时间" Grid.Column="2" HorizontalAlignment="Center"/>
+            </Grid>
+        <StackPanel Width="600">
+            <ItemsControl ItemsSource="{Binding SimRecipe.recipe}">
+                <ItemsControl.ItemsPanel>
+                    <ItemsPanelTemplate>
+                        <StackPanel/>
+                    </ItemsPanelTemplate>
+                </ItemsControl.ItemsPanel>
+                <ItemsControl.ItemTemplate>
+                    <DataTemplate>
+                        <Grid>
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition/>
+                                <ColumnDefinition/>
+                                <ColumnDefinition/>
+                            </Grid.ColumnDefinitions>
+                            <TextBox Text="{Binding materialName}" Margin="10,10" />
+                            <ComboBox Text="{Binding Loc}" ItemsSource="{Binding DataContext.location,RelativeSource={RelativeSource Mode=FindAncestor,AncestorType=ItemsControl}}" Grid.Column="1" Margin="10,10"/>
+                            <TextBox Text="{Binding Time}" Grid.Column="2" Margin="10,10"/>
+                        </Grid>
+                    </DataTemplate>
+                </ItemsControl.ItemTemplate>
+            </ItemsControl>
+            
+        </StackPanel>
+        </StackPanel>
+        <StackPanel Orientation="Horizontal" HorizontalAlignment="Center" Grid.Row="1">
+            <Button Content="添加原料" Width="150"  Command="{Binding AddMaterial}" Margin="10,10"></Button >
+            <Button Content="删除原料" Width="150" Command="{Binding ClearMaterial}"></Button >
+            <Button Content="本地订单下发" Width="150" Margin="10,10" Command="{Binding SimOrderSetDown}" CommandParameter="{Binding SimRecipe}"/>
+        </StackPanel>
+        
+
+    </Grid>
+</UserControl>

BPASmartClient.MorkMW/View/DebugView.xaml.cs

@@ -0,0 +1,28 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace BPASmartClient.MorkMW.View
+{
+    /// <summary>
+    /// DebugView.xaml 的交互逻辑
+    /// </summary>
+    public partial class DebugView : UserControl
+    {
+        public DebugView()
+        {
+            InitializeComponent();
+        }
+    }
+}

BPASmartClient.MorkMW/ViewModel/DebugViewModel.cs

@@ -0,0 +1,58 @@
+using BPASmartClient.EventBus;
+using BPASmartClient.Model;
+using BPASmartClient.Model.订单;
+using BPASmartClient.MorkMW.Model;
+using Microsoft.Toolkit.Mvvm.ComponentModel;
+using Microsoft.Toolkit.Mvvm.Input;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkMW.ViewModel
+{
+    public  class DebugViewModel:ObservableObject
+    {
+        public DebugViewModel()
+        {
+            //SimOrderSetDown = new RelayCommand((s) =>
+            //{
+
+            //    //new MorkMWSimOrder() { mixWink = new List<MixWinkModel> { new MixWinkModel { Loc = 1,Time=3000 } } }.Publish();
+
+
+            //});
+            SimRecipe = new SimRecipeModel();
+            SimOrderSetDown = new RelayCommand<object>((s) => {
+
+                if (s is SimRecipeModel res)
+                {
+                    new MorkMWSimOrder() {mixWink=res.recipe.ToList() }.Publish();
+                }
+            });
+
+            AddMaterial = new RelayCommand(() => {
+
+                SimRecipe.recipe.Insert(0, new MixWinkModel());
+            });
+
+            ClearMaterial = new RelayCommand(() => {
+                if(SimRecipe.recipe.Count>1)
+                SimRecipe.recipe.RemoveAt(SimRecipe.recipe.Count - 2);
+            });
+        }
+  
+        /// <summary>
+        /// 模拟订单
+        /// </summary>
+        public RelayCommand<object> SimOrderSetDown { get; set; }
+
+        public RelayCommand AddMaterial { get; set; } 
+
+        public RelayCommand ClearMaterial { get; set; }
+        public SimRecipeModel SimRecipe { get; set; }
+
+        public List<int> location { get; set; } = new List<int>() { 1, 2, 3, 4, 5, 6, 7 };
+    }
+}

BPASmartClient.MorkS/BPASmartClient.MorkS.csproj

@@ -9,7 +9,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Message" Version="1.0.77" />
+    <PackageReference Include="BPA.Message" Version="1.0.79" />
     <PackageReference Include="BPA.Models" Version="1.0.34" />
     <PackageReference Include="Microsoft.Toolkit.Mvvm" Version="7.1.2" />
     <PackageReference Include="System.Speech" Version="6.0.0" />

BPASmartClient/App.config

@@ -7,9 +7,9 @@
     <add key="IsEnableTest" value="false"/>
 
     <!--测试环境-->
-    <!--<add key="apollouri" value="http://10.2.1.21:28080/"/>
+    <add key="apollouri" value="http://10.2.1.21:28080/"/>
     <add key="AppId" value="test1_HostComputer"/>
-    <add key ="Namespaces" value="DEV.test1.Config"/>-->
+    <add key ="Namespaces" value="DEV.test1.Config"/>
 
     <!--开发环境-->
     <!--<add key="apollouri" value="http://10.2.1.21:28080/"/>
@@ -17,9 +17,9 @@
     <add key ="Namespaces" value="DEV.Config"/>-->
 
     <!--正式环境-->
-    <add key="apollouri" value="http://47.108.65.220:28080/"/>
+    <!--<add key="apollouri" value="http://47.108.65.220:28080/"/>
     <add key="appid" value="hostcomputer"/>
-    <add key ="namespaces" value="test1.config"/>
+    <add key ="namespaces" value="test1.config"/>-->
 
     <!--阿里云上报启动方式:API 或者 LOCAL-->
     <!--API  :通过客户端ID,调用接口查询“设备连接信息”-->

BPASmartClient/BPASmartClient.csproj

@@ -15,6 +15,7 @@
   </ItemGroup>
 
   <ItemGroup>
+    <PackageReference Include="BPA.Message" Version="1.0.79" />
     <PackageReference Include="Microsoft.Web.WebView2" Version="1.0.1264.42" />
   </ItemGroup>
 
@@ -32,6 +33,7 @@
     <ProjectReference Include="..\BPASmartClient.MorkBF\BPASmartClient.MorkBF.csproj" />
     <ProjectReference Include="..\BPASmartClient.MorkD\BPASmartClient.MorkD.csproj" />
     <ProjectReference Include="..\BPASmartClient.MorkF\BPASmartClient.MorkF.csproj" />
+    <ProjectReference Include="..\BPASmartClient.MorkMW\BPASmartClient.MorkMW.csproj" />
     <ProjectReference Include="..\BPASmartClient.MorkM\BPASmartClient.MorkM.csproj" />
     <ProjectReference Include="..\BPASmartClient.MorkS\BPASmartClient.MorkS.csproj" />
     <ProjectReference Include="..\BPASmartClient.Morkt.JAKA.JC\BPASmartClient.MorkTJAKAJC.csproj" />

BPASmartClient/DeviceInfo.xml

@@ -61,7 +61,7 @@
   </Device>-->-->
 
 
-  <Device Name="MorkF" Module="BPASmartClient.MorkF.Control_MorkF" DeviceId="2">
+  <!--<Device Name="MorkF" Module="BPASmartClient.MorkF.Control_MorkF" DeviceId="2">
     <Peripherals>
       <Peripheral Module="BPASmartClient.PLC.PLCMachine">
         <Parameters>
@@ -71,9 +71,9 @@
         </Parameters>
       </Peripheral>
     </Peripherals>
-  </Device>
+  </Device>-->
 
-  <Device Name="Morks" Module="BPASmartClient.MorkS.Control_Morks" DeviceId="100">
+  <!--<Device Name="Morks" Module="BPASmartClient.MorkS.Control_Morks" DeviceId="100">
     <Peripherals>
       <Peripheral Module="BPASmartClient.PLC.PLCMachine">
         <Parameters>
@@ -84,8 +84,8 @@
         </Parameters>
       </Peripheral>
     </Peripherals>
-  </Device>-->-->
-	<Device Name="MorkTM" Module="BPASmartClient.MorkTM.Control_MorkTM" DeviceId="55">
+  </Device>-->
+	<!--<Device Name="MorkTM" Module="BPASmartClient.MorkTM.Control_MorkTM" DeviceId="55">
 		<Peripherals>
 			<Peripheral Module="BPASmartClient.PLC.PLCMachine">
 				<Parameters>
@@ -95,6 +95,17 @@
 				</Parameters>
 			</Peripheral>
 		</Peripherals>
+	</Device>-->-->
+	<Device Name="MorkMW" Module="BPASmartClient.MorkMW.Control_MorkMW" DeviceId="55">
+		<Peripherals>
+			<Peripheral Module="BPASmartClient.PLC.PLCMachine">
+				<Parameters>
+					<IpAddress>192.168.0.100</IpAddress>
+					<Port>8001</Port>
+					<PLCReadAddress>M,M0.1,1;M,M1.0,8;M,M2.0,9;M,M8.0,4;M,M13.5,1;M,M16.0,7;</PLCReadAddress>
+				</Parameters>
+			</Peripheral>
+		</Peripherals>
 	</Device>
 	<!--<Device Name="MorkM" Module="BPASmartClient.MorkM.Control_MorkM" DeviceId="100">
     <Peripherals>

DosingSystem/BPASmartClient.DosingSystem.csproj

@@ -22,7 +22,7 @@
 
   <ItemGroup>
     <PackageReference Include="BPA.Helper" Version="1.0.28" />
-    <PackageReference Include="BPA.Message" Version="1.0.74" />
+    <PackageReference Include="BPA.Message" Version="1.0.79" />
     <PackageReference Include="Newtonsoft.Json" Version="13.0.1" />
   </ItemGroup>
 

SmartClient.sln

@@ -194,7 +194,9 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.ScreenLib",
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "WpfTest", "WpfTest\WpfTest.csproj", "{CD43FABA-D1ED-4524-AC51-60ECDE2EAD44}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "WpfApp1", "WpfApp1\WpfApp1.csproj", "{81D03688-7361-45B8-A3EB-9B0A9222A338}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "WpfApp1", "WpfApp1\WpfApp1.csproj", "{81D03688-7361-45B8-A3EB-9B0A9222A338}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.MorkMW", "BPASmartClient.MorkMW\BPASmartClient.MorkMW.csproj", "{C763BF70-2416-4A64-9011-8EF8549473FD}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
@@ -1830,6 +1832,26 @@ Global
 		{81D03688-7361-45B8-A3EB-9B0A9222A338}.Release|x64.Build.0 = Release|Any CPU
 		{81D03688-7361-45B8-A3EB-9B0A9222A338}.Release|x86.ActiveCfg = Release|Any CPU
 		{81D03688-7361-45B8-A3EB-9B0A9222A338}.Release|x86.Build.0 = Release|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Debug|ARM.ActiveCfg = Debug|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Debug|ARM.Build.0 = Debug|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Debug|ARM64.ActiveCfg = Debug|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Debug|ARM64.Build.0 = Debug|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Debug|x64.Build.0 = Debug|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Debug|x86.Build.0 = Debug|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Release|Any CPU.Build.0 = Release|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Release|ARM.ActiveCfg = Release|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Release|ARM.Build.0 = Release|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Release|ARM64.ActiveCfg = Release|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Release|ARM64.Build.0 = Release|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Release|x64.ActiveCfg = Release|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Release|x64.Build.0 = Release|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Release|x86.ActiveCfg = Release|Any CPU
+		{C763BF70-2416-4A64-9011-8EF8549473FD}.Release|x86.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -1920,6 +1942,7 @@ Global
 		{798BBFFE-3BA2-40BA-BFE1-9502398F1F08} = {C6984F48-A0FE-47A4-B63B-E4E5BCFCD6D3}
 		{CD43FABA-D1ED-4524-AC51-60ECDE2EAD44} = {7BE13E55-D8B1-4232-AE63-8BF122633297}
 		{81D03688-7361-45B8-A3EB-9B0A9222A338} = {8712125E-14CD-4E1B-A1CE-4BDE03805942}
+		{C763BF70-2416-4A64-9011-8EF8549473FD} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {9AEC9B81-0222-4DE9-B642-D915C29222AC}

TestDemo/Form1.Designer.cs

@@ -35,6 +35,9 @@
             this.button4 = new System.Windows.Forms.Button();
             this.splitContainer1 = new System.Windows.Forms.SplitContainer();
             this.button5 = new System.Windows.Forms.Button();
+            this.button6 = new System.Windows.Forms.Button();
+            this.textBox1 = new System.Windows.Forms.TextBox();
+            this.button7 = new System.Windows.Forms.Button();
             ((System.ComponentModel.ISupportInitialize)(this.splitContainer1)).BeginInit();
             this.splitContainer1.SuspendLayout();
             this.SuspendLayout();
@@ -106,11 +109,42 @@
             this.button5.UseVisualStyleBackColor = true;
             this.button5.Click += new System.EventHandler(this.button5_Click);
             // 
+            // button6
+            // 
+            this.button6.Location = new System.Drawing.Point(408, 13);
+            this.button6.Name = "button6";
+            this.button6.Size = new System.Drawing.Size(104, 40);
+            this.button6.TabIndex = 7;
+            this.button6.Text = "卡乐普写测试";
+            this.button6.UseVisualStyleBackColor = true;
+            this.button6.Click += new System.EventHandler(this.button6_Click);
+            // 
+            // textBox1
+            // 
+            this.textBox1.Location = new System.Drawing.Point(410, 71);
+            this.textBox1.Multiline = true;
+            this.textBox1.Name = "textBox1";
+            this.textBox1.Size = new System.Drawing.Size(219, 81);
+            this.textBox1.TabIndex = 8;
+            // 
+            // button7
+            // 
+            this.button7.Location = new System.Drawing.Point(518, 12);
+            this.button7.Name = "button7";
+            this.button7.Size = new System.Drawing.Size(104, 40);
+            this.button7.TabIndex = 9;
+            this.button7.Text = "卡乐普读测试";
+            this.button7.UseVisualStyleBackColor = true;
+            this.button7.Click += new System.EventHandler(this.button7_Click);
+            // 
             // Form1
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
             this.ClientSize = new System.Drawing.Size(641, 298);
+            this.Controls.Add(this.button7);
+            this.Controls.Add(this.textBox1);
+            this.Controls.Add(this.button6);
             this.Controls.Add(this.button5);
             this.Controls.Add(this.splitContainer1);
             this.Controls.Add(this.button4);
@@ -136,5 +170,8 @@
         private Button button4;
         private SplitContainer splitContainer1;
         private Button button5;
+        private Button button6;
+        private TextBox textBox1;
+        private Button button7;
     }
 }

TestDemo/Form1.cs

@@ -4,12 +4,13 @@ using BPASmartClient.Http;
 using BPASmartClient.HubHelper;
 using Newtonsoft.Json;
 using BPASmartClient.S7Net;
+using BPASmartClient.Modbus;
 
 namespace TestDemo
 {
     public partial class Form1 : Form
     {
-
+        ModbusTcp modbus;
         int count = 0;
         SiemensHelper siemensHelper = new SiemensHelper();
         public Form1()
@@ -20,16 +21,16 @@ namespace TestDemo
             //{
             //    label1.Text = (count++).ToString();
             //}), \"加数值\");
-            SiemensHelper siemensHelper = new SiemensHelper();
-            siemensHelper.Connect(S7.Net.CpuType.S71200, "192.168.101.11");
-            var res = siemensHelper.ReadClass<ReadClass>(1);
+            //SiemensHelper siemensHelper = new SiemensHelper();
+            //siemensHelper.Connect(S7.Net.CpuType.S71200, "192.168.101.11");
+            //var res = siemensHelper.ReadClass<ReadClass>(1);
 
-            siemensHelper.WriteClass(new ReadClass() { temp1 = "我", temp2 = "你" }, 1);
+            //siemensHelper.WriteClass(new ReadClass() { temp1 = "我", temp2 = "你" }, 1);
 
-            ActionManage.GetInstance.Register(new Action(() =>
-            {
-                label1.Text = (count++).ToString();
-            }), "加数值");
+            //ActionManage.GetInstance.Register(new Action(() =>
+            //{
+            //    label1.Text = (count++).ToString();
+            //}), "加数值");
 
             //ActionManage.GetInstance.Register(new Action(() =>
             //{
@@ -37,6 +38,17 @@ namespace TestDemo
             //    Thread.Sleep(20000);
             //    Console.WriteLine(\"阻塞方法执行完成\");
             //}), \"阻塞方法\");
+            modbus = new ModbusTcp();
+            modbus.ModbusTcpConnect("192.168.0.100", 8001);
+            MessageBox.Show("卡乐普机器人连接成功");
+
+        }
+
+        private void ReadData()
+        {
+            textBox1.Text= modbus.ReadCoils(4201).ToString(); //初始位
+            //textBox1.Text = modbus.ReadInputs(0000).ToString();
+          
         }
 
         private void button1_Click(object sender, EventArgs e)
@@ -88,7 +100,24 @@ namespace TestDemo
             }
             siemensHelper.WriteClass(tt, 3);
         }
-
-       
+        /// <summary>
+        /// 卡乐普写
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void button6_Click(object sender, EventArgs e)
+        {
+              modbus.WriteSingleCoil(2000,true);
+            //modbus.WriteSingleRegister(0000,1);
+        }
+        /// <summary>
+        /// 卡乐普读
+        /// </summary>
+        /// <param name="sender"></param>
+        /// <param name="e"></param>
+        private void button7_Click(object sender, EventArgs e)
+        {
+            ReadData();
+        }
     }
 }

TestDemo/MixWinkRecipe.cs

@@ -0,0 +1,20 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace TestDemo
+{
+    /// <summary>
+    /// 调酒配方
+    /// </summary>
+    internal class MixWinkRecipe
+    {
+        public MixWinkRecipe()        {
+
+            Thread.Sleep(new TimeSpan(0,1,0));
+        }
+        
+    }
+}

TestDemo/TestDemo.csproj

@@ -22,6 +22,7 @@
     <ProjectReference Include="..\BPASmartClient.Helper\BPASmartClient.Helper.csproj" />
     <ProjectReference Include="..\BPASmartClient.Http\BPASmartClient.Http.csproj" />
     <ProjectReference Include="..\BPASmartClient.HubHelper\BPASmartClient.HubHelper.csproj" />
+    <ProjectReference Include="..\BPASmartClient.Modbus\BPASmartClient.Modbus.csproj" />
     <ProjectReference Include="..\BPASmartClient.S7Net\BPASmartClient.S7Net.csproj" />
   </ItemGroup>