morkBF

BPASmartClient.Helper/ActionManage.cs

@@ -44,7 +44,8 @@ namespace BPASmartClient.Helper
         public void Send(string key, object par, Action Callback = null)
         {
             lock (SendLock)
-                if (actions.ContainsKey(key)) actions[key].ActionPar.Invoke(par, Callback);
+                if (actions.ContainsKey(key)) 
+                    actions[key].ActionPar.Invoke(par, Callback);
         }
 
         public async void SendAsync(string key, object par, Action Callback = null)

BPASmartClient.Model/大炒/FryPotMessages.cs

@@ -11,6 +11,7 @@ namespace BPASmartClient.Model.大炒
         public string GoodName { get; set; }
         public string GoodKey { get; set; }
         public List<FryPotProcess> fryPotProcesses { get; set; } = new List<FryPotProcess>();
+        public int FryOffStirTime;//关火翻炒时间;
     }
 
     public class FryPotProcess

BPASmartClient.MorkBF/Control_MorkBF.cs

@@ -1,10 +1,10 @@
-using BPA.Helper;
-using BPA.Message;
+using BPA.Message;
 using BPA.Message.Enum;
 using BPASmartClient.Business;
 using BPASmartClient.Device;
 using BPASmartClient.EventBus;
 using BPASmartClient.Helper;
+using BPASmartClient.Message;
 using BPASmartClient.Model;
 using BPASmartClient.Model.大炒;
 using BPASmartClient.MorkBF.Model;
@@ -17,8 +17,6 @@ using System.Threading;
 using System.Threading.Tasks;
 using static BPASmartClient.EventBus.EventBus;
 using static BPASmartClient.Model.大炒.FryPotMessages;
-using ActionManage = BPA.Helper.ActionManage;
-using ThreadManage = BPA.Helper.ThreadManage;
 
 namespace BPASmartClient.MorkBF
 {
@@ -28,15 +26,30 @@ namespace BPASmartClient.MorkBF
 
         public override DeviceClientType DeviceType => DeviceClientType.MORKCS;
 
+        int RobotLeadTime = 5;//机器人提前动作时间 s
+
         public override void DoMain()
         {
             IsHealth = true;
             BPASmartClient.Helper.Json<LocalFryPotMessage>.Read();
             MonitorViewModel.DeviceId = DeviceId;
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                GlobalFoodMenu.LocalFoodMenus.Clear();
+                if(BPASmartClient.Helper.Json<LocalFryPotMessage>.Data.FryPotMessage.Count>0)
+                {
+                    foreach (var item in BPASmartClient.Helper.Json<LocalFryPotMessage>.Data.FryPotMessage)
+                    {
+                        GlobalFoodMenu.LocalFoodMenus.Add(new FoodMenuModel { GoodKey = item.GoodKey, GoodName = item.GoodName });
+                    }
+                }
+                
+            }), "更新菜单");
             CommandRegist();//调试
             ServerInit();
             DataParse();//数据解析
             ScreenDataServer();//大屏数据上报
+            ActionManage.GetInstance.Send("更新菜单");
             DeviceProcessLogShow("MORKF 设备初始化完成");
         }
 
@@ -109,7 +122,7 @@ namespace BPASmartClient.MorkBF
             ActionManage.GetInstance.Register(FirePot_PotGotoP2, "FirePot_PotGotoP2");//炒锅去位置2
             ActionManage.GetInstance.Register(FirePot_PotGotoP3, "FirePot_PotGotoP3");//炒锅去位置3
             ActionManage.GetInstance.Register(FirePot_PotGotoP4, "FirePot_PotGotoP4");//炒锅去位置4
-            ActionManage.GetInstance.Register(FirePot_PotGotoOutFoodPositiong, "FirePot_PotGotoOutFoodPositiong");//炒锅去出餐位置
+            //ActionManage.GetInstance.Register(FirePot_PotGotoOutFoodPosition, "FirePot_PotGotoOutFoodPositiong");//炒锅去出餐位置
             ActionManage.GetInstance.Register(FirePot_PotGotoInFoodPosition, "FirePot_PotGotoInFoodPosition");//炒锅去投料位置
             ActionManage.GetInstance.Register(FirePot_StartOutFood, "FirePot_StartOutFood");//出餐启动
             ActionManage.GetInstance.Register(FirePot_Clean, "FirePot_Clean");//清洗
@@ -156,27 +169,33 @@ namespace BPASmartClient.MorkBF
             
             if(morkBF.FirePan1_Order.TryDequeue(out FryPotMessages result))
             {
+
                 morkBF.FirePan1_Busy = true;
+                morkBF.FryPot1_CurrentProcess = result.fryPotProcesses;
                 foreach (var item in result.fryPotProcesses)
                 {
                     switch (item.fryActions)
                     {
                         case FryAction.冷锅加热:
                             FirePot_PotPerHeat(item, 1);
+                            MessageLog.GetInstance.Show("炒锅1---冷锅加热完成");
                             break;
 
                         case FryAction.热油:
                             FirePot_HeatOil(item,1);
+                            MessageLog.GetInstance.Show("炒锅1---热油完成");
                             break;
-
                         case FryAction.加调料:
                             FirePot_AddSeasoning(item, 1);
+                            MessageLog.GetInstance.Show("炒锅1---加调料完成");
                             break;
                         case FryAction.加辅料:
-                           
+                            FirePot_AddAccessories(item,1);
+                            MessageLog.GetInstance.Show("炒锅1---加辅料完成");
                             break;
                         case FryAction.炒制菜品:
                             FirePot_FryFood(item,1);
+                            MessageLog.GetInstance.Show("炒锅1---炒制菜品完成");
                             break;
 
                         default:
@@ -194,24 +213,45 @@ namespace BPASmartClient.MorkBF
 
 
         #region 炒锅流程功能
+
+        private bool IsRobotNextWork(List<FryPotProcess> currentProcess, int currentFryTime)
+        {
+            bool res = false;
+            if(currentProcess.Count> currentFryTime)
+            {
+                if (currentProcess[currentFryTime + 1].fryActions == FryAction.加调料 ||
+                    currentProcess[currentFryTime + 1].fryActions == FryAction.加辅料 ||
+                    currentProcess[currentFryTime + 1].fryActions == FryAction.炒制菜品)
+                {
+                    res =  true;
+                }
+            }
+            return res;
+        }
+
         /// <summary>
         /// 冷锅预热
         /// </summary>
         private void FirePot_PotPerHeat(FryPotProcess item,int i)
         {
+            bool isRobotWork = false;
             if(i == 1)//炒锅1
             {
                 FirePot1_SetFireGear(item.FryGear);
+                Thread.Sleep(200);
                 FirePot1_StartFire(true);
-                
+                isRobotWork = IsRobotNextWork(morkBF.FryPot1_CurrentProcess,item.FryTime);
             }
             else if(i == 2)//炒锅2
             {
                 FirePot2_SetFireGear(item.FryGear);
                 FirePot2_StartFire(true);
-                
+                isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
             }
-            Thread.Sleep(item.FryDuration);
+            if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
+            else Thread.Sleep(item.FryDuration * 1000);
+
+
         }
 
         /// <summary>
@@ -219,17 +259,21 @@ namespace BPASmartClient.MorkBF
         /// </summary>
         private void FirePot_HeatOil(FryPotProcess item, int i)
         {
+            bool isRobotWork = false;
             if (item.FryGear != 0)
             {
                 FirePot1_SetFireGear(item.FryGear);//设定加热挡位
                 FirePot1_StartFire(true);//开启加热
+                isRobotWork = IsRobotNextWork(morkBF.FryPot1_CurrentProcess, item.FryTime);
             }
             if (item.StirGear != 0) 
             {
                 FirePot1_SetStirGear(item.StirGear);//设定搅拌挡位
                 FirePot1_StartFire(true);//开启搅拌
+                isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
             }
-            Thread.Sleep(item.FryDuration);//加热时间;
+            if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
+            else Thread.Sleep(item.FryDuration * 1000);//加热时间;
         }
 
         /// <summary>
@@ -237,6 +281,7 @@ namespace BPASmartClient.MorkBF
         /// </summary>
         private void FirePot_AddSeasoning(FryPotProcess item,int i)
         {
+
             if(i == 1)
             {
                     
@@ -260,7 +305,7 @@ namespace BPASmartClient.MorkBF
         {
             if (i == 1)
             {
-
+                
                 morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 1, robotActionModel = RobotActionModel.取1号炒锅辅料盆1倒入1号炒锅 });
                 Thread.Sleep(item.FryDuration);
 
@@ -279,6 +324,7 @@ namespace BPASmartClient.MorkBF
         /// </summary>
         private void FirePot_FryFood(FryPotProcess item, int i)
         {
+            bool isRobotWork = false;
             if (i == 1)
             {
                 morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 1, robotActionModel = (RobotActionModel)item.accessories[0].Loc });
@@ -286,7 +332,8 @@ namespace BPASmartClient.MorkBF
                 {
                     Thread.Sleep(100);
                 }
-                Thread.Sleep(item.FryDuration);
+                isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
+               
 
             }
 
@@ -297,8 +344,11 @@ namespace BPASmartClient.MorkBF
                 {
                     Thread.Sleep(100);
                 }
-                Thread.Sleep(item.FryDuration);
+                isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
+               
             }
+            if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
+            else Thread.Sleep(item.FryDuration * 1000);//加热时间;
         }
         #endregion
 
@@ -317,27 +367,28 @@ namespace BPASmartClient.MorkBF
             {
                 if (robotAction.robotActionModel == RobotActionModel.取1号空盆出餐)
                 {
-                    Robot_Write("GM521", true);//炒锅去投料位置
+                    Robot_Write("GM520", true);//机器人去出餐倒料减速位置
                     while(!morkBF.Robot_ArriveFirePot1)//机器人到位，请求1#炒锅倒菜
                     {
                         Thread.Sleep(100);
                     }
-                    FirePot_Write("M11.6", true);//炒锅去出餐倒料位置
+                    FirePot_StartOutFood(1);//炒锅出餐;
                     while (!morkBF.FirePot1_PotOnOutFoodPosition)//炒锅在出餐倒料位置反馈
                     {
                         Thread.Sleep(1000);
                     }
-                    Thread.Sleep(20 * 1000);//等待20s出餐
+                    Thread.Sleep(6 * 1000);//等待6s出餐
+                    Robot_Write("GM521", true);//机器人出餐到料完成
 
                 }
                 else
                 {
-                    FirePot_Write("M11.7", true);//炒锅去投料位置
+                    FirePot_Write("M11.6", true);//炒锅去投料位置
                     while (!morkBF.FirePot1_PotOnIntoFoodPosition)//等待炒锅允许倒料
                     {
                         Thread.Sleep(100);
                     }
-                    Robot_Write("GM520", true);//机器人投料
+                    Robot_Write("GM531", true);//机器人投料
                 }
               
             }
@@ -345,17 +396,18 @@ namespace BPASmartClient.MorkBF
             {
                 if (robotAction.robotActionModel == RobotActionModel.取1号空盆出餐)
                 {
-                    Robot_Write("GM531", true);//炒锅去投料位置
+                    Robot_Write("GM522", true);//炒锅去出餐倒料减速位置
                     while (!morkBF.Robot_ArriveFirePot2)//机器人到位，请求1#炒锅倒菜
                     {
                         Thread.Sleep(100);
                     }
-                    FirePot_Write("M16.6", true);//炒锅去出餐倒料位置
+                    FirePot_StartOutFood(2);//炒锅去出餐倒料位置
                     while (!morkBF.FirePot2_PotOnOutFoodPosition)//炒锅在出餐倒料位置反馈
                     {
                         Thread.Sleep(1000);
                     }
-                    Thread.Sleep(20 * 1000);//等待20s出餐
+                    Thread.Sleep(6 * 1000);//等待20s出餐
+                    Robot_Write("GM523", true);//机器人出餐倒料完成
 
                 }
                 else
@@ -365,7 +417,7 @@ namespace BPASmartClient.MorkBF
                     {
                         Thread.Sleep(100);
                     }
-                    Robot_Write("GM530", true);
+                    Robot_Write("GM531", true);
                 }
                
             }
@@ -550,9 +602,9 @@ namespace BPASmartClient.MorkBF
         private void FirePot1_SetFireGear(object o)
         {
             if (o == null) return;
-            if (o is int value)
+            if (int.TryParse(o.ToString(), out int value))
             {
-                FirePot_Write("VW100", value);
+                FirePot_Write("VW100", (ushort)value);
             }
             Thread.Sleep(200);
         }
@@ -563,11 +615,12 @@ namespace BPASmartClient.MorkBF
         private void FirePot1_StartFire(object o)
         {
             if (o == null) return;
-            if (o is bool value)
+            if (bool.TryParse(o.ToString(), out bool value))
             {
                 FirePot_Write("M10.0", value);
             }
             Thread.Sleep(200);
+            FirePot_Write("M10.2", true);
         }    
         /// <summary>
         /// 炒锅1设置搅拌挡位
@@ -576,11 +629,12 @@ namespace BPASmartClient.MorkBF
         private void FirePot1_SetStirGear(object o)
         {
             if (o == null) return;
-            if (o is int value)
+            if (int.TryParse(o.ToString(), out int value))
             {
-                FirePot_Write("VW102", value);
+                FirePot_Write("VW102", (ushort)value);
             }
             Thread.Sleep(200);
+            FirePot_Write("M10.3", true);
         }
         /// <summary>
         /// 炒锅1搅拌启停
@@ -589,7 +643,7 @@ namespace BPASmartClient.MorkBF
         private void FirePot1_StartStir(object o)
         {
             if (o == null) return;
-            if (o is bool value)
+            if (bool.TryParse(o.ToString(), out bool value))
             {
                 FirePot_Write("M10.1", value);
             }
@@ -602,11 +656,13 @@ namespace BPASmartClient.MorkBF
         private void FirePot1_SetTurnSpeed(object o)
         {
             if (o == null) return;
-            if (o is int value)
+            if (int.TryParse(o.ToString(), out int value))
             {
-                FirePot_Write("VW104", value);
+                FirePot_Write("VW104", (ushort)value);
             }
             Thread.Sleep(200);
+            FirePot_Write("M10.4", true);
+            Thread.Sleep(200);
         }
         #endregion
 
@@ -618,11 +674,12 @@ namespace BPASmartClient.MorkBF
         private void FirePot2_SetFireGear(object o)
         {
             if (o == null) return;
-            if (o is int value)
+            if (int.TryParse(o.ToString(), out int value))
             {
-                FirePot_Write("VW130", value);
+                FirePot_Write("VW130", (ushort)value);
             }
             Thread.Sleep(200);
+            FirePot_Write("M15.2", true);
         }
         /// <summary>
         /// 炒锅2加热启停
@@ -646,9 +703,11 @@ namespace BPASmartClient.MorkBF
             if (o == null) return;
             if (o is int value)
             {
-                FirePot_Write("VW132", value);
+                FirePot_Write("VW132", (ushort)value);
             }
             Thread.Sleep(200);
+            FirePot_Write("M15.3", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅2搅拌启停
@@ -672,9 +731,11 @@ namespace BPASmartClient.MorkBF
             if (o == null) return;
             if (o is int value)
             {
-                FirePot_Write("VW134", value);
+                FirePot_Write("VW134", (ushort)value);
             }
             Thread.Sleep(200);
+            FirePot_Write("M15.4", true);
+            Thread.Sleep(200);
         }
 
         #endregion
@@ -687,7 +748,7 @@ namespace BPASmartClient.MorkBF
         private void FirePot_Reset(object o)
         {
             if (o == null) return;
-            if (o is int i)
+            if (int.TryParse(o.ToString(), out int i))
             {
                 if (i == 1)
                 {
@@ -708,7 +769,7 @@ namespace BPASmartClient.MorkBF
         private void FirePot_PotGotoOrigin(object o)
         {
             if (o == null) return;
-            if (o is int i)
+            if (int.TryParse(o.ToString(), out int i))
             {
                 if (i == 1)
                 {
@@ -728,7 +789,7 @@ namespace BPASmartClient.MorkBF
         private void FirePot_PotGotoP1(object o)
         {
             if (o == null) return;
-            if (o is int i)
+            if (int.TryParse(o.ToString(), out int i))
             {
                 if (i == 1)
                 {
@@ -748,7 +809,7 @@ namespace BPASmartClient.MorkBF
         private void FirePot_PotGotoP2(object o)
         {
             if (o == null) return;
-            if (o is int i)
+            if (int.TryParse(o.ToString(), out int i))
             {
                 if (i == 1)
                 {
@@ -768,7 +829,7 @@ namespace BPASmartClient.MorkBF
         private void FirePot_PotGotoP3(object o)
         {
             if (o == null) return;
-            if (o is int i)
+            if (int.TryParse(o.ToString(), out int i))
             {
                 if (i == 1)
                 {
@@ -788,7 +849,7 @@ namespace BPASmartClient.MorkBF
         private void FirePot_PotGotoP4(object o)
         {
             if (o == null) return;
-            if (o is int i)
+            if (int.TryParse(o.ToString(), out int i))
             {
                 if (i == 1)
                 {
@@ -801,26 +862,26 @@ namespace BPASmartClient.MorkBF
             }
             Thread.Sleep(200);
         }
-        /// <summary>
-        /// 炒锅去出餐位置
-        /// </summary>
-        /// <param name="o"></param>
-        private void FirePot_PotGotoOutFoodPositiong(object o)
-        {
-            if (o == null) return;
-            if (o is int i)
-            {
-                if (i == 1)
-                {
-                    FirePot_Write("M11.6", true);
-                }
-                else if (i == 2)
-                {
-                    FirePot_Write("M16.6", true);
-                }
-            }
-            Thread.Sleep(200);
-        }
+        ///// <summary>
+        ///// 炒锅去出餐位置
+        ///// </summary>
+        ///// <param name="o"></param>
+        //private void FirePot_PotGotoOutFoodPositiong(object o)
+        //{
+        //    if (o == null) return;
+        //    if (o is int i)
+        //    {
+        //        if (i == 1)
+        //        {
+        //            FirePot_Write("M11.6", true);
+        //        }
+        //        else if (i == 2)
+        //        {
+        //            FirePot_Write("M16.6", true);
+        //        }
+        //    }
+        //    Thread.Sleep(200);
+        //}
         /// <summary>
         /// 炒锅去投料位置
         /// </summary>
@@ -828,15 +889,15 @@ namespace BPASmartClient.MorkBF
         private void FirePot_PotGotoInFoodPosition(object o)
         {
             if (o == null) return;
-            if (o is int i)
+            if (int.TryParse(o.ToString() ,out int i))
             {
                 if (i == 1)
                 {
-                    FirePot_Write("M11.7", true);
+                    FirePot_Write("M11.6", true);
                 }
                 else if (i == 2)
                 {
-                    FirePot_Write("M16.7", true);
+                    FirePot_Write("M16.6", true);
                 }
             }
             Thread.Sleep(200);
@@ -848,7 +909,7 @@ namespace BPASmartClient.MorkBF
         private void FirePot_StartOutFood(object o)
         {
             if (o == null) return;
-            if (o is int i)
+            if (int.TryParse(o.ToString(), out int i))
             {
                 if (i == 1)
                 {
@@ -869,7 +930,7 @@ namespace BPASmartClient.MorkBF
         private void FirePot_Clean(object o)
         {
             if (o == null) return;
-            if (o is int i)
+            if (int.TryParse(o.ToString(), out int i))
             {
                 if (i == 1)
                 {
@@ -890,7 +951,7 @@ namespace BPASmartClient.MorkBF
         private void FirePot_StartPumpWater(object o)
         {
             if (o == null) return;
-            if (o is int i)
+            if (int.TryParse(o.ToString(), out int i))
             {
                 if (i == 1)
                 {
@@ -910,7 +971,7 @@ namespace BPASmartClient.MorkBF
         private void FirePot_StartPumpOil(object o)
         {
             if (o == null) return;
-            if (o is int i)
+            if (int.TryParse(o.ToString(), out int i))
             {
                 if (i == 1)
                 {
@@ -963,7 +1024,7 @@ namespace BPASmartClient.MorkBF
         /// </summary>
         private void Robot_Pot1AllowInMaterail()
         {
-            Robot_Write("GM520", true);
+            Robot_Write("GM531", true);
             Thread.Sleep(200);
         }
         /// <summary>
@@ -971,7 +1032,7 @@ namespace BPASmartClient.MorkBF
         /// </summary>
         private void Robot_Pot1OutFoodInSlowDown()
         {
-            Robot_Write("GM621", true);
+            Robot_Write("GM620", true);
             Thread.Sleep(200);
         }
         /// <summary>
@@ -979,7 +1040,7 @@ namespace BPASmartClient.MorkBF
         /// </summary>
         private void Robot_Pot1OutFood()
         {
-            Robot_Write("GM522", true);
+            Robot_Write("GM521", true);
             Thread.Sleep(200);
         }
         /// <summary>
@@ -995,7 +1056,7 @@ namespace BPASmartClient.MorkBF
         /// </summary>
         private void Robot_Pot2OutFoodInSlowDown()
         {
-            Robot_Write("GM531", true);
+            Robot_Write("GM522", true);
             Thread.Sleep(200);
         }
         /// <summary>
@@ -1003,7 +1064,7 @@ namespace BPASmartClient.MorkBF
         /// </summary>
         private void Robot_Pot2OutFood()
         {
-            Robot_Write("GM532", true);
+            Robot_Write("GM523", true);
             Thread.Sleep(200);
         }
         /// <summary>
@@ -1012,7 +1073,7 @@ namespace BPASmartClient.MorkBF
         private void RobotActionStart(object o)
         {
             if (o == null) return;
-            if(o is int value)
+            if(int.TryParse(o.ToString(), out int value))
             {
                 Robot_Write("GI0",value);
             }

BPASmartClient.MorkBF/GVL_MorkBF.cs

@@ -32,6 +32,15 @@ namespace BPASmartClient.MorkBF
         /// 炒锅2忙碌
         /// </summary>
         public bool FirePan2_Busy = false;
+        /// <summary>
+        /// 炒锅1当前流程
+        /// </summary>
+        public List<FryPotProcess>  FryPot1_CurrentProcess;
+        /// <summary>
+        /// 炒锅2当前流程
+        /// </summary>
+        public List<FryPotProcess> FryPot2_CurrentProcess;
+
 
         #region 炒锅1读取数据
         /// <summary>

BPASmartClient.MorkBF/VIew/DebugView.xaml

@@ -21,13 +21,11 @@
     </UserControl.Resources>
     <Grid>
         <Grid.RowDefinitions>
-            <RowDefinition Height="40"/>
-            <RowDefinition Height="2*"/>
             <RowDefinition Height="*"/>
             <RowDefinition Height="*"/>
             <RowDefinition Height="*"/>
         </Grid.RowDefinitions>
-        <Button Content="添加新菜品" Width="200" Click="Button_Click"/>
+        <!--<Button Content="添加新菜品" Width="200" Click="Button_Click"/>
         <ListBox Grid.Row="1" ItemsSource="{Binding fryPotMessages}">
             <ListBox.Template>
                 <ControlTemplate TargetType="{x:Type ListBox}">
@@ -51,18 +49,18 @@
                     
                 </DataTemplate>
             </ListBox.ItemTemplate>
-        </ListBox>
+        </ListBox>-->
         
-        <GroupBox Grid.Row="2" Header="炒锅1" FontSize="22">
+        <GroupBox Grid.Row="0" Header="炒锅1" FontSize="22">
             <WrapPanel  Orientation="Horizontal">
                 <Button Content="复位" Width="110" Margin="10,5" Command="{Binding FirePot_ResetCommand}" CommandParameter="1"/>
                 <TextBlock Text="加热挡位" Margin="10,5"/>
-                <ComboBox Width="80" ItemsSource="{Binding FireGear}" Margin="10,5" SelectedItem="{Binding FirePot1_FireGear}"/>
+                <ComboBox Width="80" ItemsSource="{Binding FireGear}" Margin="10,5" SelectedItem="{Binding FirePot1_FireGear}" SelectedIndex="0" />
                 <Button Content="加热档位设定" Width="110" Margin="10,5" Command="{Binding FirePot1_SetFireGearCommand}"/>
                 <Button Content="加热启动" Width="80" Margin="10,5" Command="{Binding FirePot1_StartFireCommand}"/>
                 <Button Content="加热停止" Width="80" Margin="10,5,30,5" Command="{Binding FirePot1_StopFireCommand}"/>
                 <TextBlock Text="搅拌挡位" Margin="10,5"/>
-                <ComboBox Width="80" ItemsSource="{Binding StirGear}" SelectedItem="{Binding FirePot1_StirGear}" Margin="10,5"/>
+                <ComboBox Width="80" ItemsSource="{Binding StirGear}" SelectedItem="{Binding FirePot1_StirGear}" Margin="10,5" SelectedIndex="0" />
                 <Button Content="搅拌档位设定" Width="110" Margin="10,5" Command="{Binding FirePot1_SetStirGearCommand}"/>
                 <Button Content="搅拌启动" Width="80" Margin="10,5" Command="{Binding FirePot1_StartStirCommand}"/>
                 <Button Content="搅拌停止" Width="80" Margin="10,5,30,5" Command="{Binding FirePot1_StopStirCommand}"/>
@@ -83,16 +81,16 @@
             </WrapPanel>
 
         </GroupBox>
-        <GroupBox Grid.Row="3" Header="炒锅2" FontSize="22">
+        <GroupBox Grid.Row="1" Header="炒锅2" FontSize="22">
             <WrapPanel Grid.Row="1" Orientation="Horizontal">
                 <Button Content="复位" Width="110" Margin="10,5" Command="{Binding FirePot_ResetCommand}" CommandParameter="1"/>
                 <TextBlock Text="加热挡位" Margin="10,5"/>
-                <ComboBox Width="80" ItemsSource="{Binding FireGear}" Margin="10,5" SelectedItem="{Binding FirePot2_FireGear}"/>
+                <ComboBox Width="80" ItemsSource="{Binding FireGear}" Margin="10,5" SelectedItem="{Binding FirePot2_FireGear}" SelectedIndex="0" />
                 <Button Content="加热档位设定" Width="110" Margin="10,5" Command="{Binding FirePot2_SetFireGearCommand}"/>
                 <Button Content="加热启动" Width="80" Margin="10,5" Command="{Binding FirePot2_StartFireCommand}"/>
                 <Button Content="加热停止" Width="80" Margin="10,5,30,5" Command="{Binding FirePot2_StopFireCommand}"/>
                 <TextBlock Text="搅拌挡位" Margin="10,5"/>
-                <ComboBox Width="80" ItemsSource="{Binding StirGear}" SelectedItem="{Binding FirePot2_StirGear}" Margin="10,5"/>
+                <ComboBox Width="80" ItemsSource="{Binding StirGear}" SelectedItem="{Binding FirePot2_StirGear}" Margin="10,5" SelectedIndex="0" />
                 <Button Content="搅拌档位设定" Width="110" Margin="10,5" Command="{Binding FirePot2_SetStirGearCommand}"/>
                 <Button Content="搅拌启动" Width="80" Margin="10,5" Command="{Binding FirePot2_StartStirCommand}"/>
                 <Button Content="搅拌停止" Width="80" Margin="10,5,30,5" Command="{Binding FirePot2_StopStirCommand}"/>
@@ -112,14 +110,14 @@
                 <Button Content="炒锅去投料位置" Width="110" Margin="10,5"  Command="{Binding FirePot_PotGotoInFoodPositionCommand}" CommandParameter="2"/>
             </WrapPanel>
         </GroupBox>
-        <GroupBox Grid.Row="4" Header="机器人" FontSize="22">
+        <GroupBox Grid.Row="2" Header="机器人" FontSize="22">
             <WrapPanel Orientation="Horizontal">
                 <Button Content="机器人启动" Width="110" Margin="10,5"  Command="{Binding RobotStartCommand}"/>
                 <Button Content="复位" Width="110" Margin="10,5"  Command="{Binding RobotResetCommand}"/>
                 <Button Content="程序启动" Width="110" Margin="10,5"  Command="{Binding RobotProgramStartCommand}"/>
                 <Button Content="机器人停止" Width="110" Margin="10,5"  Command="{Binding RobotStopCommand}"/>
-                <Button Content="1号炒锅允许机器人投料" Width="160" Margin="10,5"  Command="{Binding Robot_Pot1AllowInMaterailCommand}"/>
-                <Button Content="1号炒锅出餐倒料到减速位" Width="160" Margin="10,5"  Command="{Binding Robot_Pot1OutFoodInSlowDownCommand}"/>
+                <Button Content="1号炒锅允许机器人投料" Width="160" Margin="10,5"  Command="{Binding Robot_Pot1AllowInMaterailCommand}" Cursor="Hand"/>
+                <Button Content="1号炒锅出餐倒料到减速位" Width="160" Margin="10,5"  Command="{Binding Robot_Pot1OutFoodInSlowDownCommand}" Cursor="Hand"/>
                 <Button Content="1号炒锅出餐倒料完成" Width="160" Margin="10,5"  Command="{Binding Robot_Pot1OutFoodCommand}"/>
                 <Button Content="2号炒锅允许机器人投料" Width="160" Margin="10,5"  Command="{Binding Robot_Pot2AllowInMaterailCommand}"/>
                 <Button Content="2号炒锅出餐倒料到减速位" Width="160" Margin="10,5"  Command="{Binding Robot_Pot2OutFoodInSlowDownCommand}"/>

BPASmartClient.MorkBF/VIew/FoodManagerView.xaml

@@ -30,6 +30,7 @@
             <Grid.RowDefinitions>
                 <RowDefinition Height="50"/>
                 <RowDefinition Height="*"/>
+                <RowDefinition Height="50"/>
             </Grid.RowDefinitions>
             <StackPanel Orientation="Horizontal" HorizontalAlignment="Center" VerticalAlignment="Center" Height="45">
                 <TextBlock Text="菜品名称:" Margin="10,0"/>
@@ -70,6 +71,12 @@
                     </ListBox.ItemTemplate>
                 </ListBox>
             </Grid>
+            <StackPanel Orientation="Horizontal" Grid.Row="2" Margin="70,0" >
+                <TextBlock Text="关火搅拌时间" Margin="10,0"/>
+                <TextBox Text="{Binding FryOffStirTime}" Width="60"/>
+                <TextBlock Text="秒" Margin="10"/>
+            </StackPanel>
+            
         </Grid>
     </Border>
 </Window>

BPASmartClient.MorkBF/VIew/MenuView.xaml

@@ -0,0 +1,68 @@
+<UserControl x:Class="BPASmartClient.MorkBF.VIew.MenuView"
+             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.MorkBF.VIew"
+             xmlns:vm="clr-namespace:BPASmartClient.MorkBF.ViewModel"
+             x:Name="菜单"
+             mc:Ignorable="d" 
+             d:DesignHeight="450" d:DesignWidth="800">
+    <UserControl.DataContext>
+        <vm:MenuViewModel/>
+    </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 Height="100"/>
+            <RowDefinition Height="*"/>
+        </Grid.RowDefinitions>
+        <Button Content="添加新菜品" Width="200" Click="Button_Click"/>
+        <ListBox Grid.Row="1" ItemsSource="{Binding fryPotMessages}">
+            <ListBox.Template>
+                <ControlTemplate TargetType="{x:Type ListBox}">
+                    <WrapPanel Orientation="Horizontal" IsItemsHost="True"></WrapPanel>
+                </ControlTemplate>
+            </ListBox.Template>
+            <ListBox.ItemTemplate>
+                <DataTemplate>
+                    <Border Margin="5,10">
+                        <Border.Background>
+                            <ImageBrush ImageSource="/BPASmartClient.CustomResource;component/Image/矩形.png"/>
+                        </Border.Background>
+                        <Grid Margin="0,5,0,10">
+                            <Grid.RowDefinitions>
+                                <RowDefinition Height="*"/>
+                                <RowDefinition Height="*"/>
+                            </Grid.RowDefinitions>
+                            <StackPanel Orientation="Horizontal" Margin="10">
+                                <TextBlock Text="{Binding GoodName}" HorizontalAlignment="Center" VerticalAlignment="Center" FontSize="18" Margin="10,0"/>
+                                <Button Content="编辑" Command="{Binding DataContext.MenuEditCommand, RelativeSource={RelativeSource AncestorType=UserControl,Mode=FindAncestor}}"
+                                CommandParameter="{Binding DataContext , RelativeSource={RelativeSource AncestorType=ListBoxItem,Mode=FindAncestor}}" Margin="10,0"/>
+                                <Button Content="删除 " Command="{Binding DataContext.MenuDeleteCommand, RelativeSource={RelativeSource AncestorType=UserControl,Mode=FindAncestor}}"
+                                CommandParameter="{Binding DataContext , RelativeSource={RelativeSource AncestorType=ListBoxItem,Mode=FindAncestor}}" Margin="10,0"/>
+                            </StackPanel>
+                            <StackPanel Orientation="Horizontal" Grid.Row="1" HorizontalAlignment="Center" VerticalAlignment="Center">
+                                <Button Grid.Row="1" Content="下单_炒锅1" Width="120" HorizontalAlignment="Center" VerticalAlignment="Center"
+                                    Command="{Binding DataContext.FryPot1_StartOrderCommand, RelativeSource={RelativeSource AncestorType=UserControl,Mode=FindAncestor}}"
+                                    CommandParameter="{Binding DataContext , RelativeSource={RelativeSource AncestorType=ListBoxItem,Mode=FindAncestor}}" Margin="5,5"/>
+                                <Button Grid.Row="1" Content="下单_炒锅2" Width="120" HorizontalAlignment="Center" VerticalAlignment="Center"
+                                    Command="{Binding DataContext.FryPot2_StartOrderCommand, RelativeSource={RelativeSource AncestorType=UserControl,Mode=FindAncestor}}"
+                                    CommandParameter="{Binding DataContext , RelativeSource={RelativeSource AncestorType=ListBoxItem,Mode=FindAncestor}}"  Margin="5,5"/>
+                            </StackPanel>
+                        </Grid>
+                       
+                    </Border>
+
+                </DataTemplate>
+            </ListBox.ItemTemplate>
+        </ListBox>
+    </Grid>
+</UserControl>

BPASmartClient.MorkBF/VIew/MenuView.xaml.cs

@@ -0,0 +1,36 @@
+using BPASmartClient.MorkBF.Model;
+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.MorkBF.VIew
+{
+    /// <summary>
+    /// MenuView.xaml 的交互逻辑
+    /// </summary>
+    public partial class MenuView : UserControl
+    {
+        public MenuView()
+        {
+            InitializeComponent();
+        }
+
+        private void Button_Click(object sender, RoutedEventArgs e)
+        {
+            Global.GLoFryMessage = null;
+            FoodManagerView foodManagerView = new FoodManagerView();
+            foodManagerView.ShowDialog();
+        }
+    }
+}

BPASmartClient.MorkBF/ViewModel/DebugViewModel.cs

@@ -17,30 +17,7 @@ namespace BPASmartClient.MorkBF.ViewModel
     partial class DebugViewModel
     { 
 
-        public ObservableCollection<FryPotMessages> fryPotMessages { get; set; } = Json<LocalFryPotMessage>.Data.FryPotMessage;
-
-        [RelayCommand]
-        private void MenuEdit(object o)
-        {
-            if (o == null) return;
-            if(o is FryPotMessages value)
-            {
-                Global.GLoFryMessage = value;
-                FoodManagerView foodManagerView = new FoodManagerView();
-                foodManagerView.ShowDialog();
-            }
-        }
-
-        [RelayCommand]
-        private void MenuDelete(object o)
-        {
-            if (o == null) return;
-            if (o is FryPotMessages value)
-            {
-                fryPotMessages.Remove(value);
-            }
-            Json<LocalFryPotMessage>.Save();
-        }
+        
 
 
 
@@ -55,13 +32,13 @@ namespace BPASmartClient.MorkBF.ViewModel
         public ObservableCollection<int> StirGear { get; set; } = new ObservableCollection<int>() { 1, 2, 3, 4, 5 };
 
         [ObservableProperty]
-        private int _firePot1_FireGear = 0;
+        private int _firePot1_FireGear = 1;
         [ObservableProperty]
-        private int _firePot2_FireGear = 0;
+        private int _firePot2_FireGear = 1;
         [ObservableProperty]
-        private int _firePot1_StirGear = 0;
+        private int _firePot1_StirGear = 1;
         [ObservableProperty]
-        private int _firePot2_StirGear = 0;
+        private int _firePot2_StirGear = 1;
         [ObservableProperty]
         private int _firePot1_TurnSpeed;
         [ObservableProperty]
@@ -74,7 +51,7 @@ namespace BPASmartClient.MorkBF.ViewModel
         [RelayCommand]
         private void FirePot1_SetFireGear()
         {
-            ActionManage.GetInstance.Send("FirePot1_SetFireGear",new List<int> { FirePot1_FireGear});
+            ActionManage.GetInstance.Send("FirePot1_SetFireGear", FirePot1_FireGear);
         }
         /// <summary>
         /// 加热启动
@@ -98,7 +75,7 @@ namespace BPASmartClient.MorkBF.ViewModel
         [RelayCommand]
         private void FirePot1_SetStirGear()
         {
-            ActionManage.GetInstance.Send("FirePot1_SetStirGear",new List<int> { FirePot1_StirGear});
+            ActionManage.GetInstance.Send("FirePot1_SetStirGear", FirePot1_StirGear);
         }
         /// <summary>
         /// 搅拌启动
@@ -123,7 +100,7 @@ namespace BPASmartClient.MorkBF.ViewModel
         private void FirePot1_SetTurnSpeed()
         {
             if (FirePot1_TurnSpeed > 800) FirePot1_TurnSpeed = 800;
-            ActionManage.GetInstance.Send("FirePot1_SetTurnSpeed",new List<int> { FirePot1_TurnSpeed});
+            ActionManage.GetInstance.Send("FirePot1_SetTurnSpeed", FirePot1_TurnSpeed);
         }
         #endregion
 
@@ -134,7 +111,7 @@ namespace BPASmartClient.MorkBF.ViewModel
         [RelayCommand]
         private void FirePot2_SetFireGear()
         {
-            ActionManage.GetInstance.Send("FirePot2_SetFireGear", new List<int> { FirePot2_FireGear });
+            ActionManage.GetInstance.Send("FirePot2_SetFireGear", FirePot2_FireGear );
         }
         /// <summary>
         /// 加热启动
@@ -158,7 +135,7 @@ namespace BPASmartClient.MorkBF.ViewModel
         [RelayCommand]
         private void FirePot2_SetStirGear()
         {
-            ActionManage.GetInstance.Send("FirePot2_SetStirGear", new List<int> { FirePot2_StirGear });
+            ActionManage.GetInstance.Send("FirePot2_SetStirGear", FirePot2_StirGear);
         }
         /// <summary>
         /// 搅拌启动
@@ -174,7 +151,7 @@ namespace BPASmartClient.MorkBF.ViewModel
         [RelayCommand]
         private void FirePot2_StopStir()
         {
-            ActionManage.GetInstance.Send("FirePot1_StopStir", false);
+            ActionManage.GetInstance.Send("FirePot2_StopStir", false);
         }
         /// <summary>
         /// 翻转频率设定
@@ -183,7 +160,7 @@ namespace BPASmartClient.MorkBF.ViewModel
         private void FirePot2_SetTurnSpeed()
         {
             if (FirePot1_TurnSpeed > 800) FirePot1_TurnSpeed = 800;
-            ActionManage.GetInstance.Send("FirePot2_SetTurnSpeed", new List<int> { FirePot2_TurnSpeed });
+            ActionManage.GetInstance.Send("FirePot2_SetTurnSpeed", FirePot2_TurnSpeed );
         }
         #endregion
 
@@ -250,6 +227,7 @@ namespace BPASmartClient.MorkBF.ViewModel
         [RelayCommand]
         private void FirePot_PotGotoInFoodPosition(object o)
         {
+           
             ActionManage.GetInstance.Send("FirePot_PotGotoInFoodPosition", o);
         }
         /// <summary>

BPASmartClient.MorkBF/ViewModel/FoodManagerViewModel.cs

@@ -16,7 +16,7 @@ namespace BPASmartClient.MorkBF.ViewModel
         /// <summary>
         /// 菜品步骤
         /// </summary>
-        public ObservableCollection<FryPotProcess> FryPotProcesses { get; set; } =new ObservableCollection<FryPotProcess>();
+        public ObservableCollection<FryPotProcess> FryPotProcesses { get; set; } = new ObservableCollection<FryPotProcess>();
 
         public ObservableCollection<FryAction> FryAction { get; set; } = new ObservableCollection<FryAction>();
 
@@ -59,6 +59,7 @@ namespace BPASmartClient.MorkBF.ViewModel
                 });
             }
             Json<LocalFryPotMessage>.Save();
+            ActionManage.GetInstance.Send("更新菜单");
             ActionManage.GetInstance.Send("FoodManagerViewClose");
         }
 
@@ -70,7 +71,8 @@ namespace BPASmartClient.MorkBF.ViewModel
             {
                 FryPotProcesses.Remove(value);
             }
-            
+            ActionManage.GetInstance.Send("更新菜单");
+
         }
 
 
@@ -87,7 +89,6 @@ namespace BPASmartClient.MorkBF.ViewModel
                 GoodName = Global.GLoFryMessage.GoodName;
                 FryPotProcesses = new ObservableCollection<FryPotProcess>(Global.GLoFryMessage.fryPotProcesses);
             }
-            
         }
     }
 }

BPASmartClient.MorkBF/ViewModel/MenuViewModel.cs

@@ -0,0 +1,62 @@
+using BPASmartClient.Helper;
+using BPASmartClient.Model.大炒;
+using BPASmartClient.MorkBF.Model;
+using BPASmartClient.MorkBF.VIew;
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkBF.ViewModel
+{
+    [INotifyPropertyChanged]
+    partial class MenuViewModel
+    {
+        public ObservableCollection<FryPotMessages> fryPotMessages { get; set; } = Json<LocalFryPotMessage>.Data.FryPotMessage;
+
+        [RelayCommand]
+        private void MenuEdit(object o)
+        {
+            if (o == null) return;
+            if (o is FryPotMessages value)
+            {
+                Global.GLoFryMessage = value;
+                FoodManagerView foodManagerView = new FoodManagerView();
+                foodManagerView.ShowDialog();
+            }
+        }
+
+        [RelayCommand]
+        private void MenuDelete(object o)
+        {
+            if (o == null) return;
+            if (o is FryPotMessages value)
+            {
+                fryPotMessages.Remove(value);
+            }
+            Json<LocalFryPotMessage>.Save();
+        }
+        [RelayCommand]
+        private void FryPot1_StartOrder(object o)
+        {
+            if (o == null) return;
+            if (o is FryPotMessages value)
+            {
+                ActionManage.GetInstance.Send("FryPot1StartLocalOrder", value.fryPotProcesses);
+            }
+   
+        }
+
+        [RelayCommand]
+        private void FryPot2_StartOrder(object o)
+        {
+            if (o == null) return;
+            if (o is FryPotMessages value)
+            {
+                ActionManage.GetInstance.Send("FryPot2StartLocalOrder", value.fryPotProcesses);
+            }
+        }
+    }
+}