morkBF

BPASmartClient.Device/BaseDevice.cs

@@ -98,6 +98,8 @@ namespace BPASmartClient.Device
         /// </summary>
         protected ConcurrentDictionary<string, object> peripheralStatus = new ConcurrentDictionary<string, object>();
 
+        protected 
+
         /// <summary>
         /// 外设设备集合
         /// </summary>

BPASmartClient.Modbus/ModbusTcp.cs

@@ -132,7 +132,24 @@ namespace BPASmartClient.Modbus
                         }
                     }
                 }
-                if (address.ToUpper().Contains("LB") && address.Length >= 3)
+                else if (address.ToUpper().Contains("GM") && address.Length >= 3)
+                {
+                    var res = address.Remove(0,2);
+                    if (res != null && res.Length > 0) 
+                    {
+                        return int.Parse(res) + 4096;
+                    }
+                }
+
+                else if (address.ToUpper().Contains("GI") && address.Length >= 3)
+                {
+                    var res = address.Remove(0, 2);
+                    if (res != null && res.Length > 0)
+                    {
+                        return int.Parse(res);
+                    }
+                }
+                else if(address.ToUpper().Contains("LB") && address.Length >= 3)
                 {
                     var res = address.Substring(2);
                     if (res != null && res.Length > 0)
@@ -143,8 +160,7 @@ namespace BPASmartClient.Modbus
                         }
                     }
                 }
-
-                else if (address.ToUpper().Contains("VW") && address.Length >= 3)
+                else if (address.ToUpper().Contains("VW")|| address.ToUpper().Contains("VD") && address.Length >= 3)
                 {
                     var res = address.Substring(2);
                     if (res != null && int.TryParse(res, out int tempAddress))
@@ -241,16 +257,27 @@ namespace BPASmartClient.Modbus
             CommandType commandType = CommandType.Coils;
             try
             {
-                if (address.ToUpper().Contains("M"))
+                if (address.ToUpper().Contains("M") || address.ToUpper().Contains("GM")) 
                 {
                     commandType = CommandType.Coils;
                     return master.ReadCoils(slaveAddress, startAddress, len);
                 }
-                else if (address.ToUpper().Contains("VW") || address.ToUpper().Contains("LW") || address.ToUpper().Contains("D"))
+                else if (address.ToUpper().Contains("VW") || address.ToUpper().Contains("LW") || address.ToUpper().Contains("D") || address.ToUpper().Contains("GI")) 
                 {
                     commandType = CommandType.HoldingRegisters;
                     return master.ReadHoldingRegisters(slaveAddress, startAddress, len);
                 }
+                else if (address.ToUpper().Contains("VD"))
+                {
+                    commandType = CommandType.HoldingRegisters;
+                    var var1 = master.ReadHoldingRegisters(slaveAddress, startAddress, len);
+                    var var2 = master.ReadHoldingRegisters(slaveAddress, (ushort)(startAddress+2), len);
+                    int dest = 0;
+                    dest |= (var2[0] & 0x0000ffff);
+                    dest = (dest << 16) | (var1[0] & 0x0000ffff);
+                    return dest;
+
+                }
                 else if (address.ToUpper().Contains("I"))
                 {
                     commandType = CommandType.Inputs;
@@ -325,6 +352,14 @@ namespace BPASmartClient.Modbus
                     else if (value is bool[] boolsValue)
                         master.WriteMultipleCoils(slaveAddress, startAddress, boolsValue);
                 }
+                if (address.ToUpper().Contains("GM") && address.Length >= 3)
+                {
+                    commandType = CommandType.Coils;
+                    if (value is bool boolValue)
+                        master.WriteSingleCoil(slaveAddress, startAddress, boolValue);
+                    else if (value is bool[] boolsValue)
+                        master.WriteMultipleCoils(slaveAddress, startAddress, boolsValue);
+                }
                 else if(address.ToUpper().Contains("LB"))
                 {
                     commandType = CommandType.Coils;
@@ -333,7 +368,19 @@ namespace BPASmartClient.Modbus
                     else if (value is bool[] boolsValue)
                         master.WriteMultipleCoils(slaveAddress, startAddress, boolsValue);
                 }
-                else if (address.ToUpper().Contains("VW") || address.ToUpper().Contains("LW") || address.ToUpper().Contains("D"))
+                else if (address.ToUpper().Contains("VD"))
+                {
+                    commandType = CommandType.HoldingRegisters;
+                    if (value is int intValue)
+                    {
+                       var  val1 = (UInt16)intValue;
+                        var  val2 = Convert.ToUInt16(intValue >> 16 & 0x0000ffff);
+                        master.WriteSingleRegister(slaveAddress, startAddress, val1);
+                        master.WriteSingleRegister(slaveAddress, (ushort)(startAddress + 1), val2);
+                    }
+                    
+                }
+                else if (address.ToUpper().Contains("VW") || address.ToUpper().Contains("LW") || address.ToUpper().Contains("D") || address.ToUpper().Contains("GI"))
                 {
                     commandType = CommandType.HoldingRegisters;
                     if (value is ushort ushortValue)

BPASmartClient.MorkBF/BPASmartClient.MorkBF.csproj

@@ -7,7 +7,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <Folder Include="ViewModel\" />
+    <PackageReference Include="CommunityToolkit.Mvvm" Version="8.0.0" />
   </ItemGroup>
 
   <ItemGroup>

BPASmartClient.MorkBF/Control_MorkBF.cs

@@ -21,6 +21,8 @@ namespace BPASmartClient.MorkBF
 
         public override void DoMain()
         {
+            
+
             CommandRegist();//调试
             ServerInit();
             DataParse();//数据解析
@@ -74,7 +76,54 @@ namespace BPASmartClient.MorkBF
         /// <exception cref="NotImplementedException"></exception>
         private void CommandRegist()
         {
-            
+            #region 炒锅1
+            ActionManage.GetInstance.Register(FirePot1_SetFireGear, "FirePot1_SetFireGear");//炒锅1设定加热挡位
+            ActionManage.GetInstance.Register(FirePot1_StartFire, "FirePot1_StartFire");//炒锅1加热启动
+            ActionManage.GetInstance.Register(FirePot1_StartFire, "FirePot1_StopFire");//炒锅1关闭加热
+            ActionManage.GetInstance.Register(FirePot1_SetStirGear, "FirePot1_SetStirGear");//炒锅1设定搅拌挡位
+            ActionManage.GetInstance.Register(FirePot1_StartStir, "FirePot1_StartStir");//炒锅1搅拌启动
+            ActionManage.GetInstance.Register(FirePot1_StartStir, "FirePot1_StopStir");//炒锅1搅拌停止
+            ActionManage.GetInstance.Register(FirePot1_SetTurnSpeed, "FirePot1_SetTurnSpeed");//炒锅1翻转频率设定
+            #endregion
+            #region 炒锅2
+            ActionManage.GetInstance.Register(FirePot2_SetFireGear, "FirePot2_SetFireGear");//炒锅2设定加热挡位
+            ActionManage.GetInstance.Register(FirePot2_StartFire, "FirePot2_StartFire");//炒锅2加热启动
+            ActionManage.GetInstance.Register(FirePot2_StartFire, "FirePot2_StopFire");//炒锅2关闭加热
+            ActionManage.GetInstance.Register(FirePot2_SetStirGear, "FirePot2_SetStirGear");//炒锅2设定搅拌挡位
+            ActionManage.GetInstance.Register(FirePot2_StartStir, "FirePot2_StartStir");//炒锅2搅拌启动
+            ActionManage.GetInstance.Register(FirePot2_StartStir, "FirePot2_StopStir");//炒锅2搅拌停止
+            ActionManage.GetInstance.Register(FirePot2_SetTurnSpeed, "FirePot2_SetTurnSpeed");//炒锅2翻转频率设定
+            #endregion
+            #region 炒锅通用
+            ActionManage.GetInstance.Register(FirePot_Reset, "FirePot_Reset");//复位;
+            ActionManage.GetInstance.Register(FirePot_PotGotoOrigin, "FirePot_PotGotoOrigin");//炒锅回原点
+            ActionManage.GetInstance.Register(FirePot_PotGotoP1, "FirePot_PotGotoP1");//炒锅去位置1
+            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_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
+            ActionManage.GetInstance.Register(FirePot_StartPumpWater, "FirePot_StartPumpWater");//抽水启动
+            ActionManage.GetInstance.Register(FirePot_StartPumpOil, "FirePot_StartPumpOil");//抽油启动
+            #endregion
+            #region 机器人
+            ActionManage.GetInstance.Register(RobotStart, "RobotStart");//机器人启动
+            ActionManage.GetInstance.Register(RobotStop, "RobotStop");//机器人停止
+            ActionManage.GetInstance.Register(RobotReset, "RobotReset");//复位
+            ActionManage.GetInstance.Register(RobotProgramStart, "RobotProgramStart");//程序启动
+            ActionManage.GetInstance.Register(Robot_Pot1AllowInMaterail, "Robot_Pot1AllowInMaterail");//1号炒锅允许机器人投料
+            ActionManage.GetInstance.Register(Robot_Pot1OutFoodInSlowDown, "Robot_Pot1OutFoodInSlowDown");//1号炒锅出餐倒料到减速位
+            ActionManage.GetInstance.Register(Robot_Pot1OutFoodInSlowDown, "Robot_Pot1OutFoodInSlowDown");//1号炒锅出餐倒料完成
+            ActionManage.GetInstance.Register(Robot_Pot2AllowInMaterail, "Robot_Pot2AllowInMaterail");//2号炒锅允许机器人投料
+            ActionManage.GetInstance.Register(Robot_Pot2OutFoodInSlowDown, "Robot_Pot2OutFoodInSlowDown");//2号炒锅出餐倒料到减速位
+            ActionManage.GetInstance.Register(Robot_Pot2OutFood, "Robot_Pot2OutFood");//2号炒锅出餐倒料完成
+            ActionManage.GetInstance.Register(RobotActionStart, "Robot_Pot2OutFood");//2号炒锅出餐倒料完成
+
+
+            #endregion
+
         }
 
         public override void MainTask()
@@ -132,5 +181,433 @@ namespace BPASmartClient.MorkBF
         {
             
         }
+
+        #region 控制
+        private void FirePot_Write(string address, object value, int i = 0)
+        {
+            WriteControlExact(address, value, i);
+        }
+        #region 炒锅1
+
+        /// <summary>
+        /// 炒锅1设定加热挡位
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot1_SetFireGear(object o)
+        {
+            if (o == null) return;
+            if (o is int value)
+            {
+                FirePot_Write("VW100", value);
+            }
+
+        }
+        /// <summary>
+        /// 炒锅1加热启停
+        /// </summary>
+        /// <param name="b"></param>
+        private void FirePot1_StartFire(object o)
+        {
+            if (o == null) return;
+            if (o is bool value)
+            {
+                FirePot_Write("M10.0", value);
+            }
+        }    
+        /// <summary>
+        /// 炒锅1设置搅拌挡位
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot1_SetStirGear(object o)
+        {
+            if (o == null) return;
+            if (o is int value)
+            {
+                FirePot_Write("VW102", value);
+            }
+        }
+        /// <summary>
+        /// 炒锅1搅拌启停
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot1_StartStir(object o)
+        {
+            if (o == null) return;
+            if (o is bool value)
+            {
+                FirePot_Write("M10.1", value);
+            }
+        }
+        /// <summary>
+        /// 设置炒锅1翻转速度
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot1_SetTurnSpeed(object o)
+        {
+            if (o == null) return;
+            if (o is int value)
+            {
+                FirePot_Write("VW104", value);
+            }
+        }
+        #endregion
+        #region 炒锅2
+        /// <summary>
+        /// 炒锅2设定加热挡位
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot2_SetFireGear(object o)
+        {
+            if (o == null) return;
+            if (o is int value)
+            {
+                FirePot_Write("VW130", value);
+            }
+
+        }
+        /// <summary>
+        /// 炒锅2加热启停
+        /// </summary>
+        /// <param name="b"></param>
+        private void FirePot2_StartFire(object o)
+        {
+            if (o == null) return;
+            if (o is bool value)
+            {
+                FirePot_Write("M15.0", value);
+            }
+        }
+        /// <summary>
+        /// 炒锅2设置搅拌挡位
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot2_SetStirGear(object o)
+        {
+            if (o == null) return;
+            if (o is int value)
+            {
+                FirePot_Write("VW132", value);
+            }
+        }
+        /// <summary>
+        /// 炒锅2搅拌启停
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot2_StartStir(object o)
+        {
+            if (o == null) return;
+            if (o is bool value)
+            {
+                FirePot_Write("M15.1", value);
+            }
+        }
+        /// <summary>
+        /// 设置炒锅2翻转速度
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot2_SetTurnSpeed(object o)
+        {
+            if (o == null) return;
+            if (o is int value)
+            {
+                FirePot_Write("VW134", value);
+            }
+        }
+
+        #endregion
+        #region 炒锅通用
+        /// <summary>
+        /// 炒锅复位
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot_Reset(object o)
+        {
+            if (o == null) return;
+            if (o is int i)
+            {
+                if (i == 1)
+                {
+
+                }
+                else if (i == 2)
+                {
+
+                }
+            }
+
+
+        }
+        /// <summary>
+        /// 炒锅回原点
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot_PotGotoOrigin(object o)
+        {
+            if (o == null) return;
+            if (o is int i)
+            {
+                if (i == 1)
+                {
+                    FirePot_Write("M10.5", true);
+                }
+                else if (i == 2)
+                {
+                    FirePot_Write("M15.5", true);
+                }
+            }
+        }
+        /// <summary>
+        /// 炒锅去位置1
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot_PotGotoP1(object o)
+        {
+            if (o == null) return;
+            if (o is int i)
+            {
+                if (i == 1)
+                {
+                    FirePot_Write("M11.2", true);
+                }
+                else if (i == 2)
+                {
+                    FirePot_Write("M16.2", true);
+                }
+            }
+        }
+        /// <summary>
+        /// 炒锅去位置2
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot_PotGotoP2(object o)
+        {
+            if (o == null) return;
+            if (o is int i)
+            {
+                if (i == 1)
+                {
+                    FirePot_Write("M11.3", true);
+                }
+                else if (i == 2)
+                {
+                    FirePot_Write("M16.3", true);
+                }
+            }
+        }
+        /// <summary>
+        /// 炒锅去位置3
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot_PotGotoP3(object o)
+        {
+            if (o == null) return;
+            if (o is int i)
+            {
+                if (i == 1)
+                {
+                    FirePot_Write("M11.4", true);
+                }
+                else if (i == 2)
+                {
+                    FirePot_Write("M16.4", true);
+                }
+            }
+        }
+        /// <summary>
+        /// 炒锅去位置4
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot_PotGotoP4(object o)
+        {
+            if (o == null) return;
+            if (o is int i)
+            {
+                if (i == 1)
+                {
+                    FirePot_Write("M11.5", true);
+                }
+                else if (i == 2)
+                {
+                    FirePot_Write("M16.5", true);
+                }
+            }
+        }
+        /// <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);
+                }
+            }
+        }
+        /// <summary>
+        /// 炒锅去投料位置
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot_PotGotoInFoodPosition(object o)
+        {
+            if (o == null) return;
+            if (o is int i)
+            {
+                if (i == 1)
+                {
+                    FirePot_Write("M11.7", true);
+                }
+                else if (i == 2)
+                {
+                    FirePot_Write("M16.7", true);
+                }
+            }
+        }
+        /// <summary>
+        /// 出餐启动
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot_StartOutFood(object o)
+        {
+            if (o == null) return;
+            if (o is int i)
+            {
+                if (i == 1)
+                {
+                    FirePot_Write("M10.6", true);
+                }
+                else if (i == 2)
+                {
+                    FirePot_Write("M15.6", true);
+                }
+
+            }
+        }
+        /// <summary>
+        /// 清洗
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot_Clean(object o)
+        {
+            if (o == null) return;
+            if (o is int i)
+            {
+                if (i == 1)
+                {
+                    FirePot_Write("M10.7", true);
+                }
+                else if (i == 2)
+                {
+                    FirePot_Write("M15.7", true);
+                }
+            }
+        }
+        /// <summary>
+        /// 抽水启动
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot_StartPumpWater(object o)
+        {
+            if (o == null) return;
+            if (o is int i)
+            {
+                if (i == 1)
+                {
+                    FirePot_Write("M11.0", true);
+                }
+                else if (i == 2)
+                {
+                    FirePot_Write("M16.0", true);
+                }
+            }
+        }
+        /// <summary>
+        /// 抽油启动
+        /// </summary>
+        /// <param name="o"></param>
+        private void FirePot_StartPumpOil(object o)
+        {
+            if (o == null) return;
+            if (o is int i)
+            {
+                if (i == 1)
+                {
+                    FirePot_Write("M16.0", true);
+                }
+                else if (i == 2)
+                {
+                    FirePot_Write("M16.1", true);
+                }
+            }
+        }
+        #endregion
+        #region 机器人
+        /// <summary>
+        /// 机器人启动
+        /// </summary>
+        private void RobotStart()
+        {
+
+        }
+        /// <summary>
+        /// 机器人停止
+        /// </summary>
+        private void RobotStop()
+        {
+
+        }
+        /// <summary>
+        /// 机器人复位
+        /// </summary>
+        private void RobotReset()
+        {
+
+        }
+        /// <summary>
+        /// 机器人程序重启
+        /// </summary>
+        private void RobotProgramStart()
+        {
+
+        }
+        /// <summary>
+        /// 1号炒锅允许机器人投料（炒锅在投料位给出）
+        /// </summary>
+        private void Robot_Pot1AllowInMaterail()
+        {
+
+        }
+        private void Robot_Pot1OutFoodInSlowDown()
+        {
+
+        }
+        private void Robot_Pot2AllowInMaterail()
+        {
+
+        }
+        private void Robot_Pot2OutFoodInSlowDown()
+        {
+
+        }
+        private void Robot_Pot2OutFood()
+        {
+
+        }
+        private void RobotActionStart()
+        {
+
+        }
+        #endregion
+
+
+
+        #endregion
     }
 }

BPASmartClient.MorkBF/VIew/DebugView.xaml

@@ -4,8 +4,12 @@
              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"
              mc:Ignorable="d" 
              d:DesignHeight="900" d:DesignWidth="1600">
+    <UserControl.DataContext>
+        <vm:DebugViewModel/>
+    </UserControl.DataContext>
     <UserControl.Resources>
         <ResourceDictionary>
             <ResourceDictionary.MergedDictionaries>
@@ -15,32 +19,62 @@
         </ResourceDictionary>
     </UserControl.Resources>
     <Grid>
-        <GroupBox Header="本地菜品" FontSize="22">
-            <Grid>
-                <Grid.RowDefinitions>
-                    <RowDefinition Height="40"/>
-                    <RowDefinition Height="*"/>
-                </Grid.RowDefinitions>
-                <Button Content="添加新菜谱" Width="120" HorizontalAlignment="Right" Margin="20,0"/>
-                <ListBox Grid.Row="1">
-                    <ListBox.ItemTemplate>
-                        <DataTemplate>
-                            <Border>
-                                <Grid>
-                                    <Grid.ColumnDefinitions>
-                                        <ColumnDefinition Width="200"/>
-                                        <ColumnDefinition Width="200"/>
-                                        <ColumnDefinition Width="200"/>
-                                    </Grid.ColumnDefinitions>
-                                    <TextBlock Text="{Binding FoodName}"/>
-                                    <Button Grid.Column="1" Content="编辑" Command="EditFood"/>
-                                    <Button Grid.Column="2" Content="删除" Command="EditFood"/>
-                                </Grid>
-                            </Border>
-                        </DataTemplate>
-                    </ListBox.ItemTemplate>
-                </ListBox>
-            </Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="*"/>
+            <RowDefinition Height="*"/>
+            <RowDefinition Height="*"/>
+        </Grid.RowDefinitions>
+        <GroupBox Header="炒锅1" 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 FirePot1_FireGear}"/>
+                <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"/>
+                <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}"/>
+                <TextBlock Text="翻转频率" Margin="10,5"/>
+                <TextBox Width="80" Text="{Binding FirePot1_TurnSpeed}" Margin="10,5"/>
+                <Button Content="翻转频率设定" Width="110" Margin="10,5" Command="{Binding FirePot1_SetTurnSpeedCommand}"/>
+                <Button Content="炒锅回原点" Width="110" Margin="10,5" Command="{Binding FirePot_PotGotoOriginCommand}" CommandParameter="1"/>
+                <Button Content="出餐启动" Width="110" Margin="10,5"  Command="{Binding FirePot_StartOutFoodCommand}" CommandParameter="1"/>
+                <Button Content="单独清洗" Width="110" Margin="10,5" Command="{Binding FirePot_CleanCommand}" CommandParameter="1"/>
+                <Button Content="抽水启动" Width="110" Margin="10,5"  Command="{Binding FirePot_StartPumpWaterCommand}" CommandParameter="1"/>
+                <Button Content="抽油启动" Width="110" Margin="10,5" Command="{Binding FirePot_StartPumpOilCommand}" CommandParameter="1"/>
+                <Button Content="炒锅去炒制位置1" Width="110" Margin="10,5"  Command="{Binding FirePot_PotGotoP1Command}" CommandParameter="1"/>
+                <Button Content="炒锅去炒制位置2" Width="110" Margin="10,5"  Command="{Binding FirePot_PotGotoP2Command}" CommandParameter="1"/>
+                <Button Content="炒锅去炒制位置3" Width="110" Margin="10,5"  Command="{Binding FirePot_PotGotoP3Command}" CommandParameter="1"/>
+                <Button Content="炒锅去炒制位置4" Width="110" Margin="10,5"  Command="{Binding FirePot_PotGotoP4Command}" CommandParameter="1"/>
+                <Button Content="炒锅去出餐倒料位置" Width="140" Margin="10,5"  Command="{Binding FirePot_PotGotoOutFoodPositiongCommand}" CommandParameter="1"/>
+                <Button Content="炒锅去投料位置" Width="110" Margin="10,5"  Command="{Binding FirePot_PotGotoInFoodPositionCommand}" CommandParameter="1"/>
+            </WrapPanel>
+
+        </GroupBox>
+        <GroupBox Grid.Row="1" Header="炒锅2" FontSize="22">
+
+        </GroupBox>
+        <GroupBox Grid.Row="3" 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}"/>
+                <Button Content="2号炒锅出餐倒料完成" Width="160" Margin="10,5"  Command="{Binding Robot_Pot2OutFoodCommand}"/>
+                <TextBlock Text="机器人取菜出餐动作" Margin="10,5"/>
+                <ComboBox ItemsSource="{Binding RobotActions}"  DisplayMemberPath="Value" SelectedValuePath="Key" SelectedValue="{Binding RobotAction}" Height="30" Width="200" Margin="10,0"/>
+                <Button Content="动作启动" Width="100" Margin="10,5"  Command="{Binding RobotActionStartCommand}"/>
+            </WrapPanel>
         </GroupBox>
     </Grid>
 </UserControl>

BPASmartClient.MorkBF/ViewModel/DebugViewModel.cs

@@ -0,0 +1,312 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using BPASmartClient.Helper;
+using CommunityToolkit.Mvvm.ComponentModel;
+using CommunityToolkit.Mvvm.Input;
+
+namespace BPASmartClient.MorkBF.ViewModel
+{
+    [INotifyPropertyChanged]
+    partial class DebugViewModel
+    {
+        
+        /// <summary>
+        /// 加热挡位
+        /// </summary>
+        public ObservableCollection<int> FireGear { get; set; } = new ObservableCollection<int>() { 1, 2, 3, 4, 5 };
+        /// <summary>
+        /// 搅拌挡位
+        /// </summary>
+        public ObservableCollection<int> StirGear { get; set; } = new ObservableCollection<int>() { 1, 2, 3, 4, 5 };
+
+        [ObservableProperty]
+        private int _firePot1_FireGear = 0;
+        [ObservableProperty]
+        private int _firePot2_FireGear = 0;
+        [ObservableProperty]
+        private int _firePot1_StirGear = 0;
+        [ObservableProperty]
+        private int _firePot2_StirGear = 0;
+        [ObservableProperty]
+        private int _firePot1_TurnSpeed;
+        #region 炒锅1
+       
+        /// <summary>
+        /// 设定加热挡位
+        /// </summary>
+        [RelayCommand]
+        private void FirePot1_SetFireGear()
+        {
+            ActionManage.GetInstance.Send("FirePot1_SetFireGear",new List<int> { FirePot1_FireGear});
+        }
+        /// <summary>
+        /// 加热启动
+        /// </summary>
+        [RelayCommand]
+        private void FirePot1_StartFire()
+        {
+            ActionManage.GetInstance.Send("FirePot1_StartFire",true);
+        }
+        /// <summary>
+        /// 关闭加热
+        /// </summary>
+        [RelayCommand]
+        private void FirePot1_StopFire()
+        {
+            ActionManage.GetInstance.Send("FirePot1_StopFire",false);
+        }
+        /// <summary>
+        /// 设定搅拌挡位
+        /// </summary>
+        [RelayCommand]
+        private void FirePot1_SetStirGear()
+        {
+            ActionManage.GetInstance.Send("FirePot1_SetStirGear",new List<int> { FirePot1_StirGear});
+        }
+        /// <summary>
+        /// 搅拌启动
+        /// </summary>
+        [RelayCommand]
+        private void FirePot1_StartStir()
+        {
+            ActionManage.GetInstance.Send("FirePot1_StartStir",true);
+        }
+        /// <summary>
+        /// 搅拌停止
+        /// </summary>
+        [RelayCommand]
+        private void FirePot1_StopStir()
+        {
+            ActionManage.GetInstance.Send("FirePot1_StopStir",false);
+        }
+        /// <summary>
+        /// 翻转频率设定
+        /// </summary>
+        [RelayCommand]
+        private void FirePot1_SetTurnSpeed()
+        {
+            if (FirePot1_TurnSpeed > 800) FirePot1_TurnSpeed = 800;
+            ActionManage.GetInstance.Send("FirePot1_SetTurnSpeed",new List<int> { FirePot1_TurnSpeed});
+        }
+        #endregion
+        #region 炒锅2
+        #endregion
+        #region 炒锅通用
+        /// <summary>
+        /// 复位
+        /// </summary>
+        [RelayCommand]
+        private void FirePot_Reset(object o)
+        {
+            ActionManage.GetInstance.Send("FirePot1_Reset", o);
+        }
+        /// <summary>
+        /// 炒锅回原点
+        /// </summary>
+        [RelayCommand]
+        private void FirePot_PotGotoOrigin(object o)
+        {
+            ActionManage.GetInstance.Send("FirePot_PotGotoOrigin", o);
+        }
+        /// <summary>
+        /// 炒锅去位置1
+        /// </summary>
+        [RelayCommand]
+        private void FirePot_PotGotoP1(object o)
+        {
+            ActionManage.GetInstance.Send("FirePot_PotGotoP1", o);
+        }
+        /// <summary>
+        ///炒锅去位置2
+        /// </summary>
+        [RelayCommand]
+        private void FirePot_PotGotoP2(object o)
+        {
+            ActionManage.GetInstance.Send("FirePot_PotGotoP2", o);
+        }
+        /// <summary>
+        /// 炒锅去位置3
+        /// </summary>
+        [RelayCommand]
+        private void FirePot_PotGotoP3(object o)
+        {
+            ActionManage.GetInstance.Send("FirePot_PotGotoP3", o);
+        }
+        /// <summary>
+        /// 炒锅去位置4
+        /// </summary>
+        [RelayCommand]
+        private void FirePot_PotGotoP4(object o)
+        {
+            ActionManage.GetInstance.Send("FirePot_PotGotoP4", o);
+        }
+        /// <summary>
+        /// 炒锅去出餐位置
+        /// </summary>
+        [RelayCommand]
+        private void FirePot_PotGotoOutFoodPositiong(object o)
+        {
+            ActionManage.GetInstance.Send("FirePot_PotGotoOutFoodPositiong", o);
+        }
+        /// <summary>
+        /// 炒锅去投料位置
+        /// </summary>
+        [RelayCommand]
+        private void FirePot_PotGotoInFoodPosition(object o)
+        {
+            ActionManage.GetInstance.Send("FirePot_PotGotoInFoodPosition", o);
+        }
+        /// <summary>
+        /// 出餐启动
+        /// </summary>
+        [RelayCommand]
+        private void FirePot_StartOutFood(object o)
+        {
+            ActionManage.GetInstance.Send("FirePot_StartOutFood", o);
+        }
+        /// <summary>
+        /// 清洗
+        /// </summary>
+        [RelayCommand]
+        private void FirePot_Clean(object o)
+        {
+            ActionManage.GetInstance.Send("FirePot_Clean",o);
+        }
+        /// <summary>
+        /// 抽水启动
+        /// </summary>
+        [RelayCommand]
+        private void FirePot_StartPumpWater(object o)
+        {
+            ActionManage.GetInstance.Send("FirePot_StartPumpWater", o);
+        }
+        /// <summary>
+        /// 抽油启动
+        /// </summary>
+        [RelayCommand]
+        private void FirePot_StartPumpOil(object o)
+        {
+            ActionManage.GetInstance.Send("FirePot_StartPumpOil", o);
+        }
+
+
+        #endregion
+
+
+        #region 机器人
+        public Dictionary<int,string> RobotActions { get; set; } = new Dictionary<int, string>()
+        {
+            {0, "无任务"},
+            {1, "取1号炒锅荤菜盆倒1号炒锅"},
+            {2, "取1号炒锅素菜盆1倒1号炒锅"},
+            {3, "取1号炒锅素菜盆2倒1号炒锅"},
+            {4, "取1号炒锅调料盆倒入1号炒锅"},
+            {5, "取1号炒锅辅料盆1倒入1号炒锅"},
+            {6, "取1号空盆出餐"},
+            {20, "取2号炒锅荤菜盆1倒1号炒锅"},
+            {21, "取2号炒锅素菜盆1倒1号炒锅"},
+            {22, "取2号炒锅素菜盆2倒1号炒锅"},
+            {23, "取2号炒锅调料盆倒入1号炒锅"},
+            {24, "取2号炒锅辅料盆1倒入1号炒锅"},
+            {25, "取2号空盆出餐"},
+        };
+
+        [ObservableProperty]
+        private int _robotAction; 
+        /// <summary>
+        /// 机器人启动
+        /// </summary>
+        [RelayCommand]
+        private void RobotStart()
+        {
+            ActionManage.GetInstance.Send("RobotStart");
+        }
+        /// <summary>
+        /// 机器人停止
+        /// </summary>
+        [RelayCommand]
+        private void RobotStop()
+        {
+            ActionManage.GetInstance.Send("RobotStop");
+        }
+        /// <summary>
+        /// 复位
+        /// </summary>
+        [RelayCommand]
+        private void RobotReset()
+        {
+            ActionManage.GetInstance.Send("RobotReset");
+        }
+        /// <summary>
+        /// 程序启动
+        /// </summary>
+        [RelayCommand]
+        private void RobotProgramStart()
+        {
+            ActionManage.GetInstance.Send("RobotProgramStart");
+        }
+        /// <summary>
+        /// 1号炒锅允许机器人投料
+        /// </summary>
+        [RelayCommand]
+        private void Robot_Pot1AllowInMaterail()
+        {
+            ActionManage.GetInstance.Send("Robot_Pot1AllowInMaterail");
+        }
+        /// <summary>
+        /// 1号炒锅出餐倒料到减速位
+        /// </summary>
+        [RelayCommand]
+        private void Robot_Pot1OutFoodInSlowDown()
+        {
+            ActionManage.GetInstance.Send("Robot_Pot1OutFoodInSlowDown");
+        }
+        /// <summary>
+        /// 1号炒锅出餐倒料完成
+        /// </summary>
+        [RelayCommand]
+        private void Robot_Pot1OutFood()
+        {
+            ActionManage.GetInstance.Send("Robot_Pot1OutFood");
+        }
+        /// <summary>
+        /// 2号炒锅允许机器人投料
+        /// </summary>
+        [RelayCommand]
+        private void Robot_Pot2AllowInMaterail()
+        {
+            ActionManage.GetInstance.Send("Robot_Pot2AllowInMaterail");
+        }
+        /// <summary>
+        /// 2号炒锅出餐倒料到减速位
+        /// </summary>
+        [RelayCommand]
+        private void Robot_Pot2OutFoodInSlowDown()
+        {
+            ActionManage.GetInstance.Send("Robot_Pot2OutFoodInSlowDown");
+        }
+        /// <summary>
+        /// 2号炒锅出餐倒料完成
+        /// </summary>
+        [RelayCommand]
+        private void Robot_Pot2OutFood()
+        {
+            ActionManage.GetInstance.Send("Robot_Pot2OutFood");
+        }
+
+        /// <summary>
+        /// 机器人动作启动
+        /// </summary>
+        [RelayCommand]
+        private void RobotActionStart()
+        {
+            ActionManage.GetInstance.Send("RobotProgramStart",new List<int> {RobotAction });
+        }
+
+        #endregion
+    }
+}

BPASmartClient.MorkF/BPASmartClient.MorkF.csproj

@@ -16,6 +16,7 @@
   <ItemGroup>
     <ProjectReference Include="..\BPASmartClient.Business\BPASmartClient.Business.csproj" />
     <ProjectReference Include="..\BPASmartClient.Device\BPASmartClient.Device.csproj" />
+    <ProjectReference Include="..\BPASmartClient.Modbus\BPASmartClient.Modbus.csproj" />
     <ProjectReference Include="..\BPASmartClient.Model\BPASmartClient.Model.csproj" />
   </ItemGroup>
 

BPASmartClient.MorkF/Control_MorkF.cs

@@ -11,6 +11,7 @@ using static BPASmartClient.EventBus.EventBus;
 using BPASmartClient.Model.小炒机;
 using BPASmartClient.MorkF.Model;
 using System.Text;
+using BPASmartClient.Modbus;
 
 namespace BPASmartClient.MorkF
 {