Merge branch 'master' of http://111.9.47.105:10244/bpa/BPASmartClient

BPASmartClient.CustomResource/RecDictionarys/RecToggleButton.xaml

@@ -137,4 +137,83 @@
         </Setter>
     </Style>
     <!--#endregion-->
+
+    <!--#region 切换开关 ToggleButton 样式-->
+    <Style x:Key="SwitchToggleButtonStyle1" TargetType="{x:Type ToggleButton}">
+        <Setter Property="Template">
+            <Setter.Value>
+                <ControlTemplate TargetType="{x:Type ToggleButton}">
+                    <Viewbox>
+                        <Grid x:Name="gr" Opacity="0.8">
+                            <Border
+                                x:Name="border2"
+                                Width="{TemplateBinding Width}"
+                                Height="{TemplateBinding Height}"
+                                HorizontalAlignment="Left"
+                                VerticalAlignment="{TemplateBinding VerticalContentAlignment}"
+                                Background="Red"
+                                BorderBrush="{TemplateBinding BorderBrush}"
+                                CornerRadius="15">
+                                <ContentPresenter
+                                    Margin="{TemplateBinding Padding}"
+                                    HorizontalAlignment="{TemplateBinding HorizontalContentAlignment}"
+                                    VerticalAlignment="{TemplateBinding VerticalContentAlignment}"
+                                    RecognizesAccessKey="True"
+                                    SnapsToDevicePixels="{TemplateBinding SnapsToDevicePixels}"
+                                    Visibility="Collapsed" />
+                            </Border>
+
+                            <Ellipse
+                                Name="ell"
+                                Width="{TemplateBinding Height}"
+                                Height="{TemplateBinding Height}"
+                                Margin="0"
+                                HorizontalAlignment="Left"
+                                VerticalAlignment="Center"
+                                Fill="#ddd" />
+
+                            <TextBlock
+                                Name="tb"
+                                Margin="10,0,10,0"
+                                HorizontalAlignment="Center"
+                                VerticalAlignment="Center"
+                                Foreground="White"
+                                Text="{TemplateBinding Content}" />
+
+                        </Grid>
+                    </Viewbox>
+                    <ControlTemplate.Triggers>
+                        <!--  控件选中  -->
+                        <Trigger Property="IsChecked" Value="true">
+                            <Setter TargetName="ell" Property="HorizontalAlignment" Value="Right" />
+                            <Setter TargetName="border2" Property="Background" Value="#00c2f4" />
+                            <Setter TargetName="tb" Property="Margin" Value="0,0,15,0" />
+                        </Trigger>
+
+                        <!--  控件未选中  -->
+                        <Trigger Property="IsChecked" Value="false">
+                            <Setter TargetName="border2" Property="Background" Value="gray" />
+                            <Setter TargetName="tb" Property="Margin" Value="15,0,0,0" />
+                        </Trigger>
+
+                        <!--  鼠标进入  -->
+                        <Trigger Property="IsMouseOver" Value="True">
+                            <Setter TargetName="gr" Property="Opacity" Value="1" />
+                        </Trigger>
+
+                        <!--  控件禁用  -->
+                        <Trigger Property="IsEnabled" Value="false">
+                            <Setter TargetName="gr" Property="Opacity" Value="0.5" />
+                        </Trigger>
+
+                        <!--  控件启用  -->
+                        <Trigger Property="IsEnabled" Value="True">
+                            <Setter TargetName="gr" Property="Opacity" Value="0.8" />
+                        </Trigger>
+                    </ControlTemplate.Triggers>
+                </ControlTemplate>
+            </Setter.Value>
+        </Setter>
+    </Style>
+    <!--#endregion-->
 </ResourceDictionary>

BPASmartClient.Model/大炒/FryPotMessages.cs

@@ -0,0 +1,83 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.Model.大炒
+{
+    public class FryPotMessages
+    {
+        public string GoodName { get; set; }
+        public string GoodKey { get; set; }
+        public List<FryPotProcess> fryPotProcesses { get; set; } = new List<FryPotProcess>();
+    }
+
+    public class FryPotProcess
+    {
+        /// <summary>
+        /// 步骤
+        /// </summary>
+        public int FryTime { get; set; }
+        /// <summary>
+        /// 动作
+        /// </summary>
+        public FryAction fryActions { get; set; }
+        /// <summary>
+        /// 加热时间 单位s
+        /// </summary>
+        public int FryDuration { get; set; } = 0;
+        /// <summary>
+        /// 加热挡位 1-5
+        /// </summary>
+        public int FryGear { get; set; } = 0;
+        /// <summary>
+        /// 搅拌挡位 小炒1-10 大炒1-5
+        /// </summary>
+        public int StirGear { get; set; } = 0;
+        /// <summary>
+        /// 翻转速度0到800
+        /// </summary>
+        public int TurnSpeed { get; set; }= 0;
+        /// <summary>
+        /// 炒制位置1到4
+        /// </summary>
+        public int FryPosition { get; set; }
+        /// <summary>
+        /// 辅料,调料，或者菜品集合
+        /// </summary>
+        public List<Accessories> accessories { get; set; } = new List<Accessories>();
+
+    }
+
+    public class Accessories
+    {
+        /// <summary>
+        /// 位置
+        /// </summary>
+        public int Loc { get; set; }
+        /// <summary>
+        /// 重量
+        /// </summary>
+        public int Qry { get; set; }
+    }
+
+    public enum FryAction
+    {
+        冷锅加热,
+        热油,
+        加调料,
+        加辅料,
+        炒制菜品,
+        
+    }
+
+    public enum FryRepot
+    {
+        开始,
+        热锅,
+        炒菜,
+        出餐,
+        完成,
+    }
+}

BPASmartClient.Model/大炒/LocalFryPotMessage.cs

@@ -0,0 +1,14 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.Model.大炒
+{
+    public class LocalFryPotMessage
+    {
+        public ObservableCollection<FryPotMessages> FryPotMessage { get; set; } = new ObservableCollection<FryPotMessages>();
+    }
+}

BPASmartClient.Model/大炒/RobotActionModel.cs

@@ -0,0 +1,32 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.Model.大炒
+{
+    public class RobotAction_Pot
+    {
+        public int Pot { get; set; }
+        public RobotActionModel robotActionModel { get; set; }
+    }
+
+    public enum RobotActionModel
+    {
+        无任务,
+        取1号炒锅荤菜盆倒1号炒锅,
+        取1号炒锅素菜盆1倒1号炒锅,
+        取1号炒锅素菜盆2倒1号炒锅,
+        取1号炒锅调料盆倒入1号炒锅,
+        取1号炒锅辅料盆1倒入1号炒锅,
+        取1号空盆出餐,
+
+        取2号炒锅荤菜盆1倒2号炒锅 = 20,
+        取2号炒锅素菜盆1倒2号炒锅 = 21,
+        取2号炒锅素菜盆2倒2号炒锅 =22,
+        取2号炒锅调料盆倒入2号炒锅 =23,
+        取2号炒锅辅料盆1倒入2号炒锅 =24,
+        取2号空盆出餐 =25,
+    }
+}

BPASmartClient.MorkBF/Control_MorkBF.cs

@@ -1,10 +1,13 @@
-using BPA.Message;
+using BPA.Helper;
+using BPA.Message;
 using BPA.Message.Enum;
 using BPASmartClient.Business;
 using BPASmartClient.Device;
 using BPASmartClient.EventBus;
 using BPASmartClient.Helper;
 using BPASmartClient.Model;
+using BPASmartClient.Model.大炒;
+using BPASmartClient.MorkBF.Model;
 using BPASmartClient.MorkBF.ViewModel;
 using System;
 using System.Collections.Generic;
@@ -13,6 +16,9 @@ using System.Text;
 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
 {
@@ -24,7 +30,8 @@ namespace BPASmartClient.MorkBF
 
         public override void DoMain()
         {
-
+            IsHealth = true;
+            BPASmartClient.Helper.Json<LocalFryPotMessage>.Read();
             MonitorViewModel.DeviceId = DeviceId;
             CommandRegist();//调试
             ServerInit();
@@ -44,8 +51,6 @@ namespace BPASmartClient.MorkBF
                     OrderCount++;
                     DeviceProcessLogShow($"接收到{OrderCount}次订单");
                     
-
-                    
                 }
 
             });
@@ -60,7 +65,6 @@ namespace BPASmartClient.MorkBF
                 if (@event is MaterialDeliveryEvent material)
                 {
                     orderMaterialDelivery = material.orderMaterialDelivery;
-
                 }
             });
 
@@ -132,11 +136,55 @@ namespace BPASmartClient.MorkBF
 
         public override void MainTask()
         {
+            if(morkBF.FirePan1_Order.Count>0&& morkBF.FirePot1_InitCompleted&&morkBF.FirePot2_IsAuto&&!morkBF.FirePan1_Busy)
+            {
+                ThreadManage.GetInstance().Start(FirePot1_Process, "炒锅1流程");
+            }
+
+            if(morkBF.RobotActinQueue.Count>0&&! morkBF.Robot_Origin)//机器人在原点为
+            {
+               if( morkBF.RobotActinQueue.TryDequeue(out RobotAction_Pot robotAction))
+               {
+                    morkBF.Robot_IsBusy =true;
+                    RobotProcess(robotAction);
+               }
+            }
         }
 
         private void FirePot1_Process()
         {
             
+            if(morkBF.FirePan1_Order.TryDequeue(out FryPotMessages result))
+            {
+                morkBF.FirePan1_Busy = true;
+                foreach (var item in result.fryPotProcesses)
+                {
+                    switch (item.fryActions)
+                    {
+                        case FryAction.冷锅加热:
+                            FirePot_PotPerHeat(item, 1);
+                            break;
+
+                        case FryAction.热油:
+                            FirePot_HeatOil(item,1);
+                            break;
+
+                        case FryAction.加调料:
+                            FirePot_AddSeasoning(item, 1);
+                            break;
+                        case FryAction.加辅料:
+                           
+                            break;
+                        case FryAction.炒制菜品:
+                            FirePot_FryFood(item,1);
+                            break;
+
+                        default:
+                            break;
+                    }
+                }
+                
+            }
         }
 
         private void FirePot2_Process()
@@ -144,6 +192,192 @@ namespace BPASmartClient.MorkBF
            
         }
 
+
+        #region 炒锅流程功能
+        /// <summary>
+        /// 冷锅预热
+        /// </summary>
+        private void FirePot_PotPerHeat(FryPotProcess item,int i)
+        {
+            if(i == 1)//炒锅1
+            {
+                FirePot1_SetFireGear(item.FryGear);
+                FirePot1_StartFire(true);
+                
+            }
+            else if(i == 2)//炒锅2
+            {
+                FirePot2_SetFireGear(item.FryGear);
+                FirePot2_StartFire(true);
+                
+            }
+            Thread.Sleep(item.FryDuration);
+        }
+
+        /// <summary>
+        /// 热油
+        /// </summary>
+        private void FirePot_HeatOil(FryPotProcess item, int i)
+        {
+            if (item.FryGear != 0)
+            {
+                FirePot1_SetFireGear(item.FryGear);//设定加热挡位
+                FirePot1_StartFire(true);//开启加热
+            }
+            if (item.StirGear != 0) 
+            {
+                FirePot1_SetStirGear(item.StirGear);//设定搅拌挡位
+                FirePot1_StartFire(true);//开启搅拌
+            }
+            Thread.Sleep(item.FryDuration);//加热时间;
+        }
+
+        /// <summary>
+        /// 加调料
+        /// </summary>
+        private void FirePot_AddSeasoning(FryPotProcess item,int i)
+        {
+            if(i == 1)
+            {
+                    
+                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot =1,robotActionModel = RobotActionModel.取1号炒锅调料盆倒入1号炒锅});
+                Thread.Sleep(item.FryDuration);
+
+            }
+
+            else if(i == 2)
+            {
+                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = RobotActionModel.取2号炒锅调料盆倒入2号炒锅 });
+                Thread.Sleep(item.FryDuration);
+            }
+           
+        }
+
+        /// <summary>
+        /// 加辅料
+        /// </summary>
+        private void FirePot_AddAccessories(FryPotProcess item, int i)
+        {
+            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);
+
+            }
+
+            else if (i == 2)
+            {
+                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = RobotActionModel.取2号炒锅辅料盆1倒入2号炒锅 });
+                Thread.Sleep(item.FryDuration);
+            }
+
+        }
+
+        /// <summary>
+        /// 炒制菜品
+        /// </summary>
+        private void FirePot_FryFood(FryPotProcess item, int i)
+        {
+            if (i == 1)
+            {
+                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 1, robotActionModel = (RobotActionModel)item.accessories[0].Loc });
+                while (!morkBF.FirePot1_CompleteSingle[item.accessories[0].Loc])//取菜信号是否完成
+                {
+                    Thread.Sleep(100);
+                }
+                Thread.Sleep(item.FryDuration);
+
+            }
+
+            else if (i == 2)
+            {
+                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = (RobotActionModel)(item.accessories[0].Loc+19) });//炒制菜品位置
+                while (!morkBF.FirePot2_CompleteSingle[item.accessories[0].Loc])//取菜信号是否完成
+                {
+                    Thread.Sleep(100);
+                }
+                Thread.Sleep(item.FryDuration);
+            }
+        }
+        #endregion
+
+        /// <summary>
+        /// 机器人进程
+        /// </summary>
+        /// <param name="robotAction"></param>
+        private void RobotProcess(RobotAction_Pot robotAction)
+        {
+            Robot_Write("GI0",(int)robotAction.robotActionModel);
+            while (morkBF.Robot_ActionCallback != (int)robotAction.robotActionModel)//机器人动作执行完动作反馈
+            {
+                Thread.Sleep(100);
+            }
+            if(robotAction.Pot == 1)//炒锅1
+            {
+                if (robotAction.robotActionModel == RobotActionModel.取1号空盆出餐)
+                {
+                    Robot_Write("GM521", true);//炒锅去投料位置
+                    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
+                    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
+
+                }
+                else
+                {
+                    FirePot_Write("M11.7", 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
+                }
+              
+            }
+            else if (robotAction.Pot == 2)
+            {
+                if (robotAction.robotActionModel == RobotActionModel.取1号空盆出餐)
+                {
+                    Robot_Write("GM531", true);//炒锅去投料位置
+                    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
+                    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
+
+                }
+                else
+                {
+                    FirePot_Write("M16.7", true);
+                    while (!morkBF.FirePot2_PotOnIntoFoodPosition)
+                    {
+                        Thread.Sleep(100);
+                    }
+                    Robot_Write("GM530", true);
+                }
+               
+            }
+            
+            while(!morkBF.Robot_Origin)
+            {
+                Thread.Sleep(1000);
+            }
+            morkBF.Robot_IsBusy = false;
+            MessageLog.GetInstance.Show($"机器人完成[{robotAction.robotActionModel.ToString()}]任务");
+        }
+
         public override void ReadData()
         {
             GetStatus("M20.0",new Action<object>((o)=>
@@ -228,9 +462,10 @@ namespace BPASmartClient.MorkBF
                 if (o == null) return;
                 if (o is bool[] values && values.Length == 7)
                 {
-                    morkBF.Robot_FirePot1OutMeal = values[0];
-                    morkBF.Robot_FirePot1OutVegetables1 = values[1];
-                    morkBF.Robot_FirePot1OutVegetables2 = values[2];
+
+                    morkBF.FirePot1_CompleteSingle[0] = values[0];
+                    morkBF.FirePot1_CompleteSingle[1] = values[1];
+                    morkBF.FirePot1_CompleteSingle[2] = values[2];
                     morkBF.Robot_FirePot1OutSeasoning = values[3];
                     morkBF.Robot_FirePot1OutAccessories = values[4];
                     morkBF.Robot_ArriveFirePot1 = values[5];
@@ -243,9 +478,9 @@ namespace BPASmartClient.MorkBF
                 if (o == null) return;
                 if (o is bool[] values && values.Length == 7)
                 {
-                    morkBF.Robot_FirePot2OutMeal = values[0];
-                    morkBF.Robot_FirePot2OutVegetables1 = values[1];
-                    morkBF.Robot_FirePot2OutVegetables2 = values[2];
+                    morkBF.FirePot2_CompleteSingle[0] = values[0];
+                    morkBF.FirePot2_CompleteSingle[1] = values[1];
+                    morkBF.FirePot2_CompleteSingle[2] = values[2];
                     morkBF.Robot_FirePot2OutSeasoning = values[3];
                     morkBF.Robot_FirePot2OutAccessories = values[4];
                     morkBF.Robot_ArriveFirePot2 = values[5];
@@ -319,7 +554,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("VW100", value);
             }
-
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅1加热启停
@@ -332,6 +567,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("M10.0", value);
             }
+            Thread.Sleep(200);
         }    
         /// <summary>
         /// 炒锅1设置搅拌挡位
@@ -344,6 +580,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("VW102", value);
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅1搅拌启停
@@ -356,6 +593,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("M10.1", value);
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 设置炒锅1翻转速度
@@ -368,6 +606,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("VW104", value);
             }
+            Thread.Sleep(200);
         }
         #endregion
 
@@ -383,7 +622,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("VW130", value);
             }
-
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅2加热启停
@@ -396,6 +635,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("M15.0", value);
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅2设置搅拌挡位
@@ -408,6 +648,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("VW132", value);
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅2搅拌启停
@@ -420,6 +661,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("M15.1", value);
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 设置炒锅2翻转速度
@@ -432,6 +674,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("VW134", value);
             }
+            Thread.Sleep(200);
         }
 
         #endregion
@@ -476,6 +719,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M15.5", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅去位置1
@@ -495,6 +739,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M16.2", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅去位置2
@@ -514,6 +759,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M16.3", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅去位置3
@@ -533,6 +779,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M16.4", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅去位置4
@@ -552,6 +799,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M16.5", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅去出餐位置
@@ -571,6 +819,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M16.6", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅去投料位置
@@ -590,6 +839,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M16.7", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 出餐启动
@@ -610,6 +860,7 @@ namespace BPASmartClient.MorkBF
                 }
 
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 清洗
@@ -622,13 +873,15 @@ namespace BPASmartClient.MorkBF
             {
                 if (i == 1)
                 {
-                    FirePot_Write("M10.7", true);
+                    if(morkBF.FirePot1_OnOrigin) FirePot_Write("M10.7", true);
+
                 }
                 else if (i == 2)
                 {
-                    FirePot_Write("M15.7", true);
+                    if (morkBF.FirePot2_OnOrigin) FirePot_Write("M15.7", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 抽水启动
@@ -648,6 +901,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M16.0", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 抽油启动
@@ -667,6 +921,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M16.1", true);
                 }
             }
+            Thread.Sleep(200);
         }
         #endregion
 
@@ -677,6 +932,7 @@ namespace BPASmartClient.MorkBF
         private void RobotStart()
         {
             Robot_Write("GM600",true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 机器人停止
@@ -684,6 +940,7 @@ namespace BPASmartClient.MorkBF
         private void RobotStop()
         {
             Robot_Write("GM601", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 机器人复位
@@ -691,6 +948,7 @@ namespace BPASmartClient.MorkBF
         private void RobotReset()
         {
             Robot_Write("GM602", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 机器人程序重启
@@ -698,6 +956,7 @@ namespace BPASmartClient.MorkBF
         private void RobotProgramStart()
         {
             Robot_Write("GM603", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 1号炒锅允许机器人投料（炒锅在投料位给出）
@@ -705,6 +964,7 @@ namespace BPASmartClient.MorkBF
         private void Robot_Pot1AllowInMaterail()
         {
             Robot_Write("GM520", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 1号炒锅出餐倒料到减速位
@@ -712,6 +972,7 @@ namespace BPASmartClient.MorkBF
         private void Robot_Pot1OutFoodInSlowDown()
         {
             Robot_Write("GM621", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 1号炒锅出餐倒料完成
@@ -719,6 +980,7 @@ namespace BPASmartClient.MorkBF
         private void Robot_Pot1OutFood()
         {
             Robot_Write("GM522", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 2号炒锅允许机器人投料（炒锅在投料位给出）
@@ -726,6 +988,7 @@ namespace BPASmartClient.MorkBF
         private void Robot_Pot2AllowInMaterail()
         {
             Robot_Write("GM530", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 2号炒锅出餐倒料到减速位。开始倒菜
@@ -733,6 +996,7 @@ namespace BPASmartClient.MorkBF
         private void Robot_Pot2OutFoodInSlowDown()
         {
             Robot_Write("GM531", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 2号炒锅出餐倒料完成
@@ -740,6 +1004,7 @@ namespace BPASmartClient.MorkBF
         private void Robot_Pot2OutFood()
         {
             Robot_Write("GM532", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 
@@ -751,6 +1016,7 @@ namespace BPASmartClient.MorkBF
             {
                 Robot_Write("GI0",value);
             }
+            Thread.Sleep(200);
         }
         #endregion
 

BPASmartClient.MorkBF/Convert/FryActionToVisibilityConverter.cs

@@ -0,0 +1,127 @@
+using BPASmartClient.Model.大炒;
+using System;
+using System.Collections.Generic;
+using System.Globalization;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Data;
+
+namespace BPASmartClient.MorkBF.Convert
+{
+    public class StirToVisibilityConverter : IValueConverter
+    {
+        public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            Visibility visibility = Visibility.Visible;
+            if (value != null && value is FryAction fryAction)
+            {
+                switch (fryAction)
+                {
+                    case FryAction.冷锅加热:
+                        visibility = Visibility.Collapsed;
+                        break;
+                    case FryAction.热油:
+                        visibility = Visibility.Visible;
+                        break;
+                    case FryAction.加调料:
+                        visibility = Visibility.Collapsed;
+                        break;
+                    case FryAction.加辅料:
+                        visibility = Visibility.Collapsed;
+                        break;
+                    case FryAction.炒制菜品:
+                        visibility = Visibility.Visible;
+                        break;
+                    default:
+                        break;
+                }
+            }
+            return visibility;
+        }
+            
+
+        public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            throw new NotImplementedException();
+        }
+    }
+
+    public class FirePositionToVisibilityConverter : IValueConverter
+    {
+        public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            Visibility visibility = Visibility.Visible;
+            if (value != null && value is FryAction fryAction)
+            {
+                switch (fryAction)
+                {
+                    case FryAction.冷锅加热:
+                        visibility = Visibility.Visible;
+                        break;
+                    case FryAction.热油:
+                        visibility = Visibility.Visible;
+                        break;
+                    case FryAction.加调料:
+                        visibility = Visibility.Collapsed;
+                        break;
+                    case FryAction.加辅料:
+                        visibility = Visibility.Collapsed;
+                        break;
+                    case FryAction.炒制菜品:
+                        visibility = Visibility.Visible;
+                        break;
+                    default:
+                        break;
+                }
+            }
+            return visibility;
+        }
+
+
+        public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            throw new NotImplementedException();
+        }
+    }
+
+    public class AccessoriesToVisibilityConverter : IValueConverter
+    {
+        public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            Visibility visibility = Visibility.Visible;
+            if (value != null && value is FryAction fryAction)
+            {
+                switch (fryAction)
+                {
+                    case FryAction.冷锅加热:
+                        visibility = Visibility.Collapsed;
+                        break;
+                    case FryAction.热油:
+                        visibility = Visibility.Collapsed;
+                        break;
+                    case FryAction.加调料:
+                        visibility = Visibility.Visible;
+                        break;
+                    case FryAction.加辅料:
+                        visibility = Visibility.Visible;
+                        break;
+                    case FryAction.炒制菜品:
+                        visibility = Visibility.Visible;
+                        break;
+                    default:
+                        break;
+                }
+            }
+            return visibility;
+        }
+
+
+        public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            throw new NotImplementedException();
+        }
+    }
+}
+

BPASmartClient.MorkBF/GVL_MorkBF.cs

@@ -1,4 +1,5 @@
 using BPASmartClient.Device;
+using BPASmartClient.Model.大炒;
 using BPASmartClient.MorkBF.Model;
 using System;
 using System.Collections.Concurrent;
@@ -14,11 +15,15 @@ namespace BPASmartClient.MorkBF
         /// <summary>
         /// 炒锅1订单队列
         /// </summary>
-        public ConcurrentQueue<BF_Food> FirePan1_Order { get; set; } = new ConcurrentQueue<BF_Food>();
+        public ConcurrentQueue<FryPotMessages> FirePan1_Order { get; set; } = new ConcurrentQueue<FryPotMessages>();
         /// <summary>
         /// 炒锅2订单队列
         /// </summary>
-        public ConcurrentQueue<BF_Food> FirePan2_Order { get; set; } = new ConcurrentQueue<BF_Food>();
+        public ConcurrentQueue<FryPotMessages> FirePan2_Order { get; set; } = new ConcurrentQueue<FryPotMessages>();
+        /// <summary>
+        /// 机器人队列
+        /// </summary>
+        public ConcurrentQueue<RobotAction_Pot> RobotActinQueue { get; set; } = new ConcurrentQueue<RobotAction_Pot>();
         /// <summary>
         /// 炒锅1忙碌
         /// </summary>
@@ -247,30 +252,39 @@ namespace BPASmartClient.MorkBF
         #endregion
 
         #region 机器人数据读取
+        public bool Robot_IsBusy;
+
+
+        /// <summary>
+        /// 机器人在原点位
+        /// </summary>
+        [VariableMonitor("机器人在原点位", "GM105", "4201")]
+        public bool Robot_Origin { get; set; }
+
         /// <summary>
         /// 1号锅倒荤菜完成
         /// </summary>
-        [VariableMonitor("1号锅倒荤菜完成", "GM500", "4596")]
+        [VariableMonitor("机器人#1号锅倒荤菜完成", "GM500", "4596")]
         public bool Robot_FirePot1OutMeal{ get; set; }
         /// <summary>
         /// 1号炒锅倒素菜1完成
         /// </summary>
-        [VariableMonitor("1号炒锅倒素菜1完成", "GM501", "4597")]
+        [VariableMonitor("机器人#1号炒锅倒素菜1完成", "GM501", "4597")]
         public bool Robot_FirePot1OutVegetables1{ get; set; }
         /// <summary>
         /// 1号炒锅倒素菜2完成
         /// </summary>
-        [VariableMonitor("1号炒锅倒素菜2完成", "GM502", "4598")]
+        [VariableMonitor("机器人#1号炒锅倒素菜2完成", "GM502", "4598")]
         public bool Robot_FirePot1OutVegetables2{ get; set; }
         /// <summary>
         /// 1号炒锅倒调料完成
         /// </summary>
-        [VariableMonitor("1号炒锅倒调料完成", "GM503", "4599")]
+        [VariableMonitor("机器人#1号炒锅倒调料完成", "GM503", "4599")]
         public bool Robot_FirePot1OutSeasoning{ get; set; }
         /// <summary>
         /// 1号炒锅倒辅料完成
         /// </summary>
-        [VariableMonitor("1号炒锅倒辅料完成", "GM504", "4600")]
+        [VariableMonitor("机器人#1号炒锅倒辅料完成", "GM504", "4600")]
         public bool Robot_FirePot1OutAccessories{ get; set; }
         /// <summary>
         /// 机器人到位，请求1#炒锅倒菜
@@ -280,7 +294,7 @@ namespace BPASmartClient.MorkBF
         /// <summary>
         /// 1号炒锅出餐完成
         /// </summary>
-        [VariableMonitor("1号炒锅出餐完成", "GM506", "4602")]
+        [VariableMonitor("机器人#1号炒锅出餐完成", "GM506", "4602")]
         public bool Robot_FirePot1OutFoodComplete{ get; set; }
 
 
@@ -290,12 +304,12 @@ namespace BPASmartClient.MorkBF
         /// <summary>
         /// 2号锅倒荤菜完成
         /// </summary>
-        [VariableMonitor("2号锅倒荤菜完成", "GM510", "4606")]
+        [VariableMonitor("机器人#2号锅倒荤菜完成", "GM510", "4606")]
         public bool Robot_FirePot2OutMeal { get; set; }
         /// <summary>
         /// 2号炒锅倒素菜1完成
         /// </summary>
-        [VariableMonitor("2号炒锅倒素菜1完成", "GM511", "4607")]
+        [VariableMonitor("机器人#2号炒锅倒素菜1完成", "GM511", "4607")]
         public bool Robot_FirePot2OutVegetables1{ get; set; }
         /// <summary>
         /// 2号炒锅倒素菜2完成
@@ -305,22 +319,22 @@ namespace BPASmartClient.MorkBF
         /// <summary>
         /// 2号炒锅倒调料完成
         /// </summary>
-        [VariableMonitor("2号炒锅倒调料完成", "GM513", "4609")]
+        [VariableMonitor("机器人#2号炒锅倒调料完成", "GM513", "4609")]
         public bool Robot_FirePot2OutSeasoning{ get; set; }
         /// <summary>            
         /// 2号炒锅倒辅料完成    
         /// </summary>
-        [VariableMonitor("2号炒锅倒辅料完成", "GM514", "4610")]
+        [VariableMonitor("机器人#2号炒锅倒辅料完成", "GM514", "4610")]
         public bool Robot_FirePot2OutAccessories{ get; set; }
         /// <summary>
         /// 机器人到位，请求1#炒锅倒菜
         /// </summary>
-        [VariableMonitor("机器人到位，请求1#炒锅倒菜", "GM515", "4611")]
+        [VariableMonitor("机器人#机器人到位，请求1#炒锅倒菜", "GM515", "4611")]
         public bool Robot_ArriveFirePot2{ get; set; }
         /// <summary>
         /// 2号炒锅出餐完成
         /// </summary>
-        [VariableMonitor("2号炒锅出餐完成", "GM516", "4612")]
+        [VariableMonitor("机器人#2号炒锅出餐完成", "GM516", "4612")]
         public bool Robot_FirePot2OutFoodComplete{ get; set; }
         /// <summary>
         /// 机器人动作反馈
@@ -330,7 +344,27 @@ namespace BPASmartClient.MorkBF
 
         #endregion
 
+        public Dictionary<int, bool> FirePot1_CompleteSingle { get; set; }
+
+        public Dictionary<int, bool> FirePot2_CompleteSingle { get; set; }
+
+
+        public GVL_MorkBF()
+        {
+            FirePot1_CompleteSingle = new Dictionary<int, bool>
+            { 
+                {1,Robot_FirePot1OutMeal },
+                {2,Robot_FirePot1OutVegetables1 },
+                {3,Robot_FirePot1OutVegetables2 },
+            };
+            FirePot2_CompleteSingle = new Dictionary<int, bool>
+            {
+                {1,Robot_FirePot2OutMeal },
+                {2,Robot_FirePot2OutVegetables1 },
+                {3,Robot_FirePot2OutVegetables2 },
+            };
 
+        }
 
         public DateTime FirePan1_Date;
         public DateTime FirePan2_Date;

BPASmartClient.MorkBF/Model/BF_Food.cs

@@ -17,6 +17,8 @@ namespace BPASmartClient.MorkBF.Model
         /// </summary>
         public string FoodID { get; set; }
 
+        public List<BF_PotAction> PotActions { get; set; } = new List<BF_PotAction>();
+
     }
 
     public class BF_PotAction
@@ -40,7 +42,7 @@ namespace BPASmartClient.MorkBF.Model
         /// <summary>
         /// 动作
         /// </summary>
-        public string Actions
+        public PotAction Actions
         {
             get;
             set;
@@ -62,4 +64,32 @@ namespace BPASmartClient.MorkBF.Model
             set;
         }
     }
+
+
+    public enum PotAction
+    {
+        加热开启,       
+        加热关闭,
+        搅拌开启,  
+        搅拌关闭,
+
+        加调料,
+        加菜品,
+        加辅料,
+        加热时间,
+
+        抽油启动,
+        抽水启动,
+        出餐启动,
+
+        炒锅回原点,
+        炒制位置1,
+        炒制位置2,
+        炒制位置3,
+        炒制位置4,
+        炒锅去出餐倒料位置,
+        炒锅去投料位置,
+
+
+    }
 }

BPASmartClient.MorkBF/Model/Global.cs

@@ -0,0 +1,14 @@
+using BPASmartClient.Model.大炒;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkBF.Model
+{
+    public class Global
+    {
+        public static FryPotMessages GLoFryMessage { get; set; } = new FryPotMessages();
+    }
+}

BPASmartClient.MorkBF/VIew/DebugView.xaml

@@ -21,14 +21,40 @@
     </UserControl.Resources>
     <Grid>
         <Grid.RowDefinitions>
+            <RowDefinition Height="40"/>
+            <RowDefinition Height="2*"/>
             <RowDefinition Height="*"/>
             <RowDefinition Height="*"/>
             <RowDefinition Height="*"/>
         </Grid.RowDefinitions>
-        <GroupBox Header="炒锅1" FontSize="22">
-
-
-            <WrapPanel Grid.Row="1" Orientation="Horizontal">
+        <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>
+                        <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>
+                    </Border>
+                    
+                </DataTemplate>
+            </ListBox.ItemTemplate>
+        </ListBox>
+        
+        <GroupBox Grid.Row="2" 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}"/>
@@ -57,7 +83,7 @@
             </WrapPanel>
 
         </GroupBox>
-        <GroupBox Grid.Row="1" Header="炒锅2" FontSize="22">
+        <GroupBox Grid.Row="3" 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"/>
@@ -86,7 +112,7 @@
                 <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="3" Header="机器人" FontSize="22">
+        <GroupBox Grid.Row="4" 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}"/>

BPASmartClient.MorkBF/VIew/DebugView.xaml.cs

@@ -1,4 +1,5 @@
-using System;
+using BPASmartClient.MorkBF.Model;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
@@ -24,5 +25,12 @@ namespace BPASmartClient.MorkBF.VIew
         {
             InitializeComponent();
         }
+
+        private void Button_Click(object sender, RoutedEventArgs e)
+        {
+            Global.GLoFryMessage = null;
+            FoodManagerView foodManagerView = new FoodManagerView();
+            foodManagerView.ShowDialog();
+        }
     }
 }

BPASmartClient.MorkBF/VIew/FoodManagerView.xaml

@@ -4,47 +4,72 @@
         xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
         xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
         xmlns:local="clr-namespace:BPASmartClient.MorkBF.VIew"
+        xmlns:con="clr-namespace:BPASmartClient.MorkBF.Convert"
+        xmlns:vm ="clr-namespace:BPASmartClient.MorkBF.ViewModel"
         mc:Ignorable="d"
-        Title="FoodManagerView" Height="450" Width="800" WindowStartupLocation="CenterScreen" ResizeMode="NoResize" WindowStyle="None" AllowsTransparency="True" Background="Transparent">
+        Title="FoodManagerView" Height="450" Width="1020" WindowStartupLocation="CenterScreen" ResizeMode="NoResize" WindowStyle="None" AllowsTransparency="True" Background="Transparent">
+    <Window.DataContext>
+        <vm:FoodManagerViewModel/>
+    </Window.DataContext>
     <Window.Resources>
         <ResourceDictionary>
             <ResourceDictionary.MergedDictionaries>
                 <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/GenricStyle.xaml" />
                 <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/MyStyle.xaml" />
             </ResourceDictionary.MergedDictionaries>
+            <con:StirToVisibilityConverter x:Key="StirToVisibilityConverter" />
+            <con:FirePositionToVisibilityConverter x:Key="FirePositionToVisibilityConverter" />
+            <con:AccessoriesToVisibilityConverter x:Key="AccessoriesToVisibilityConverter" />
         </ResourceDictionary>
     </Window.Resources>
-    <Grid>
-        <Grid.RowDefinitions>
-            <RowDefinition Height="50"/>
-            <RowDefinition Height="*"/>
-        </Grid.RowDefinitions>
-        <StackPanel Orientation="Horizontal" HorizontalAlignment="Center" VerticalAlignment="Center" Height="45">
-            <TextBlock Text="菜品名称:" Margin="10,0"/>
-            <TextBox Text="{Binding FoodName}" Width="160" Margin="10,0" FontSize="16"/>
-            <Button Content="添加新步骤" Margin="10,0"  Style="{StaticResource ButtonStyle}" Height="36" />
-            <Button Content="保存" Margin="10,0" Style="{StaticResource ButtonStyle}" Height="36" Width="80"/>
-            <Button Content="退出" Margin="10,0"  Style="{StaticResource ButtonStyle}" Height="36" Width="80"/>
-        </StackPanel>
-        <Grid Grid.Row="1">
-            <Grid.ColumnDefinitions>
-                <ColumnDefinition Width="2*"/>
-                <ColumnDefinition Width="*"/>
-            </Grid.ColumnDefinitions>
-            <ListBox >
-                <ListBox.ItemTemplate>
-                    <DataTemplate>
-                        <Grid>
-                            <Grid.ColumnDefinitions>
-                                <ColumnDefinition Width="*"/>
-                                <ColumnDefinition Width="*"/>
-                            </Grid.ColumnDefinitions>
-                            <ComboBox />
-                            <Button  Content="删除"/>
-                        </Grid>
-                    </DataTemplate>
-                </ListBox.ItemTemplate>
-            </ListBox>
+    <Border CornerRadius="1,60,00,70" Background="#1E1E1E"  >
+        <Grid MouseLeftButtonDown="Grid_MouseLeftButtonDown">
+            <Grid.Background>
+                <ImageBrush ImageSource="/BPASmartClient.CustomResource;component/Image/不规则矩形.png"/>
+            </Grid.Background>
+            <Grid.RowDefinitions>
+                <RowDefinition Height="50"/>
+                <RowDefinition Height="*"/>
+            </Grid.RowDefinitions>
+            <StackPanel Orientation="Horizontal" HorizontalAlignment="Center" VerticalAlignment="Center" Height="45">
+                <TextBlock Text="菜品名称:" Margin="10,0"/>
+                <TextBox Text="{Binding GoodName}" Width="160" Margin="10,0" FontSize="16"/>
+                <Button Content="添加新步骤" Margin="10,0"  Style="{StaticResource ButtonStyle}" Height="36"  Command="{Binding AddCommand}"/>
+                <Button Content="保存" Margin="10,0" Style="{StaticResource ButtonStyle}" Height="36" Width="80" Command="{Binding SaveCommand}"/>
+                <Button Content="退出" Margin="10,0"  Style="{StaticResource ButtonStyle}" Height="36" Width="80" Click="Button_Click"/>
+            </StackPanel>
+            <Grid Grid.Row="1">
+                <ListBox ItemsSource="{Binding FryPotProcesses}" FontSize="15">
+                    <ListBox.ItemTemplate>
+                        <DataTemplate>
+                            <StackPanel Orientation="Horizontal" Margin="0,10">
+                                <TextBlock Text="步骤--" Margin="10,0,2,0" VerticalAlignment="Center"/>
+                                <TextBlock Text="{Binding FryTime}"   VerticalAlignment="Center"/>
+                                <TextBlock Text="加热时间--" Margin="10,0,2,0" VerticalAlignment="Center"/>
+                                <TextBox Text="{Binding FryDuration}" Margin="10,0" Width="40"  VerticalAlignment="Center"/>
+                                <TextBlock Text="动作--" Margin="10,0,2,0" VerticalAlignment="Center"/>
+                                <ComboBox ItemsSource="{Binding DataContext.FryAction,RelativeSource={RelativeSource AncestorType=Window,Mode=FindAncestor}}" 
+                                      SelectedItem="{Binding fryActions}"  Width="100" IsReadOnly="True" Margin="2,0,10,0"/>
+                                <TextBlock Text="加热挡位--" Margin="10,0,2,0"  VerticalAlignment="Center"/>
+                                <ComboBox ItemsSource="{Binding DataContext.Gear,RelativeSource={RelativeSource AncestorType=Window,Mode=FindAncestor}}" 
+                                      SelectedItem="{Binding FryGear}" Width="50" Margin="2,0,10,0" />
+                                <TextBlock Text="搅拌挡位--" Margin="10,0,2,0"  VerticalAlignment="Center"
+                                       Visibility="{Binding fryActions,Converter={StaticResource StirToVisibilityConverter}}"/>
+                                <ComboBox ItemsSource="{Binding DataContext.Gear,RelativeSource={RelativeSource AncestorType=Window,Mode=FindAncestor}}" SelectedItem="{Binding StirGear}" Width="50" Margin="2,0,10,0"
+                                      Visibility="{Binding fryActions,Converter={StaticResource StirToVisibilityConverter}}"/>
+                                <TextBlock Text="炒制位置--" Margin="10,0,2,0"  VerticalAlignment="Center"
+                                       Visibility="{Binding fryActions,Converter={StaticResource FirePositionToVisibilityConverter}}"/>
+                                <ComboBox ItemsSource="{Binding DataContext.PotPostion,RelativeSource={RelativeSource AncestorType=Window,Mode=FindAncestor} }" SelectedItem="{Binding FryPosition}"  Width="50" Margin="2,0,10,0"
+                                      Visibility="{Binding fryActions,Converter={StaticResource FirePositionToVisibilityConverter}}"/>
+                                <TextBlock Text="物料位置--" Margin="10,0,2,0"  VerticalAlignment="Center" 
+                                       Visibility="{Binding fryActions,Converter={StaticResource AccessoriesToVisibilityConverter}}"/>
+                                <TextBox Text="{Binding accessories[0].Loc}"   VerticalAlignment="Center" Width="50"
+                                     Visibility="{Binding fryActions,Converter={StaticResource AccessoriesToVisibilityConverter}}"/>
+                            </StackPanel>
+                        </DataTemplate>
+                    </ListBox.ItemTemplate>
+                </ListBox>
+            </Grid>
         </Grid>
-    </Grid>
+    </Border>
 </Window>

BPASmartClient.MorkBF/VIew/FoodManagerView.xaml.cs

@@ -1,4 +1,6 @@
-using System;
+
+using BPASmartClient.Helper;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
@@ -22,6 +24,21 @@ namespace BPASmartClient.MorkBF.VIew
         public FoodManagerView()
         {
             InitializeComponent();
+            ActionManage.GetInstance.CancelRegister("FoodManagerViewClose");
+            ActionManage.GetInstance.Register(new Action(()=> 
+            { 
+                this.Close(); 
+            }), "FoodManagerViewClose");
+        }
+
+        private void Button_Click(object sender, RoutedEventArgs e)
+        {
+            ActionManage.GetInstance.Send("FoodManagerViewClose");
+        }
+
+        private void Grid_MouseLeftButtonDown(object sender, MouseButtonEventArgs e)
+        {
+            this.DragMove();
         }
     }
 }

BPASmartClient.MorkBF/ViewModel/DebugViewModel.cs

@@ -1,19 +1,50 @@
-using System;
+global using CommunityToolkit.Mvvm.ComponentModel;
+global using CommunityToolkit.Mvvm.Input;
+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;
+using BPASmartClient.Model.大炒;
+using BPASmartClient.MorkBF.Model;
+using BPASmartClient.MorkBF.VIew;
 
 namespace BPASmartClient.MorkBF.ViewModel
 {
     [INotifyPropertyChanged]
     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();
+        }
+
+
+
+
         /// <summary>
         /// 加热挡位
         /// </summary>
@@ -369,5 +400,8 @@ namespace BPASmartClient.MorkBF.ViewModel
         }
 
         #endregion
+
+
+      
     }
 }

BPASmartClient.MorkBF/ViewModel/FoodManagerViewModel.cs

@@ -0,0 +1,93 @@
+using BPASmartClient.Helper;
+using BPASmartClient.Model.大炒;
+using BPASmartClient.MorkBF.Model;
+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 FoodManagerViewModel
+    {
+        /// <summary>
+        /// 菜品步骤
+        /// </summary>
+        public ObservableCollection<FryPotProcess> FryPotProcesses { get; set; } =new ObservableCollection<FryPotProcess>();
+
+        public ObservableCollection<FryAction> FryAction { get; set; } = new ObservableCollection<FryAction>();
+
+        public ObservableCollection<int> Gear { get; set; } = new ObservableCollection<int>() { 0,1, 2, 3, 4, 5 };
+
+        public ObservableCollection<int> PotPostion { get; set; } = new ObservableCollection<int>() { 1, 2,3, 4 };
+
+        [ObservableProperty]
+        private string _goodName;
+        
+        [RelayCommand]
+        private void Add()
+        {
+            FryPotProcesses.Add(new FryPotProcess() { FryTime = FryPotProcesses.Count + 1 });
+        }
+
+        [RelayCommand]
+        private void Save()
+        {
+            if (string.IsNullOrEmpty(GoodName)) return;
+            
+            
+            if (Global.GLoFryMessage != null)
+            {
+                var res = Json<LocalFryPotMessage>.Data.FryPotMessage.FirstOrDefault(p => p.GoodKey == Global.GLoFryMessage.GoodKey);
+                if (res != null)
+                {
+                    res.GoodName = GoodName;
+                    res.fryPotProcesses = FryPotProcesses.ToList();
+                }
+            }
+            else
+            {
+                if (Json<LocalFryPotMessage>.Data.FryPotMessage.FirstOrDefault(p => p.GoodName == _goodName) != null) return;
+                Json<LocalFryPotMessage>.Data.FryPotMessage.Add(new FryPotMessages
+                {
+                    GoodName = GoodName,
+                    GoodKey = new Guid().ToString(),
+                    fryPotProcesses = FryPotProcesses.ToList()
+                });
+            }
+            Json<LocalFryPotMessage>.Save();
+            ActionManage.GetInstance.Send("FoodManagerViewClose");
+        }
+
+        [RelayCommand]
+        private void Delete(object o)
+        {
+            if (o == null) return;
+            if (o is FryPotProcess value)
+            {
+                FryPotProcesses.Remove(value);
+            }
+            
+        }
+
+
+
+        public FoodManagerViewModel()
+        {
+            foreach(var item in Enum.GetValues(typeof(FryAction)))
+            {
+                FryAction.Add((FryAction)item);
+            }
+
+            if (Global.GLoFryMessage != null)//编辑
+            {
+                GoodName = Global.GLoFryMessage.GoodName;
+                FryPotProcesses = new ObservableCollection<FryPotProcess>(Global.GLoFryMessage.fryPotProcesses);
+            }
+            
+        }
+    }
+}

BPASmartClient.MorkBF/ViewModel/MonitorViewModel.cs

@@ -10,7 +10,7 @@ using System.Collections.ObjectModel;
 
 namespace BPASmartClient.MorkBF.ViewModel
 {
-    public class MonitorViewModel : ObservableObject
+    public class MonitorViewModel
     {
         public MonitorViewModel()
         {

BPASmartClient.MorkF/Control_MorkF.cs

@@ -12,11 +12,13 @@ using BPASmartClient.Model.小炒机;
 using BPASmartClient.MorkF.Model;
 using System.Text;
 using System.Collections.Concurrent;
+using System.Windows.Documents;
 
 namespace BPASmartClient.MorkF
 {
     public class Control_MorkF : BaseDevice
     {
+        
         /// <summary>
         /// while循环最大sleep次数
         /// </summary>
@@ -32,6 +34,17 @@ namespace BPASmartClient.MorkF
         /// </summary>
         private int count = 2;
 
+        //
+        private const int materialHigh = 40000;
+
+        //炒锅1倒菜的xy坐标
+        private const int materialPutPositionXFry1 = -30000;
+        private const int materialPutPositionYFry1 = -20000;
+
+        //炒锅2倒菜的xy坐标
+        private const int materialPutPositionXFry2 = -30000;
+        private const int materialPutPositionYFry2 = -20000;
+
         //当前炒锅，默认为1号炒锅
         private int fryIndex = 0;
 
@@ -69,6 +82,11 @@ namespace BPASmartClient.MorkF
         /// </summary>
         private OrderLocInfo nowStirFryGood = null;
 
+        /// <summary>
+        /// 待取菜队列
+        /// </summary>
+        private ConcurrentQueue<MaterialOperation> materialOperationQuenes = new ConcurrentQueue<MaterialOperation>();
+
         List<int> resultorder = new List<int>();//调试变量
 
         /// <summary>
@@ -91,6 +109,8 @@ namespace BPASmartClient.MorkF
             CommandRegist();//调试
             ServerInit();
             DeviceProcessLogShow("MORKF 设备初始化完成");
+            ///初始化菜品库
+            FoodLibInit();
         }
 
         /// <summary>
@@ -170,6 +190,47 @@ namespace BPASmartClient.MorkF
                     }
                 }), "SetArmPosition");
             }), "SetArmPosition");
+            ActionManage.GetInstance.Register(new Action<object>((list) =>
+            {
+                if (list is bool startOrStop)
+                {
+                    ArmRunUp(startOrStop);
+                }
+            }), "ArmRunUp");
+            ActionManage.GetInstance.Register(new Action<object>((list) =>
+            {
+                if (list is bool startOrStop)
+                {
+                    ArmRunDown(startOrStop);
+                }
+            }), "ArmRunDown");
+            ActionManage.GetInstance.Register(new Action<object>((list) =>
+            {
+                if (list is bool startOrStop)
+                {
+                    ArmRunLeft(startOrStop);
+                }
+            }), "ArmRunLeft");
+            ActionManage.GetInstance.Register(new Action<object>((list) =>
+            {
+                if (list is bool startOrStop)
+                {
+                    ArmRunRight(startOrStop);
+                }
+            }), "ArmRunRight");
+            ActionManage.GetInstance.Register(new Action<object>((list) =>
+            {
+                ThreadManage.GetInstance().Start(new Action(() =>
+                {
+                    if (list is List<int> list_int)
+                    {
+                        if (list_int.Count == 2)
+                        {
+                            SetNowPosition(list_int[0], list_int[1]);
+                        }
+                    }
+                }), "SetNowPosition");
+            }), "SetNowPosition");
             #endregion
             //ActionManage.GetInstance.Register(PLCInite, "InitCommand");
             #region 配料控制
@@ -622,33 +683,55 @@ namespace BPASmartClient.MorkF
         /// </summary>
         /// <param name="address"></param>
         /// <param name="value"></param>
-        private void MaterailLibrary_Write(string address, object value,int num)
+        private void MaterailLibrary_Write(string address, object value,int num = 2)
         {
             WriteControlExact(address, value, num);
         }
         /// <summary>
         /// 菜品库初始化
         /// </summary>
-        public void FoodLibInit(int num = 2)
+        public bool FoodLibInit()
         {
-            MaterailLibrary_Write("M0.2", true, num);
+            MaterailLibrary_Write("M0.2", true);
+
+            for (int i = 0; i < sleepCount && !ml_morkf.InitialComplete; i++)
+            {
+                Thread.Sleep(sleepTime);
+                if (i >= sleepCount - 1)
+                {
+                    MessageLog.GetInstance.Show("菜品库初始化超时");
+                    return false;
+                }
+            }
+
+            return true;
         }
         /// <summary>
         /// 电磁阀启停
         /// </summary>
         /// <param name="o">电磁阀启停：true：启动。false：停止。</param>
-        public void Electromagnetism(object o,int num = 2)
+        public void Electromagnetism(object o)
         {
+            if (!ml_morkf.InitialComplete)
+            {
+                return;
+            }
+
             if (o == null) return;
             if (o is List<bool> bs && bs.Count == 1)
             {
-                MaterailLibrary_Write("M1.3", bs[0],num);
+                MaterailLibrary_Write("M1.3", bs[0]);
             }
         }
-        public bool GetDistance_1(int num = 2)
+        public bool GetDistance_1()
         {
+            if (!ml_morkf.InitialComplete)
+            {
+                return false;
+            }
+
             MessageLog.GetInstance.Show("爪子去到1号位");
-            MaterailLibrary_Write("M1.0", true, num);
+            MaterailLibrary_Write("M1.0", true);
             for (int i = 0; i < sleepCount && !ml_morkf.PawArrivePortOne; i++)
             {
                 Thread.Sleep(sleepTime);
@@ -658,13 +741,21 @@ namespace BPASmartClient.MorkF
                     return false;
                 }
             }
+
+            Thread.Sleep(300);
+
             MessageLog.GetInstance.Show("爪子去到1号位完成");
             return true;
         }
-        public bool GetDistance_2(int num = 2)
+        public bool GetDistance_2()
         {
+            if (!ml_morkf.InitialComplete)
+            {
+                return false;
+            }
+
             MessageLog.GetInstance.Show("爪子去到2号位");
-            MaterailLibrary_Write("M1.1", true, num);
+            MaterailLibrary_Write("M1.1", true);
             for (int i = 0; i < sleepCount && !ml_morkf.PawArrivePortTwo; i++)
             {
                 Thread.Sleep(sleepTime);
@@ -674,13 +765,21 @@ namespace BPASmartClient.MorkF
                     return false;
                 }
             }
+
+            Thread.Sleep(300);
+
             MessageLog.GetInstance.Show("爪子去到2号位完成");
             return true;
         }
-        public bool GetDistance_3(int num = 2)
+        public bool GetDistance_3()
         {
+            if (!ml_morkf.InitialComplete)
+            {
+                return false;
+            }
+
             MessageLog.GetInstance.Show("爪子去到3号位");
-            MaterailLibrary_Write("M1.2", true,num);
+            MaterailLibrary_Write("M1.2", true);
             for (int i = 0; i < sleepCount && !ml_morkf.PawArrivePortThree; i++)
             {
                 Thread.Sleep(sleepTime);
@@ -690,16 +789,19 @@ namespace BPASmartClient.MorkF
                     return false;
                 }
             }
+
+            Thread.Sleep(300);
+
             MessageLog.GetInstance.Show("爪子去到3号位完成");
             return true;
         }
-        public void PawTurnFront(int num = 2)
+        public void PawTurnFront()
         {
-            MaterailLibrary_Write("", true, num);
+            MaterailLibrary_Write("", true);
         }
-        public void PawTurnBack(int num = 2)
+        public void PawTurnBack()
         {
-            MaterailLibrary_Write("", true, num);
+            MaterailLibrary_Write("", true);
         }
 
         /// <summary>
@@ -707,20 +809,25 @@ namespace BPASmartClient.MorkF
         /// </summary>
         /// <param name="x"></param>
         /// <param name="y"></param>
-        public bool SetArmPosition(int x, int y, int num = 2)
+        public bool SetArmPosition(int x, int y)
         {
+            if(!ml_morkf.InitialComplete)
+            {
+                return false;
+            }
+
             //取反
             x -= 2 * x;
             y -= 2 * y;
-            MaterailLibrary_Write("VD836", x, num);
+            MaterailLibrary_Write("VD836", x);
             Thread.Sleep(100);
-            MaterailLibrary_Write("VD840", y, num);
+            MaterailLibrary_Write("VD840", y);
 
             Thread.Sleep(200);
 
             MessageLog.GetInstance.Show($"机械臂移动到[{x}，{y}]");
             //定位启动
-            MaterailLibrary_Write("M0.0", true, num);
+            MaterailLibrary_Write("M0.0", true);
 
             for (int i = 0; i < sleepCount && !ml_morkf.ArriveComplete; i++)
             {
@@ -739,15 +846,73 @@ namespace BPASmartClient.MorkF
             return true;
         }
 
+        /// <summary>
+        /// 设定机械臂的当前坐标
+        /// </summary>
+        /// <param name="x"></param>
+        /// <param name="y"></param>
+        public void SetNowPosition(int x, int y)
+        {
+            //取反
+            x -= 2 * x;
+            y -= 2 * y;
+            MessageLog.GetInstance.Show($"设置机械臂当前坐标为[{x}，{y}]");
+            MaterailLibrary_Write("VD828", x);
+            Thread.Sleep(200);
+            MaterailLibrary_Write("VD832", y);
+            Thread.Sleep(200);
+        }
+
+        /// <summary>
+        /// 机械臂向上移动开关
+        /// </summary>
+        /// <param name="startOrStop">true：开启，false：关闭</param>
+        public void ArmRunUp(bool startOrStop)
+        {
+            MaterailLibrary_Write("M5.3", startOrStop);
+            Thread.Sleep(200);
+        }
+
+        /// <summary>
+        /// 机械臂向下移动开关
+        /// </summary>
+        /// <param name="startOrStop">true：开启，false：关闭</param>
+        public void ArmRunDown(bool startOrStop)
+        {
+            MaterailLibrary_Write("M5.4", startOrStop);
+            Thread.Sleep(200);
+        }
+
+        /// <summary>
+        /// 机械臂向左移动开关
+        /// </summary>
+        /// <param name="startOrStop">true：开启，false：关闭</param>
+        public void ArmRunLeft(bool startOrStop)
+        {
+            MaterailLibrary_Write("M5.5", startOrStop);
+            Thread.Sleep(200);
+        }
+
+        /// <summary>
+        /// 机械臂向右移动开关
+        /// </summary>
+        /// <param name="startOrStop">true：开启，false：关闭</param>
+        public void ArmRunRight(bool startOrStop)
+        {
+            MaterailLibrary_Write("M5.6", startOrStop);
+            Thread.Sleep(200);
+        }
+
         //菜品库锁
         object lock_Materail = new object();
 
-        private const int up = 10000;
-
         /// <summary>
-        /// 获取菜品
+        /// 取菜操作
         /// </summary>
-        public void GetMaterail(int x,int y)
+        /// <param name="x">取菜x轴坐标</param>
+        /// <param name="y">取菜y轴坐标</param>
+        /// <param name="fryNum"></param>
+        public void GetMaterail(int x,int y,int fryNum = 0)
         {
             //设置到抓菜处
             if(!SetArmPosition(x, y))
@@ -755,39 +920,72 @@ namespace BPASmartClient.MorkF
                 return;
             }
 
-            //Thread.Sleep(2000);
+            //获取传感器的距离
+            int laserHigh = ml_morkf.LaserDistance;
 
-            //关闭电磁阀
-            Electromagnetism(new List<bool> { true });
-            Thread.Sleep(500);
+            //设置到传感器感应的距离处
+            if(!SetArmPosition(x+ laserHigh, y ))
+            {
+                return;
+            }
+
+            ////关闭电磁阀
+            //Electromagnetism(new List<bool> { true });
+            //Thread.Sleep(500);
 
             //爪子去1号位抓菜
             if (!GetDistance_1())
             {
                 return;
             }
-            Thread.Sleep(500);
 
-            //移动前开启电磁阀
-            Electromagnetism(new List<bool> { false });
-            Thread.Sleep(500);
+            //设置到该层菜品库最高处
+            if (!SetArmPosition(x + materialHigh, y))
+            {
+                return;
+            }
+
+            ////移动前开启电磁阀
+            //Electromagnetism(new List<bool> { false });
+            //Thread.Sleep(500);
 
-            //设置到出菜处，都在x轴-40000处出菜
-            if (!SetArmPosition(-40000, y))
+            //爪子去2号位放菜
+            if (!GetDistance_2())
             {
                 return;
             }
 
-            Thread.Sleep(500);
+            //根据炒锅不同设置不同的出菜处
+            if (fryNum == 0)
+            {
+                //设置到炒锅1出菜处
+                if (!SetArmPosition(materialPutPositionXFry1, materialPutPositionYFry1))
+                {
+                    return;
+                }
+            }
+            else
+            {
+                //设置到炒锅2出菜处
+                if (!SetArmPosition(materialPutPositionXFry1, materialPutPositionYFry1))
+                {
+                    return;
+                }
+            }
+
             //爪子去3号位放菜
             if (!GetDistance_3())
             {
                 return;
             }
-            Thread.Sleep(500);
+
             ////关闭电磁阀
             //Electromagnetism(new List<bool> { false });
             //Thread.Sleep(300);
+            if(morkFs.ContainsKey(fryNum))
+            {
+                morkFs[fryNum].GetMaterialComplete = true;
+            }
         }
 
         /// <summary>
@@ -836,23 +1034,9 @@ namespace BPASmartClient.MorkF
                     {
                         ml_morkf.MaterailIsWorking = true;
                     }
-                    //菜品库去指定位置
-                    if (!SetArmPosition(x1, y))
-                    {
-                        MessageLog.GetInstance.Show("菜品库[机械臂操作失败]");
-                        return;
-                    }
                     //取菜操作
                     GetMaterail(x2,y);
 
-
-                    //机械臂去取菜放位
-                    if (!SetArmPosition(-30000, -20000))
-                    {
-                        MessageLog.GetInstance.Show("菜品库[机械臂操作失败]");
-                        return;
-                    }
-
                     //机械臂回原点
                     if (!SetArmPosition(0, 0))
                     {
@@ -876,7 +1060,6 @@ namespace BPASmartClient.MorkF
         }
         #endregion
 
-
         #region 炒锅PLC基本操作方法
         /// <summary>
         /// 炒锅写寄存器方法，num为炒锅对应编号，从0开始
@@ -1036,13 +1219,39 @@ namespace BPASmartClient.MorkF
             {
                 return;
             }
+            int i = 0;
+            //判断是否完成取菜
+            for (i = 0; i < sleepCount*2 && !morkFs[num].GetMaterialComplete; i++)
+            {
+                if(i == 3)
+                {
+                    //停止搅拌
+                    StopStir(num);
+                    //火力设置为2档
+                    SetFire(new List<int> { 2 }, num);
+                }
+                Thread.Sleep(sleepTime);
+                if (i >= sleepCount * 2 - 1)
+                {
+                    MessageLog.GetInstance.Show($"炒锅{num}倒菜超时：未能等到取菜完成");
+                    return;
+                }
+            }
+
+            if (i > 3)
+            {
+                //开启搅拌
+                StartStir(num);
+                //火力设置回原本火力
+                SetFire(new List<int> { morkFs[num].Fire }, num);
+            }
 
             FirePot_Write("LB3", true, num);
             MessageLog.GetInstance.Show("倒菜启动");
 
-            Thread.Sleep(400);
+            Thread.Sleep(200);
 
-            for (int i = 0; i < sleepCount && !morkFs[num].FryPot1_MaterialIntoPot; i++)
+            for (i = 0; i < sleepCount && !morkFs[num].FryPot1_MaterialIntoPot; i++)
             {
                 Thread.Sleep(sleepTime);
                 if (i >= sleepCount - 1)
@@ -1178,7 +1387,6 @@ namespace BPASmartClient.MorkF
 
         #endregion
 
-
         bool isInitialArrive = false;
 
         bool isInitialPaw = false;
@@ -1439,7 +1647,7 @@ namespace BPASmartClient.MorkF
                 //遍历炒锅，找到合适、空闲的炒锅
                 for(int i = 0;i<morkFs.Count;i++)
                 {
-                    if (/*morkFs[i].AutoMode && morkFs[i].FryPot1_InitialComplete &&*/
+                    if (morkFs[i].AutoMode && morkFs[i].FryPot1_InitialComplete &&
                         !morkFs[i].FryWorking)//炒锅在自动状态&&初始化完成&&是否在炒菜中
                     {
                         lock(lock_MainProcessExcute)
@@ -1447,161 +1655,175 @@ namespace BPASmartClient.MorkF
                             //待炒小炒队列出队列
                             if (StirFryGoodsQuenes.TryDequeue(out var res))
                             {
-                                    //设置当前炒制菜品
-                                    nowStirFryGood = res;
-                                    //炒锅工作状态置为正在工作中
-                                    morkFs[i].FryWorking = true;
-                                    //空闲炒锅入队列
-                                    morkFs[i].StirFryGoodsQuenes.Enqueue(res);
-                                    MessageLog.GetInstance.Show($"炒锅{i}开始炒制菜品{res.GoodName}");
-
-                                    //开启线程进行炒制
-                                    ThreadManage.GetInstance().Start(new Action(() =>
+                                //设置当前炒制菜品
+                                nowStirFryGood = res;
+                                //炒锅工作状态置为正在工作中
+                                morkFs[i].FryWorking = true;
+                                //空闲炒锅入队列
+                                morkFs[i].StirFryGoodsQuenes.Enqueue(res);
+                                //炒锅取菜状态置为未取到
+                                morkFs[i].GetMaterialComplete = false;
+                                MessageLog.GetInstance.Show($"炒锅{i}开始炒制菜品{res.GoodName}");
+
+                                //开启线程进行炒制
+                                ThreadManage.GetInstance().Start(new Action(() =>
+                                {
+                                    try
                                     {
-                                        try
+                                        int getMaterailNum = 0;
+                                        foreach (var potActions in res.StirPotActions)
                                         {
-                                            int getMaterailNum = 0;
-                                            foreach (var potActions in res.StirPotActions)
+                                            if (ThreadManage.GetInstance().IsCanncel(String.Format(striConst, i.ToString(), nowStirFryGood.GoodName)))
                                             {
-                                                if (ThreadManage.GetInstance().IsCanncel(String.Format(striConst, i.ToString(), nowStirFryGood.GoodName)))
-                                                {
-                                                    return;
-                                                }
-
-                                                switch (potActions.Actions)
-                                                {
-                                                    case nameof(StirFryPotActionEnum.加热开启):
-                                                        StartFire(i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.设置加热挡位1):
-                                                        SetFire(new List<int> { 1 }, i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.设置加热挡位2):
-                                                        SetFire(new List<int> { 2 }, i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.设置加热挡位3):
-                                                        SetFire(new List<int> { 3 }, i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.设置加热挡位4):
-                                                        SetFire(new List<int> { 4 }, i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.设置加热挡位5):
-                                                        SetFire(new List<int> { 5 }, i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.设置加热挡位6):
-                                                        SetFire(new List<int> { 6 }, i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.设置加热挡位7):
-                                                        SetFire(new List<int> { 7 }, i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.设置加热挡位8):
-                                                        SetFire(new List<int> { 8 }, i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.设置加热挡位9):
-                                                        SetFire(new List<int> { 9 }, i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.设置加热挡位10):
-                                                        SetFire(new List<int> { 10 }, i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.停止加热):
-                                                        StopFire(i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.加调料):
-                                                        OutSeasonings(potActions.SeasoningLists, i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.取原料):
-                                                        GetMaterailTest(getMaterailNum);
-                                                        getMaterailNum++;
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.开启搅拌):
-                                                        StartStir(i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.设置搅拌挡位1):
-                                                        SetStir(new List<int> { 1 }, i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.设置搅拌挡位2):
-                                                        SetStir(new List<int> { 2 }, i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.设置搅拌挡位3):
-                                                        SetStir(new List<int> { 3 }, i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.关闭搅拌):
-                                                        StopStir(i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.出餐启动):
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.道菜启动):
-                                                        OutFood(i);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.炒制菜品):
-                                                        Thread.Sleep(potActions.During * 1000);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.搅拌臂原点位):
-                                                        StirArmGoOrigin(i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.搅拌臂炒制位):
-                                                        StirArmGoWork(i);
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    case nameof(StirFryPotActionEnum.洗锅):
-                                                        MessageLog.GetInstance.Show(potActions.Actions);
-                                                        break;
-                                                    default:
-                                                        break;
-
-                                                }
+                                                return;
                                             }
 
+                                            switch (potActions.Actions)
+                                            {
+                                                case nameof(StirFryPotActionEnum.加热开启):
+                                                    StartFire(i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.设置加热挡位1):
+                                                    morkFs[i].Fire = 1;
+                                                    SetFire(new List<int> { 1 }, i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.设置加热挡位2):
+                                                    morkFs[i].Fire = 2;
+                                                    SetFire(new List<int> { 2 }, i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.设置加热挡位3):
+                                                    morkFs[i].Fire = 3;
+                                                    SetFire(new List<int> { 3 }, i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.设置加热挡位4):
+                                                    morkFs[i].Fire = 4;
+                                                    SetFire(new List<int> { 4 }, i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.设置加热挡位5):
+                                                    morkFs[i].Fire = 5;
+                                                    SetFire(new List<int> { 5 }, i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.设置加热挡位6):
+                                                    morkFs[i].Fire = 6;
+                                                    SetFire(new List<int> { 6 }, i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.设置加热挡位7):
+                                                    morkFs[i].Fire = 7;
+                                                    SetFire(new List<int> { 7 }, i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.设置加热挡位8):
+                                                    morkFs[i].Fire = 8;
+                                                    SetFire(new List<int> { 8 }, i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.设置加热挡位9):
+                                                    morkFs[i].Fire = 9;
+                                                    SetFire(new List<int> { 9 }, i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.设置加热挡位10):
+                                                    morkFs[i].Fire = 10;
+                                                    SetFire(new List<int> { 10 }, i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.停止加热):
+                                                    StopFire(i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.加调料):
+                                                    OutSeasonings(potActions.SeasoningLists, i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.取原料):
+                                                    //炒锅取菜状态置为未取到
+                                                    morkFs[i].GetMaterialComplete = false;
+                                                    materialOperationQuenes.Enqueue(new MaterialOperation() { fryNum = i, x = 0, y = 0 });
+                                                    getMaterailNum++;
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.开启搅拌):
+                                                    StartStir(i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.设置搅拌挡位1):
+                                                    SetStir(new List<int> { 1 }, i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.设置搅拌挡位2):
+                                                    SetStir(new List<int> { 2 }, i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.设置搅拌挡位3):
+                                                    SetStir(new List<int> { 3 }, i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.关闭搅拌):
+                                                    StopStir(i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.出餐启动):
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.道菜启动):
+                                                    OutFood(i);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.炒制菜品):
+                                                    Thread.Sleep(potActions.During * 1000);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.搅拌臂原点位):
+                                                    StirArmGoOrigin(i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.搅拌臂炒制位):
+                                                    StirArmGoWork(i);
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                case nameof(StirFryPotActionEnum.洗锅):
+                                                    MessageLog.GetInstance.Show(potActions.Actions);
+                                                    break;
+                                                default:
+                                                    break;
 
-                                            Plc1Reset(i);//复位
-                                            Thread.Sleep(3000);
-                                            //回原点位
-                                            StirArmGoOrigin(i);
+                                            }
+                                        }
 
-                                            //while (!morkFs[i].ArmOnOrigin)
-                                            //{
-                                            //    Thread.Sleep(100);
-                                            //}
-                                            //出餐
-                                            //OutMeal(i);
-                                            MessageLog.GetInstance.Show($"菜品{res.GoodName}完成");
 
+                                        Plc1Reset(i);//复位
+                                        Thread.Sleep(3000);
+                                        //回原点位
+                                        StirArmGoOrigin(i);
 
-                                        }
-                                        catch (Exception ex)
-                                        {
-                                            ThreadManage.GetInstance().StopTask($"炒锅{i}{res.GoodName}炒制线程");
-                                            MessageLog.GetInstance.Show($"炒锅{i}炒制菜品{res.GoodName}出错，错误信息：" + ex.Message);
-                                        }
-                                        finally
-                                        {
-                                            nowStirFryGood = null;
-                                            //炒完后出队列
-                                            morkFs[i].StirFryGoodsQuenes.TryDequeue(out var orderQueue);
-                                            morkFs[i].FryWorking = false;
-                                        }
-                                    }), String.Format(striConst, i.ToString(), nowStirFryGood.GoodName)/*$"炒锅{i}炒制{res.GoodName}线程"*/);
+                                        //while (!morkFs[i].ArmOnOrigin)
+                                        //{
+                                        //    Thread.Sleep(100);
+                                        //}
+                                        //出餐
+                                        //OutMeal(i);
+                                        MessageLog.GetInstance.Show($"菜品{res.GoodName}完成");
+
+
+                                    }
+                                    catch (Exception ex)
+                                    {
+                                        ThreadManage.GetInstance().StopTask($"炒锅{i}{res.GoodName}炒制线程");
+                                        MessageLog.GetInstance.Show($"炒锅{i}炒制菜品{res.GoodName}出错，错误信息：" + ex.Message);
+                                    }
+                                    finally
+                                    {
+                                        nowStirFryGood = null;
+                                        //炒完后出队列
+                                        morkFs[i].StirFryGoodsQuenes.TryDequeue(out var orderQueue);
+                                        morkFs[i].FryWorking = false;
+                                    }
+                                }), String.Format(striConst, i.ToString(), nowStirFryGood.GoodName)/*$"炒锅{i}炒制{res.GoodName}线程"*/);
                             }
                         }
                         break;
@@ -1610,6 +1832,30 @@ namespace BPASmartClient.MorkF
             }
         }
 
+        /// <summary>
+        /// 菜品库主流程
+        /// </summary>
+        private void MainProcessMaterial()
+        {
+            if(materialOperationQuenes.Count > 0)
+            {
+                //判断是否初始化与是否在工作中
+                if (ml_morkf.InitialComplete && !ml_morkf.MaterailIsWorking)
+                {
+                    //待菜品库操作列出队列
+                    if (materialOperationQuenes.TryDequeue(out var res))
+                    {
+                        ml_morkf.MaterailIsWorking = true;
+                        MessageLog.GetInstance.Show("开始操作菜品库");
+                        //ThreadManage.GetInstance().Start(new Action(()=>{
+                        //    GetMaterail(res.x, res.y, res.fryNum);
+                        //}),"菜品库操作");
+                        GetMaterailTest(res.fryNum);
+                    }
+                }
+            }
+        }
+
         /// <summary>
         /// 信号处理
         /// </summary>

BPASmartClient.MorkF/GVL_MorkF.cs

@@ -18,7 +18,15 @@ namespace BPASmartClient.MorkF
 
         public bool IsAuto = true;
 
-        #region 炒锅1
+        #region 炒锅
+        /// <summary>
+        /// 炒锅上一次搅拌档位
+        /// </summary>
+        public int Stir { set; get; }   
+        /// <summary>
+        /// 炒锅上一次火力
+        /// </summary>
+        public int Fire { get; set; }
         /// <summary>
         /// 炒锅是否在工作状态中
         /// </summary>
@@ -73,6 +81,11 @@ namespace BPASmartClient.MorkF
         /// </summary>
         public bool PotOnOrigin { get; set; }
 
+        /// <summary>
+        /// 获取菜品是否完成
+        /// </summary>
+        public bool GetMaterialComplete { get; set; }
+
         #endregion
 
         #region 调料通道

BPASmartClient.MorkF/MaterialOperation.cs

@@ -0,0 +1,27 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkF
+{
+    /// <summary>
+    /// 菜品库操作类
+    /// </summary>
+    internal class MaterialOperation
+    {
+        /// <summary>
+        /// x轴坐标
+        /// </summary>
+        public int x;
+        /// <summary>
+        /// y轴坐标
+        /// </summary>
+        public int y;
+        /// <summary>
+        /// 炒锅编号
+        /// </summary>
+        public int fryNum;
+    }
+}

BPASmartClient.MorkF/View/DebugView.xaml

@@ -22,7 +22,7 @@
         <Grid.RowDefinitions>
             <RowDefinition Height="81" ></RowDefinition>
             <RowDefinition Height="81" ></RowDefinition>
-            <RowDefinition Height="285"></RowDefinition>
+            <RowDefinition Height="325"></RowDefinition>
             <RowDefinition></RowDefinition>
         </Grid.RowDefinitions>
         <GroupBox Header="设备控制" FontSize="15" Foreground="Aqua" VerticalAlignment="Center" >
@@ -65,6 +65,8 @@
                     <RowDefinition Height="*"/>
                     <RowDefinition Height="*"/>
                     <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
                 </Grid.RowDefinitions>
                 <WrapPanel Orientation="Horizontal" >
                     <TextBlock Text="取料手臂实时位置" Margin="0,0,10,0"/>
@@ -94,13 +96,29 @@
                     <Button Content="感应器3测距" Margin="5,0" Command="{Binding GetDistance_3}"/>
                     <TextBox Text="{Binding SensingDistance_3}" Margin="5,0" Width="60" IsReadOnly="True"/>
                 </WrapPanel>
-                <WrapPanel Grid.Row="2" Orientation="Horizontal" >
+                <WrapPanel Grid.Row="2" Orientation="Horizontal"  >
+                    <TextBlock Text="设定手臂当前位置" Margin="0,0,10,0"/>
+                    <TextBlock Text="X:" Margin="5,0"/>
+                    <TextBox Text="{Binding SettingNowX}" Width="70" Margin="5,0"  VerticalAlignment="Center" />
+                    <TextBlock Text="Y:" Margin="5,0"/>
+                    <TextBox Text="{Binding SettingNowY}" Width="70" Margin="5,0"  VerticalAlignment="Center"  />
+                    <Button Content="设置"  Margin="10,0,5,0" Command="{Binding SetNowPosition}"/>
+                </WrapPanel>
+                <WrapPanel Grid.Row="3" Orientation="Horizontal" >
                     <Button  Content="夹爪正转" Command="{Binding PawTurnFront}" Margin="5,0" Cursor="Hand"/>
                     <Button  Content="夹爪反转" Command="{Binding PawTurnBack}" Margin="5,0" Cursor="Hand"/>
                     <RadioButton Content="位置1" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PawPositon1}" Command="{Binding GetDistance_1}" GroupName="PawTurn"/>
                     <RadioButton Content="位置2" Margin="5,0" IsEnabled="True" IsChecked="{Binding PawPositon2}"  Command="{Binding GetDistance_2}" GroupName="PawTurn"/>
                     <RadioButton Content="位置3" Margin="5,0 " IsEnabled="True" IsChecked="{Binding PawPositon3}" Command="{Binding GetDistance_3}" GroupName="PawTurn"/>
                 </WrapPanel>
+                <WrapPanel Grid.Row="4" Orientation="Horizontal" >
+                    <RadioButton Content="上" Margin="5,0"  IsEnabled="{Binding ArmRunEnable}" IsChecked="{Binding ArmRunUp}" Command="{Binding GetDistance_1}" GroupName="ArmRun"/>
+                    <RadioButton Content="下" Margin="5,0" IsEnabled="{Binding ArmRunEnable}" IsChecked="{Binding ArmRunDown}"  Command="{Binding GetDistance_2}" GroupName="ArmRun"/>
+                    <RadioButton Content="左" Margin="5,0 " IsEnabled="{Binding ArmRunEnable}" IsChecked="{Binding ArmRunLeft}" Command="{Binding GetDistance_3}" GroupName="ArmRun"/>
+                    <RadioButton Content="右" Margin="5,0 " IsEnabled="{Binding ArmRunEnable}" IsChecked="{Binding ArmRunRight}" Command="{Binding GetDistance_3}" GroupName="ArmRun"/>
+                    <Button Content="{Binding ArmButtonName}" Command="{Binding ArmRun}" Margin="5,0" Cursor="Hand">
+                    </Button>
+                </WrapPanel>
             </Grid>
 
         </GroupBox>

BPASmartClient.MorkF/ViewModel/DebugViewModel.cs

@@ -50,6 +50,11 @@ namespace BPASmartClient.MorkF.ViewModel
         public int SettingY { get { return _settingY; } set { _settingY = value; OnPropertyChanged(); } }
         private int _settingY = 0;
 
+        public int SettingNowX { get { return _settingNowX; } set { _settingNowX = value; OnPropertyChanged(); } }
+        private int _settingNowX = 0;
+        public int SettingNowY { get { return _settingNowY; } set { _settingNowY = value; OnPropertyChanged(); } }
+        private int _settingNowY = 0;
+
         public int MoveSpeed { get { return _moveSpeed; } set { _moveSpeed = value; OnPropertyChanged(); } }
         private int _moveSpeed;
         public string SensingDistance_1 { get { return _sensingDistance_1; } set { _sensingDistance_1 = value; OnPropertyChanged(); } }
@@ -65,7 +70,21 @@ namespace BPASmartClient.MorkF.ViewModel
         public bool PawPositon3 { get { return _pawPositon3; } set { _pawPositon3 = value; OnPropertyChanged(); } }
         private bool _pawPositon3;
 
+        public bool ArmRunUp { get { return _armRunUp; } set { _armRunUp = value; OnPropertyChanged(); } }
+        private bool _armRunUp;
+        public bool ArmRunDown { get { return _armRunDown; } set { _armRunDown = value; OnPropertyChanged(); } }
+        private bool _armRunDown;
+        public bool ArmRunLeft { get { return _armRunLeft; } set { _armRunLeft = value; OnPropertyChanged(); } }
+        private bool _armRunLeft;
+        public bool ArmRunRight { get { return _armRunRight; } set { _armRunRight = value; OnPropertyChanged(); } }
+        private bool _armRunRight;
+        public bool ArmRunEnable { get { return _ArmRunEnable; } set { _ArmRunEnable = value; OnPropertyChanged(); } }
+        private bool _ArmRunEnable = true;
+
+        public string ArmButtonName { get { return _ArmButtonName; } set { _ArmButtonName = value; OnPropertyChanged(); } }
+        private string _ArmButtonName = "启动";
 
+        public RelayCommand SetNowPosition { get; set; }//设置机械臂当前坐标
         public RelayCommand FoodLibInit { get; set; }//初始化
         public RelayCommand StartElectromagnetism { get; set; }//电磁阀启动
         public RelayCommand StopElectromagnetism { get; set; }
@@ -76,9 +95,10 @@ namespace BPASmartClient.MorkF.ViewModel
         public RelayCommand PawTurnFront { get; set; }//夹爪正转
         public RelayCommand PawTurnBack { get; set; }//夹爪反转
         public RelayCommand SetArmPosition { get; set; }//机器臂位置设定
+        public RelayCommand ArmRun { get; set; }//机械臂运动
 
         #endregion
-        
+
 
         #region 配料仓控制
         public List<string> PassageWays { get; set; } = new List<string>() 
@@ -195,6 +215,39 @@ namespace BPASmartClient.MorkF.ViewModel
             PawTurnFront = new RelayCommand(() => { ActionManage.GetInstance.Send("PawTurnFront"); });//夹爪正转
             PawTurnBack = new RelayCommand(() => { ActionManage.GetInstance.Send("PawTurnBack"); });//夹爪反转
             SetArmPosition = new RelayCommand(() => { ActionManage.GetInstance.Send("SetArmPosition", new List<int> { SettingX, SettingY }); });//设定机械臂位置
+            SetNowPosition = new RelayCommand(() => { ActionManage.GetInstance.Send("SetNowPosition", new List<int> { SettingX, SettingY }); });//设定机械臂当前位置
+            ArmRun = new RelayCommand(() => {
+                //判断是否都未点击
+                if(!ArmRunDown&&!ArmRunUp&&!ArmRunLeft&&!ArmRunRight)
+                {
+                    return;
+                }
+                ArmRunEnable = !ArmRunEnable;
+                if(ArmRunEnable)
+                {
+                    ArmButtonName = "启动";
+                }
+                else
+                {
+                    ArmButtonName = "停止";
+                }
+                if(ArmRunUp)
+                {
+                    ActionManage.GetInstance.Send("ArmRunUp", !ArmRunEnable);
+                }
+                else if(ArmRunDown)
+                {
+                    ActionManage.GetInstance.Send("ArmRunDown", !ArmRunEnable);
+                }
+                else if (ArmRunLeft)
+                {
+                    ActionManage.GetInstance.Send("ArmRunLeft", !ArmRunEnable);
+                }
+                else if(ArmRunRight)
+                {
+                    ActionManage.GetInstance.Send("ArmRunRight", !ArmRunEnable);
+                }
+            });//设定机械臂位置
             #endregion
 
             #region 配料仓控制

BPASmartClient.MorkS/BPASmartClient.MorkS.csproj

@@ -9,7 +9,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Message" Version="1.0.72" />
+    <PackageReference Include="BPA.Message" Version="1.0.77" />
     <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.MorkS/Control_Morks.cs

@@ -136,7 +136,43 @@ namespace BPASmartClient.MorkS
                 goodName = res.MorkOrder.GoodsName;
                 SortNum = res.MorkOrder.SortNum.ToString();
             }
+
             EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { SortNum = SortNum, GoodName = goodName, Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType });
+
+            var index = DataServer.GetInstance.morkS.MakeOrder.FindIndex(p => p.SortNum == SortNum);
+            if (index >= 0 && index < DataServer.GetInstance.morkS.MakeOrder.Count)
+            {
+                if (oRDER_STATUS == ORDER_STATUS.COMPLETED_COOK)
+                {
+                    DataServer.GetInstance.morkS.MakeOrder.RemoveAt(index);
+                    DataServer.GetInstance.morkS.MakeOrderOver.Add(new OrderMakeModel()
+                    {
+                        Status = oRDER_STATUS,
+                        GoodName = goodName,
+                        SortNum = SortNum,
+                        StopTime = DateTime.Now.ToString("HH:mm:ss")
+                    });
+                }
+                else if (oRDER_STATUS == ORDER_STATUS.COMPLETED_TAKE)
+                {
+                    var temp = DataServer.GetInstance.morkS.MakeOrderOver.FirstOrDefault(p => p.SortNum == SortNum);
+                    if (temp != null) DataServer.GetInstance.morkS.MakeOrderOver.Remove(temp);
+                }
+                else
+                {
+                    DataServer.GetInstance.morkS.MakeOrder.ElementAt(index).Status = oRDER_STATUS;
+                }
+            }
+            else
+            {
+                DataServer.GetInstance.morkS.MakeOrder.Add(new OrderMakeModel()
+                {
+                    Status = oRDER_STATUS,
+                    GoodName = goodName,
+                    SortNum = SortNum,
+                    StartTime = DateTime.Now.ToString("HH:mm:ss")
+                });
+            }
         }
 
         private void GetStatus(string key, Action<object> action)
@@ -152,6 +188,16 @@ namespace BPASmartClient.MorkS
 
         public override void ReadData()
         {
+            DataServer.GetInstance.morkS.Alarm.Clear();
+            alarms.ForEach(item =>
+            {
+                DataServer.GetInstance.morkS.Alarm.Add(new AlarmModel()
+                {
+                    AlarmTime = $"{item.Date} {item.Time}",
+                    AlarmMs = item.Info
+                });
+            });
+
             GetStatus("M230.0", new Action<object>((obj) =>
              {
                  if (obj is bool[] bools && bools.Length > 0 && bools.Length <= 24)
@@ -213,6 +259,11 @@ namespace BPASmartClient.MorkS
                     mORKS.TurntableUpLimit = bools[13];
                     mORKS.FeedComplete = bools[14];
                     mORKS.TurntableMoveInPlace = bools[15];
+                    DataServer.GetInstance.morkS.MorkS_Temp = mORKS.TemperatureReached;
+                    DataServer.GetInstance.morkS.Morks_SiloMeasUp = mORKS.TurntableUpLimit;
+                    DataServer.GetInstance.morkS.Morks_SiloMeasDown = mORKS.TurntableLowerLimit;
+                    DataServer.GetInstance.morkS.MorkS_NoBowMeas1 = mORKS.MissingBowl;
+                    DataServer.GetInstance.morkS.MorkS_NoBowMeas2 = mORKS.MissingBowlSignal2;
                 }
 
             }));
@@ -245,6 +296,7 @@ namespace BPASmartClient.MorkS
                     for (int i = 0; i < 6; i++)
                     {
                         mORKS.CookNoodlesComplete[i] = bools[i];
+                        DataServer.GetInstance.morkS.Morks_NoodleUpOrDown[i] = bools[i];
                     }
                 }
 
@@ -254,6 +306,7 @@ namespace BPASmartClient.MorkS
             {
                 if (obj is ushort[] UshortValue && UshortValue.Length > 0 && UshortValue.Length <= 1)
                     mORKS.TurntableFeedbackloc = UshortValue[0];
+                DataServer.GetInstance.morkS.MorkS_BinLocation = mORKS.TurntableFeedbackloc;
             }));
         }
 

BPASmartClient.MorkS/DataServer.cs

@@ -20,23 +20,25 @@ namespace BPASmartClient.MorkS
 
         public ScreenModelMorkS morkS { get; set; } = new ScreenModelMorkS();
 
+        MQTTProxy mQTTProxy = new MQTTProxy();
         public void Init()
         {
-            MQTTProxy mQTTProxy = new MQTTProxy();
             mQTTProxy.Connected = new Action(() =>
             {
                 mQTTProxy.Subscrib(ScreenTOPIC.GetInstance.GetTopic(ScreenDeviceType.煮面机));
                 ThreadManage.GetInstance().StartLong(new Action(() =>
                 {
                     morkS.MorkS_OrderCount = Json<OrderStatistics>.Data.Count;
-                    mQTTProxy.Publish(ScreenTOPIC.GetInstance.GetTopic(ScreenDeviceType.煮面机), morkS.ToJSON());
+                    SendScreenDataModel sendScreenDataModel = new SendScreenDataModel();
+                    sendScreenDataModel.Name = ScreenDeviceType.煮面机;
+                    sendScreenDataModel.Value = morkS.ToJSON();
+                    mQTTProxy.Publish(ScreenTOPIC.GetInstance.GetTopic(ScreenDeviceType.煮面机), sendScreenDataModel.ToJSON());
                     Thread.Sleep(100);
                 }), "海科食堂大屏监听");
             });
             mQTTProxy.Connect("UserName", "Password", "Host", 1883, $"MORKS 设备监听数据{DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")}");
         }
 
-
         //订单信息（正在制作，等待制作，制作完成）
         //煮面炉上下状态（6个煮面炉上或下）
         //温度状态（煮面炉温度是否到达）

BPASmartClient.S7Net/EntityClassResolution.cs

@@ -55,9 +55,9 @@ namespace BPASmartClient.S7Net
                     numBytes += len;
                     break;
                 default:
-                    numBytes = GetClassSize(Activator.CreateInstance(type), numBytes, isInnerProperty: true);
                     if (type.IsClass) IncrementToEven(ref numBytes);
                     else if (!type.IsPrimitive && !type.IsEnum && type.IsValueType) IncrementToEven(ref numBytes);
+                    numBytes = GetClassSize(Activator.CreateInstance(type), numBytes, isInnerProperty: true);
                     break;
             }
 
@@ -221,15 +221,13 @@ namespace BPASmartClient.S7Net
                     break;
                 default:
                     {
-                        object obj2 = Activator.CreateInstance(propertyType);
-                        numBytes = FromBytes(obj2, bytes, numBytes);
-
                         numBytes = Math.Ceiling(numBytes);
                         if (numBytes / 2.0 - Math.Floor(numBytes / 2.0) > 0.0)
                         {
                             numBytes += 1.0;
                         }
-
+                        object obj2 = Activator.CreateInstance(propertyType);
+                        numBytes = FromBytes(obj2, bytes, numBytes);
                         obj = obj2;
                         break;
                     }

BPASmartClient.S7Net/SiemensHelper.cs

@@ -2,7 +2,6 @@
 using System.Net;
 using System.Text;
 using BPASmartClient.S7Net;
-using System.Text;
 
 namespace BPASmartClient.S7Net
 {
@@ -107,11 +106,11 @@ namespace BPASmartClient.S7Net
             }
         }
 
-        public void WriteString(int db,string txt, int startAddress = 0) 
+        public void WriteString(int db, string txt, int startAddress = 0)
         {
             var temp = Encoding.ASCII.GetBytes(txt);
             var bytes = S7.Net.Types.S7String.ToByteArray(txt, temp.Length);
-            myPlc.WriteBytes(DataType.DataBlock,db, startAddress, bytes);
+            myPlc.WriteBytes(DataType.DataBlock, db, startAddress, bytes);
 
         }
         public TResult ReadClass<TResult>(int db, int startByteAdr = 0) where TResult : class, new()

BPASmartClient.ViewModel/FoodMenuViewModel.cs

@@ -19,8 +19,7 @@ namespace BPASmartClient.ViewModel
 
         public FoodMenuViewModel()
         {
-            FoodMenus.Add(new FoodMenuModel { GoodKey = "1111", GoodName = "小炒肉" });
-            FoodMenus.Add(new FoodMenuModel { GoodKey = "222", GoodName = "大炒肉大炒肉大炒肉" });
+            
             StartOrder = new RelayCommand<object>((o) =>
             {
                 ActionManage.GetInstance.Send("开始下单", o);

DosingSystem/Model/DeviceInquire.cs

@@ -197,12 +197,6 @@ namespace BPASmartClient.DosingSystem
                             DeviceLists[ip].modbusTcp.IsReconnect = false;
                             App.Current.Dispatcher.Invoke(new Action(() =>
                             {
-                                //DeviceListViewModel.devices.Add(new Devices()
-                                //{
-                                //    DeviceName = DeviceName,
-                                //    IpAddress = ip
-                                //});//加入连接的（有名称的）设备列表
-
                                 devices.Add(new Devices() { DeviceName = DeviceName, IpAddress = ip });
 
                                 if (TopDeviceCurrentStatuses.Count <= 7)
@@ -244,20 +238,16 @@ namespace BPASmartClient.DosingSystem
                     DS.modbusTcp.ConnectFail = new Action(() =>
                     {
                         if (!InvalidIP.Contains(ip)) InvalidIP.Add(ip);
-                        //MessageLog.GetInstance.ShowAlarmLog($"设备{ip}连接失败");
                     });
 
                     DS.modbusTcp.Disconnect = new Action(() =>
                     {
                         if (InvalidIP.Contains(ip)) InvalidIP.Remove(ip);
-                        //var res = DeviceListViewModel.devices.FirstOrDefault(P => P.IpAddress == ip);
                         var res = devices.FirstOrDefault(P => P.IpAddress == ip);
-                        //if (res != null && DeviceListViewModel.devices.Contains(res))
                         if (res != null && devices.Contains(res))
                         {
                             App.Current.Dispatcher.Invoke(new Action(() =>
                             {
-                                //DeviceListViewModel.devices.Remove(res);
                                 devices.Remove(res);
                                 var item = Global.DeviceRawMaterials.FirstOrDefault(P => P.RawMaterialName == res.DeviceName);
                                 if (item != null) Global.DeviceRawMaterials.Remove(item);
@@ -307,7 +297,6 @@ namespace BPASmartClient.DosingSystem
             modbusTcp.ShowEx = new Action<string>((s) => { MessageNotify.GetInstance.ShowRunLog(s); });
             this.DeviceName = DeviceName;
             AlarmHelper<AlarmInfo>.Init();
-
             if (modbusTcp.Connected)
             {
                 ThreadManage.GetInstance().StartLong(new Action(() =>
@@ -353,6 +342,7 @@ namespace BPASmartClient.DosingSystem
             {
                 modbusTcp.SetReal(DeviceAddress.WeightSet, Value);//写入配方量
                 modbusTcp.Write(DeviceAddress.Start, (ushort)1);//设备启动写入
+                MessageNotify.GetInstance.ShowRunLog($"{DeviceName},设置重量：{Value}");
                 //配料设备参数写入
                 var res = Json<DevicePar>.Data.deviceParModels.FirstOrDefault(p => p.MaterialName == DeviceName);
                 if (res != null)

DosingSystem/View/CommParSetView.xaml

@@ -125,7 +125,10 @@
                     Text="{Binding CommBaseParModel.BlockCylinderCount, UpdateSourceTrigger=PropertyChanged}" />
             </Grid>
 
-            <Grid Background="Transparent" Width="350" Margin="5">
+            <Grid
+                Width="350"
+                Margin="5"
+                Background="Transparent">
                 <Grid.ColumnDefinitions>
                     <ColumnDefinition />
                     <ColumnDefinition />
@@ -146,7 +149,10 @@
                     Text="{Binding CommBaseParModel.PalletCylinderCount, UpdateSourceTrigger=PropertyChanged}" />
             </Grid>
 
-            <Grid Background="Transparent" Width="350" Margin="5">
+            <Grid
+                Width="350"
+                Margin="5"
+                Background="Transparent">
                 <Grid.ColumnDefinitions>
                     <ColumnDefinition />
                     <ColumnDefinition />
@@ -171,7 +177,7 @@
 
         <!--<Grid Grid.Row="2" Grid.ColumnSpan="4">
             <ListView
-               
+
                 Grid.Column="1"
                 Background="Transparent"
                 BorderBrush="#00BEFA"

DosingSystem/View/ManualControlView.xaml

@@ -52,417 +52,474 @@
     <UserControl.DataContext>
         <vm:ManualControlViewModel />
     </UserControl.DataContext>
-    <ScrollViewer HorizontalScrollBarVisibility="Disabled" VerticalScrollBarVisibility="Hidden">
-        <StackPanel Margin="8">
-
-            <!--#region 升降气缸-->
-            <Grid
-                Name="cy"
-                Grid.Row="0"
-                Margin="5"
-                Visibility="{Binding cylinderModels, Converter={StaticResource CountIsVisiableConvert}}">
-                <pry:ImageBorder
-                    Grid.RowSpan="2"
-                    Width="{Binding ElementName=cy, Path=ActualWidth}"
-                    Height="{Binding ElementName=cy, Path=ActualHeight}" />
-
-                <StackPanel Background="Transparent">
-                    <Grid Height="40">
-                        <Image
-                            Margin="2,3,0,0"
-                            HorizontalAlignment="Left"
-                            VerticalAlignment="Top"
-                            Source="/BPASmartClient.CustomResource;component/Image/标签.png" />
-                        <TextBlock
-                            Margin="10,10,0,0"
-                            VerticalAlignment="Top"
-                            FontSize="16"
-                            Foreground="Aqua"
-                            Text="升降气缸控制" />
-                    </Grid>
-                    <ListView
-                        Name="list1"
-                        Grid.Row="1"
-                        Margin="0,0,0,20"
-                        Background="Transparent"
-                        BorderBrush="#00BEFA"
-                        BorderThickness="0"
-                        ItemsSource="{Binding cylinderModels}"
-                        ScrollViewer.HorizontalScrollBarVisibility="Disabled">
-                        <ListView.ItemsPanel>
-                            <ItemsPanelTemplate>
-                                <WrapPanel Orientation="Horizontal" ScrollViewer.HorizontalScrollBarVisibility="Disabled" />
-                            </ItemsPanelTemplate>
-                        </ListView.ItemsPanel>
-
-                        <ListView.ItemTemplate>
-                            <DataTemplate>
-                                <Grid
-                                    Width="200"
-                                    Height="100"
-                                    Margin="0,0,0,15"
-                                    Background="Transparent">
-                                    <Grid.RowDefinitions>
-                                        <RowDefinition Height="30" />
-                                        <RowDefinition />
-                                        <RowDefinition Height="30" />
-                                    </Grid.RowDefinitions>
-                                    <Grid.ColumnDefinitions>
-                                        <ColumnDefinition Width="0.5*" />
-                                        <ColumnDefinition />
-                                        <ColumnDefinition />
-                                    </Grid.ColumnDefinitions>
-
-                                    <TextBlock
-                                        Grid.Column="1"
-                                        Grid.ColumnSpan="2"
-                                        HorizontalAlignment="Center"
-                                        VerticalAlignment="Center"
-                                        Foreground="Aqua"
-                                        Text="{Binding Name}" />
-
-                                    <pry:Cylinder
-                                        Grid.Row="1"
-                                        Grid.ColumnSpan="3"
+
+    <Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="40" />
+            <RowDefinition />
+        </Grid.RowDefinitions>
+
+        <StackPanel
+            Margin="0,0,10,0"
+            HorizontalAlignment="Right"
+            VerticalAlignment="Center"
+            Orientation="Horizontal">
+
+            <ToggleButton
+                Width="100"
+                Height="30"
+                Margin="5,0,5,0"
+                Background="Transparent"
+                Command="{Binding SystemStart}"
+                Content="{Binding SystemControlText}"
+                FontSize="20"
+                Style="{StaticResource SwitchToggleButtonStyle1}" />
+
+            <ToggleButton
+                Width="100"
+                Height="30"
+                Margin="5,0,5,0"
+                Background="Transparent"
+                Command="{Binding ModelSwitch}"
+                Content="{Binding ModelSwitchText}"
+                FontSize="20"
+                Style="{StaticResource SwitchToggleButtonStyle1}" />
+
+            <!--<Button
+                Width="150"
+                Height="40"
+                Margin="10,0,10,0"
+                Command="{Binding SystemStart}"
+                Content="{Binding SystemControlText}"
+                FontSize="20"
+                Style="{StaticResource ImageButtonStyle}" />
+
+            <Button
+                Width="150"
+                Height="40"
+                Margin="10,0,10,0"
+                Command="{Binding ModelSwitch}"
+                Content="{Binding ModelSwitchText}"
+                FontSize="20"
+                Style="{StaticResource ImageButtonStyle}" />-->
+
+        </StackPanel>
+
+        <ScrollViewer
+            Grid.Row="1"
+            HorizontalScrollBarVisibility="Disabled"
+            VerticalScrollBarVisibility="Hidden">
+            <StackPanel Margin="8">
+
+                <!--#region 升降气缸-->
+                <Grid
+                    Name="cy"
+                    Grid.Row="0"
+                    Margin="5"
+                    Visibility="{Binding cylinderModels, Converter={StaticResource CountIsVisiableConvert}}">
+                    <pry:ImageBorder
+                        Grid.RowSpan="2"
+                        Width="{Binding ElementName=cy, Path=ActualWidth}"
+                        Height="{Binding ElementName=cy, Path=ActualHeight}" />
+
+                    <StackPanel Background="Transparent">
+                        <Grid Height="40">
+                            <Image
+                                Margin="2,3,0,0"
+                                HorizontalAlignment="Left"
+                                VerticalAlignment="Top"
+                                Source="/BPASmartClient.CustomResource;component/Image/标签.png" />
+                            <TextBlock
+                                Margin="10,10,0,0"
+                                VerticalAlignment="Top"
+                                FontSize="16"
+                                Foreground="Aqua"
+                                Text="升降气缸控制" />
+                        </Grid>
+                        <ListView
+                            Name="list1"
+                            Grid.Row="1"
+                            Margin="0,0,0,20"
+                            Background="Transparent"
+                            BorderBrush="#00BEFA"
+                            BorderThickness="0"
+                            ItemsSource="{Binding cylinderModels}"
+                            ScrollViewer.HorizontalScrollBarVisibility="Disabled">
+                            <ListView.ItemsPanel>
+                                <ItemsPanelTemplate>
+                                    <WrapPanel Orientation="Horizontal" ScrollViewer.HorizontalScrollBarVisibility="Disabled" />
+                                </ItemsPanelTemplate>
+                            </ListView.ItemsPanel>
+
+                            <ListView.ItemTemplate>
+                                <DataTemplate>
+                                    <Grid
                                         Width="200"
-                                        Height="50"
-                                        HorizontalAlignment="Center"
-                                        VerticalAlignment="Center"
-                                        LeftTogIsChecked="{Binding LeftTog}"
-                                        RightTogIsChecked="{Binding RightTog}" />
-
-                                    <RadioButton
-                                        Grid.Row="2"
-                                        Grid.Column="1"
-                                        Command="{Binding DataContext.Open, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
-                                        CommandParameter="{Binding Name}"
-                                        Content="伸出"
-                                        Foreground="Aqua"
-                                        IsChecked="True"
-                                        Style="{StaticResource radioButtonStyle}" />
-
-                                    <RadioButton
-                                        Grid.Row="2"
-                                        Grid.Column="2"
-                                        Command="{Binding DataContext.Close, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
-                                        CommandParameter="{Binding Name}"
-                                        Content="缩回"
-                                        Foreground="Aqua"
-                                        IsChecked="False"
-                                        Style="{StaticResource radioButtonStyle}" />
-                                </Grid>
-                            </DataTemplate>
-                        </ListView.ItemTemplate>
-                    </ListView>
-                </StackPanel>
-            </Grid>
-            <!--#endregion-->
-
-            <!--#region 阻挡气缸-->
-            <Grid
-                Name="zd"
-                Grid.Row="1"
-                Margin="5"
-                Visibility="{Binding BlockCylinders, Converter={StaticResource CountIsVisiableConvert}}">
-                <pry:ImageBorder Width="{Binding ElementName=zd, Path=ActualWidth}" Height="{Binding ElementName=zd, Path=ActualHeight}" />
-                <StackPanel>
-                    <Grid Height="40">
-                        <Image
-                            Margin="2,3,0,0"
-                            HorizontalAlignment="Left"
-                            Source="/BPASmartClient.CustomResource;component/Image/标签.png" />
-                        <TextBlock
-                            Margin="10,0,0,0"
-                            VerticalAlignment="Center"
-                            FontSize="16"
-                            Foreground="Aqua"
-                            Text="阻挡气缸控制" />
-                    </Grid>
-                    <ListView
-                        Name="list2"
-                        Grid.Row="1"
-                        Margin="0,0,0,20"
-                        Background="Transparent"
-                        BorderBrush="#00BEFA"
-                        BorderThickness="0"
-                        ItemsSource="{Binding BlockCylinders}"
-                        ScrollViewer.HorizontalScrollBarVisibility="Disabled">
-                        <ListView.ItemsPanel>
-                            <ItemsPanelTemplate>
-                                <WrapPanel Orientation="Horizontal" />
-                            </ItemsPanelTemplate>
-                        </ListView.ItemsPanel>
-
-                        <ListView.ItemTemplate>
-                            <DataTemplate>
-                                <Grid
-                                    Width="200"
-                                    Height="100"
-                                    Margin="0,0,0,15"
-                                    Background="Transparent">
-                                    <Grid.RowDefinitions>
-                                        <RowDefinition Height="30" />
-                                        <RowDefinition />
-                                        <RowDefinition Height="30" />
-                                    </Grid.RowDefinitions>
-                                    <Grid.ColumnDefinitions>
-                                        <ColumnDefinition Width="0.5*" />
-                                        <ColumnDefinition />
-                                        <ColumnDefinition />
-                                    </Grid.ColumnDefinitions>
-
-                                    <TextBlock
-                                        Grid.Column="1"
-                                        Grid.ColumnSpan="2"
-                                        HorizontalAlignment="Center"
-                                        VerticalAlignment="Center"
-                                        Foreground="Aqua"
-                                        Text="{Binding Name}" />
-
-                                    <pry:Cylinder
-                                        Grid.Row="1"
-                                        Grid.ColumnSpan="3"
+                                        Height="100"
+                                        Margin="0,0,0,15"
+                                        Background="Transparent">
+                                        <Grid.RowDefinitions>
+                                            <RowDefinition Height="30" />
+                                            <RowDefinition />
+                                            <RowDefinition Height="30" />
+                                        </Grid.RowDefinitions>
+                                        <Grid.ColumnDefinitions>
+                                            <ColumnDefinition Width="0.5*" />
+                                            <ColumnDefinition />
+                                            <ColumnDefinition />
+                                        </Grid.ColumnDefinitions>
+
+                                        <TextBlock
+                                            Grid.Column="1"
+                                            Grid.ColumnSpan="2"
+                                            HorizontalAlignment="Center"
+                                            VerticalAlignment="Center"
+                                            Foreground="Aqua"
+                                            Text="{Binding Name}" />
+
+                                        <pry:Cylinder
+                                            Grid.Row="1"
+                                            Grid.ColumnSpan="3"
+                                            Width="200"
+                                            Height="50"
+                                            HorizontalAlignment="Center"
+                                            VerticalAlignment="Center"
+                                            LeftTogIsChecked="{Binding LeftTog}"
+                                            RightTogIsChecked="{Binding RightTog}" />
+
+                                        <RadioButton
+                                            Grid.Row="2"
+                                            Grid.Column="1"
+                                            Command="{Binding DataContext.Open, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
+                                            CommandParameter="{Binding Name}"
+                                            Content="伸出"
+                                            Foreground="Aqua"
+                                            IsChecked="True"
+                                            Style="{StaticResource radioButtonStyle}" />
+
+                                        <RadioButton
+                                            Grid.Row="2"
+                                            Grid.Column="2"
+                                            Command="{Binding DataContext.Close, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
+                                            CommandParameter="{Binding Name}"
+                                            Content="缩回"
+                                            Foreground="Aqua"
+                                            IsChecked="False"
+                                            Style="{StaticResource radioButtonStyle}" />
+                                    </Grid>
+                                </DataTemplate>
+                            </ListView.ItemTemplate>
+                        </ListView>
+                    </StackPanel>
+                </Grid>
+                <!--#endregion-->
+
+                <!--#region 阻挡气缸-->
+                <Grid
+                    Name="zd"
+                    Grid.Row="1"
+                    Margin="5"
+                    Visibility="{Binding BlockCylinders, Converter={StaticResource CountIsVisiableConvert}}">
+                    <pry:ImageBorder Width="{Binding ElementName=zd, Path=ActualWidth}" Height="{Binding ElementName=zd, Path=ActualHeight}" />
+                    <StackPanel>
+                        <Grid Height="40">
+                            <Image
+                                Margin="2,3,0,0"
+                                HorizontalAlignment="Left"
+                                Source="/BPASmartClient.CustomResource;component/Image/标签.png" />
+                            <TextBlock
+                                Margin="10,0,0,0"
+                                VerticalAlignment="Center"
+                                FontSize="16"
+                                Foreground="Aqua"
+                                Text="阻挡气缸控制" />
+                        </Grid>
+                        <ListView
+                            Name="list2"
+                            Grid.Row="1"
+                            Margin="0,0,0,20"
+                            Background="Transparent"
+                            BorderBrush="#00BEFA"
+                            BorderThickness="0"
+                            ItemsSource="{Binding BlockCylinders}"
+                            ScrollViewer.HorizontalScrollBarVisibility="Disabled">
+                            <ListView.ItemsPanel>
+                                <ItemsPanelTemplate>
+                                    <WrapPanel Orientation="Horizontal" />
+                                </ItemsPanelTemplate>
+                            </ListView.ItemsPanel>
+
+                            <ListView.ItemTemplate>
+                                <DataTemplate>
+                                    <Grid
                                         Width="200"
-                                        Height="50"
-                                        HorizontalAlignment="Center"
-                                        VerticalAlignment="Center"
-                                        LeftTogIsChecked="{Binding LeftTog}"
-                                        RightTogIsChecked="{Binding RightTog}" />
-
-                                    <RadioButton
-                                        Grid.Row="2"
-                                        Grid.Column="1"
-                                        Command="{Binding DataContext.Open, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
-                                        CommandParameter="{Binding Name}"
-                                        Content="伸出"
-                                        Foreground="Aqua"
-                                        IsChecked="True"
-                                        Style="{StaticResource radioButtonStyle}" />
-                                    <RadioButton
-                                        Grid.Row="2"
-                                        Grid.Column="2"
-                                        Command="{Binding DataContext.Close, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
-                                        CommandParameter="{Binding Name}"
-                                        Content="缩回"
-                                        Foreground="Aqua"
-                                        IsChecked="False"
-                                        Style="{StaticResource radioButtonStyle}" />
-                                </Grid>
-                            </DataTemplate>
-                        </ListView.ItemTemplate>
-                    </ListView>
-                </StackPanel>
-
-
-            </Grid>
-            <!--#endregion-->
-
-            <!--#region 托盘气缸-->
-            <Grid
-                Name="tp"
-                Grid.Row="2"
-                Margin="5"
-                Visibility="{Binding PalletCylinders, Converter={StaticResource CountIsVisiableConvert}}">
-                <pry:ImageBorder
-                    Grid.RowSpan="2"
-                    Width="{Binding ElementName=tp, Path=ActualWidth}"
-                    Height="{Binding ElementName=tp, Path=ActualHeight}" />
-                <StackPanel>
-                    <Grid Height="40">
-                        <Image
-                            Margin="2,3,0,0"
-                            HorizontalAlignment="Left"
-                            Source="/BPASmartClient.CustomResource;component/Image/标签.png" />
-                        <TextBlock
-                            Margin="10,0,0,0"
-                            VerticalAlignment="Center"
-                            FontSize="16"
-                            Foreground="Aqua"
-                            Text="托盘气缸控制" />
-                    </Grid>
-                    <ListView
-                        Name="list3"
-                        Grid.Row="2"
-                        Margin="0,0,0,20"
-                        Background="Transparent"
-                        BorderBrush="#00BEFA"
-                        BorderThickness="0"
-                        ItemsSource="{Binding PalletCylinders}"
-                        ScrollViewer.HorizontalScrollBarVisibility="Disabled">
-                        <ListView.ItemsPanel>
-                            <ItemsPanelTemplate>
-                                <WrapPanel Orientation="Horizontal" />
-                            </ItemsPanelTemplate>
-                        </ListView.ItemsPanel>
-
-                        <ListView.ItemTemplate>
-                            <DataTemplate>
-                                <Grid
-                                    Width="200"
-                                    Height="100"
-                                    Margin="0,0,0,15"
-                                    Background="Transparent">
-                                    <Grid.RowDefinitions>
-                                        <RowDefinition Height="30" />
-                                        <RowDefinition />
-                                        <RowDefinition Height="30" />
-                                    </Grid.RowDefinitions>
-                                    <Grid.ColumnDefinitions>
-                                        <ColumnDefinition Width="0.5*" />
-                                        <ColumnDefinition />
-                                        <ColumnDefinition />
-                                    </Grid.ColumnDefinitions>
-
-                                    <TextBlock
-                                        Grid.Column="1"
-                                        Grid.ColumnSpan="2"
-                                        HorizontalAlignment="Center"
-                                        VerticalAlignment="Center"
-                                        Foreground="Aqua"
-                                        Text="{Binding Name}" />
-
-                                    <pry:Cylinder
-                                        Grid.Row="1"
-                                        Grid.ColumnSpan="3"
+                                        Height="100"
+                                        Margin="0,0,0,15"
+                                        Background="Transparent">
+                                        <Grid.RowDefinitions>
+                                            <RowDefinition Height="30" />
+                                            <RowDefinition />
+                                            <RowDefinition Height="30" />
+                                        </Grid.RowDefinitions>
+                                        <Grid.ColumnDefinitions>
+                                            <ColumnDefinition Width="0.5*" />
+                                            <ColumnDefinition />
+                                            <ColumnDefinition />
+                                        </Grid.ColumnDefinitions>
+
+                                        <TextBlock
+                                            Grid.Column="1"
+                                            Grid.ColumnSpan="2"
+                                            HorizontalAlignment="Center"
+                                            VerticalAlignment="Center"
+                                            Foreground="Aqua"
+                                            Text="{Binding Name}" />
+
+                                        <pry:Cylinder
+                                            Grid.Row="1"
+                                            Grid.ColumnSpan="3"
+                                            Width="200"
+                                            Height="50"
+                                            HorizontalAlignment="Center"
+                                            VerticalAlignment="Center"
+                                            LeftTogIsChecked="{Binding LeftTog}"
+                                            RightTogIsChecked="{Binding RightTog}" />
+
+                                        <RadioButton
+                                            Grid.Row="2"
+                                            Grid.Column="1"
+                                            Command="{Binding DataContext.Open, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
+                                            CommandParameter="{Binding Name}"
+                                            Content="伸出"
+                                            Foreground="Aqua"
+                                            IsChecked="True"
+                                            Style="{StaticResource radioButtonStyle}" />
+                                        <RadioButton
+                                            Grid.Row="2"
+                                            Grid.Column="2"
+                                            Command="{Binding DataContext.Close, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
+                                            CommandParameter="{Binding Name}"
+                                            Content="缩回"
+                                            Foreground="Aqua"
+                                            IsChecked="False"
+                                            Style="{StaticResource radioButtonStyle}" />
+                                    </Grid>
+                                </DataTemplate>
+                            </ListView.ItemTemplate>
+                        </ListView>
+                    </StackPanel>
+
+
+                </Grid>
+                <!--#endregion-->
+
+                <!--#region 托盘气缸-->
+                <Grid
+                    Name="tp"
+                    Grid.Row="2"
+                    Margin="5"
+                    Visibility="{Binding PalletCylinders, Converter={StaticResource CountIsVisiableConvert}}">
+                    <pry:ImageBorder
+                        Grid.RowSpan="2"
+                        Width="{Binding ElementName=tp, Path=ActualWidth}"
+                        Height="{Binding ElementName=tp, Path=ActualHeight}" />
+                    <StackPanel>
+                        <Grid Height="40">
+                            <Image
+                                Margin="2,3,0,0"
+                                HorizontalAlignment="Left"
+                                Source="/BPASmartClient.CustomResource;component/Image/标签.png" />
+                            <TextBlock
+                                Margin="10,0,0,0"
+                                VerticalAlignment="Center"
+                                FontSize="16"
+                                Foreground="Aqua"
+                                Text="托盘气缸控制" />
+                        </Grid>
+                        <ListView
+                            Name="list3"
+                            Grid.Row="2"
+                            Margin="0,0,0,20"
+                            Background="Transparent"
+                            BorderBrush="#00BEFA"
+                            BorderThickness="0"
+                            ItemsSource="{Binding PalletCylinders}"
+                            ScrollViewer.HorizontalScrollBarVisibility="Disabled">
+                            <ListView.ItemsPanel>
+                                <ItemsPanelTemplate>
+                                    <WrapPanel Orientation="Horizontal" />
+                                </ItemsPanelTemplate>
+                            </ListView.ItemsPanel>
+
+                            <ListView.ItemTemplate>
+                                <DataTemplate>
+                                    <Grid
                                         Width="200"
-                                        Height="50"
-                                        HorizontalAlignment="Center"
-                                        VerticalAlignment="Center"
-                                        LeftTogIsChecked="{Binding LeftTog}"
-                                        RightTogIsChecked="{Binding RightTog}" />
-
-                                    <RadioButton
-                                        Grid.Row="2"
-                                        Grid.Column="1"
-                                        Command="{Binding DataContext.Open, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
-                                        CommandParameter="{Binding Name}"
-                                        Content="伸出"
-                                        Foreground="Aqua"
-                                        IsChecked="True"
-                                        Style="{StaticResource radioButtonStyle}" />
-
-                                    <RadioButton
-                                        Grid.Row="2"
-                                        Grid.Column="2"
-                                        Command="{Binding DataContext.Close, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
-                                        CommandParameter="{Binding Name}"
-                                        Content="缩回"
-                                        Foreground="Aqua"
-                                        IsChecked="False"
-                                        Style="{StaticResource radioButtonStyle}" />
-                                </Grid>
-                            </DataTemplate>
-                        </ListView.ItemTemplate>
-                    </ListView>
-                </StackPanel>
-
-
-            </Grid>
-            <!--#endregion-->
-
-            <!--#region 上下桶工位气缸-->
-            <Grid
-                Name="onGrid"
-                Grid.Row="2"
-                Margin="5"
-                Visibility="{Binding OtherHandCylinders, Converter={StaticResource CountIsVisiableConvert}}">
-                <pry:ImageBorder
-                    Grid.RowSpan="2"
-                    Width="{Binding ElementName=onGrid, Path=ActualWidth}"
-                    Height="{Binding ElementName=onGrid, Path=ActualHeight}" />
-                <StackPanel>
-                    <Grid Height="40">
-                        <Image
-                            Margin="2,3,0,0"
-                            HorizontalAlignment="Left"
-                            Source="/BPASmartClient.CustomResource;component/Image/标签.png" />
-                        <TextBlock
-                            Margin="10,0,0,0"
-                            VerticalAlignment="Center"
-                            FontSize="16"
-                            Foreground="Aqua"
-                            Text="上下桶工位气缸控制" />
-                    </Grid>
-                    <ListView
-                        Name="list4"
-                        Grid.Row="2"
-                        Margin="0,0,0,20"
-                        Background="Transparent"
-                        BorderBrush="#00BEFA"
-                        BorderThickness="0"
-                        ItemsSource="{Binding OtherHandCylinders}"
-                        ScrollViewer.HorizontalScrollBarVisibility="Disabled">
-                        <ListView.ItemsPanel>
-                            <ItemsPanelTemplate>
-                                <WrapPanel Orientation="Horizontal" />
-                            </ItemsPanelTemplate>
-                        </ListView.ItemsPanel>
-
-                        <ListView.ItemTemplate>
-                            <DataTemplate>
-                                <Grid
-                                    Width="200"
-                                    Height="100"
-                                    Margin="0,0,0,15"
-                                    Background="Transparent">
-                                    <Grid.RowDefinitions>
-                                        <RowDefinition Height="30" />
-                                        <RowDefinition />
-                                        <RowDefinition Height="30" />
-                                    </Grid.RowDefinitions>
-                                    <Grid.ColumnDefinitions>
-                                        <ColumnDefinition Width="0.5*" />
-                                        <ColumnDefinition />
-                                        <ColumnDefinition />
-                                    </Grid.ColumnDefinitions>
-
-                                    <TextBlock
-                                        Grid.Column="1"
-                                        Grid.ColumnSpan="2"
-                                        HorizontalAlignment="Center"
-                                        VerticalAlignment="Center"
-                                        Foreground="Aqua"
-                                        Text="{Binding Name}" />
-
-                                    <pry:Cylinder
-                                        Grid.Row="1"
-                                        Grid.ColumnSpan="3"
+                                        Height="100"
+                                        Margin="0,0,0,15"
+                                        Background="Transparent">
+                                        <Grid.RowDefinitions>
+                                            <RowDefinition Height="30" />
+                                            <RowDefinition />
+                                            <RowDefinition Height="30" />
+                                        </Grid.RowDefinitions>
+                                        <Grid.ColumnDefinitions>
+                                            <ColumnDefinition Width="0.5*" />
+                                            <ColumnDefinition />
+                                            <ColumnDefinition />
+                                        </Grid.ColumnDefinitions>
+
+                                        <TextBlock
+                                            Grid.Column="1"
+                                            Grid.ColumnSpan="2"
+                                            HorizontalAlignment="Center"
+                                            VerticalAlignment="Center"
+                                            Foreground="Aqua"
+                                            Text="{Binding Name}" />
+
+                                        <pry:Cylinder
+                                            Grid.Row="1"
+                                            Grid.ColumnSpan="3"
+                                            Width="200"
+                                            Height="50"
+                                            HorizontalAlignment="Center"
+                                            VerticalAlignment="Center"
+                                            LeftTogIsChecked="{Binding LeftTog}"
+                                            RightTogIsChecked="{Binding RightTog}" />
+
+                                        <RadioButton
+                                            Grid.Row="2"
+                                            Grid.Column="1"
+                                            Command="{Binding DataContext.Open, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
+                                            CommandParameter="{Binding Name}"
+                                            Content="伸出"
+                                            Foreground="Aqua"
+                                            IsChecked="True"
+                                            Style="{StaticResource radioButtonStyle}" />
+
+                                        <RadioButton
+                                            Grid.Row="2"
+                                            Grid.Column="2"
+                                            Command="{Binding DataContext.Close, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
+                                            CommandParameter="{Binding Name}"
+                                            Content="缩回"
+                                            Foreground="Aqua"
+                                            IsChecked="False"
+                                            Style="{StaticResource radioButtonStyle}" />
+                                    </Grid>
+                                </DataTemplate>
+                            </ListView.ItemTemplate>
+                        </ListView>
+                    </StackPanel>
+
+
+                </Grid>
+                <!--#endregion-->
+
+                <!--#region 上下桶工位气缸-->
+                <Grid
+                    Name="onGrid"
+                    Grid.Row="2"
+                    Margin="5"
+                    Visibility="{Binding OtherHandCylinders, Converter={StaticResource CountIsVisiableConvert}}">
+                    <pry:ImageBorder
+                        Grid.RowSpan="2"
+                        Width="{Binding ElementName=onGrid, Path=ActualWidth}"
+                        Height="{Binding ElementName=onGrid, Path=ActualHeight}" />
+                    <StackPanel>
+                        <Grid Height="40">
+                            <Image
+                                Margin="2,3,0,0"
+                                HorizontalAlignment="Left"
+                                Source="/BPASmartClient.CustomResource;component/Image/标签.png" />
+                            <TextBlock
+                                Margin="10,0,0,0"
+                                VerticalAlignment="Center"
+                                FontSize="16"
+                                Foreground="Aqua"
+                                Text="上下桶工位气缸控制" />
+                        </Grid>
+                        <ListView
+                            Name="list4"
+                            Grid.Row="2"
+                            Margin="0,0,0,20"
+                            Background="Transparent"
+                            BorderBrush="#00BEFA"
+                            BorderThickness="0"
+                            ItemsSource="{Binding OtherHandCylinders}"
+                            ScrollViewer.HorizontalScrollBarVisibility="Disabled">
+                            <ListView.ItemsPanel>
+                                <ItemsPanelTemplate>
+                                    <WrapPanel Orientation="Horizontal" />
+                                </ItemsPanelTemplate>
+                            </ListView.ItemsPanel>
+
+                            <ListView.ItemTemplate>
+                                <DataTemplate>
+                                    <Grid
                                         Width="200"
-                                        Height="50"
-                                        HorizontalAlignment="Center"
-                                        VerticalAlignment="Center"
-                                        LeftTogIsChecked="{Binding LeftTog}"
-                                        RightTogIsChecked="{Binding RightTog}" />
-
-                                    <RadioButton
-                                        Grid.Row="2"
-                                        Grid.Column="1"
-                                        Command="{Binding DataContext.Open, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
-                                        CommandParameter="{Binding Name}"
-                                        Content="伸出"
-                                        Foreground="Aqua"
-                                        IsChecked="True"
-                                        Style="{StaticResource radioButtonStyle}" />
-
-                                    <RadioButton
-                                        Grid.Row="2"
-                                        Grid.Column="2"
-                                        Command="{Binding DataContext.Close, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
-                                        CommandParameter="{Binding Name}"
-                                        Content="缩回"
-                                        Foreground="Aqua"
-                                        IsChecked="False"
-                                        Style="{StaticResource radioButtonStyle}" />
-                                </Grid>
-                            </DataTemplate>
-                        </ListView.ItemTemplate>
-                    </ListView>
-                </StackPanel>
-
-
-            </Grid>
-            <!--#endregion-->
-
-        </StackPanel>
-    </ScrollViewer>
+                                        Height="100"
+                                        Margin="0,0,0,15"
+                                        Background="Transparent">
+                                        <Grid.RowDefinitions>
+                                            <RowDefinition Height="30" />
+                                            <RowDefinition />
+                                            <RowDefinition Height="30" />
+                                        </Grid.RowDefinitions>
+                                        <Grid.ColumnDefinitions>
+                                            <ColumnDefinition Width="0.5*" />
+                                            <ColumnDefinition />
+                                            <ColumnDefinition />
+                                        </Grid.ColumnDefinitions>
+
+                                        <TextBlock
+                                            Grid.Column="1"
+                                            Grid.ColumnSpan="2"
+                                            HorizontalAlignment="Center"
+                                            VerticalAlignment="Center"
+                                            Foreground="Aqua"
+                                            Text="{Binding Name}" />
+
+                                        <pry:Cylinder
+                                            Grid.Row="1"
+                                            Grid.ColumnSpan="3"
+                                            Width="200"
+                                            Height="50"
+                                            HorizontalAlignment="Center"
+                                            VerticalAlignment="Center"
+                                            LeftTogIsChecked="{Binding LeftTog}"
+                                            RightTogIsChecked="{Binding RightTog}" />
+
+                                        <RadioButton
+                                            Grid.Row="2"
+                                            Grid.Column="1"
+                                            Command="{Binding DataContext.Open, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
+                                            CommandParameter="{Binding Name}"
+                                            Content="伸出"
+                                            Foreground="Aqua"
+                                            IsChecked="True"
+                                            Style="{StaticResource radioButtonStyle}" />
+
+                                        <RadioButton
+                                            Grid.Row="2"
+                                            Grid.Column="2"
+                                            Command="{Binding DataContext.Close, RelativeSource={RelativeSource AncestorType=ListView, Mode=FindAncestor}}"
+                                            CommandParameter="{Binding Name}"
+                                            Content="缩回"
+                                            Foreground="Aqua"
+                                            IsChecked="False"
+                                            Style="{StaticResource radioButtonStyle}" />
+                                    </Grid>
+                                </DataTemplate>
+                            </ListView.ItemTemplate>
+                        </ListView>
+                    </StackPanel>
+
+
+                </Grid>
+                <!--#endregion-->
+
+            </StackPanel>
+        </ScrollViewer>
+    </Grid>
 </UserControl>

DosingSystem/View/RecipeControlView.xaml

@@ -880,7 +880,7 @@
                                         HorizontalAlignment="Center"
                                         VerticalAlignment="Center"
                                         FontSize="16"
-                                        Foreground="{Binding RecipStatus,Converter={StaticResource RecipeStatusConvert}}"
+                                        Foreground="{Binding RecipStatus, Converter={StaticResource RecipeStatusConvert}}"
                                         Text="{Binding RecipStatus}" />
                                     <Border
                                         Grid.ColumnSpan="10"
@@ -912,26 +912,29 @@
                     <ItemsControl.ItemTemplate>
                         <DataTemplate>
                             <Grid>
+
                                 <Grid.RowDefinitions>
+                                    <RowDefinition Height="30" />
+                                    <RowDefinition Height="30" />
+                                    <RowDefinition Height="auto" />
                                     <RowDefinition Height="40" />
-                                    <RowDefinition Height="40" />
-                                    <RowDefinition />
+                                    <RowDefinition Height="10" />
                                 </Grid.RowDefinitions>
 
                                 <Image
-                                    Grid.RowSpan="3"
-                                    Source="/BPASmartClient.CustomResource;component/Image/组合边框2.1.png"
+                                    Grid.RowSpan="5"
+                                    Source="/BPASmartClient.CustomResource;component/Image/背景边框4.png"
                                     Stretch="Fill" />
-                                <Image
-                                    Grid.RowSpan="3"
+                                <!--<Image
+                                    Grid.RowSpan="4"
                                     Source="/BPASmartClient.CustomResource;component/Image/组合边框2.png"
-                                    Stretch="Fill" />
+                                    Stretch="Fill" />-->
 
                                 <TextBlock
                                     Grid.Row="0"
-                                    Margin="10,15,0,0"
-                                    HorizontalAlignment="Left"
-                                    VerticalAlignment="Center"
+                                    Margin="0,5,0,0"
+                                    HorizontalAlignment="Center"
+                                    VerticalAlignment="Top"
                                     FontSize="18"
                                     Foreground="#FF2AB2E7"
                                     Text="{Binding RecipeName}" />
@@ -939,7 +942,9 @@
                                 <!--#region 表格标题栏设置-->
                                 <Grid
                                     Grid.Row="1"
-                                    Margin="5,8"
+                                    Height="30"
+                                    Margin="5,0"
+                                    VerticalAlignment="Top"
                                     Background="#ff0C255F">
 
                                     <Grid.ColumnDefinitions>
@@ -1011,6 +1016,27 @@
                                     </ItemsControl.ItemTemplate>
                                 </ItemsControl>
 
+                                <Button
+                                    Grid.Row="3"
+                                    Height="40"
+                                    Margin="20,0,20,0"
+                                    VerticalContentAlignment="Center"
+                                    Command="{Binding DataContext.CancelRecipeCommand, RelativeSource={RelativeSource AncestorType=UserControl, Mode=FindAncestor}}"
+                                    CommandParameter="{Binding}"
+                                    Content="取消配料"
+                                    FontSize="16"
+                                    Style="{StaticResource ControlButtonStyle}" />
+
+                                <!--<Button
+                                    Grid.Row="3"
+                                    Height="40"
+                                    Margin="5,0,5,0"
+                                    Command="{Binding CancelRecipeCommand}"
+                                    CommandParameter="{Binding}"
+                                    Content="取消配料"
+                                    FontSize="20"
+                                    Style="{StaticResource ImageButtonStyle}" />-->
+
                             </Grid>
                         </DataTemplate>
                     </ItemsControl.ItemTemplate>

DosingSystem/ViewModel/ManualControlViewModel.cs

@@ -6,6 +6,7 @@ using System.Threading.Tasks;
 using BPA.Helper;
 using System.Collections.ObjectModel;
 using System.Threading;
+using BPASmartClient.S7Net;
 
 namespace BPASmartClient.DosingSystem.ViewModel
 {
@@ -13,6 +14,7 @@ namespace BPASmartClient.DosingSystem.ViewModel
     {
         public ManualControlViewModel()
         {
+            Init();
             for (int i = 0; i < Json<DevicePar>.Data.BaseParModel.LiftCylinderCount; i++)
             {
                 cylinderModels.Add(new CylinderModel()
@@ -98,6 +100,19 @@ namespace BPASmartClient.DosingSystem.ViewModel
                 }
             });
 
+            SystemStart = new BPARelayCommand(() =>
+            {
+                SiemensDevice.GetInstance.MySiemens.Write("M10.0", SystemControlText == "停止" ? false : true);
+                var res = SiemensDevice.GetInstance.MySiemens.Read<bool>("M10.0");
+                SystemControlText = res ? "停止" : "启动";
+            });
+            ModelSwitch = new BPARelayCommand(() =>
+            {
+                SiemensDevice.GetInstance.MySiemens.Write("M10.1", ModelSwitchText == "手动" ? true : false);
+                var res = SiemensDevice.GetInstance.MySiemens.Read<bool>("M10.1");
+                ModelSwitchText = res ? "自动" : "手动";
+            });
+
             ThreadManage.GetInstance().StartLong(new Action(() =>
             {
                 for (int i = 0; i < cylinderModels.Count; i++)
@@ -115,10 +130,22 @@ namespace BPASmartClient.DosingSystem.ViewModel
                 OtherHandCylinders.ElementAt(1).RightTog = GlobalDevice.PlcData.UnderCylinderDetection.HomeSignal;
                 OtherHandCylinders.ElementAt(1).LeftTog = GlobalDevice.PlcData.UnderCylinderDetection.InPlaceSignal;
 
+                //SystemControlText = GlobalDevice.PlcData.SystemStartOrStop ? "停止系统" : "启动系统";
+                //ModelSwitchText = GlobalDevice.PlcData.HandOrAuto ? "自动" : "手动";
+
                 Thread.Sleep(100);
             }), "手动气缸状态监控");
         }
 
+        private void Init()
+        {
+            var res = SiemensDevice.GetInstance.MySiemens.Read<bool>("M10.0");
+            SystemControlText = res ? "停止" : "启动";
+
+            var res1 = SiemensDevice.GetInstance.MySiemens.Read<bool>("M10.1");
+            ModelSwitchText = res1 ? "自动" : "手动";
+        }
+
         /// <summary>
         /// 升降气缸
         /// </summary>
@@ -143,6 +170,18 @@ namespace BPASmartClient.DosingSystem.ViewModel
 
         public BPARelayCommand<object> Close { get; set; }
 
+        public BPARelayCommand SystemStart { get; set; }
+        public BPARelayCommand ModelSwitch { get; set; }
+
+
+        public string SystemControlText { get { return _mSystemControlText; } set { _mSystemControlText = value; OnPropertyChanged(); } }
+        private string _mSystemControlText;
+
+
+        public string ModelSwitchText { get { return _mModelSwitchText; } set { _mModelSwitchText = value; OnPropertyChanged(); } }
+        private string _mModelSwitchText;
+
+
     }
 
     public class CylinderModel : NotifyBase

DosingSystem/ViewModel/RecipeControlViewModel.cs

@@ -14,6 +14,8 @@ using BPASmartClient.CustomResource.UserControls;
 using BPASmartClient.Model.柔性味魔方;
 using BPASmartClient.Model;
 using System.Diagnostics;
+using Microsoft.EntityFrameworkCore.Metadata.Internal;
+using System.Data.SqlClient;
 
 namespace BPASmartClient.DosingSystem.ViewModel
 {
@@ -25,10 +27,40 @@ namespace BPASmartClient.DosingSystem.ViewModel
         {
             StartCommand = new BPARelayCommand<object>(RecipeIssued);
             ChangeRecipeStateCommand = new BPARelayCommand<object>(ChangeRecipeState);
+            CancelRecipeCommand = new BPARelayCommand<object>(CancelRecipe);
             RecipeRun();
             RecipeStatusInquire();
         }
 
+        private async void CancelRecipe(object o)
+        {
+            if (o != null && o is RecipeModel recipe)
+            {
+                var res = MessageNotify.GetInstance.ShowDialog($"是否取消配方 【{recipe.RecipeName}】制作", DialogType.Warning);
+                if (res)
+                {
+                    int index = Recipes.ToList().FindIndex(p => p.RecipeName == recipe.RecipeName);
+                    if (index >= 0 && index < Recipes.Count)
+                    {
+                        await Task.Factory.StartNew(new Action(() =>
+                        {
+
+                            Recipes.ElementAt(index).IsEnable = true;
+                            Json<LocaPar>.Data.Recipes.ElementAt(index).IsEnable = true;
+                            Recipes.ElementAt(index).Are.Set();
+                            App.Current.Dispatcher.Invoke(new Action(() => { recipeProcesses.Clear(); }));
+                            SiemensDevice.GetInstance.MySiemens.Write("M10.5", true);
+                            Thread.Sleep(1000);
+                            SiemensDevice.GetInstance.MySiemens.Write("M10.5", false);
+                            NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, App.MainWindow, "提示", $"配方 [{recipe.RecipeName}] 取消成功");
+                        }));
+                    }
+                }
+
+            }
+
+        }
+
         /// <summary>
         /// 配方下发
         /// </summary>
@@ -45,11 +77,11 @@ namespace BPASmartClient.DosingSystem.ViewModel
                         {
                             string ip = Recipes.ElementAt(index).RawMaterials.ElementAt(i).DeviceIp;
                             var device = DeviceInquire.GetInstance.GetDevice(ip);
-                            //if (!device.IsConnected)
-                            //{
-                            //    MessageNotify.GetInstance.ShowDialog($"设备 【{device.DeviceName}】 未连接,不允许下发此配方", DialogType.Error);
-                            //    return;
-                            //}
+                            if (!device.IsConnected)
+                            {
+                                MessageNotify.GetInstance.ShowDialog($"设备 【{device.DeviceName}】 未连接,不允许下发此配方", DialogType.Error);
+                                return;
+                            }
                         }
                     }
                     Recipes.ElementAt(index).IsEnable = false;
@@ -112,7 +144,7 @@ namespace BPASmartClient.DosingSystem.ViewModel
                                                 int a = data.SetBitValue((byte)tInfo.ElementAt(i).ElementAt(m).Loc, true);
                                                 byte[] test1 = a.ToBytes(BPA.Helper.DataFormat.ABCD);
                                                 int item = test1.ToInt();
-                                                SiemensDevice.GetInstance.MySiemens.Write($"DB4.DBD{2 + (tempDevice.DeviceNum - 1) * 4}", item);
+                                                SiemensDevice.GetInstance.MySiemens.Write($"DB4.DBD{2 + (tempDevice.DeviceNum - 1) * 4}", item, 5);
                                                 MessageNotify.GetInstance.ShowRunLog($"下发配方DB4.DBD{2 + (tempDevice.DeviceNum - 1) * 4} :{item.ToBinString()}");
                                             }
                                         }
@@ -129,7 +161,7 @@ namespace BPASmartClient.DosingSystem.ViewModel
                                 }
                             }
                         }
-                        SiemensDevice.GetInstance.MySiemens.Write("DB4.DBD198", BarrelNum.Count);//配方使用桶数写入
+                        SiemensDevice.GetInstance.MySiemens.Write("DB4.DBD198", BarrelNum.Count, 5);//配方使用桶数写入
                         /*if (recipeData.Count <= 0)
                         {
                             MessageNotify.GetInstance.ShowRunLog("配方数据解析失败");
@@ -453,8 +485,9 @@ namespace BPASmartClient.DosingSystem.ViewModel
                                                                 int a = 0.SetBitValue((byte)(DeviceNum), true);
                                                                 byte[] test1 = a.ToBytes(BPA.Helper.DataFormat.ABCD);
                                                                 int item = test1.ToInt();
-                                                                SiemensDevice.GetInstance.MySiemens.Write("DB4.DBD130", item);
-                                                                MessageNotify.GetInstance.ShowRunLog($"DB4.DBD130:{item.ToBinString()}");
+                                                                SiemensDevice.GetInstance.MySiemens.Write("DB4.DBD130", item, 5);
+                                                                //MessageNotify.GetInstance.ShowRunLog($"DB4.DBD130:{item.ToBinString()}");
+                                                                MessageNotify.GetInstance.ShowRunLog($"DB4.DBD130:{item}");
                                                                 MessageNotify.GetInstance.ShowRunLog($"柔性味魔方{Recipes.ElementAt(i).RawMaterials.ElementAt(loc).DeviceIp},出料完成，状态复位");
                                                             }
                                                         }
@@ -538,6 +571,8 @@ namespace BPASmartClient.DosingSystem.ViewModel
 
         public BPARelayCommand<object> ChangeRecipeStateCommand { get; set; }
 
+        public BPARelayCommand<object> CancelRecipeCommand { get; set; }
+
         public static ObservableCollection<RecipeModel> Recipes { get; set; } = Json<LocaPar>.Data.Recipes;
 
         public static string CurrentRecipeName { get { return _RecipeName; } set { _RecipeName = value; OnStaticPropertyChanged(); } }