现场调试修改。

BPASmartClient.MorkCL/Control_MorkCL.cs

@@ -145,7 +145,8 @@ namespace BPASmartClient.MorkCL
                 #endregion
 
                 //这里判定主要是针对压力锅。
-                if (!TaskList.ContainsKey(morkCL.cds.ElementAt(0).DeviceType))
+                //修改为炒锅和机器人不允许下单情况下，就不下单。
+                if (!TaskList.ContainsKey(morkCL.cds.ElementAt(0).DeviceType)&&GetFryPanAndRobotIsAuto(morkCL.cds.ElementAt(0).DeviceType))
                 {
                     if (morkCL.cds.TryDequeue(out ControlData cd))
                     {
@@ -575,9 +576,25 @@ namespace BPASmartClient.MorkCL
                                 }
                                 break;
                             case EFunc.添加辅料:
-                                MaterialBase mb = SqliteHelper.GetInstance.GetAccessories().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id);
+                                #region 根据配置文件选择每个炒锅的最大最小辅料位置，暂时没使用。
+                                //var minloc = -1;
+                                //var maxloc = -1;
+                                //if (et == EDeviceType.炒锅1)
+                                //{
+                                //    minloc = Json<ConnectPar>.Data.FryPanAccessoriesMin_1;
+                                //    maxloc = Json<ConnectPar>.Data.FryPanAccessoriesMax_1;
+                                //}
+                                //else if (et == EDeviceType.炒锅2)
+                                //{
+                                //    minloc = Json<ConnectPar>.Data.FryPanAccessoriesMin_2;
+                                //    maxloc = Json<ConnectPar>.Data.FryPanAccessoriesMax_2;
+                                //} 
+                                #endregion
+
+                                MaterialBase mb = SqliteHelper.GetInstance.GetAccessories().FirstOrDefault(p =>/*p.Loc>=minloc && p.Loc<=maxloc&& */p.Id == fm.funcPars.ElementAt(0).Id);
                                 if (mb != null)
                                 {
+                                    robot.IsIdle.Wait(Cts: TaskList[et].Cts);
                                     //先复位变量。防止上一次是异常结束，设为True时，不会响应。
                                     device.FryingPanHome = false;
 
@@ -882,7 +899,14 @@ namespace BPASmartClient.MorkCL
         public override void Stop()
         {
         }
-
+        private bool GetFryPanAndRobotIsAuto(EDeviceType fryPan)
+        {
+            //目前拿不到机器人的远程状态，只能拿到炒锅的。
+            var device = (FryingPanServer)devices[fryPan];
+            var robot = (RobotServer)devices[EDeviceType.机器人];
+            return device.InitComplete && device.StatusMode && device.EStop && robot.RemoteMode;
+           
+        }
         void ManualActionRegiester()
         {
             //主料入库委托。
@@ -908,6 +932,17 @@ namespace BPASmartClient.MorkCL
                         var index = Array.FindIndex(Json<ItemStorageInfo>.Data.IngredientsStorage, i => i.IsEmploy == false);
                         if (index >= 0)
                         {
+                            if (!MessageNotify.GetInstance.ShowDialog($"请确认库位【{index+1}】上无物品，否则可能会造成碰撞事故！",DialogType.Warning))
+                            {
+
+                                DeviceProcessLogShow($"物料[{ingredients.Name}]，ID:[{ingredients.Id}]，库位[{index+1}]入库失败，未确认库位无异物。");
+                                Application.Current.Dispatcher.Invoke(() =>
+                                {
+                                    NoticeDemoViewModel.OpenMsg(EnumPromptType.Error, Application.Current.MainWindow, "入库失败", $"物料{ingredients.Name}入库失败。");
+                                });
+                                return;
+                            }
+
                             var item = Json<ItemStorageInfo>.Data.IngredientsStorage[index];
 
                             item.MaterialID = ingredients.Id;
@@ -926,7 +961,7 @@ namespace BPASmartClient.MorkCL
 
                             ActionManage.GetInstance.Send("RefreshItemStorage");
 
-                            DeviceProcessLogShow($"物料[{ingredients.Name}]，ID:[{ingredients.Id}]入库成功。");
+                            DeviceProcessLogShow($"物料[{ingredients.Name}]，ID:[{ingredients.Id}]，库位[{index + 1}]入库成功。");
                             Application.Current.Dispatcher.Invoke(() =>
                             {
                                 NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, Application.Current.MainWindow, "入库成功", $"物料{ingredients.Name}入库成功。");
@@ -961,7 +996,7 @@ namespace BPASmartClient.MorkCL
                    {
                        var robot = (RobotServer)devices[EDeviceType.机器人];
                        //Thread.Sleep(5000);
-                       robot.WarehousingControl(loc);
+                       robot.WarehousingControl(loc,null);
                        //会卡死。
                        robot.WarehousingComplete[(Convert.ToInt32(loc) - 1)].Wait();
                    }
@@ -1010,12 +1045,41 @@ namespace BPASmartClient.MorkCL
             ActionManage.GetInstance.Register(() =>
             {
                 //电子秤去皮
+                var weghier = (OtherServer)devices[EDeviceType.外部设备];
+                if (weghier.WeigherTare())
+                {
+                    NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, Application.Current.MainWindow, "去皮成功", $"电子秤除皮操作成功。");
+                    DeviceProcessLogShow($"电子秤除皮操作成功。");
+                }
+                else
+                {
+                    NoticeDemoViewModel.OpenMsg(EnumPromptType.Error, Application.Current.MainWindow, "去皮失败", $"电子秤除皮操作失败。");
+                    DeviceProcessLogShow($"电子秤除皮操作失败。");
+                }
+               
 
             },"WeighrTare",true);
 
             ActionManage.GetInstance.Register(() =>
             {
                 //电子秤置零
+                var weghier = (OtherServer)devices[EDeviceType.外部设备];
+                if (weghier.WeigherZero())
+                {
+                    Application.Current.Dispatcher.Invoke(() =>
+                    {
+                        NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, Application.Current.MainWindow, "置零成功", $"电子秤置零操作成功。");
+                    });
+                        DeviceProcessLogShow($"电子秤置零操作成功。");
+                }
+                else
+                {
+                    Application.Current.Dispatcher.Invoke(() =>
+                    {
+                        NoticeDemoViewModel.OpenMsg(EnumPromptType.Error, Application.Current.MainWindow, "置零失败", $"电子秤置零操作失败。");
+                    });
+                        DeviceProcessLogShow($"电子秤置零操作失败。");
+                }
 
             }, "WeighrZero", true);
 
@@ -1059,6 +1123,20 @@ namespace BPASmartClient.MorkCL
 
             ActionManage.GetInstance.Register(frypanIsIdle, "GetDeviceIsIdle", true);
 
+            ActionManage.GetInstance.Register(() =>
+            {
+                var robot = (RobotServer)devices[EDeviceType.机器人];
+                if (robot.InitVariable())
+                {
+                    Application.Current.Dispatcher.Invoke(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, Application.Current.MainWindow, "成功", $"复位所有由上位机下发至机器人的变量成功。"); });
+                    DeviceProcessLogShow($"复位所有由上位机下发至机器人的变量成功。");
+                }
+                else
+                {
+                    Application.Current.Dispatcher.Invoke(() => { NoticeDemoViewModel.OpenMsg(EnumPromptType.Error, Application.Current.MainWindow, "失败", $"复位所有由上位机下发至机器人的变量失败。"); });
+                    DeviceProcessLogShow($"复位所有由上位机下发至机器人的变量失败。");
+                }
+            }, "InitRobotAllVar", true);
         }
 
         Func<object, object> frypanIsIdle => (o) =>

BPASmartClient.MorkCL/GVL_MorkCL.cs

@@ -359,7 +359,7 @@ namespace BPASmartClient.MorkCL
         /// <summary>
         /// 机器人远程模式
         /// </summary>
-        [VariableMonitor("机器人-机器人远程模式", "LW22")]
+        [VariableMonitor("机器人-机器人远程模式,为True时，代表可下单", "GM130")]
         public bool RemoteMode { get; set; }
 
         /// <summary>

BPASmartClient.MorkCL/Model/Control/RobotGet.cs

@@ -42,7 +42,7 @@ namespace BPASmartClient.MorkCL.Model.Control
         public bool EnableState { get; set; }
 
         /// <summary>
-        /// 机器人远程模式
+        /// 机器人远程模式,为True时，可下单。
         /// </summary>
         public bool RemoteMode { get; set; }
 

BPASmartClient.MorkCL/Model/Json/ConnectPar.cs

@@ -61,5 +61,21 @@ namespace BPASmartClient.MorkCL.Model.Json
         /// 外设端口号
         /// </summary>
         public string PPortName { get; set; } = "COM2";
+        /// <summary>
+        /// 炒锅1辅料最小位置。
+        /// </summary>
+        public int FryPanAccessoriesMin_1 { get; set; } = 1;
+        /// <summary>
+        /// 炒锅1辅料最大位置。
+        /// </summary>
+        public int FryPanAccessoriesMax_1 { get; set; } = 4;
+        /// <summary>
+        /// 炒锅2辅料最小位置。
+        /// </summary>
+        public int FryPanAccessoriesMin_2 { get; set; } = 5;
+        /// <summary>
+        /// 炒锅2辅料最大位置。
+        /// </summary>
+        public int FryPanAccessoriesMax_2 { get; set; } = 8;
     }
 }

BPASmartClient.MorkCL/Server/OtherServer.cs

@@ -52,5 +52,35 @@ namespace BPASmartClient.MorkCL.Server
         {
             throw new NotImplementedException();
         }
+        /// <summary>
+        /// 除皮
+        /// </summary>
+        /// <returns></returns>
+        public bool WeigherTare()
+        {
+            if (MyModbus is not null && MyModbus.IsConnected())
+            {
+                ModbusRtu weigher = (ModbusRtu)MyModbus;
+                weigher.SlaveAddress = 2;
+                return weigher.Write<bool>("LB4", false).IsSuccess;
+            }
+            else
+                return false;
+        }
+        /// <summary>
+        /// 置零
+        /// </summary>
+        /// <returns></returns>
+        public bool WeigherZero()
+        {
+            if (MyModbus is not null && MyModbus.IsConnected())
+            {
+                ModbusRtu weigher = (ModbusRtu)MyModbus;
+                weigher.SlaveAddress = 2;
+                return weigher.Write<bool>("LB3", false).IsSuccess;
+            }
+            else
+                return false;
+        }
     }
 }

BPASmartClient.MorkCL/Server/RobotServer.cs

@@ -32,17 +32,24 @@ namespace BPASmartClient.MorkCL.Server
                         }
                     });
                     Thread.Sleep(20);
+
                     MyModbus.Read<bool>("GM620".ToModbusAdd()).OnSuccess((b)=> { Home = b; });
                     Thread.Sleep(20);
+
                     MyModbus.Read<bool[]>("GM630".ToModbusAdd(), 12).OnSuccess(s =>
                     {
                         for (byte i = 0; i < s.Length; i++) WarehousingComplete[i] = s[i];
                      });
                     Thread.Sleep(20);
+
                     MyModbus.Read<ushort>("GI5".ToModbusAdd(), 1).OnSuccess(s => { TaskFeedback = (RobotMainTask)s; });
 
                     IsIdle = (TaskFeedback == RobotMainTask.无任务 && Home);
                     Thread.Sleep(20);
+
+                    MyModbus.Read<bool>("GM130".ToModbusAdd(), 1).OnSuccess((b) => { RemoteMode = b; });
+                    Thread.Sleep(20);
+
                 }), $"机器人服务-{IP}", true);
             });
         }
@@ -86,5 +93,30 @@ namespace BPASmartClient.MorkCL.Server
                 Thread.Sleep(1000);
             }
         }
+
+        public bool InitVariable()
+        {
+            if (MyModbus is not null && MyModbus.IsConnected())
+            {
+                try
+                {
+                    MyModbus.Write<ushort>("GI0".ToModbusAdd(), 0);
+                    MyModbus.Write<ushort>("GI1".ToModbusAdd(), 0);
+                    for (int i = 0; i <= 8; i++)
+                    {
+                        MyModbus.Write<bool>(("GM" + (500 + i).ToString()).ToModbusAdd(), false);
+                    }
+                    return true;
+                }
+                catch (Exception)
+                {
+
+                    return false;
+                }
+
+            }
+            else
+                return false;
+        }
     }
 }

BPASmartClient.MorkCL/View/Debug.xaml

@@ -55,11 +55,11 @@
                     Margin="10,0"
                     Command="{Binding InitalDeviceCommand}"
                     Content="初始化设备" />
-                <Button
+                <!--<Button
                     Width="100"
                     Margin="10,0"
                     Command="{Binding ResetDeviceCommand}"
-                    Content="复位" />
+                    Content="复位" />-->
                 <Button
                     Width="100"
                     Margin="10,0"
@@ -179,7 +179,15 @@
         <StackPanel
             Grid.Row="1"
             Margin="15"
-            Orientation="Vertical" />
+            Orientation="Vertical">
+            <Button
+                Width="200"
+                Height="50"
+                Margin="5"
+                HorizontalAlignment="Left"
+                Command="{Binding InitRobotVarCommand}"
+                Content="复位机器人所有变量" />
+        </StackPanel>
         <!--#endregion-->
 
         <!--#region 系统任务控制-->
@@ -206,7 +214,7 @@
 
             </StackPanel>
 
-            <StackPanel Orientation="Horizontal">
+            <!--<StackPanel Orientation="Horizontal">
                 <Button
                     Width="150"
                     Height="35"
@@ -222,7 +230,7 @@
                     Content="清空2#炒锅任务"
                     Visibility="Collapsed" />
 
-            </StackPanel>
+            </StackPanel>-->
 
         </StackPanel>
         <!--#endregion-->

BPASmartClient.MorkCL/View/ItemStorageView.xaml

@@ -62,7 +62,14 @@
                 Command="{Binding InStorageCommand}"
                 CommandParameter="{Binding ElementName=cmbSelectName, Path=SelectedItem}"
                 Content="入库" />
-
+            <Button
+                Margin="0,30,0,10"
+                Command="{Binding WeigherTareCommand}"
+                Content="电子秤除皮" />
+            <Button
+                Margin="0,10"
+                Command="{Binding WeigherZeroCommand}"
+                Content="电子秤置零" />
         </StackPanel>
         <!--#endregion-->
         <!--#region 辅料仓不需要显示，整体注释。-->
@@ -132,17 +139,18 @@
         <pry:ImageBorder
             Grid.Row="0"
             Grid.RowSpan="2"
-            Grid.Column="1"
-            Margin="15" />
-        <ItemsControl
+            Grid.Column="1" />
+        <ListView
             Grid.Row="0"
             Grid.RowSpan="2"
             Grid.Column="1"
             Margin="3"
             Background="Transparent"
             ItemsSource="{Binding IngredientsItorage}"
-            ScrollViewer.HorizontalScrollBarVisibility="Disabled">
-            <ItemsControl.ItemsPanel>
+            ScrollViewer.HorizontalScrollBarVisibility="Disabled"
+            ScrollViewer.VerticalScrollBarVisibility="Disabled"
+            SelectionMode="Single">
+            <ListView.ItemsPanel>
                 <ItemsPanelTemplate>
                     <UniformGrid
                         HorizontalAlignment="Center"
@@ -157,9 +165,9 @@
                         </UniformGrid.LayoutTransform>
                     </UniformGrid>
                 </ItemsPanelTemplate>
-            </ItemsControl.ItemsPanel>
+            </ListView.ItemsPanel>
 
-            <ItemsControl.ItemTemplate>
+            <ListView.ItemTemplate>
                 <DataTemplate>
                     <Border Margin="5" Background="Transparent">
                         <Grid>
@@ -207,8 +215,8 @@
                         </Grid>
                     </Border>
                 </DataTemplate>
-            </ItemsControl.ItemTemplate>
-        </ItemsControl>
+            </ListView.ItemTemplate>
+        </ListView>
 
         <!--#endregion-->
     </Grid>

BPASmartClient.MorkCL/View/ManualSetItemStorageView.xaml

@@ -0,0 +1,37 @@
+<Window
+    x:Class="BPASmartClient.MorkCL.View.ManualSetItemStorageView"
+    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+    xmlns:Behavior="http://schemas.microsoft.com/xaml/behaviors"
+    xmlns:converter="clr-namespace:BPASmartClient.MorkCL.Converter"
+    xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+    xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+    xmlns:vm="clr-namespace:BPASmartClient.MorkCL.ViewModel"
+    Title="EditFunctionView"
+    Width="450"
+    Height="350"
+    AllowsTransparency="True"
+    Background="{x:Null}"
+    Topmost="True"
+    WindowStartupLocation="CenterScreen"
+    WindowStyle="None"
+    mc:Ignorable="d">
+    <Window.DataContext>
+        <vm:ManualSetItemStorageViewModel/>
+    </Window.DataContext>
+    <Window.Resources>
+        <ResourceDictionary>
+            <ResourceDictionary.MergedDictionaries>
+                <ResourceDictionary Source="/BPASmartClient.MorkCL;component/CustomStyle/CustomStyle.xaml" />
+            </ResourceDictionary.MergedDictionaries>
+        </ResourceDictionary>
+    </Window.Resources>
+    <Border
+        Name="br"
+        BorderBrush="#0CADF5"
+        BorderThickness="0">
+        <Border.Background>
+            <ImageBrush ImageSource="/BPASmartClient.CustomResource;component/Image/弹框/biankuang_.png" />
+        </Border.Background>
+    </Border>
+</Window>

BPASmartClient.MorkCL/View/ManualSetItemStorageView.xaml.cs

@@ -0,0 +1,29 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Shapes;
+
+namespace BPASmartClient.MorkCL.View
+{
+    /// <summary>
+    /// ManualSetItemStorageView.xaml 的交互逻辑
+    /// </summary>
+    public partial class ManualSetItemStorageView : Window
+    {
+        public ManualSetItemStorageView()
+        {
+            InitializeComponent();
+            this.br.MouseLeftButtonDown += (o, e) => { if (e.LeftButton == MouseButtonState.Pressed) this.DragMove(); };
+
+        }
+    }
+}

BPASmartClient.MorkCL/ViewModel/DebugViewModel.cs

@@ -170,6 +170,8 @@ namespace BPASmartClient.MorkCL.ViewModel
                 {
                     return;
                 }
+                //复位所有变量。
+                ResetFryPanVariable(FryingPanSelect);
                 await SendWriteRequest("LB21");
                 ShowNotify($"设置设备初始化成功。");
             });
@@ -183,13 +185,14 @@ namespace BPASmartClient.MorkCL.ViewModel
                 await SendWriteRequest("LB22");
                 ShowNotify($"设置设备停止成功。");
             });
-
+            //炒锅那边复位变量没有使用。
             ResetDeviceCommand = new(async () =>
             {
                 if (!GetDeviceIsIdle(FryingPanSelect))
                 {
                     return;
                 }
+                
                 await SendWriteRequest("LB23");
                 ShowNotify($"设置设备复位成功。");
             });
@@ -208,6 +211,14 @@ namespace BPASmartClient.MorkCL.ViewModel
             ClearFryPanTaskCommand_2 = new(() =>
             {
             });
+
+            InitRobotVarCommand = new(() =>
+            {
+                Task.Run(() =>
+                {
+                    ActionManage.GetInstance.Send("InitRobotAllVar");
+                });
+            });
         }
 
         #region 私有方法
@@ -241,7 +252,23 @@ namespace BPASmartClient.MorkCL.ViewModel
             }
             return false;
         }
-
+        /// <summary>
+        /// 复位指定炒锅的所有变量。
+        /// </summary>
+        /// <param name="deviceType"></param>
+        private void ResetFryPanVariable(EDeviceType deviceType)
+        {
+            ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(deviceType, "LB0", false));
+            ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(deviceType, "LB3", false));
+            for (int i = 6; i <= 19; i++)
+            {
+                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(deviceType, "LB" + i, false));
+            }
+            for (int i = 0; i <= 5; i++)
+            {
+                ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(deviceType, "LW" + i, 0));
+            }
+        }
         #endregion 私有方法
 
         #region 属性
@@ -385,6 +412,10 @@ namespace BPASmartClient.MorkCL.ViewModel
         /// 清空2#炒锅所有任务。
         /// </summary>
         public BPARelayCommand ClearFryPanTaskCommand_2 { get; set; }
+        /// <summary>
+        /// 复位机器人所有由上位机下发的变量。
+        /// </summary>
+        public BPARelayCommand InitRobotVarCommand { get; set; }
 
         #endregion 命令
     }

BPASmartClient.MorkCL/ViewModel/ItemStorageViewModel.cs

@@ -113,6 +113,14 @@ namespace BPASmartClient.MorkCL.ViewModel
                     NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, Application.Current.MainWindow, "成功", "清空仓位信息成功。");
                 }
             });
+            WeigherTareCommand = new(() =>
+            {
+                ActionManage.GetInstance.Send("WeighrTare");
+            });
+            WeigherZeroCommand = new(() =>
+            {
+                ActionManage.GetInstance.Send("WeighrZero");
+            });
         }
 
         private void AddTestData()
@@ -132,6 +140,18 @@ namespace BPASmartClient.MorkCL.ViewModel
         }
 
         public BPARelayCommand<object> InStorageCommand { get; set; }
+        /// <summary>
+        /// 初始化库位。
+        /// </summary>
+        public BPARelayCommand InitialStorageCommand { get; set; }
+        /// <summary>
+        /// 电子秤除皮。
+        /// </summary>
+        public BPARelayCommand WeigherTareCommand { get; set; }
+        /// <summary>
+        /// 电子秤置零。
+        /// </summary>
+        public BPARelayCommand WeigherZeroCommand { get; set; }
 
         private float _ScaleCurrentWeight;
 
@@ -181,9 +201,5 @@ namespace BPASmartClient.MorkCL.ViewModel
             get { return _CanItemStorage; }
             set { _CanItemStorage = value; OnPropertyChanged(); }
         }
-        /// <summary>
-        /// 初始化库位。
-        /// </summary>
-        public BPARelayCommand InitialStorageCommand { get; set; }
     }
 }

BPASmartClient.MorkCL/ViewModel/ManualSetItemStorageViewModel.cs

@@ -0,0 +1,13 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkCL.ViewModel
+{
+    public class ManualSetItemStorageViewModel:NotifyBase
+    {
+
+    }
+}