1. 精简配方工艺。2.修改调试界面使得更方便。

BPASmartClient.MorkCL/Control_MorkCL.cs

@@ -452,28 +452,31 @@ namespace BPASmartClient.MorkCL
                     {
                         switch (fm.eFunc)
                         {
+                            #region 搅拌启动与停止
+
                             case EFunc.搅拌启动:
                                 device.StirStartOrStop = false;
 
-                                //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-写入搅拌频率-{fm.funcPars.ElementAt(0).ParValue.ToString()}HZ。");
                                 device.MixingFrequencySet(fm.funcPars.ElementAt(0).ParValue.ToString());
                                 DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-写入搅拌频率-{fm.funcPars.ElementAt(0).ParValue.ToString()}HZ完成。");
                                 await Task.Delay(400);
-                                //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-写入开始搅拌。");
                                 device.StirStartOrStop = true;
                                 DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-写入开始搅拌完成。");
 
                                 break;
                             case EFunc.搅拌停止:
-                                //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-写入停止搅拌。");
                                 device.StirStartOrStop = false;
                                 DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-写入停止搅拌完成。");
-                                break;
+                                break; 
+
+                            #endregion
+
+                            #region 加热启动与停止
+
                             case EFunc.加热启动:
                                 device.HeatStartOrStop = false;
                                 await Task.Delay(400);
 
-                                //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置加热挡位-【{fm.funcPars.ElementAt(0).ParValue.ToString()}】。");
                                 device.HeatingGearSet(fm.funcPars.ElementAt(0).ParValue.ToString());
                                 DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置加热挡位-【{fm.funcPars.ElementAt(0).ParValue.ToString()}】完成，等待设置加热启动。");
 
@@ -481,10 +484,12 @@ namespace BPASmartClient.MorkCL
                                 DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置加热启动完成。");
                                 break;
                             case EFunc.加热停止:
-                                //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置加热停止。");
                                 device.HeatStartOrStop = false;
                                 DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置加热停止完成。");
-                                break;
+                                break; 
+                            #endregion
+
+                            #region 添加调料
                             case EFunc.添加调料:
                                 DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-查找调料【{fm.funcPars.ElementAt(0).Id}】。");
                                 var Seasoning = SqliteHelper.GetInstance.GetSeasoning().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id);
@@ -493,7 +498,6 @@ namespace BPASmartClient.MorkCL
                                     device.FryingPanToSeasoningLoc = false;
                                     await Task.Delay(400);
 
-                                    //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置。");
                                     device.FryingPanToSeasoningLoc = true;
                                     DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置完成，等待炒锅到达调料投料位置。");
 
@@ -507,6 +511,16 @@ namespace BPASmartClient.MorkCL
 
                                     device.CuttingControl(Seasoning.Loc.ToString(), fm.funcPars.ElementAt(1).ParValue.ToString(), TaskList[et].Cts);
                                     DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-执行下料，下料位置：{Seasoning.Loc.ToString()}，下料重量：【{fm.funcPars.ElementAt(1).ParValue.ToString()}】。");
+
+                                    //去炒制位
+                                    string stirFryLoc = fm.funcPars.ElementAt(2).ParValue.ToString();
+                                    GoStirFryLoc(stirFryLoc);
+
+                                    //炒制
+                                    if (int.TryParse(fm.funcPars.ElementAt(3).ParValue.ToString(), out int time))
+                                    {
+                                        StirFry(time);
+                                    }
                                 }
                                 else
                                 {
@@ -515,7 +529,10 @@ namespace BPASmartClient.MorkCL
                                     TaskList[et].Cts.Cancel();
                                 }
 
-                                break;
+                                break; 
+                            #endregion
+
+                            #region 添加主料
                             case EFunc.添加主料:
                                 DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-查找主料【{fm.funcPars.ElementAt(0).Id}】。");
 
@@ -527,23 +544,19 @@ namespace BPASmartClient.MorkCL
                                     item => item.MaterialID == fm.funcPars.ElementAt(0).Id/* && item.Weight == weight*/);
                                     if (ingre_index >= 0)
                                     {
-                                        //device.CuttingControl(Seasoning.Loc.ToString(), fm.funcPars.ElementAt(1).ParValue.ToString());
                                         var ingredientes = Json<ItemStorageInfo>.Data.IngredientsStorage[ingre_index];
 
                                         DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-执行下料，控制取{ingre_index + 1}库物料，下料名称：{ingredientes.Name.ToString()}，下料重量：【{fm.funcPars.ElementAt(1).ParValue.ToString()}】。");
                                         device.FryingPanHome = false;
 
-                                        //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(ingre_index + 1).ToString()}】，子任务【{et}】。");
 
                                         robot.RobotTaskControl((ingre_index + 1).ToString(), et);
                                         DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(ingre_index + 1).ToString()}】，子任务【{et}】完成。");
                                         await Task.Delay(400);
 
-                                        //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置。");
                                         device.FryingPanHome = true;
                                         DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置完成，等待炒锅回到主料辅料投料位置");
 
-                                        //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置。");
                                         device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置
                                         await Task.Delay(400);
 
@@ -553,12 +566,6 @@ namespace BPASmartClient.MorkCL
 
                                         DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置。");
                                         robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts);  //等待机器人到投料位置也就是发出倒料请求。
-                                                                                                          //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置完成。");
-
-                                        //目前程序在炒锅在投料位置时，会自动发出允许倒料信息。
-                                        //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料。");
-                                        //robot.AllowPourVegetables(et);//允许机器人开始投料
-                                        //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料完成。");
 
                                         DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-机器人已到达投料位置，等待机器人投料完成。");
                                         robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts);    //等待机器人投料完成
@@ -567,6 +574,16 @@ namespace BPASmartClient.MorkCL
                                         Json<ItemStorageInfo>.Data.IngredientsStorage[ingre_index] = new ItemStorage();
                                         Json<ItemStorageInfo>.Save();
                                         ActionManage.GetInstance.Send("RefreshItemStorage");
+
+                                        //去炒制位
+                                        string stirFryLoc = fm.funcPars.ElementAt(2).ParValue.ToString();
+                                        GoStirFryLoc(stirFryLoc);
+
+                                        //炒制
+                                        if (int.TryParse(fm.funcPars.ElementAt(3).ParValue.ToString(), out int time))
+                                        {
+                                            StirFry(time);
+                                        }
                                     }
                                     else
                                     {
@@ -577,7 +594,10 @@ namespace BPASmartClient.MorkCL
                                         TaskList[et].Cts.Cancel();
                                     }
                                 }
-                                break;
+                                break; 
+                            #endregion
+
+                            #region 添加辅料
                             case EFunc.添加辅料:
                                 #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;
@@ -610,33 +630,34 @@ namespace BPASmartClient.MorkCL
                                     //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;
 
-                                    //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(mb.Loc + 12).ToString()}】，子任务【{et}】。");
                                     robot.RobotTaskControl((mb.Loc + 12).ToString(), et);
                                     DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(mb.Loc + 12).ToString()}】，子任务【{et}】完成。");
 
-                                    //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置。");
                                     await Task.Delay(400);
                                     device.FryingPanHome = true;
                                     DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置完成，开始等待炒锅到投料位置。");
 
-                                    //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置。");
                                     device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置
                                     await Task.Delay(400);
                                     device.FryingPanHome = false;
                                     DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置完成，等待机器人到投料位置。");
 
-                                    //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置。");
                                     robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts);  //等待机器人到投料位置
                                     DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-机器人到达投料位置完成，开始等待机器人投料完成。");
 
-                                    //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料。");
-                                    //robot.AllowPourVegetables(et);//允许机器人开始投料
-                                    //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料完成。");
-
-                                    //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-开始等待机器人投料完成。");
                                     robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts);    //等待机器人投料完成
                                     DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-机器人投料完成。");
 
+                                    //去炒制位
+                                    string stirFryLoc = fm.funcPars.ElementAt(1).ParValue.ToString();
+                                    GoStirFryLoc(stirFryLoc);
+
+                                    //炒制
+                                    if (int.TryParse(fm.funcPars.ElementAt(2).ParValue.ToString(), out int time))
+                                    {
+                                        StirFry(time);
+                                    }
+
                                 }
                                 else
                                 {
@@ -645,25 +666,16 @@ namespace BPASmartClient.MorkCL
                                     TaskList[et].Cts.Cancel();
                                 }
                                 break;
-                            case EFunc.炒锅回原点位:
-                                device.FryingPanFeedingLoc = false;
-                                device.FryingPanHome = false;
-                                //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置炒锅回原点。");
-                                await Task.Delay(400);
-                                device.FryingPanHome = true;
-                                DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置炒锅回原点完成，等待炒锅回原点。");
+                            #endregion
+                            //case EFunc.炒锅回原点位:
 
-                                //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-等待回原点完成。");
-                                device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);
-                                await Task.Delay(400);
-                                device.FryingPanHome = false;
-                                DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-炒锅回原点完成。");
-                                break;
+                            //    break;
+                            #region 出餐启动
                             case EFunc.出餐启动:
 
                                 device.DiningOutStart = false;
                                 DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置机器人取空盆。");
-                                
+
                                 robot.IsIdle.Wait(Cts: TaskList[et].Cts);
                                 //TODO：暂时修改，后期优化。
                                 while (!TaskList[et].Cts.IsCancellationRequested)
@@ -699,62 +711,88 @@ namespace BPASmartClient.MorkCL
                                 await Task.Delay(400);
                                 device.DiningOutStart = false;
                                 break;
-                            case EFunc.炒锅清洗:
-                                device.FryingPanClear = false;
-
-                                //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置炒锅清洗。");
-                                await Task.Delay(400);
-                                device.FryingPanClear = true;
-                                DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-炒锅清洗已写入，等待炒锅清洗完成。");
+                            #endregion
+                            #region 炒锅清洗--基本没用
+                            //case EFunc.炒锅清洗:
+                            //    device.FryingPanClear = false;
 
-                                Thread.Sleep(500);
-                                device.CleanFinish.Wait(Cts: TaskList[et].Cts);
-                                await Task.Delay(400);
-                                device.FryingPanClear = false;
-                                DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-炒锅清洗完成。");
-                                break;
-                                //该功能废弃，添加调料时，自动回到调料投料位置。
-                            //case EFunc.炒锅回调料投料位置:
-                            //    device.FryingPanToSeasoningLoc = false;
+                            //    //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置炒锅清洗。");
+                            //    await Task.Delay(400);
+                            //    device.FryingPanClear = true;
+                            //    DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-炒锅清洗已写入，等待炒锅清洗完成。");
 
-                            //    //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置。");
+                            //    Thread.Sleep(500);
+                            //    device.CleanFinish.Wait(Cts: TaskList[et].Cts);
                             //    await Task.Delay(400);
-                            //    device.FryingPanToSeasoningLoc = true;
-                            //    DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置完成，等待回到调料投料位置。");
+                            //    device.FryingPanClear = false;
+                            //    DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-炒锅清洗完成。");
+                            //    break; 
+                            #endregion
 
-                            //    //回到投料位置就复位。
+                            #region 2023-11-16改进 废弃代码
+                            //case EFunc.去指定炒制位:
+                            //    //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置去指定炒制位。");
+                            //    string loc = fm.funcPars.ElementAt(0).ParValue.ToString();
+                            //    GoStirFryLoc(loc);
 
-                            //    Thread.Sleep(50);
-                            //    device.FeedingSeasoningLocFB.Wait(Cts: TaskList[et].Cts);
-                            //    await Task.Delay(400);
-                            //    device.FryingPanToSeasoningLoc = false;
-                            //    DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-炒锅回到调料投料位置完成。");
-                            //    break;
-                            case EFunc.去指定炒制位:
-                                //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置去指定炒制位。");
-                                device.SetStirFryingLoc(fm.funcPars.ElementAt(0).ParValue.ToString(),  TaskList[et].Cts);
-                                DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置去指定炒制位【{fm.funcPars.ElementAt(0).ParValue.ToString()}】完成。");
-
-                                //TODO:根据情况看是否需要等待反馈变量。
-                                //device.StirFryingLocFB[int.Parse(fm.funcPars.ElementAt(0).ParValue.ToString())].Wait();
-                                //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-炒锅到达炒制位【{fm.funcPars.ElementAt(0).ParValue.ToString()}】。");
-                                break;
-                            case EFunc.炒制:
 
-                                if (int.TryParse(fm.funcPars.ElementAt(0).ParValue.ToString(), out int time))
-                                {
-                                    DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-等待炒制【{time}】秒。");
+                            //    break;
+                            //case EFunc.炒制:
 
-                                    Task.Delay(time * 1000).Wait(TaskList[et].Cts.Token);
-                                    DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-炒制完成。");
-                                }
+                            //    if (int.TryParse(fm.funcPars.ElementAt(0).ParValue.ToString(), out int time))
+                            //    {
+                            //        StirFry(time);
+                            //    }
 
-                                break;
+                            //    break; 
+                            #endregion
                             default:
                                 break;
                         }
-                    }
 
+                        #region 回原点
+                        void GoHome()
+                        {
+                            device.FryingPanFeedingLoc = false;
+                            device.FryingPanHome = false;
+                            //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置炒锅回原点。");
+                            Task.Delay(400).Wait();
+                            device.FryingPanHome = true;
+                            DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置炒锅回原点完成，等待炒锅回原点。");
+
+                            //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-等待回原点完成。");
+                            device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);
+                            Task.Delay(400).Wait();
+                            device.FryingPanHome = false;
+                            DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-炒锅回原点完成。");
+                        }
+                        #endregion
+
+                        #region 去指定炒制位
+                        //去指定炒制位
+                        void GoStirFryLoc(string loc)
+                        {
+                            device.SetStirFryingLoc(loc, TaskList[et].Cts);
+                            DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-设置去指定炒制位【{fm.funcPars.ElementAt(0).ParValue.ToString()}】完成。");
+
+                            //TODO:根据情况看是否需要等待反馈变量。
+                            //device.StirFryingLocFB[int.Parse(fm.funcPars.ElementAt(0).ParValue.ToString())].Wait();
+                            //DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-炒锅到达炒制位【{fm.funcPars.ElementAt(0).ParValue.ToString()}】。");
+                        }
+                        #endregion
+
+                        #region 炒制延时
+                        //炒制延时。
+                        void StirFry(int time)
+                        {
+                            DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-等待炒制【{time}】秒。");
+
+                            Task.Delay(time * 1000).Wait(TaskList[et].Cts.Token);
+                            DeviceProcessLogShow($"{cd.Name}-【{et}#】任务执行-{fm.eFunc.ToString()}-炒制完成。");
+                        } 
+                        #endregion
+
+                    }
                     catch (TaskCanceledException)
                     {
                         DeviceProcessLogShow($"{cd.Name}-【{et}#】任务被取消。");
@@ -1219,7 +1257,6 @@ namespace BPASmartClient.MorkCL
             }
             return false;
         };
-
         
     }
 }

BPASmartClient.MorkCL/Model/Func/EFunc.cs

@@ -11,18 +11,18 @@ namespace BPASmartClient.MorkCL.Model.Func
     /// </summary>
     public enum EFunc
     {
-        搅拌启动,
-        搅拌停止,
-        加热启动,
-        加热停止,
-        添加调料,
-        添加主料,
-        添加辅料,
-        炒锅回原点位,
-        出餐启动,
-        炒锅清洗,
-        炒锅回调料投料位置,
-        去指定炒制位,
-        炒制
+        搅拌启动=0,
+        搅拌停止=1,
+        加热启动=2,
+        加热停止=3,
+        添加调料=4,
+        添加主料=5,
+        添加辅料=6,
+        //炒锅回原点位=7,
+        出餐启动=8,
+        //炒锅清洗=9,
+        //炒锅回调料投料位置=10,
+        //去指定炒制位=11,
+        //炒制=12
     }
 }

BPASmartClient.MorkCL/Model/Func/InitData.cs

@@ -14,25 +14,34 @@ namespace BPASmartClient.MorkCL.Model.Func
             { EFunc.搅拌停止,new FuncPar[0]   },
             { EFunc.加热启动,new FuncPar[] { new FuncPar() {  ParName="加热档位", ParUnit ="挡", ParDescribe="请输入 1 -- 8 挡的档位"}  }  },
             { EFunc.加热停止,new FuncPar[0]   },
-            { EFunc.添加调料,new FuncPar[]
-                {
-                    new FuncPar() {  ParName="调料名称",  ParDescribe="请选择一种调料"} ,
-                    new FuncPar() {  ParName="调料需求值", ParUnit ="g", ParDescribe="请输入调料的需求量"} ,
-                }
-            },
             { EFunc.添加主料,new FuncPar[]
                 {
                     new FuncPar() {  ParName="主料名称",  ParDescribe="请选择一种主料"} ,
                     new FuncPar() {  ParName="主料份量", ParUnit ="KG", ParDescribe="请输入主料的份量"} ,
+                    new FuncPar() {  ParName="设置炒制位",  ParDescribe="请输入 1--3 选择一个合适的炒制位置"},
+                    new FuncPar() {  ParName="设置炒制时间",ParUnit="秒",  ParDescribe="请设置一个合适的炒制时间"}
                 }
             },
-            { EFunc.添加辅料,new FuncPar[] { new FuncPar() {  ParName= "辅料名称", ParDescribe= "请选择一种辅料" }  }  },
-            { EFunc.炒锅回原点位,new FuncPar[0]   },
+            { EFunc.添加调料,new FuncPar[]
+                {
+                    new FuncPar() {  ParName="调料名称",  ParDescribe="请选择一种调料"} ,
+                    new FuncPar() {  ParName="调料需求值", ParUnit ="g", ParDescribe="请输入调料的需求量"} ,
+                    new FuncPar() {  ParName="设置炒制位",  ParDescribe="请输入 1--3 选择一个合适的炒制位置"},
+                    new FuncPar() {  ParName="设置炒制时间",ParUnit="秒",  ParDescribe="请设置一个合适的炒制时间"}
+                }
+            },
+
+            { EFunc.添加辅料,new FuncPar[] {
+                new FuncPar() {  ParName="辅料名称", ParDescribe= "请选择一种辅料" },
+                new FuncPar() {  ParName="设置炒制位",  ParDescribe="请输入 1--3 选择一个合适的炒制位置"},
+                new FuncPar() {  ParName="设置炒制时间",ParUnit="秒",  ParDescribe="请设置一个合适的炒制时间"}
+            }  },
+            //{ EFunc.炒锅回原点位,new FuncPar[0]   },
             { EFunc.出餐启动,new FuncPar[0]   },
-            { EFunc.炒锅清洗,new FuncPar[0]   },
-            { EFunc.炒锅回调料投料位置,new FuncPar[0]   },
-            { EFunc.去指定炒制位,new FuncPar[] { new FuncPar() {  ParName="设置炒制位",  ParDescribe="请输入 1--3 选择一个合适的炒制位置"} } },
-            { EFunc.炒制,new FuncPar[] { new FuncPar() {  ParName="设置炒制时间",ParUnit="秒",  ParDescribe="请设置一个合适的炒制时间"} } },
+            //{ EFunc.炒锅清洗,new FuncPar[0]   },
+            //{ EFunc.炒锅回调料投料位置,new FuncPar[0]   },
+            //{ EFunc.去指定炒制位,new FuncPar[] {  } },
+            //{ EFunc.炒制,new FuncPar[] {  } },
         };
     }
 }

BPASmartClient.MorkCL/Server/FryingPanServer.cs

@@ -13,6 +13,10 @@ namespace BPASmartClient.MorkCL.Server
     /// </summary>
     internal class FryingPanServer : FryingPanSet, IModbus
     {
+        public FryingPanServer()
+        {
+            MyModbus = new ModbusTcp();
+        }
         public void Init(string IP = "", int Port = 502, string PortName = "")
         {
             MyModbus = new ModbusTcp();

BPASmartClient.MorkCL/Server/OtherServer.cs

@@ -12,6 +12,10 @@ namespace BPASmartClient.MorkCL.Server
     /// </summary>
     internal class OtherServer : OtherDeviceSet, IModbus
     {
+        public OtherServer()
+        {
+            MyModbus = new ModbusRtu();
+        }
         public void Init(string IP = "", int Port = 502, string PortName = "")
         {
             MyModbus = new ModbusRtu();

BPASmartClient.MorkCL/Server/PressureCookerServer.cs

@@ -11,6 +11,10 @@ namespace BPASmartClient.MorkCL.Server
     /// </summary>
     internal class PressureCookerServer : PressureCookerSet, IModbus
     {
+        public PressureCookerServer()
+        {
+            MyModbus = new ModbusTcp();
+        }
         public void Init(string IP = "", int Port = 502, string PortName = "")
         {
             MyModbus = new ModbusTcp();

BPASmartClient.MorkCL/Server/RobotServer.cs

@@ -12,6 +12,11 @@ namespace BPASmartClient.MorkCL.Server
     /// </summary>
     internal class RobotServer : RobotSet, IModbus
     {
+
+        public RobotServer()
+        {
+            MyModbus = new ModbusTcp();
+        }
         public void Init(string IP = "", int Port = 502, string PortName = "")
         {
             MyModbus = new ModbusTcp();

BPASmartClient.MorkCL/View/Debug.xaml

@@ -29,38 +29,42 @@
             <RowDefinition Height="0.25*" />
             <RowDefinition Height="0.25*" />
         </Grid.RowDefinitions>
+        <Grid.ColumnDefinitions>
+            <ColumnDefinition Width="1*" />
+            <ColumnDefinition Width="1*" />
+        </Grid.ColumnDefinitions>
 
-        <!--#region 炒锅控制-->
+        <!--#region 1#炒锅控制-->
         <pry:ImageBorder Margin="10" />
-        <StackPanel Margin="15" Orientation="Vertical">
-            <StackPanel Margin="0,0,0,20" Orientation="Horizontal">
-                <TextBlock Text="炒锅控制" />
-                <ComboBox
+        <StackPanel Margin="30" Orientation="Vertical">
+            <StackPanel Margin="0,0,0,20" Orientation="Horizontal" HorizontalAlignment="Center">
+                <TextBlock Text="1#炒锅控制" FontSize="26" />
+                <!--<ComboBox
                     Width="150"
                     Height="50"
                     Margin="25,0"
                     FontSize="25"
                     ItemsSource="{Binding DeviceTypes}"
-                    SelectedItem="{Binding FryingPanSelect}" />
+                    SelectedItem="{Binding FryingPanSelect}" />-->
             </StackPanel>
             <StackPanel Margin="5" Orientation="Horizontal">
                 <Button
-                    Height="50"
+                    Height="50" Width="150"
                     Margin="0,0,20,0"
                     Command="{Binding SetAutoModeCommand}"
                     Content="设为自动模式" />
                 <Button
-                    Height="50"
+                    Height="50" Width="150"
                     Margin="10,0"
                     Command="{Binding SetManualModeCommand}"
                     Content="设为手动模式" />
                 <Button
-                    Height="50"
+                    Height="50" Width="150"
                     Margin="10,0"
                     Command="{Binding InitalDeviceCommand}"
                     Content="初始化设备" />
                 <Button
-                    Width="100"
+                    Width="150"
                     Height="50"
                     Margin="10,0"
                     Command="{Binding StopDeviceCommand}"
@@ -179,6 +183,8 @@
                     HorizontalAlignment="Left"
                     Command="{Binding GoSeasoningFeddLocCommand}"
                     Content="炒锅去调料投料位置" />
+            </WrapPanel>
+            <WrapPanel Margin="0,5">
                 <Button
                     Width="200"
                     Height="50"
@@ -203,13 +209,190 @@
         </StackPanel>
 
 
+        <!--#endregion-->
+
+        <!--#region 2#炒锅控制-->
+        <pry:ImageBorder Margin="10" Grid.Column="1"/>
+        <StackPanel Margin="30" Orientation="Vertical" Grid.Column="1" >
+            <StackPanel Margin="0,0,0,20" Orientation="Horizontal" HorizontalAlignment="Center">
+                <TextBlock Text="2#炒锅控制" FontSize="26"/>
+                <!--<ComboBox
+                    Width="150"
+                    Height="50"
+                    Margin="25,0"
+                    FontSize="25"
+                    ItemsSource="{Binding DeviceTypes}"
+                    SelectedItem="{Binding FryingPanSelect}" />-->
+            </StackPanel>
+            <StackPanel Margin="5" Orientation="Horizontal">
+                <Button
+                    Height="50" Width="150"
+                    Margin="0,0,20,0"
+                    Command="{Binding SetAutoModeCommand2}"
+                    Content="设为自动模式" />
+                <Button
+                    Height="50" Width="150"
+                    Margin="10,0"
+                    Command="{Binding SetManualModeCommand2}"
+                    Content="设为手动模式" />
+                <Button
+                    Height="50" Width="150"
+                    Margin="10,0"
+                    Command="{Binding InitalDeviceCommand2}"
+                    Content="初始化设备" />
+                <Button
+                    Width="150"
+                    Height="50"
+                    Margin="10,0"
+                    Command="{Binding StopDeviceCommand2}"
+                    Content="停止" />
+            </StackPanel>
+            <StackPanel Margin="5" Orientation="Horizontal">
+                <TextBlock Text="搅拌设定：" />
+                <TextBox
+                    Width="150"
+                    Height="50"
+                    Margin="5,0"
+                    FontSize="25"
+                    Text="{Binding AgitaFrequency2}" />
+                <Button
+                    Width="120"
+                    Height="50"
+                    Margin="5,0"
+                    Command="{Binding WriteAgitaParamCommand2}"
+                    Content="写入参数" />
+                <Button
+                    Width="120"
+                    Height="50"
+                    Margin="5,0"
+                    Command="{Binding StartAgitateCommand2}"
+                    Content="开始搅拌" />
+                <Button
+                    Width="120"
+                    Height="50"
+                    Margin="5,0"
+                    Command="{Binding StopAgitateCommand2}"
+                    Content="停止搅拌" />
+            </StackPanel>
+            <StackPanel Margin="5" Orientation="Horizontal">
+                <TextBlock Text="加热设定：" />
+                <TextBox
+                    Width="150"
+                    Height="50"
+                    Margin="5,0"
+                    FontSize="25"
+                    Text="{Binding HeatGear2}" />
+                <Button
+                    Width="120"
+                    Height="50"
+                    Margin="5,0"
+                    Command="{Binding WriteHeatParamCommand2}"
+                    Content="写入参数" />
+                <Button
+                    Width="120"
+                    Height="50"
+                    Margin="5,0"
+                    Command="{Binding StartHeatCommand2}"
+                    Content="开始加热" />
+                <Button
+                    Width="120"
+                    Height="50"
+                    Margin="5,0"
+                    Command="{Binding StopHeatCommand2}"
+                    Content="停止加热" />
+            </StackPanel>
+            <StackPanel Margin="5" Orientation="Horizontal">
+                <TextBlock Text="通道下料：" />
+                <TextBox
+                    Width="150"
+                    Height="50"
+                    Margin="5,0"
+                    FontSize="25"
+                    Text="{Binding Weight2}" />
+                <ComboBox
+                    Width="120"
+                    Height="50"
+                    Margin="5,0"
+                    FontSize="25"
+                    SelectedIndex="{Binding ChannelSelect2}">
+                    <ComboBoxItem Content="1#通道" />
+                    <ComboBoxItem Content="2#通道" />
+                    <ComboBoxItem Content="3#通道" />
+                </ComboBox>
+                <Button
+                    Width="120"
+                    Height="50"
+                    Margin="5,0"
+                    Command="{Binding ChannelCuttingCommand2}"
+                    Content="开始下料" />
+            </StackPanel>
+            <StackPanel Margin="5" Orientation="Horizontal">
+                <TextBlock Text="去炒制位：" />
+                <ComboBox
+                    Width="150"
+                    Height="50"
+                    Margin="5,0"
+                    FontSize="25"
+                    SelectedIndex="{Binding StirFryLocSelect2}">
+                    <ComboBoxItem Content="1#炒制位" />
+                    <ComboBoxItem Content="2#炒制位" />
+                    <ComboBoxItem Content="3#炒制位" />
+                </ComboBox>
+                <Button
+                    Width="120"
+                    Height="50"
+                    Margin="5,0"
+                    Command="{Binding GoFryLocCommand2}"
+                    Content="写入位置" />
+            </StackPanel>
+            <WrapPanel Margin="0,5">
+                <Button
+                    Width="200"
+                    Height="50"
+                    Margin="5,0"
+                    HorizontalAlignment="Left"
+                    Command="{Binding GoHomeCommand2}"
+                    Content="炒锅回原点（投料位置）" />
+                <Button
+                    Width="200"
+                    Height="50"
+                    Margin="5,0"
+                    HorizontalAlignment="Left"
+                    Command="{Binding GoSeasoningFeddLocCommand2}"
+                    Content="炒锅去调料投料位置" />
+            </WrapPanel>
+            <WrapPanel Margin="0,5">
+                <Button
+                    Width="200"
+                    Height="50"
+                    Margin="5,0"
+                    HorizontalAlignment="Left"
+                    Command="{Binding OutDiningStartCommand2}"
+                    Content="出餐启动" />
+                <Button
+                    Width="200"
+                    Height="50"
+                    Margin="5,0"
+                    HorizontalAlignment="Left"
+                    Command="{Binding FryPanCleanCommand2}"
+                    Content="炒锅清洗" />
+                <!--<Button
+                    Width="100"
+                    Margin="10,0"
+                    Command="{Binding GoCleanLocCommand}"
+                    Content="去洗锅位" />-->
+            </WrapPanel>
+        </StackPanel>
+
+
         <!--#endregion-->
 
         <!--#region 机器人控制-->
-        <pry:ImageBorder Grid.Row="1" Margin="10" />
+        <pry:ImageBorder Grid.Row="1" Margin="10" Grid.ColumnSpan="2"/>
         <StackPanel
             Grid.Row="1"
             Margin="15"
+            Grid.ColumnSpan="2"
             Orientation="Horizontal">
             <Button
                 Width="200"
@@ -238,10 +421,11 @@
         <!--#endregion-->
 
         <!--#region 系统任务控制-->
-        <pry:ImageBorder Grid.Row="2" Margin="10" />
+        <pry:ImageBorder Grid.Row="2" Margin="10" Grid.ColumnSpan="2"/>
         <StackPanel
             Grid.Row="2"
             Margin="15"
+            Grid.ColumnSpan="2"
             Orientation="Horizontal">
             <Button
                 Width="150"

BPASmartClient.MorkCL/View/EditFunctionParamView.xaml

@@ -8,8 +8,8 @@
     xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
     xmlns:vm="clr-namespace:BPASmartClient.MorkCL.ViewModel"
     Title="EditFunctionView"
-    Width="450"
-    Height="350"
+    Width="500"
+    Height="500"
     AllowsTransparency="True"
     Background="{x:Null}"
     Topmost="True"
@@ -79,25 +79,30 @@
                     <DataTemplate>
                         <Grid>
                             <Grid.RowDefinitions>
-                                <RowDefinition Height="30" />
+                                <RowDefinition Height="40" />
                                 <RowDefinition Height="25" />
                             </Grid.RowDefinitions>
-                            <StackPanel HorizontalAlignment="Center" Orientation="Horizontal">
-                                <TextBlock Style="{StaticResource TextBlockStyle}" Text="{Binding ParName, StringFormat={}{0}：}" />
-                                <TextBox
-                                    Height="30"
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition Width="130" />
+                                <ColumnDefinition Width="1*" />
+                                <ColumnDefinition Width="auto" />
+                            </Grid.ColumnDefinitions>
+                            <!--<StackPanel HorizontalAlignment="Center" Orientation="Horizontal">-->
+                                <TextBlock Style="{StaticResource TextBlockStyle}" Text="{Binding ParName, StringFormat={}{0}：}" Grid.Column="0" HorizontalAlignment="Left"/>
+                                <TextBox Grid.Column="1"
+                                    Height="40" Width="200" FontSize="24"
                                     BorderBrush="DeepSkyBlue"
                                     BorderThickness="1"
                                     Style="{StaticResource InputTextboxStyle}"
                                     Text="{Binding ParValue}"
                                     Visibility="{Binding IsUseComboBox, Converter={StaticResource Bool2VisibilityReverseConverter}}" />
-                                <ComboBox
-                                    Width="155"
-                                    Height="30"
+                            <ComboBox Grid.Column="1"
+                                    Width="200"
+                                    Height="40"
                                     BorderBrush="DeepSkyBlue"
                                     BorderThickness="1"
                                     DisplayMemberPath="Name"
-                                    FontSize="18"
+                                    FontSize="24"
                                     IsEditable="False" ScrollViewer.VerticalScrollBarVisibility="Auto"
                                     ItemsSource="{Binding ComboBoxItemsSource}"
                                     Text="{Binding ParValue}"
@@ -114,13 +119,13 @@
                                     </ComboBox.ItemTemplateSelector>-->
 
                                 </ComboBox>
-                                <TextBlock
+                                <TextBlock Grid.Column="2"
                                     Margin="5,0"
                                     HorizontalAlignment="Left"
                                     Style="{StaticResource TextBlockStyle}"
                                     Text="{Binding ParUnit}" />
-                            </StackPanel>
-                            <TextBlock
+                            <!--</StackPanel>-->
+                            <TextBlock Grid.ColumnSpan="3"
                                 Grid.Row="1"
                                 HorizontalAlignment="Left"
                                 FontSize="12"

BPASmartClient.MorkCL/View/EditRecipeView.xaml

@@ -173,7 +173,7 @@
                             ItemsSource="{Binding Functions}">
                             <ItemsControl.ItemTemplate>
                                 <DataTemplate>
-                                    <Grid Name="gr" Height="30">
+                                    <Grid Name="gr" Height="40" Margin="0,5">
                                         <Grid.ColumnDefinitions>
                                             <ColumnDefinition Width="50" />
                                             <ColumnDefinition Width="230" />
@@ -198,7 +198,7 @@
 
                                         <Grid Grid.Column="1">
                                             <ComboBox
-                                                Height="30"
+                                                Height="40"
                                                 FontSize="18"
                                                 IsReadOnly="True"
                                                 ItemsSource="{Binding DataContext.AllFunc, RelativeSource={RelativeSource AncestorType=ItemsControl, Mode=FindAncestor}}"

BPASmartClient.MorkCL/View/ParSet.xaml

@@ -52,26 +52,26 @@
                 FontSize="16" />
         </StackPanel>
 
-        <StackPanel Grid.Row="1" Margin="5">
+        <StackPanel Grid.Row="1" Margin="20,0,0,0">
             <CheckBox
                 Margin="5"
                 Content="连接炒锅1#"
-                FontSize="16"
+                FontSize="24"
                 IsChecked="{Binding Param.FryPanConnect_1}" />
             <CheckBox
                 Margin="5"
                 Content="连接炒锅2#"
-                FontSize="16"
+                FontSize="24"
                 IsChecked="{Binding Param.FryPanConnect_2}" />
             <CheckBox
                 Margin="5"
                 Content="连接机器人"
-                FontSize="16"
+                FontSize="24"
                 IsChecked="{Binding Param.RobotConnet}" />
             <CheckBox
                 Margin="5"
                 Content="连接外部设备（电子秤以及空盘仓位传感器）"
-                FontSize="16"
+                FontSize="24"
                 IsChecked="{Binding Param.OtherDeviceConnect}" />
         </StackPanel>
 <!--分位逻辑有问题，暂时不开放 -->

BPASmartClient.MorkCL/View/RecipeManageView.xaml

@@ -113,7 +113,7 @@
                 <Grid Margin="0,10,17,0" Background="#ff0C255F">
 
                     <Grid.ColumnDefinitions>
-                        <ColumnDefinition Width="200" />
+                        <ColumnDefinition Width="400" />
                         <ColumnDefinition Width="100" />
                         <ColumnDefinition />
                         <ColumnDefinition Width="200" />
@@ -178,7 +178,7 @@
                                 <DataTemplate>
                                     <Grid>
                                         <Grid.ColumnDefinitions>
-                                            <ColumnDefinition Width="200" />
+                                            <ColumnDefinition Width="400" />
                                             <ColumnDefinition Width="100" />
                                             <ColumnDefinition />
                                             <ColumnDefinition Width="200" />
@@ -187,21 +187,21 @@
                                         </Grid.ColumnDefinitions>
 
                                         <TextBlock
-                                            Grid.Column="0"
+                                            Grid.Column="0" FontSize="26"
                                             HorizontalAlignment="Center"
                                             Style="{StaticResource TextBlockStyle}"
                                             Text="{Binding Name}"
                                             TextAlignment="Center" />
 
                                         <Grid Grid.Column="1">
-                                            <TextBox
+                                            <TextBox FontSize="26"
                                                 MinWidth="400"
                                                 Style="{StaticResource DataShowTextBoxStyle}"
                                                 Text="{Binding DishType}"
                                                 TextAlignment="Center" />
                                             <Border
                                                 BorderBrush="{StaticResource bordColor}"
-                                                BorderThickness="1,0,1,0"
+                                                BorderThickness="2,0,2,0"
                                                 Cursor="SizeWE" />
                                         </Grid>
 
@@ -213,7 +213,7 @@
                                                 TextAlignment="Center" />
                                             <Border
                                                 BorderBrush="{StaticResource bordColor}"
-                                                BorderThickness="1,0,1,0"
+                                                BorderThickness="2,0,2,0"
                                                 Cursor="SizeWE" />
                                         </Grid>
 
@@ -226,7 +226,7 @@
                                                 Style="{StaticResource IssueRecipeButtonStyle}" />
                                             <Border
                                                 BorderBrush="{StaticResource bordColor}"
-                                                BorderThickness="1,0,1,0"
+                                                BorderThickness="2,0,2,0"
                                                 Cursor="SizeWE" />
                                         </Grid>
 
@@ -239,7 +239,7 @@
                                                 Style="{StaticResource IssueRecipeButtonStyle}" />
                                             <Border
                                                 BorderBrush="{StaticResource bordColor}"
-                                                BorderThickness="1,0,1,0"
+                                                BorderThickness="2,0,2,0"
                                                 Cursor="SizeWE" />
                                         </Grid>
 
@@ -252,14 +252,14 @@
                                                 Style="{StaticResource ControlButtonStyle}" />
                                             <Border
                                                 BorderBrush="{StaticResource bordColor}"
-                                                BorderThickness="1,0,1,0"
+                                                BorderThickness="2,0,2,0"
                                                 Cursor="SizeWE" />
                                         </Grid>
 
                                         <Border
                                             Grid.ColumnSpan="10"
                                             BorderBrush="{StaticResource bordColor}"
-                                            BorderThickness="1,0,1,1" />
+                                            BorderThickness="2,0,2,2" />
                                     </Grid>
                                 </DataTemplate>
                             </ItemsControl.ItemTemplate>

BPASmartClient.MorkCL/ViewModel/DebugViewModel.cs

@@ -13,9 +13,10 @@ namespace BPASmartClient.MorkCL.ViewModel
 
         public DebugViewModel()
         {
+            #region 炒锅1#命令实例
             WriteAgitaParamCommand = new(async () =>
             {
-                //if (!GetDeviceIsIdle(FryingPanSelect))
+                //if (!GetDeviceIsIdle(EDeviceType.炒锅1))
                 //{
                 //    return;
                 //}
@@ -23,16 +24,16 @@ namespace BPASmartClient.MorkCL.ViewModel
                 {
                     return;
                 }
-                ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(FryingPanSelect, "LW1", (ushort)(AgitaFrequency*100)));
+                ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(EDeviceType.炒锅1, "LW1", (ushort)(AgitaFrequency*100)));
 
-                await SendWriteRequest("LB10");
+                await SendWriteRequest("LB10",EDeviceType.炒锅1);
 
                 ShowNotify($"写入搅拌参数成功。");
             });
 
             StartAgitateCommand = new(() =>
             {
-                if (!GetDeviceIsIdle(FryingPanSelect))
+                if (!GetDeviceIsIdle(EDeviceType.炒锅1))
                 {
                     return;
                 }
@@ -40,12 +41,12 @@ namespace BPASmartClient.MorkCL.ViewModel
                 {
                     return;
                 }
-                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB0", true));
+                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(EDeviceType.炒锅1, "LB0", true));
                 ShowNotify($"写入搅拌启动成功。");
             });
             StopAgitateCommand = new(() =>
             {
-                //if (!GetDeviceIsIdle(FryingPanSelect))
+                //if (!GetDeviceIsIdle(EDeviceType.炒锅1))
                 //{
                 //    return;
                 //}
@@ -53,13 +54,13 @@ namespace BPASmartClient.MorkCL.ViewModel
                 {
                     return;
                 }
-                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB0", false));
+                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(EDeviceType.炒锅1, "LB0", false));
                 ShowNotify($"写入搅拌停止成功。");
             });
 
             WriteHeatParamCommand = new(async () =>
             {
-                //if (!GetDeviceIsIdle(FryingPanSelect))
+                //if (!GetDeviceIsIdle(EDeviceType.炒锅1))
                 //{
                 //    return;
                 //}
@@ -67,15 +68,15 @@ namespace BPASmartClient.MorkCL.ViewModel
                 {
                     return;
                 }
-                ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(FryingPanSelect, "LW0", HeatGear));
+                ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(EDeviceType.炒锅1, "LW0", HeatGear));
 
-                await SendWriteRequest("LB9");
+                await SendWriteRequest("LB9", EDeviceType.炒锅1);
                 ShowNotify($"写入加热参数成功。");
             });
 
             StartHeatCommand = new(() =>
             {
-                if (!GetDeviceIsIdle(FryingPanSelect))
+                if (!GetDeviceIsIdle(EDeviceType.炒锅1))
                 {
                     return;
                 }
@@ -83,13 +84,13 @@ namespace BPASmartClient.MorkCL.ViewModel
                 {
                     return;
                 }
-                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB3", true));
+                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(EDeviceType.炒锅1, "LB3", true));
                 ShowNotify($"写入加热启动成功。");
             });
 
             StopHeatCommand = new(() =>
             {
-                //if (!GetDeviceIsIdle(FryingPanSelect))
+                //if (!GetDeviceIsIdle(EDeviceType.炒锅1))
                 //{
                 //    return;
                 //}
@@ -97,7 +98,7 @@ namespace BPASmartClient.MorkCL.ViewModel
                 {
                     return;
                 }
-                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB3", false));
+                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(EDeviceType.炒锅1, "LB3", false));
                 ShowNotify($"写入加热停止成功。");
             });
 
@@ -108,9 +109,9 @@ namespace BPASmartClient.MorkCL.ViewModel
                 //byte[] LWOffset = new byte[3] { 3, 4, 5 };
                 //byte[] LBOffset = new byte[3] { 6, 7, 8 };
 
-                //ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(FryingPanSelect, $"LW{LWOffset[channelIndex]}", weight));
+                //ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(EDeviceType.炒锅1, $"LW{LWOffset[channelIndex]}", weight));
                 //await SendWriteRequest($"LB{LBOffset[channelIndex]}");
-                if (!GetDeviceIsIdle(FryingPanSelect))
+                if (!GetDeviceIsIdle(EDeviceType.炒锅1))
                 {
                     return;
                 }
@@ -119,7 +120,7 @@ namespace BPASmartClient.MorkCL.ViewModel
                     return;
                 }
                 object[] para = new object[3];
-                para[0]= FryingPanSelect;
+                para[0]= EDeviceType.炒锅1;
                 para[1] = ChannelSelect+1;
                 para[2] = Convert.ToUInt16(Weight);
 
@@ -129,7 +130,7 @@ namespace BPASmartClient.MorkCL.ViewModel
 
             GoFryLocCommand = new(async () =>
             {
-                if (!GetDeviceIsIdle(FryingPanSelect))
+                if (!GetDeviceIsIdle(EDeviceType.炒锅1))
                 {
                     return;
                 }
@@ -139,12 +140,12 @@ namespace BPASmartClient.MorkCL.ViewModel
                 }
                 var loc = StirFryLocSelect + 17;
 
-                await SendWriteRequest($"LB{loc}");
+                await SendWriteRequest($"LB{loc}", EDeviceType.炒锅1);
                 ShowNotify($"写入去炒制位成功。");
             });
             GoHomeCommand = new(async () =>
             {
-                if (!GetDeviceIsIdle(FryingPanSelect))
+                if (!GetDeviceIsIdle(EDeviceType.炒锅1))
                 {
                     return;
                 }
@@ -152,12 +153,12 @@ namespace BPASmartClient.MorkCL.ViewModel
                 {
                     return;
                 }
-                await SendWriteRequest("LB12");
+                await SendWriteRequest("LB12", EDeviceType.炒锅1);
                 ShowNotify($"写入回原点成功。");
             });
             GoSeasoningFeddLocCommand = new(async () =>
             {
-                if (!GetDeviceIsIdle(FryingPanSelect))
+                if (!GetDeviceIsIdle(EDeviceType.炒锅1))
                 {
                     return;
                 }
@@ -165,13 +166,13 @@ namespace BPASmartClient.MorkCL.ViewModel
                 {
                     return;
                 }
-                await SendWriteRequest("LB16");
+                await SendWriteRequest("LB16", EDeviceType.炒锅1);
                 ShowNotify($"写入去调料投料位成功。");
             });
 
             OutDiningStartCommand = new(async () =>
             {
-                if (!GetDeviceIsIdle(FryingPanSelect))
+                if (!GetDeviceIsIdle(EDeviceType.炒锅1))
                 {
                     return;
                 }
@@ -179,13 +180,13 @@ namespace BPASmartClient.MorkCL.ViewModel
                 {
                     return;
                 }
-                await SendWriteRequest("LB13");
+                await SendWriteRequest("LB13", EDeviceType.炒锅1);
                 ShowNotify($"写入出餐启动成功。");
             });
 
             FryPanCleanCommand = new(async () =>
             {
-                if (!GetDeviceIsIdle(FryingPanSelect))
+                if (!GetDeviceIsIdle(EDeviceType.炒锅1))
                 {
                     return;
                 }
@@ -193,28 +194,28 @@ namespace BPASmartClient.MorkCL.ViewModel
                 {
                     return;
                 }
-                await SendWriteRequest("LB14");
+                await SendWriteRequest("LB14", EDeviceType.炒锅1);
                 ShowNotify($"写入炒锅清洗成功。");
             });
 
             SetAutoModeCommand = new(() =>
             {
-                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB20", true));
+                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(EDeviceType.炒锅1, "LB20", true));
                 ShowNotify($"设置设备自动模式成功。");
             });
 
             SetManualModeCommand = new(() =>
             {
-                if (!GetDeviceIsIdle(FryingPanSelect))
+                if (!GetDeviceIsIdle(EDeviceType.炒锅1))
                 {
                     return;
                 }
-                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB20", false));
+                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(EDeviceType.炒锅1, "LB20", false));
                 ShowNotify($"设置设备手动模式成功。");
             });
             InitalDeviceCommand = new(async () =>
             {
-                if (!GetDeviceIsIdle(FryingPanSelect))
+                if (!GetDeviceIsIdle(EDeviceType.炒锅1))
                 {
                     return;
                 }
@@ -223,14 +224,14 @@ namespace BPASmartClient.MorkCL.ViewModel
                 {
                     return;
                 }
-                ResetFryPanVariable(FryingPanSelect);
-                await SendWriteRequest("LB21");
+                ResetFryPanVariable(EDeviceType.炒锅1);
+                await SendWriteRequest("LB21", EDeviceType.炒锅1);
                 ShowNotify($"设置设备初始化成功。");
             });
 
             StopDeviceCommand = new(async () =>
             {
-                //if (!GetDeviceIsIdle(FryingPanSelect))
+                //if (!GetDeviceIsIdle(EDeviceType.炒锅1))
                 //{
                 //    return;
                 //}
@@ -238,14 +239,14 @@ namespace BPASmartClient.MorkCL.ViewModel
                 {
                     return;
                 }
-                await SendWriteRequest("LB22");
+                await SendWriteRequest("LB22", EDeviceType.炒锅1);
                 ShowNotify($"设置设备停止成功。");
             });
 
             //炒锅那边复位变量没有使用。
             GoCleanLocCommand = new(async () =>
             {
-                if (!GetDeviceIsIdle(FryingPanSelect))
+                if (!GetDeviceIsIdle(EDeviceType.炒锅1))
                 {
                     return;
                 }
@@ -253,10 +254,260 @@ namespace BPASmartClient.MorkCL.ViewModel
                 {
                     return;
                 }
-                await SendWriteRequest("LB23");
+                await SendWriteRequest("LB23", EDeviceType.炒锅1);
                 ShowNotify($"设置设备去洗锅位成功。");
             });
 
+            #endregion
+
+            #region 炒锅2#命令实例
+            WriteAgitaParamCommand2 = new(async () =>
+            {
+                //if (!GetDeviceIsIdle(EDeviceType.炒锅2))
+                //{
+                //    return;
+                //}
+                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
+                {
+                    return;
+                }
+                ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(EDeviceType.炒锅2, "LW1", (ushort)(AgitaFrequency * 100)));
+
+                await SendWriteRequest("LB10", EDeviceType.炒锅2);
+
+                ShowNotify($"写入搅拌参数成功。");
+            });
+
+            StartAgitateCommand2 = new(() =>
+            {
+                if (!GetDeviceIsIdle(EDeviceType.炒锅2))
+                {
+                    return;
+                }
+                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
+                {
+                    return;
+                }
+                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(EDeviceType.炒锅2, "LB0", true));
+                ShowNotify($"写入搅拌启动成功。");
+            });
+            StopAgitateCommand2 = new(() =>
+            {
+                //if (!GetDeviceIsIdle(EDeviceType.炒锅2))
+                //{
+                //    return;
+                //}
+                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
+                {
+                    return;
+                }
+                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(EDeviceType.炒锅2, "LB0", false));
+                ShowNotify($"写入搅拌停止成功。");
+            });
+
+            WriteHeatParamCommand2 = new(async () =>
+            {
+                //if (!GetDeviceIsIdle(EDeviceType.炒锅2))
+                //{
+                //    return;
+                //}
+                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
+                {
+                    return;
+                }
+                ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(EDeviceType.炒锅2, "LW0", HeatGear));
+
+                await SendWriteRequest("LB9", EDeviceType.炒锅2);
+                ShowNotify($"写入加热参数成功。");
+            });
+
+            StartHeatCommand2 = new(() =>
+            {
+                if (!GetDeviceIsIdle(EDeviceType.炒锅2))
+                {
+                    return;
+                }
+                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
+                {
+                    return;
+                }
+                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(EDeviceType.炒锅2, "LB3", true));
+                ShowNotify($"写入加热启动成功。");
+            });
+
+            StopHeatCommand2 = new(() =>
+            {
+                //if (!GetDeviceIsIdle(EDeviceType.炒锅2))
+                //{
+                //    return;
+                //}
+                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
+                {
+                    return;
+                }
+                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(EDeviceType.炒锅2, "LB3", false));
+                ShowNotify($"写入加热停止成功。");
+            });
+
+            ChannelCuttingCommand2 = new(async () =>
+            {
+                //var channelIndex = ChannelSelect;
+                //var weight = Convert.ToUInt16(Weight);
+                //byte[] LWOffset = new byte[3] { 3, 4, 5 };
+                //byte[] LBOffset = new byte[3] { 6, 7, 8 };
+
+                //ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(EDeviceType.炒锅2, $"LW{LWOffset[channelIndex]}", weight));
+                //await SendWriteRequest($"LB{LBOffset[channelIndex]}");
+                if (!GetDeviceIsIdle(EDeviceType.炒锅2))
+                {
+                    return;
+                }
+                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
+                {
+                    return;
+                }
+                object[] para = new object[3];
+                para[0] = EDeviceType.炒锅2;
+                para[1] = ChannelSelect + 1;
+                para[2] = Convert.ToUInt16(Weight);
+
+                await Task.Run(() => ActionManage.GetInstance.Send("DeviceCuttingControl", para));
+                ShowNotify($"写入通道下料控制成功。");
+            });
+
+            GoFryLocCommand2 = new(async () =>
+            {
+                if (!GetDeviceIsIdle(EDeviceType.炒锅2))
+                {
+                    return;
+                }
+                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
+                {
+                    return;
+                }
+                var loc = StirFryLocSelect + 17;
+
+                await SendWriteRequest($"LB{loc}", EDeviceType.炒锅2);
+                ShowNotify($"写入去炒制位成功。");
+            });
+            GoHomeCommand2 = new(async () =>
+            {
+                if (!GetDeviceIsIdle(EDeviceType.炒锅2))
+                {
+                    return;
+                }
+                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
+                {
+                    return;
+                }
+                await SendWriteRequest("LB12", EDeviceType.炒锅2);
+                ShowNotify($"写入回原点成功。");
+            });
+            GoSeasoningFeddLocCommand2 = new(async () =>
+            {
+                if (!GetDeviceIsIdle(EDeviceType.炒锅2))
+                {
+                    return;
+                }
+                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
+                {
+                    return;
+                }
+                await SendWriteRequest("LB16", EDeviceType.炒锅2);
+                ShowNotify($"写入去调料投料位成功。");
+            });
+
+            OutDiningStartCommand2 = new(async () =>
+            {
+                if (!GetDeviceIsIdle(EDeviceType.炒锅2))
+                {
+                    return;
+                }
+                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
+                {
+                    return;
+                }
+                await SendWriteRequest("LB13", EDeviceType.炒锅2);
+                ShowNotify($"写入出餐启动成功。");
+            });
+
+            FryPanCleanCommand2 = new(async () =>
+            {
+                if (!GetDeviceIsIdle(EDeviceType.炒锅2))
+                {
+                    return;
+                }
+                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
+                {
+                    return;
+                }
+                await SendWriteRequest("LB14", EDeviceType.炒锅2);
+                ShowNotify($"写入炒锅清洗成功。");
+            });
+
+            SetAutoModeCommand2 = new(() =>
+            {
+                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(EDeviceType.炒锅2, "LB20", true));
+                ShowNotify($"设置设备自动模式成功。");
+            });
+
+            SetManualModeCommand2 = new(() =>
+            {
+                if (!GetDeviceIsIdle(EDeviceType.炒锅2))
+                {
+                    return;
+                }
+                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(EDeviceType.炒锅2, "LB20", false));
+                ShowNotify($"设置设备手动模式成功。");
+            });
+            InitalDeviceCommand2 = new(async () =>
+            {
+                if (!GetDeviceIsIdle(EDeviceType.炒锅2))
+                {
+                    return;
+                }
+                //复位所有变量。
+                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
+                {
+                    return;
+                }
+                ResetFryPanVariable(EDeviceType.炒锅2);
+                await SendWriteRequest("LB21", EDeviceType.炒锅2);
+                ShowNotify($"设置设备初始化成功。");
+            });
+
+            StopDeviceCommand2 = new(async () =>
+            {
+                //if (!GetDeviceIsIdle(EDeviceType.炒锅2))
+                //{
+                //    return;
+                //}
+                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
+                {
+                    return;
+                }
+                await SendWriteRequest("LB22", EDeviceType.炒锅2);
+                ShowNotify($"设置设备停止成功。");
+            });
+
+            //炒锅那边复位变量没有使用。
+            GoCleanLocCommand2 = new(async () =>
+            {
+                if (!GetDeviceIsIdle(EDeviceType.炒锅2))
+                {
+                    return;
+                }
+                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
+                {
+                    return;
+                }
+                await SendWriteRequest("LB23", EDeviceType.炒锅2);
+                ShowNotify($"设置设备去洗锅位成功。");
+            });
+
+            #endregion
+
+
             CancelFryPanTaskCommand = new((string device) =>
             {
                 ActionManage.GetInstance.Send("CancelFryPanTask", device);
@@ -301,13 +552,13 @@ namespace BPASmartClient.MorkCL.ViewModel
 
         #region 私有方法
 
-        private async Task SendWriteRequest(string address)
+        private async Task SendWriteRequest(string address,EDeviceType device)
         {
-            ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, address, false));
+            ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(device, address, false));
             await Task.Delay(400);
-            ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, address, true));
+            ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(device, address, true));
             await Task.Delay(400);
-            ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, address, false));
+            ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(device, address, false));
         }
 
         private void ShowNotify(string info)
@@ -317,7 +568,7 @@ namespace BPASmartClient.MorkCL.ViewModel
 
         private bool GetDeviceIsIdle(EDeviceType device)
         {
-            if (ActionManage.GetInstance.SendResult("GetDeviceIsIdle", FryingPanSelect) is bool frypanisIdle)
+            if (ActionManage.GetInstance.SendResult("GetDeviceIsIdle", device) is bool frypanisIdle)
             {
                 if (frypanisIdle)
                 {
@@ -349,7 +600,6 @@ namespace BPASmartClient.MorkCL.ViewModel
         }
         #endregion 私有方法
 
-        #region 属性
 
         private EDeviceType fryingPanSelect = EDeviceType.炒锅1;
 
@@ -359,6 +609,10 @@ namespace BPASmartClient.MorkCL.ViewModel
             get { return fryingPanSelect; }
             set { fryingPanSelect = value; OnPropertyChanged(); }
         }
+        public ObservableCollection<EDeviceType> DeviceTypes { get; set; } = new ObservableCollection<EDeviceType>() { EDeviceType.炒锅1, EDeviceType.炒锅2 };
+
+
+        #region 属性_1#炒锅
 
         /// <summary>搅拌频率</summary>
         public ushort AgitaFrequency
@@ -416,13 +670,97 @@ namespace BPASmartClient.MorkCL.ViewModel
             get { return stirFryLocSelect; }
             set { stirFryLocSelect = value; OnPropertyChanged(); }
         }
+        #endregion 属性
 
-        public ObservableCollection<EDeviceType> DeviceTypes { get; set; } = new ObservableCollection<EDeviceType>() { EDeviceType.炒锅1, EDeviceType.炒锅2 };
 
-        #endregion 属性
+        #region 属性_2#炒锅
+
+        private ushort heatGear2;
+        private ushort agitaFrequency2;
+        /// <summary>搅拌频率</summary>
+        public ushort AgitaFrequency2
+        {
+            get => agitaFrequency2; set
+            {
+                if (value >= 50)
+                    agitaFrequency2 = 50;
+                else if (value <= 1)
+                    agitaFrequency2 = 1;
+                else
+                    agitaFrequency2 = value;
+                OnPropertyChanged();
+            }
+        }
+
+        /// <summary>加热档位</summary>
+        public ushort HeatGear2
+        {
+            get => heatGear2; set
+            {
+                if (value >= 8)
+                    heatGear2 = 8;
+                else if (value <= 1)
+                    heatGear2 = 1;
+                else
+                    heatGear2 = value;
+                OnPropertyChanged();
+            }
+        }
+
+        private float weight2;
+
+        /// <summary>下料重量</summary>
+        public float Weight2
+        {
+            get { return weight2; }
+            set { weight2 = value; }
+        }
+
+        private int channelSelect2;
+
+        /// <summary>下料通道选择。</summary>
+        public int ChannelSelect2
+        {
+            get { return channelSelect2; }
+            set { channelSelect2 = value; OnPropertyChanged(); }
+        }
+
+        private int stirFryLocSelect2;
+
+        /// <summary>炒制位选择。</summary>
+        public int StirFryLocSelect2
+        {
+            get { return stirFryLocSelect2; }
+            set { stirFryLocSelect2 = value; OnPropertyChanged(); }
+        }
+        #endregion
 
         #region 命令
 
+        /// <summary>
+        /// 取消指定炒锅当前任务。
+        /// </summary>
+        public BPARelayCommand<string> CancelFryPanTaskCommand { get; set; }
+        /// <summary>
+        /// 清空1#炒锅所有任务。
+        /// </summary>
+        public BPARelayCommand ClearFryPanTaskCommand_1 { get; set; }
+        /// <summary>
+        /// 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; }
+
+        public BPARelayCommand RobotGoCleanLocCommand { get; set; }
+
+        public BPARelayCommand CleanFinishCommand { get; set; }
+        #endregion
+
+        #region 命令_1#炒锅
+
         /// <summary>写入搅拌参数。</summary>
         public BPARelayCommand WriteAgitaParamCommand { get; set; }
 
@@ -478,26 +816,66 @@ namespace BPASmartClient.MorkCL.ViewModel
         /// 设备去洗锅位置。
         /// </summary>
         public BPARelayCommand GoCleanLocCommand { get; set; }
+
+        #endregion 命令
+
+        #region 命令_2#炒锅
+
+        /// <summary>写入搅拌参数。</summary>
+        public BPARelayCommand WriteAgitaParamCommand2 { get; set; }
+
+        /// <summary>开始搅拌。</summary>
+        public BPARelayCommand StartAgitateCommand2 { get; set; }
+
+        /// <summary>停止搅拌。</summary>
+        public BPARelayCommand StopAgitateCommand2 { get; set; }
+
+        /// <summary>写入加热参数。</summary>
+        public BPARelayCommand WriteHeatParamCommand2 { get; set; }
+
+        /// <summary>开始加热。</summary>
+        public BPARelayCommand StartHeatCommand2 { get; set; }
+
+        /// <summary>停止加热。</summary>
+        public BPARelayCommand StopHeatCommand2 { get; set; }
+
+        /// <summary>通道下料启动。</summary>
+        public BPARelayCommand ChannelCuttingCommand2 { get; set; }
+
+        /// <summary>去炒制位。</summary>
+        public BPARelayCommand GoFryLocCommand2 { get; set; }
+
+        /// <summary>回原点/投料位置。</summary>
+        public BPARelayCommand GoHomeCommand2 { get; set; }
+
+        /// <summary>去调料投料位。</summary>
+        public BPARelayCommand GoSeasoningFeddLocCommand2 { get; set; }
+
+        /// <summary>出餐启动。</summary>
+        public BPARelayCommand OutDiningStartCommand2 { get; set; }
+
+        /// <summary>炒锅清洗。</summary>
+        public BPARelayCommand FryPanCleanCommand2 { get; set; }
         /// <summary>
-        /// 取消指定炒锅当前任务。
+        /// 设为自动模式。
         /// </summary>
-        public BPARelayCommand<string> CancelFryPanTaskCommand { get; set; }
+        public BPARelayCommand SetAutoModeCommand2 { get; set; }
         /// <summary>
-        /// 清空1#炒锅所有任务。
+        /// 设为手动模式。
         /// </summary>
-        public BPARelayCommand ClearFryPanTaskCommand_1 { get; set; }
+        public BPARelayCommand SetManualModeCommand2 { get; set; }
         /// <summary>
-        /// 清空2#炒锅所有任务。
+        /// 初始化设备。
         /// </summary>
-        public BPARelayCommand ClearFryPanTaskCommand_2 { get; set; }
+        public BPARelayCommand InitalDeviceCommand2 { get; set; }
         /// <summary>
-        /// 复位机器人所有由上位机下发的变量。
+        /// 设备停止。
         /// </summary>
-        public BPARelayCommand InitRobotVarCommand { get; set; }
-
-        public BPARelayCommand RobotGoCleanLocCommand { get; set; }
-
-        public BPARelayCommand CleanFinishCommand { get; set; }
+        public BPARelayCommand StopDeviceCommand2 { get; set; }
+        /// <summary>
+        /// 设备去洗锅位置。
+        /// </summary>
+        public BPARelayCommand GoCleanLocCommand2 { get; set; }
 
         #endregion 命令
     }

BPASmartClient.MorkCL/ViewModel/EditRecipeViewModel.cs

@@ -2,6 +2,9 @@
 using BPASmartClient.CustomResource.UserControls.MessageShow;
 using BPASmartClient.MorkCL.Model.Json;
 using BPASmartClient.MorkCL.Model.Recipe;
+using System.Windows.Controls;
+using System.Windows.Media.Animation;
+using System.Windows.Media;
 
 namespace BPASmartClient.MorkCL.ViewModel
 {
@@ -112,6 +115,7 @@ namespace BPASmartClient.MorkCL.ViewModel
                                 MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的加热档位不是整数，请修改验证后重试！", DialogType.Error);
                                 return;
                             }
+                            
                             break;
 
                         case EFunc.加热停止:
@@ -131,6 +135,11 @@ namespace BPASmartClient.MorkCL.ViewModel
                                 MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的调料需求值不是纯数字，请修改验证后重试！", DialogType.Error);
                                 return;
                             }
+
+                            if (!ValidateStirFryAndTime(item.funcPars[2].ParValue?.ToString(), item.funcPars[3].ParValue?.ToString()))
+                            {
+                                return;
+                            }
                             break;
 
                         case EFunc.添加主料:
@@ -147,57 +156,102 @@ namespace BPASmartClient.MorkCL.ViewModel
                                 MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的主料份量不是纯数字，请修改验证后重试！", DialogType.Error);
                                 return;
                             }
+
+                            if (!ValidateStirFryAndTime(item.funcPars[2].ParValue?.ToString(), item.funcPars[3].ParValue?.ToString()))
+                            {
+                                return;
+                            }
+
                             break;
 
                         case EFunc.添加辅料:
+                            if (!ValidateStirFryAndTime(item.funcPars[1].ParValue?.ToString(), item.funcPars[2].ParValue?.ToString()))
+                            {
+                                return;
+                            }
                             break;
 
-                        case EFunc.炒锅回原点位:
-                            break;
+                        //case EFunc.炒锅回原点位:
+                        //    break;
 
                         case EFunc.出餐启动:
                             break;
 
-                        case EFunc.炒锅清洗:
-                            break;
+                        #region 废弃代码
+                        //case EFunc.炒锅清洗:
+                        //    break;
+
+                        //case EFunc.炒锅回调料投料位置:
+                        //    break;
+
+                        //case EFunc.去指定炒制位:
+                        //    if (int.TryParse(item.funcPars[0].ParValue?.ToString(), out int fryingPanLoc))
+                        //    {
+                        //        if (fryingPanLoc > 4 || fryingPanLoc <= 0)
+                        //        {
+                        //            MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的设定炒制位限值1--4，请修改验证后重试！", DialogType.Error);
+                        //            return;
+                        //        }
+                        //    }
+                        //    else
+                        //    {
+                        //        MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的设定炒制不是整数，请修改验证后重试！", DialogType.Error);
+                        //        return;
+                        //    }
+                        //    break;
+
+                        //case EFunc.炒制:
+                        //    if (int.TryParse(item.funcPars[0].ParValue.ToString(), out int stirFryTime))
+                        //    {
+                        //        if (stirFryTime <= 0)
+                        //        {
+                        //            MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的炒制时间设置小于0，请修改验证后重试！", DialogType.Error);
+                        //            return;
+                        //        }
+                        //    }
+                        //    else
+                        //    {
+                        //        MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的炒制时间不是纯数字，请修改验证后重试！", DialogType.Error);
+                        //        return;
+                        //    }
+                        //    break; 
+                        #endregion
 
-                        case EFunc.炒锅回调料投料位置:
+                        default:
                             break;
-
-                        case EFunc.去指定炒制位:
-                            if (int.TryParse(item.funcPars[0].ParValue?.ToString(), out int fryingPanLoc))
-                            {
-                                if (fryingPanLoc > 4 || fryingPanLoc <= 0)
-                                {
-                                    MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的设定炒制位限值1--4，请修改验证后重试！", DialogType.Error);
-                                    return;
-                                }
-                            }
-                            else
+                    }
+                    //校验炒制位置和时间
+                    bool ValidateStirFryAndTime(string loc,string time)
+                    {
+                        if (int.TryParse(loc, out int fryingPanLoc))
+                        {
+                            if (fryingPanLoc > 4 || fryingPanLoc <= 0)
                             {
-                                MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的设定炒制不是整数，请修改验证后重试！", DialogType.Error);
-                                return;
+                                MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的设定炒制位限值1--4，请修改验证后重试！", DialogType.Error);
+                                return false;
                             }
-                            break;
+                        }
+                        else
+                        {
+                            MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的设定炒制不是整数，请修改验证后重试！", DialogType.Error);
+                            return false;
+                        }
 
-                        case EFunc.炒制:
-                            if (int.TryParse(item.funcPars[0].ParValue.ToString(), out int stirFryTime))
-                            {
-                                if (stirFryTime <= 0)
-                                {
-                                    MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的炒制时间设置小于0，请修改验证后重试！", DialogType.Error);
-                                    return;
-                                }
-                            }
-                            else
+                        if (int.TryParse(time, out int stirFryTime))
+                        {
+                            if (stirFryTime <= 0)
                             {
-                                MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的炒制时间不是纯数字，请修改验证后重试！", DialogType.Error);
-                                return;
+                                MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的炒制时间设置小于0，请修改验证后重试！", DialogType.Error);
+                                return false;
                             }
-                            break;
+                        }
+                        else
+                        {
+                            MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的炒制时间不是纯数字，请修改验证后重试！", DialogType.Error);
+                            return false;
+                        }
 
-                        default:
-                            break;
+                        return true;
                     }
                 }
 
@@ -300,8 +354,12 @@ namespace BPASmartClient.MorkCL.ViewModel
                     if (index > 0)
                     {
                         int newIndex = index - 1;
-                        Functions.RemoveAt(index);
-                        Functions.Insert(newIndex, funcmodel);
+                        //Functions.RemoveAt(index);
+                        //Functions.Insert(newIndex, funcmodel);
+
+                        Functions.Move(index, newIndex);
+                        
+                        
                     }
                 }
             });
@@ -314,8 +372,10 @@ namespace BPASmartClient.MorkCL.ViewModel
                     if (index < Functions.Count - 1)
                     {
                         int newIndex = index + 1;
-                        Functions.RemoveAt(index);
-                        Functions.Insert(newIndex, funcmodel);
+                        //Functions.RemoveAt(index);
+                        //Functions.Insert(newIndex, funcmodel);
+
+                        Functions.Move(index, newIndex);
                     }
                 }
             });

BPASmartClient.MorkCL/ViewModel/RecipeManageViewModel.cs

@@ -69,12 +69,12 @@ namespace BPASmartClient.MorkCL.ViewModel
                                 case EFunc.搅拌停止:
                                 case EFunc.加热启动:
                                 case EFunc.加热停止:
-                                case EFunc.炒锅回原点位:
+                                //case EFunc.炒锅回原点位:
                                 case EFunc.出餐启动:
-                                case EFunc.炒锅清洗:
-                                case EFunc.炒锅回调料投料位置:
-                                case EFunc.去指定炒制位:
-                                case EFunc.炒制:
+                                //case EFunc.炒锅清洗:
+                                //case EFunc.炒锅回调料投料位置:
+                                //case EFunc.去指定炒制位:
+                                //case EFunc.炒制:
                                     break;
 
                                 case EFunc.添加主料:
@@ -82,7 +82,8 @@ namespace BPASmartClient.MorkCL.ViewModel
                                     var weight = Convert.ToSingle(item.funcPars[1].ParValue);
                                     if (!Json<ItemStorageInfo>.Data.IngredientsStorage.Any(i => i.MaterialID == Id/* && i.Weight ==weight*/))
                                     {
-                                        MessageNotify.GetInstance.ShowDialog($"未在主料库查找到配方所需的主料【{Id}】，下发失败。", DialogType.Error);
+                                        string name = item.funcPars[0].ParValue.ToString();
+                                        MessageNotify.GetInstance.ShowDialog($"未在主料库查找到配方所需的主料【{name}】，下发失败。", DialogType.Error);
                                         NoticeDemoViewModel.OpenMsg(EnumPromptType.Error, Application.Current.MainWindow, "提示", $"下发订单{data.Name}失败！");
                                         return;
                                     }
@@ -91,7 +92,8 @@ namespace BPASmartClient.MorkCL.ViewModel
                                 case EFunc.添加辅料:
                                     if (SqliteHelper.GetInstance.GetAccessoriesInfo(item.funcPars[0].Id) == null)
                                     {
-                                        MessageNotify.GetInstance.ShowDialog($"未在辅料信息查找到配方所需的辅料【{item.funcPars[0].Id}】，下发失败。", DialogType.Error);
+                                        string name = item.funcPars[0].ParValue.ToString();
+                                        MessageNotify.GetInstance.ShowDialog($"未在辅料信息查找到配方所需的辅料【{name}】，下发失败。", DialogType.Error);
                                         NoticeDemoViewModel.OpenMsg(EnumPromptType.Error, Application.Current.MainWindow, "提示", $"下发订单{data.Name}失败！");
                                         return;
                                     }
@@ -100,7 +102,8 @@ namespace BPASmartClient.MorkCL.ViewModel
                                 case EFunc.添加调料:
                                     if (SqliteHelper.GetInstance.GetSeasoningInfo(item.funcPars[0].Id) == null)
                                     {
-                                        MessageNotify.GetInstance.ShowDialog($"未在调料信息查找到配方所需的调料【{item.funcPars[0].Id}】，下发失败。", DialogType.Error);
+                                        string name = item.funcPars[0].ParValue.ToString();
+                                        MessageNotify.GetInstance.ShowDialog($"未在调料信息查找到配方所需的调料【{name}】，下发失败。", DialogType.Error);
                                         NoticeDemoViewModel.OpenMsg(EnumPromptType.Error, Application.Current.MainWindow, "提示", $"下发订单{data.Name}失败！");
                                         return;
                                     }