diff --git a/BPASmartClient.AGV/AGVHelper.cs b/BPASmartClient.AGV/AGVHelper.cs
index cf6204c5..acb342e1 100644
--- a/BPASmartClient.AGV/AGVHelper.cs
+++ b/BPASmartClient.AGV/AGVHelper.cs
@@ -76,46 +76,46 @@ namespace BPASmartClient.AGV
         /// <returns></returns>
         public string  AgvToLineOneLoadRoller(string robotJobId)
         {
-            string url = AGVRequestUrl.GetInstance.TaskSendUrl;
-            //请求报文头
-            HttpRequestHeaderModel.GetInstance.appKey = "";
-            HttpRequestHeaderModel.GetInstance.appSecret = "";
-            HttpRequestHeaderModel.GetInstance.requestId = "";
-            HttpRequestHeaderModel.GetInstance.timestamp = "";
-            HttpRequestHeaderModel.GetInstance.version = "2.8";
-            string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
-            //请求报文体
-            AGVModel.GetInstance.robotJobId =robotJobId ;//上游提供
-            AGVModel.GetInstance.warehouseId = 123; //仓库编号
-            AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
-            AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
-            AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
-            //详细任务数据
-            //点到点
-            AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
-            AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
-            AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
-            AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
-            AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
-            AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
-            AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
-            string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
-            // string newBody = String.Join(",\r\n", bodyData.Split(','));//格式处理，看需求
-            //货位到货位
-            //AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
-            //AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
-            //AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
-            //AGV_SlotRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
-            //AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
-            //AGV_SlotRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
-            //AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
+            //string url = AGVRequestUrl.GetInstance.TaskSendUrl;
+            ////请求报文头
+            //HttpRequestHeaderModel.GetInstance.appKey = "";
+            //HttpRequestHeaderModel.GetInstance.appSecret = "";
+            //HttpRequestHeaderModel.GetInstance.requestId = "";
+            //HttpRequestHeaderModel.GetInstance.timestamp = "";
+            //HttpRequestHeaderModel.GetInstance.version = "2.8";
+            //string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
+            ////请求报文体
+            //AGVModel.GetInstance.robotJobId =robotJobId ;//上游提供
+            //AGVModel.GetInstance.warehouseId = 123; //仓库编号
+            //AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
+            //AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
+            //AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
+            ////详细任务数据
+            ////点到点
+            //AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
+            //AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
+            //AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
+            //AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
+            //AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
+            //AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
+            //AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
             //string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
-            string data = HttpRequest(url, head, body);
-            object objData = JsonConvert.DeserializeObject(data);
-            if (objData != null && objData is HttpResponseModel response)
-            {
-                return response.Body?.code;
-            }
+            //// string newBody = String.Join(",\r\n", bodyData.Split(','));//格式处理，看需求
+            ////货位到货位
+            ////AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
+            ////AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
+            ////AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
+            ////AGV_SlotRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
+            ////AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
+            ////AGV_SlotRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
+            ////AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
+            ////string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
+            //string data = HttpRequest(url, head, body);
+            //object objData = JsonConvert.DeserializeObject(data);
+            //if (objData != null && objData is HttpResponseModel response)
+            //{
+            //    return response.Body?.code;
+            //}
             return "Analysis Error";
         }
         /// <summary>
@@ -124,45 +124,45 @@ namespace BPASmartClient.AGV
         /// <returns></returns>
         public string AgvToLineTwoLoadRoller(string robotJobId)
         {
-            string url = AGVRequestUrl.GetInstance.TaskSendUrl;
-            //请求报文头
-            HttpRequestHeaderModel.GetInstance.appKey = "";
-            HttpRequestHeaderModel.GetInstance.appSecret = "";
-            HttpRequestHeaderModel.GetInstance.requestId = "";
-            HttpRequestHeaderModel.GetInstance.timestamp = "";
-            HttpRequestHeaderModel.GetInstance.version = "2.8";
-            string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
-            //请求报文体
-            AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
-            AGVModel.GetInstance.warehouseId = 123; //仓库编号
-            AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
-            AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
-            AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
-            //详细任务数据
-            //点到点
-            AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
-            AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
-            AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
-            AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
-            AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
-            AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
-            AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
-            string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
-            //货位到货位
-            //AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
-            //AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
-            //AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
-            //AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
-            //AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
-            //AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
-            //AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
+            //string url = AGVRequestUrl.GetInstance.TaskSendUrl;
+            ////请求报文头
+            //HttpRequestHeaderModel.GetInstance.appKey = "";
+            //HttpRequestHeaderModel.GetInstance.appSecret = "";
+            //HttpRequestHeaderModel.GetInstance.requestId = "";
+            //HttpRequestHeaderModel.GetInstance.timestamp = "";
+            //HttpRequestHeaderModel.GetInstance.version = "2.8";
+            //string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
+            ////请求报文体
+            //AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
+            //AGVModel.GetInstance.warehouseId = 123; //仓库编号
+            //AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
+            //AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
+            //AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
+            ////详细任务数据
+            ////点到点
+            //AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
+            //AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
+            //AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
+            //AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
+            //AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
+            //AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
+            //AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
             //string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
-            string data= HttpRequest(url, head, body);
-            object objData= JsonConvert.DeserializeObject(data);
-            if (objData != null && objData is HttpResponseModel response)
-            {
-                return response.Body?.code;
-            }
+            ////货位到货位
+            ////AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
+            ////AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
+            ////AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
+            ////AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
+            ////AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
+            ////AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
+            ////AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
+            ////string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
+            //string data= HttpRequest(url, head, body);
+            //object objData= JsonConvert.DeserializeObject(data);
+            //if (objData != null && objData is HttpResponseModel response)
+            //{
+            //    return response.Body?.code;
+            //}
             return "Analysis Error";
         }
         /// <summary>
@@ -171,45 +171,45 @@ namespace BPASmartClient.AGV
         /// <returns></returns>
         public string AgvToLineThreeLoadRoller(string robotJobId)
         {
-            string url = AGVRequestUrl.GetInstance.TaskSendUrl;
-            //请求报文头
-            HttpRequestHeaderModel.GetInstance.appKey = "";
-            HttpRequestHeaderModel.GetInstance.appSecret = "";
-            HttpRequestHeaderModel.GetInstance.requestId = "";
-            HttpRequestHeaderModel.GetInstance.timestamp = "";
-            HttpRequestHeaderModel.GetInstance.version = "2.8";
-            string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
-            //请求报文体
-            AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
-            AGVModel.GetInstance.warehouseId = 123; //仓库编号
-            AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
-            AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
-            AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
-            //详细任务数据
-            //点到点
-            AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
-            AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
-            AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
-            AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
-            AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
-            AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
-            AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
-            string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
-            //货位到货位
-            //AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
-            //AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
-            //AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
-            //AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
-            //AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
-            //AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
-            //AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
+            //string url = AGVRequestUrl.GetInstance.TaskSendUrl;
+            ////请求报文头
+            //HttpRequestHeaderModel.GetInstance.appKey = "";
+            //HttpRequestHeaderModel.GetInstance.appSecret = "";
+            //HttpRequestHeaderModel.GetInstance.requestId = "";
+            //HttpRequestHeaderModel.GetInstance.timestamp = "";
+            //HttpRequestHeaderModel.GetInstance.version = "2.8";
+            //string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
+            ////请求报文体
+            //AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
+            //AGVModel.GetInstance.warehouseId = 123; //仓库编号
+            //AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
+            //AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
+            //AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
+            ////详细任务数据
+            ////点到点
+            //AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
+            //AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
+            //AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
+            //AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
+            //AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
+            //AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
+            //AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
             //string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
-            string data = HttpRequest(url, head, body);
-            object objData = JsonConvert.DeserializeObject(data);
-            if (objData != null && objData is HttpResponseModel response)
-            {
-                return response.Body?.code;
-            }
+            ////货位到货位
+            ////AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
+            ////AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
+            ////AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
+            ////AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
+            ////AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
+            ////AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
+            ////AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
+            ////string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
+            //string data = HttpRequest(url, head, body);
+            //object objData = JsonConvert.DeserializeObject(data);
+            //if (objData != null && objData is HttpResponseModel response)
+            //{
+            //    return response.Body?.code;
+            //}
             return "Analysis Error";
         }
         /// <summary>
@@ -218,45 +218,45 @@ namespace BPASmartClient.AGV
         /// <returns></returns>
         public string AgvLeaveFryPotOne(string robotJobId)
         {
-            string url = AGVRequestUrl.GetInstance.TaskSendUrl;
-            //请求报文头
-            HttpRequestHeaderModel.GetInstance.appKey = "";
-            HttpRequestHeaderModel.GetInstance.appSecret = "";
-            HttpRequestHeaderModel.GetInstance.requestId = "";
-            HttpRequestHeaderModel.GetInstance.timestamp = "";
-            HttpRequestHeaderModel.GetInstance.version = "2.8";
-            string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
-            //请求报文体
-            AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
-            AGVModel.GetInstance.warehouseId = 123; //仓库编号
-            AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
-            AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
-            AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
-            //详细任务数据
-            //点到点
-            AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
-            AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
-            AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
-            AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
-            AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
-            AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
-            AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
-            string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
-            //货位到货位
-            //AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
-            //AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
-            //AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
-            //AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
-            //AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
-            //AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
-            //AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
+            //string url = AGVRequestUrl.GetInstance.TaskSendUrl;
+            ////请求报文头
+            //HttpRequestHeaderModel.GetInstance.appKey = "";
+            //HttpRequestHeaderModel.GetInstance.appSecret = "";
+            //HttpRequestHeaderModel.GetInstance.requestId = "";
+            //HttpRequestHeaderModel.GetInstance.timestamp = "";
+            //HttpRequestHeaderModel.GetInstance.version = "2.8";
+            //string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
+            ////请求报文体
+            //AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
+            //AGVModel.GetInstance.warehouseId = 123; //仓库编号
+            //AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
+            //AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
+            //AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
+            ////详细任务数据
+            ////点到点
+            //AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
+            //AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
+            //AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
+            //AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
+            //AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
+            //AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
+            //AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
             //string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
-            string data = HttpRequest(url, head, body);
-            object objData = JsonConvert.DeserializeObject(data);
-            if (objData != null && objData is HttpResponseModel response)
-            {
-                return response.Body?.code;
-            }
+            ////货位到货位
+            ////AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
+            ////AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
+            ////AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
+            ////AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
+            ////AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
+            ////AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
+            ////AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
+            ////string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
+            //string data = HttpRequest(url, head, body);
+            //object objData = JsonConvert.DeserializeObject(data);
+            //if (objData != null && objData is HttpResponseModel response)
+            //{
+            //    return response.Body?.code;
+            //}
             return "Analysis Error";
         }
         /// <summary>
@@ -265,45 +265,45 @@ namespace BPASmartClient.AGV
         /// <returns></returns>
         public string AgvLeaveFryPotTwo(string robotJobId)
         {
-            string url = AGVRequestUrl.GetInstance.TaskSendUrl;
-            //请求报文头
-            HttpRequestHeaderModel.GetInstance.appKey = "";
-            HttpRequestHeaderModel.GetInstance.appSecret = "";
-            HttpRequestHeaderModel.GetInstance.requestId = "";
-            HttpRequestHeaderModel.GetInstance.timestamp = "";
-            HttpRequestHeaderModel.GetInstance.version = "2.8";
-            string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
-            //请求报文体
-            AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
-            AGVModel.GetInstance.warehouseId = 123; //仓库编号
-            AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
-            AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
-            AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
-            //详细任务数据
-            //点到点
-            AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
-            AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
-            AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
-            AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
-            AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
-            AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
-            AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
-            string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
-            //货位到货位
-            //AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
-            //AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
-            //AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
-            //AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
-            //AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
-            //AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
-            //AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
+            //string url = AGVRequestUrl.GetInstance.TaskSendUrl;
+            ////请求报文头
+            //HttpRequestHeaderModel.GetInstance.appKey = "";
+            //HttpRequestHeaderModel.GetInstance.appSecret = "";
+            //HttpRequestHeaderModel.GetInstance.requestId = "";
+            //HttpRequestHeaderModel.GetInstance.timestamp = "";
+            //HttpRequestHeaderModel.GetInstance.version = "2.8";
+            //string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
+            ////请求报文体
+            //AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
+            //AGVModel.GetInstance.warehouseId = 123; //仓库编号
+            //AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
+            //AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
+            //AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
+            ////详细任务数据
+            ////点到点
+            //AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
+            //AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
+            //AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
+            //AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
+            //AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
+            //AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
+            //AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
             //string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
-            string data = HttpRequest(url, head, body);
-            object objData = JsonConvert.DeserializeObject(data);
-            if (objData != null && objData is HttpResponseModel response)
-            {
-                return response.Body?.code;
-            }
+            ////货位到货位
+            ////AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
+            ////AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
+            ////AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
+            ////AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
+            ////AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
+            ////AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
+            ////AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
+            ////string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
+            //string data = HttpRequest(url, head, body);
+            //object objData = JsonConvert.DeserializeObject(data);
+            //if (objData != null && objData is HttpResponseModel response)
+            //{
+            //    return response.Body?.code;
+            //}
             return "Analysis Error";
         }
         /// <summary>
@@ -312,45 +312,45 @@ namespace BPASmartClient.AGV
         /// <returns></returns>
         public string AgvLeaveFryPotThree(string robotJobId)
         {
-            string url = AGVRequestUrl.GetInstance.TaskSendUrl;
-            //请求报文头
-            HttpRequestHeaderModel.GetInstance.appKey = "";
-            HttpRequestHeaderModel.GetInstance.appSecret = "";
-            HttpRequestHeaderModel.GetInstance.requestId = "";
-            HttpRequestHeaderModel.GetInstance.timestamp = "";
-            HttpRequestHeaderModel.GetInstance.version = "2.8";
-            string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
-            //请求报文体
-            AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
-            AGVModel.GetInstance.warehouseId = 123; //仓库编号
-            AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
-            AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
-            AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
-            //详细任务数据
-            //点到点
-            AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
-            AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
-            AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
-            AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
-            AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
-            AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
-            AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
-            string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
-            //货位到货位
-            //AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
-            //AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
-            //AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
-            //AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
-            //AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
-            //AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
-            //AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
+            //string url = AGVRequestUrl.GetInstance.TaskSendUrl;
+            ////请求报文头
+            //HttpRequestHeaderModel.GetInstance.appKey = "";
+            //HttpRequestHeaderModel.GetInstance.appSecret = "";
+            //HttpRequestHeaderModel.GetInstance.requestId = "";
+            //HttpRequestHeaderModel.GetInstance.timestamp = "";
+            //HttpRequestHeaderModel.GetInstance.version = "2.8";
+            //string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
+            ////请求报文体
+            //AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
+            //AGVModel.GetInstance.warehouseId = 123; //仓库编号
+            //AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
+            //AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
+            //AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
+            ////详细任务数据
+            ////点到点
+            //AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
+            //AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
+            //AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
+            //AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
+            //AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
+            //AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
+            //AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
             //string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
-            string data = HttpRequest(url, head, body);
-            object objData = JsonConvert.DeserializeObject(data);
-            if (objData != null && objData is HttpResponseModel response)
-            {
-                return response.Body?.code;
-            }
+            ////货位到货位
+            ////AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
+            ////AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
+            ////AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
+            ////AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
+            ////AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
+            ////AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
+            ////AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
+            ////string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
+            //string data = HttpRequest(url, head, body);
+            //object objData = JsonConvert.DeserializeObject(data);
+            //if (objData != null && objData is HttpResponseModel response)
+            //{
+            //    return response.Body?.code;
+            //}
             return "Analysis Error";
         }
         /// <summary>
@@ -359,45 +359,45 @@ namespace BPASmartClient.AGV
         /// <returns></returns>
         public string AgvLeaveFryPotFour(string robotJobId)
         {
-            string url = AGVRequestUrl.GetInstance.TaskSendUrl;
-            //请求报文头
-            HttpRequestHeaderModel.GetInstance.appKey = "";
-            HttpRequestHeaderModel.GetInstance.appSecret = "";
-            HttpRequestHeaderModel.GetInstance.requestId = "";
-            HttpRequestHeaderModel.GetInstance.timestamp = "";
-            HttpRequestHeaderModel.GetInstance.version = "2.8";
-            string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
-            //请求报文体
-            AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
-            AGVModel.GetInstance.warehouseId = 123; //仓库编号
-            AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
-            AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
-            AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
-            //详细任务数据
-            //点到点
-            AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
-            AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
-            AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
-            AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
-            AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
-            AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
-            AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
-            string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
-            //货位到货位
-            //AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
-            //AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
-            //AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
-            //AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
-            //AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
-            //AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
-            //AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
+            //string url = AGVRequestUrl.GetInstance.TaskSendUrl;
+            ////请求报文头
+            //HttpRequestHeaderModel.GetInstance.appKey = "";
+            //HttpRequestHeaderModel.GetInstance.appSecret = "";
+            //HttpRequestHeaderModel.GetInstance.requestId = "";
+            //HttpRequestHeaderModel.GetInstance.timestamp = "";
+            //HttpRequestHeaderModel.GetInstance.version = "2.8";
+            //string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
+            ////请求报文体
+            //AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
+            //AGVModel.GetInstance.warehouseId = 123; //仓库编号
+            //AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
+            //AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
+            //AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
+            ////详细任务数据
+            ////点到点
+            //AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
+            //AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
+            //AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
+            //AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
+            //AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
+            //AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
+            //AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
             //string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
-            string data = HttpRequest(url, head, body);
-            object objData = JsonConvert.DeserializeObject(data);
-            if (objData != null && objData is HttpResponseModel response)
-            {
-                return response.Body?.code;
-            }
+            ////货位到货位
+            ////AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
+            ////AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
+            ////AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
+            ////AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
+            ////AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
+            ////AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
+            ////AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
+            ////string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
+            //string data = HttpRequest(url, head, body);
+            //object objData = JsonConvert.DeserializeObject(data);
+            //if (objData != null && objData is HttpResponseModel response)
+            //{
+            //    return response.Body?.code;
+            //}
             return "Analysis Error";
         }
         /// <summary>
@@ -406,45 +406,45 @@ namespace BPASmartClient.AGV
         /// <returns></returns>
         public string AgvLeaveFryPotFive(string robotJobId)
         {
-            string url = AGVRequestUrl.GetInstance.TaskSendUrl;
-            //请求报文头
-            HttpRequestHeaderModel.GetInstance.appKey = "";
-            HttpRequestHeaderModel.GetInstance.appSecret = "";
-            HttpRequestHeaderModel.GetInstance.requestId = "";
-            HttpRequestHeaderModel.GetInstance.timestamp = "";
-            HttpRequestHeaderModel.GetInstance.version = "2.8";
-            string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
-            //请求报文体
-            AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
-            AGVModel.GetInstance.warehouseId = 123; //仓库编号
-            AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
-            AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
-            AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
-            //详细任务数据
-            //点到点
-            AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
-            AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
-            AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
-            AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
-            AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
-            AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
-            AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
-            string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
-            //货位到货位
-            //AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
-            //AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
-            //AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
-            //AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
-            //AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
-            //AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
-            //AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
+            //string url = AGVRequestUrl.GetInstance.TaskSendUrl;
+            ////请求报文头
+            //HttpRequestHeaderModel.GetInstance.appKey = "";
+            //HttpRequestHeaderModel.GetInstance.appSecret = "";
+            //HttpRequestHeaderModel.GetInstance.requestId = "";
+            //HttpRequestHeaderModel.GetInstance.timestamp = "";
+            //HttpRequestHeaderModel.GetInstance.version = "2.8";
+            //string head = JsonConvert.SerializeObject(HttpRequestHeaderModel.GetInstance);
+            ////请求报文体
+            //AGVModel.GetInstance.robotJobId = robotJobId;//上游提供
+            //AGVModel.GetInstance.warehouseId = 123; //仓库编号
+            //AGVModel.GetInstance.jobPriority = 1;//任务执行的优先级
+            //AGVModel.GetInstance.jobPriorityType = 1;//0:根据优先级来执行，1：强制执行
+            //AGVModel.GetInstance.jobType = "POINT_ROLLER_MOVE";  //SLOT_ROLLER_MOVE /  POINT_ROLLER_MOVE
+            ////详细任务数据
+            ////点到点
+            //AGV_PointRollerJobData.GetInstance.startPoint = "";//起点点位
+            //AGV_PointRollerJobData.GetInstance.endPoint = "";//目的点位
+            //AGV_PointRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
+            //AGV_PointRollerJobData.GetInstance.enableIOLoad = true;//上料交互方式 false:接口交互  true:光电交互
+            //AGV_PointRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
+            //AGV_PointRollerJobData.GetInstance.enableIOUnload = true;//下料交互方式 false:接口交互  true:光电交互
+            //AGVModel.GetInstance.jobData = AGV_PointRollerJobData.GetInstance;
             //string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
-            string data = HttpRequest(url, head, body);
-            object objData = JsonConvert.DeserializeObject(data);
-            if (objData != null && objData is HttpResponseModel response)
-            {
-                return response.Body?.code;
-            }
+            ////货位到货位
+            ////AGV_SlotRollerJobData.GetInstance.startSlotCode = "";//起点槽位编号
+            ////AGV_SlotRollerJobData.GetInstance.endSlotCode = "";//目的槽位编号
+            ////AGV_SlotRollerJobData.GetInstance.autoLoad = true;//是否自动上料 true:自动上料  false:人工上料
+            ////AGV_SlotRollerJobData.GetInstance.enableIOLoad=true;//上料交互方式 false:接口交互  true:光电交互
+            ////AGV_SlotRollerJobData.GetInstance.autoUnload = true;//是否自动下料 true:自动下料  false:人工下料
+            ////AGV_SlotRollerJobData.GetInstance.enableIOUnload=true;//下料交互方式 false:接口交互  true:光电交互
+            ////AGVModel.GetInstance.jobData = AGV_SlotRollerJobData.GetInstance;
+            ////string body = JsonConvert.SerializeObject(AGVModel.GetInstance);
+            //string data = HttpRequest(url, head, body);
+            //object objData = JsonConvert.DeserializeObject(data);
+            //if (objData != null && objData is HttpResponseModel response)
+            //{
+            //    return response.Body?.code;
+            //}
             return "Analysis Error";
         }
         /// <summary>
diff --git a/BPASmartClient.AgvApi/.config/dotnet-tools.json b/BPASmartClient.AgvApi/.config/dotnet-tools.json
new file mode 100644
index 00000000..c9b7f4ff
--- /dev/null
+++ b/BPASmartClient.AgvApi/.config/dotnet-tools.json
@@ -0,0 +1,12 @@
+{
+  "version": 1,
+  "isRoot": true,
+  "tools": {
+    "dotnet-ef": {
+      "version": "6.0.6",
+      "commands": [
+        "dotnet-ef"
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/BPASmartClient.CustomResource/Pages/Model/AlarmHelper.cs b/BPASmartClient.CustomResource/Pages/Model/AlarmHelper.cs
index f24df307..c7080c4c 100644
--- a/BPASmartClient.CustomResource/Pages/Model/AlarmHelper.cs
+++ b/BPASmartClient.CustomResource/Pages/Model/AlarmHelper.cs
@@ -4,12 +4,10 @@ using BPASmartClient.Model;
 using System;
 using System.Collections.Concurrent;
 using System.Collections.Generic;
+using System.Collections.ObjectModel;
 using System.Linq;
 using System.Reflection;
-using System.Text;
 using System.Threading;
-using System.Threading.Tasks;
-using System.Collections.ObjectModel;
 using System.Windows;
 
 namespace BPASmartClient.CustomResource.Pages.Model
@@ -39,7 +37,7 @@ namespace BPASmartClient.CustomResource.Pages.Model
                         {
                             bool value = Convert.ToBoolean(Alarm.GetType().GetProperty(item.Name)?.GetValue(Alarm));
                             EdgeAlarm(value, AlarmModel.AlarmInfo, 1, AlarmModel.AlarmLevel, AlarmModel.AlarmType);
-                        }
+                         }
                     }
                 }
                 Thread.Sleep(100);
@@ -59,7 +57,7 @@ namespace BPASmartClient.CustomResource.Pages.Model
             if (!delays.ContainsKey(text)) delays.TryAdd(text, Delay.GetInstance(text));
             if (edgeType == AlarmTriggerType.Rising ? delays[text].Start(Trigger, delay) : delays[text].Start(!Trigger, delay))
             {
-                if (edgeType == AlarmTriggerType.Rising ? !flagbit[text] : flagbit[text])
+                if (edgeType == AlarmTriggerType.Rising ? !flagbit[text] :flagbit[text])
                 {
                     AddAlarm(Trigger, text, alarmLevel);
                     flagbit[text] = edgeType == AlarmTriggerType.Rising ? true : false;
diff --git a/BPASmartClient.CustomResource/Pages/Model/AlarmInfo.cs b/BPASmartClient.CustomResource/Pages/Model/AlarmInfo.cs
new file mode 100644
index 00000000..253b09dd
--- /dev/null
+++ b/BPASmartClient.CustomResource/Pages/Model/AlarmInfo.cs
@@ -0,0 +1,56 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.CustomResource.Pages.Model
+{
+    public class AlarmInfo
+    {
+        public AlarmInfo()
+        { 
+        
+        }
+        /// <summary>
+        /// 1 号滚筒线故障
+        /// </summary>
+        [Alarm("【1】号滚筒线运行故障", AlarmTriggerType.Rising, AlarmLevel.一般报警)]
+        public ushort LOneRollerTrouble { get; set; }
+        /// <summary>
+        /// 2 号滚筒线故障
+        /// </summary>
+        [Alarm("【2】号滚筒线运行故障", AlarmTriggerType.Rising, AlarmLevel.一般报警)]
+        public ushort LTwoRollerTrouble { get; set; }
+        /// <summary>
+        /// 3 号滚筒线故障
+        /// </summary>
+        [Alarm("【3】号滚筒线运行故障", AlarmTriggerType.Rising, AlarmLevel.一般报警)]
+        public ushort LThreeRollerTrouble { get; set; }
+        /// <summary>
+        /// 1 号炒锅滚筒运行故障
+        /// </summary>
+        [Alarm("【1】号炒锅滚筒运行故障", AlarmTriggerType.Rising, AlarmLevel.一般报警)]
+        public ushort FryPotOneRollerTrouble { get; set; }
+        /// <summary>
+        ///  2 号炒锅滚筒运行故障
+        /// </summary>
+        [Alarm("【2】号炒锅滚筒运行故障", AlarmTriggerType.Rising, AlarmLevel.一般报警)]
+        public ushort FryPotTwoRollerTrouble { get; set; }
+        /// <summary>
+        ///  3 号炒锅滚筒运行故障
+        /// </summary>
+        [Alarm("【3】号炒锅滚筒运行故障", AlarmTriggerType.Rising, AlarmLevel.一般报警)]
+        public ushort FryPotThreeRollerTrouble { get; set; }
+        /// <summary>
+        ///  4 号炒锅滚筒运行故障
+        /// </summary>
+        [Alarm("【4】号炒锅滚筒运行故障", AlarmTriggerType.Rising, AlarmLevel.一般报警)]
+        public ushort FryPotFourRollerTrouble { get; set; }
+        /// <summary>
+        ///  5 号炒锅滚筒运行故障
+        /// </summary>
+        [Alarm("【5】号炒锅滚筒运行故障", AlarmTriggerType.Rising, AlarmLevel.一般报警)]
+        public ushort FryPotFiveRollerTrouble { get; set; }
+    }
+}
diff --git a/BPASmartClient.CustomResource/Pages/Model/MessageLog.cs b/BPASmartClient.CustomResource/Pages/Model/MessageLog.cs
index db603c1c..da1d1e0e 100644
--- a/BPASmartClient.CustomResource/Pages/Model/MessageLog.cs
+++ b/BPASmartClient.CustomResource/Pages/Model/MessageLog.cs
@@ -12,7 +12,10 @@ namespace BPASmartClient.CustomResource.Pages.Model
     public class MessageLog
     {
         private volatile static MessageLog _Instance;
-        public static MessageLog GetInstance => _Instance ?? (_Instance = new MessageLog());
+        public static MessageLog GetInstance => _Instance ??= new MessageLog();
+
+        public static readonly object runLock = new object();
+        public static readonly object userlock = new object();
         private MessageLog() { }
 
         public Action<string> UserLog { get; set; }
@@ -37,30 +40,36 @@ namespace BPASmartClient.CustomResource.Pages.Model
 
         public void ShowUserLog(string info)
         {
-            UserLog userLog = new UserLog()
+            lock (userlock)
             {
-                Date = DateTime.Now.ToString("yyyy-MM-dd"),
-                Time = DateTime.Now.ToString("HH:mm:ss"),
-                Permission = Global.userInfo.permission.ToString(),
-                UserName = Global.userInfo.UserName,
-                LogInfo = info
-            };
-            Sqlite<UserLog>.GetInstance.Base.Add(userLog);
-            Application.Current.Dispatcher.Invoke(new Action(() => { userLogs.Insert(0, userLog); }));
-            UserLog?.Invoke(info);
+                UserLog userLog = new UserLog()
+                {
+                    Date = DateTime.Now.ToString("yyyy-MM-dd"),
+                    Time = DateTime.Now.ToString("HH:mm:ss"),
+                    Permission = Global.userInfo.permission.ToString(),
+                    UserName = Global.userInfo.UserName,
+                    LogInfo = info
+                };
+                Sqlite<UserLog>.GetInstance.Base.Add(userLog);
+                Application.Current.Dispatcher.Invoke(new Action(() => { userLogs.Insert(0, userLog); }));
+                UserLog?.Invoke(info);
+            }
         }
 
         public void ShowRunLog(string info)
         {
-            RunLog runLog = new RunLog()
+            lock (runLock)
             {
-                Date = DateTime.Now.ToString("yyyy-MM-dd"),
-                Time = DateTime.Now.ToString("HH:mm:ss"),
-                RunLogInfo = info
-            };
-            Sqlite<RunLog>.GetInstance.Base.Add(runLog);
-            Application.Current.Dispatcher.Invoke(new Action(() => { runLogs.Insert(0, runLog); }));
-            RunLog?.Invoke(info);
+                RunLog runLog = new RunLog()
+                {
+                    Date = DateTime.Now.ToString("yyyy-MM-dd"),
+                    Time = DateTime.Now.ToString("HH:mm:ss"),
+                    RunLogInfo = info
+                };
+                Sqlite<RunLog>.GetInstance.Base.Add(runLog);
+                Application.Current.Dispatcher.Invoke(new Action(() => { runLogs.Insert(0, runLog); }));
+                RunLog?.Invoke(info); 
+            }
         }
 
 
diff --git a/BPASmartClient.CustomResource/Pages/ViewModel/AlarmViewModel.cs b/BPASmartClient.CustomResource/Pages/ViewModel/AlarmViewModel.cs
index 1238f0c0..3213c65a 100644
--- a/BPASmartClient.CustomResource/Pages/ViewModel/AlarmViewModel.cs
+++ b/BPASmartClient.CustomResource/Pages/ViewModel/AlarmViewModel.cs
@@ -9,8 +9,8 @@ using System.Collections.ObjectModel;
 using System.Windows;
 using BPASmartClient.Helper;
 using Microsoft.Toolkit.Mvvm.Input;
-using BPASmartClient.Model;
 using BPASmartClient.CustomResource.Pages.Model;
+using BPASmartClient.Model;
 
 namespace BPASmartClient.CustomResource.Pages.ViewModel
 {
@@ -26,7 +26,7 @@ namespace BPASmartClient.CustomResource.Pages.ViewModel
                 }
                 if (ControlButText == "开始查询")
                 {
-                    var lists = Sqlite<Alarm>.GetInstance.GetData();
+                    var lists = Sqlite<BPASmartClient.Model.Alarm>.GetInstance.GetData();
                     var res = lists.Where(p => Convert.ToDateTime(p.Date) >= StartDateTime && Convert.ToDateTime(p.Date) <= EndDateTime).ToList();
                     if (res != null)
                     {
@@ -64,13 +64,13 @@ namespace BPASmartClient.CustomResource.Pages.ViewModel
                 }
             });
 
-            //AlarmInfos = AlarmHelper<tt>.Alarms;
-            //AlarmHelper<tt>.Init();
+            AlarmInfos = AlarmHelper<AlarmInfo>.Alarms;
+           
         }
 
         private void GetHistoryAlarm()
         {
-            var data = Sqlite<Alarm>.GetInstance.GetData();
+            var data = Sqlite<BPASmartClient.Model.Alarm>.GetInstance.GetData();
             if (data != null)
             {
                 HistoryAlarm.Clear();
@@ -131,7 +131,6 @@ namespace BPASmartClient.CustomResource.Pages.ViewModel
 
 
         public ObservableCollection<Alarm> AlarmInfos { get; set; }
-
         public ObservableCollection<Alarm> HistoryAlarm { get; set; } = new ObservableCollection<Alarm>();
 
 
diff --git a/BPASmartClient.CustomResource/Themes/MyStyle.xaml b/BPASmartClient.CustomResource/Themes/MyStyle.xaml
index 4cf9e73a..535552ab 100644
--- a/BPASmartClient.CustomResource/Themes/MyStyle.xaml
+++ b/BPASmartClient.CustomResource/Themes/MyStyle.xaml
@@ -451,7 +451,7 @@
 
     <Style x:Key="border碗" TargetType="Border">
         <Style.Setters>
-            <Setter Property="Height" Value="50"/>
+            <Setter Property="Height" Value="34"/>
             <Setter Property="Width" Value="40"/>
             <Setter Property="VerticalAlignment" Value="Bottom"/>
             <Setter Property="Background">
@@ -464,9 +464,9 @@
 
     <Style x:Key="border菜" TargetType="Border">
         <Style.Setters>
-            <Setter Property="Margin" Value="0,3,0,0"/>
-            <Setter Property="Height" Value="25"/>
-            <Setter Property="Width" Value="33"/>
+            <Setter Property="Margin" Value="0,-7,0,0"/>
+            <Setter Property="Height" Value="20"/>
+            <Setter Property="Width" Value="28"/>
             <Setter Property="VerticalAlignment" Value="Top"/>
             <Setter Property="Background">
                 <Setter.Value>
diff --git a/BPASmartClient.Modbus/ModbusTcp.cs b/BPASmartClient.Modbus/ModbusTcp.cs
index 9ead03b5..05663d0e 100644
--- a/BPASmartClient.Modbus/ModbusTcp.cs
+++ b/BPASmartClient.Modbus/ModbusTcp.cs
@@ -142,6 +142,22 @@ namespace BPASmartClient.Modbus
                         return LwAddress;
                     }
                 }
+               else if (address.ToUpper().Contains("D") && address.Length == 5)
+                {
+                    try
+                    {
+                        string head = "4"+(Convert.ToInt32(address.Substring(1, 1)) - 1).ToString();
+                        string tail = address.Substring(2, 3);
+                        address = head + tail;
+                        return Convert.ToInt32(address);
+                    }
+                    catch (Exception)
+                    {
+                        //打印日志
+                       
+                    }
+                   
+                }
             }
             return -1;
         }
@@ -171,7 +187,7 @@ namespace BPASmartClient.Modbus
                     commandType = CommandType.Coils;
                     return master.ReadCoils(slaveAddress, startAddress, len);
                 }
-                else if (address.ToUpper().Contains("VW") || address.ToUpper().Contains("LW"))
+                else if (address.ToUpper().Contains("VW") || address.ToUpper().Contains("LW")|| address.ToUpper().Contains("D"))
                 {
                     commandType = CommandType.HoldingRegisters;
                     return master.ReadHoldingRegisters(slaveAddress, startAddress, len);
@@ -181,6 +197,7 @@ namespace BPASmartClient.Modbus
                     commandType = CommandType.Inputs;
                     return master.ReadInputs(slaveAddress, startAddress, len);
                 }
+            
             }
             catch (Exception ex)
             {
@@ -199,14 +216,15 @@ namespace BPASmartClient.Modbus
                 {
                     try
                     {
-                        string head = (Convert.ToInt32(address.Substring(1, 1)) - 1).ToString();
+                        string head = "4"+(Convert.ToInt32(address.Substring(1, 1)) - 1).ToString();
                         string tail = address.Substring(2, 3);
-                        address = head + tail;
+                       address = head + tail;
+                        return Convert.ToInt32(address);
                     }
                     catch (Exception)
                     {
                         //打印日志
-                        return -1;
+                      
                     }
                 }
 
@@ -276,7 +294,7 @@ namespace BPASmartClient.Modbus
                     else if (value is bool[] boolsValue)
                         master.WriteMultipleCoils(slaveAddress, startAddress, boolsValue);
                 }
-                else if (address.ToUpper().Contains("VW") || address.ToUpper().Contains("LW"))
+                else if (address.ToUpper().Contains("VW") || address.ToUpper().Contains("LW")|| address.ToUpper().Contains("D"))
                 {
                     commandType = CommandType.HoldingRegisters;
                     if (value is ushort ushortValue)
diff --git a/FryPot_DosingSystem/AGV/WhichCart.cs b/FryPot_DosingSystem/AGV/WhichCart.cs
new file mode 100644
index 00000000..eb915f41
--- /dev/null
+++ b/FryPot_DosingSystem/AGV/WhichCart.cs
@@ -0,0 +1,73 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace FryPot_DosingSystem.AGV
+{
+    /// <summary>
+    /// 控制车辆型号
+    /// </summary>
+    public enum WhichCart
+    {
+        一号车,
+        二号车,
+        三号车,
+        四号车,
+    }
+    /// <summary>
+    /// 控制车辆运动方式
+    /// </summary>
+    public enum CartMotionTrajectory
+    {
+        Stop,//停止
+
+        qc_1,//取菜品 1号流水线取菜
+        qc_2,//取菜品 2号流水线取菜
+        qc_3,//取菜品 3号流水线取菜
+
+        yc_1_1,//运输菜品 1号流水线-1号炒锅
+        yc_1_2,//运输菜品 1号流水线-2号炒锅
+        yc_1_3,//运输菜品 1号流水线-3号炒锅
+        yc_1_4,//运输菜品 1号流水线-4号炒锅
+        yc_1_5,//运输菜品 1号流水线-5号炒锅
+
+        yc_2_1,//运输菜品 2号流水线-1号炒锅
+        yc_2_2,//运输菜品 2号流水线-2号炒锅
+        yc_2_3,//运输菜品 2号流水线-3号炒锅
+        yc_2_4,//运输菜品 2号流水线-4号炒锅
+        yc_2_5,//运输菜品 2号流水线-5号炒锅
+
+        yc_3_1,//运输菜品 3号流水线-1号炒锅
+        yc_3_2,//运输菜品 3号流水线-2号炒锅
+        yc_3_3,//运输菜品 3号流水线-3号炒锅
+        yc_3_4,//运输菜品 3号流水线-4号炒锅
+        yc_3_5,//运输菜品 3号流水线-5号炒锅
+
+        hs_1,//1号炒锅-运输空碗到-空碗流水线
+        hs_2,//2号炒锅-运输空碗到-空碗流水线
+        hs_3,//3号炒锅-运输空碗到-空碗流水线
+        hs_4,//4号炒锅-运输空碗到-空碗流水线
+
+        hj,//空碗流水线-回到充电桩或者停车桩
+    }
+
+    /// <summary>
+    /// 是否
+    /// </summary>
+    public enum IsBool
+    {
+        Yes,
+        No
+    }
+    /// <summary>
+    /// 是否运行
+    /// </summary>
+    public enum IsRun
+    {
+        Start,
+        Stop
+    }
+    
+}
diff --git a/FryPot_DosingSystem/App.xaml.cs b/FryPot_DosingSystem/App.xaml.cs
index ec22c536..5f7987ef 100644
--- a/FryPot_DosingSystem/App.xaml.cs
+++ b/FryPot_DosingSystem/App.xaml.cs
@@ -15,6 +15,7 @@ using System.Data;
 using System.Linq;
 using System.Threading.Tasks;
 using System.Windows;
+using AlarmInfo = BPASmartClient.CustomResource.Pages.Model.AlarmInfo;
 
 namespace FryPot_DosingSystem
 {
@@ -37,23 +38,25 @@ namespace FryPot_DosingSystem
                 mv.Show();
                 DeviceOperate deviceOperate = DeviceOperate.GetInstance;//开启实时PLC数据读取
                 DosingLogicControl logigControl = DosingLogicControl.GetInstance;//开启逻辑控制任务程序
+                HubHelper.GetInstance.Connect("192.168.1.130", 8089);
+                AlarmHelper<AlarmInfo>.Init();
             }
             else
                 mv.Close();
 
 
-            HubHelper.GetInstance.Report = new Action<object>((o) =>
-            {
-                var res = JsonConvert.DeserializeObject<AGVToUpSystem>(o.ToString());
-            });
+            //HubHelper.GetInstance.Report = new Action<object>((o) =>
+            //{
+            //    var res = JsonConvert.DeserializeObject<AGVToUpSystem>(o.ToString());
+            //});
 
-            HubHelper.GetInstance.Upstreamrequest = new Action<object>((o) =>
-            {
-                var res = JsonConvert.DeserializeObject<Upstreamrequest>(o.ToString());
-            });
-
-            HubHelper.GetInstance.Connect("192.168.1.99", 8089);
+            //HubHelper.GetInstance.Upstreamrequest = new Action<object>((o) =>
+            //{
+            //    var res = JsonConvert.DeserializeObject<Upstreamrequest>(o.ToString());
+            //});
+            //本地服务连接
 
+            
         }
         protected override void OnExit(ExitEventArgs e)
         {
@@ -171,7 +174,7 @@ namespace FryPot_DosingSystem
                 SubMenuName = "用户登录",
                 SubMenuPermission = new Permission[] { Permission.管理员, Permission.操作员, Permission.技术员 },
                 AssemblyName = "BPASmartClient.CustomResource",
-                ToggleWindowPath = "Pages.View.LoginView"
+                ToggleWindowPath = "Pages.View.SubPagLoginView"
             });
 
             UserManager.Add(new SubMenumodel()
@@ -192,6 +195,23 @@ namespace FryPot_DosingSystem
                 subMenumodels = UserManager,
             });
             #endregion
+            ObservableCollection<SubMenumodel> DebugManage = new ObservableCollection<SubMenumodel>();
+            DebugManage.Add(new SubMenumodel()
+            {
+                SubMenuName = "单一流程调试",
+                SubMenuPermission = new Permission[] { Permission.管理员, Permission.技术员 },
+                AssemblyName = "FryPot_DosingSystem",
+                ToggleWindowPath = "View.DebugView"
+            });
+            MenuManage.GetInstance.menuModels.Add(new MenuModel()
+            {
+                MainMenuIcon = "&#xe683;",
+                MainMenuName = "调试界面",
+                Alias = "Debug Management",
+                MainMenuPermission = new Permission[] { Permission.管理员, Permission.技术员 },
+                subMenumodels = DebugManage,
+            });
+
         }
         private void LoginDataInite()
         {
diff --git a/FryPot_DosingSystem/Control/DeviceOperate.cs b/FryPot_DosingSystem/Control/DeviceOperate.cs
index 821a9793..5f9fe3be 100644
--- a/FryPot_DosingSystem/Control/DeviceOperate.cs
+++ b/FryPot_DosingSystem/Control/DeviceOperate.cs
@@ -20,7 +20,7 @@ namespace FryPot_DosingSystem.Control
         ModbusTcp modbus = new ModbusTcp();
         private string Ip { get; set; }
         private string Port { get; set; }
-        private bool Connected { get; set; }
+        public bool Connected { get; set; }
 
         private string DeviceName { get; set; }
 
@@ -78,7 +78,7 @@ namespace FryPot_DosingSystem.Control
                 {
                     foreach (var item in Variables)
                     {
-                        var res = modbus.Read(item.Address, item.Length, "180项目");
+                        var res = modbus.Read(item.Address, item.Length);
                         if (Data.ContainsKey(item.Address))
                         {
                             Data[item.Address] = res;
@@ -95,8 +95,11 @@ namespace FryPot_DosingSystem.Control
             }),$"设备【{DeviceName}】PLC实时数据读取线程");
         }
         public void WritePlcData(string address,ushort value)
-        { 
-            modbus.Write(address, value,"180项目"); 
+        {
+            lock (this)
+            {
+                modbus.Write(address, value);  
+            }
         }
         public ConcurrentDictionary<string, object> GetAllData()
         {
diff --git a/FryPot_DosingSystem/Control/DosingLogicControl.cs b/FryPot_DosingSystem/Control/DosingLogicControl.cs
index d3296f70..c4c3a4af 100644
--- a/FryPot_DosingSystem/Control/DosingLogicControl.cs
+++ b/FryPot_DosingSystem/Control/DosingLogicControl.cs
@@ -26,18 +26,42 @@ namespace FryPot_DosingSystem.Control
         public static DosingLogicControl GetInstance => _instance ??= new DosingLogicControl();
         public ConcurrentDictionary<string, object> PlcReadData = new ConcurrentDictionary<string, object>();
         /// <summary>
-        /// 配方队列
+        /// 线体1配方队列
         /// </summary>
         public ConcurrentQueue<NewRecipeModel> RecipeQuene = new ConcurrentQueue<NewRecipeModel>();
         /// <summary>
-        /// 进料原料队列
+        /// 线体2配方队列
+        /// </summary>
+        public ConcurrentQueue<NewRecipeModel> LTwoRecipeQuene = new ConcurrentQueue<NewRecipeModel>();
+        /// <summary>
+        /// 线体3配方队列
+        /// </summary>
+        public ConcurrentQueue<NewRecipeModel> LThreeRecipeQuene = new ConcurrentQueue<NewRecipeModel>();
+        /// <summary>
+        /// 线体1进料原料队列
         /// </summary>
         public ConcurrentQueue<MaterialInfo> InputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
         /// <summary>
-        /// 出料原料队列
+        /// 线体2进料原料队列
+        /// </summary>
+        public ConcurrentQueue<MaterialInfo> LTwoInputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
+        /// <summary>
+        /// 线体3进料原料队列
+        /// </summary>
+        public ConcurrentQueue<MaterialInfo> LThreeInputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
+        /// <summary>
+        /// 线体1出料原料队列
         /// </summary>
         public ConcurrentQueue<MaterialInfo> OutputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
         /// <summary>
+        /// 线体2出料原料队列
+        /// </summary>
+        public ConcurrentQueue<MaterialInfo> LTwoOutputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
+        /// <summary>
+        /// 线体3出料原料队列
+        /// </summary>
+        public ConcurrentQueue<MaterialInfo> LThreeOutputMaterialQuene = new ConcurrentQueue<MaterialInfo>();
+        /// <summary>
         /// 全局变量对象声明
         /// </summary>
         GlobalVariable globalVar;
@@ -45,25 +69,155 @@ namespace FryPot_DosingSystem.Control
         /// 线体状态对象声明
         /// </summary>
         HardWareStatusViewModel hardWareStatusModel;
-
+        /// <summary>
+        /// 报警信息对象声明
+        /// </summary>
         #region 上位机内部变量
-        //int lineAlarm = 0;//线体故障信号 1：无故障 -1：故障 
-        int FryPotAlarm = 0;//炒锅滚筒故障信号 1：无故障 -1：故障
+        int FryPotAlarm = 0;//炒锅1滚筒故障信号 1：无故障 -1：故障
+        int FryPotTwoAlarm = 0;//炒锅2滚筒故障信号 1：无故障 -1：故障
+        int FryPotThreeAlarm = 0;//炒锅3滚筒故障信号 1：无故障 -1：故障
+        int FryPotFourAlarm = 0;//炒锅4滚筒故障信号 1：无故障 -1：故障
+        int FryPotFiveAlarm = 0;//炒锅5滚筒故障信号 1：无故障 -1：故障
         int ReicpeNum = 0;//记录接收到的配方数
+        bool ErrorRecipe;//线体1错误配方标识
+        bool LTwoErrorRecipe;//线体2错误配方标识
+        bool LThreeErrorRecipe;//线体3错误配方标识
         #endregion
         #region agv临时变量
-        bool agvArriveUpLoad = false;//agv是否到达线体装料位置
-        bool agvArriveUnLoad = false;//agv是否到达炒锅送料位置
-        bool agvFryPotEmptyRollerArrive = false;//agv是否拿到炒锅空桶
-        string robotJobId = String.Empty;//当前上游系统任务号，全局唯一
-        //List<string> robotJobIds = new List<string>();//存储当前上游系统任务号，全局唯一
-        bool loadInteractive = false;// fasle:不需要上料交互 true:需要上料交互
+        bool agvArriveUpLoad = false;//agv是否到达线体1装料位置
+        bool agvArriveLTwoUpLoad = false;//agv是否到达线体2装料位置
+        bool agvArriveLThreeUpLoad = false;//agv是否到达线体3装料位置
+
+        bool agvArriveUnLoad = false;//线体1 agv是否到达炒锅送料位置
+        bool LTwoagvArriveUnLoad = false;//线体2 agv是否到达炒锅送料位置
+        bool LThreeagvArriveUnLoad = false;//线体3 agv是否到达炒锅送料位置
+
+        bool agvFryPotEmptyRollerArrive = false;// 线体1的agv是否拿到炒锅空桶
+        bool LTwoagvFryPotEmptyRollerArrive = false; //线体2的agv是否拿到炒锅空桶
+        bool LThreeagvFryPotEmptyRollerArrive = false;//线体3的agv是否拿到炒锅空桶
+
+        string LOnerobotJobId = String.Empty;//线体1当前上游系统任务号，全局唯一
+        string LTworobotJobId = String.Empty;//线体2当前上游系统任务号，全局唯一
+        string LThreerobotJobId = String.Empty;//线体3当前上游系统任务号，全局唯一
+
+        //bool loadInteractive = false;// fasle:不需要上料交互 true:需要上料交互
         #endregion
+        /// <summary>
+        /// 调试命令注册
+        /// </summary>
+        public void CommandRegist()
+        {
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                globalVar.rollerLineOne.OutMaterialingSingle = 1;
+            }), "RollerLineRunning");
+            ActionManage.GetInstance.Register(new Action<object>((obj) =>
+            {
+                globalVar.rollerLineOne.StationEight = (ushort)obj;
+            }), "EightWorkLoc");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                globalVar.fryPotOne.InputMaterialArrivedSingle = 1;
+                globalVar.fryPotFour.InputMaterialArrivedSingle = 1;
+            }), "FryPotInputArrive");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                globalVar.fryPotOne.EmptyBarrelArrivedSingle = 1;
+                globalVar.fryPotFour.EmptyBarrelArrivedSingle = 1;
+            }), "FryPotEmptyRollerArrive");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                agvArriveUpLoad = true;
+            }), "AGVLOneArrive");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                agvArriveUnLoad = true;
+            }), "AGVFryPotDownArrive");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                agvArriveUpLoad = true;
+            }), "AGVFryPotUpArrive");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                agvFryPotEmptyRollerArrive = true;
+
+            }), "AGVFryPotGetEmptyRoller");
+            //滚筒线2
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                globalVar.rollerLineTwo.OutMaterialingSingle = 1;
+            }), "RollerLineTwoRunning");
+            ActionManage.GetInstance.Register(new Action<object>((obj) =>
+            {
+                globalVar.rollerLineTwo.StationEight = (ushort)obj;
+            }), "TwoEightWorkLoc");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                globalVar.fryPotTwo.InputMaterialArrivedSingle = 1;
+                globalVar.fryPotFive.InputMaterialArrivedSingle = 1;
+            }), "FryPotTwoInputArrive");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                globalVar.fryPotTwo.EmptyBarrelArrivedSingle = 1;
+                globalVar.fryPotFive.EmptyBarrelArrivedSingle = 1;
+            }), "FryPotTwoEmptyRollerArrive");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                agvArriveLTwoUpLoad = true;
+            }), "AGVLTwoArrive");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                LTwoagvArriveUnLoad = true;
+            }), "AGVFryPotTwoDownArrive");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                agvArriveLTwoUpLoad = true;
+            }), "AGVFryPotTwoUpArrive");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                LTwoagvFryPotEmptyRollerArrive = true;
+
+            }), "AGVFryPotTwoGetEmptyRoller");
+            //滚筒线3
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                globalVar.rollerLineThree.OutMaterialingSingle = 1;
+            }), "RollerLineThreeRunning");
+            ActionManage.GetInstance.Register(new Action<object>((obj) =>
+            {
+                globalVar.rollerLineThree.StationEight = (ushort)obj;
+            }), "ThreeEightWorkLoc");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                globalVar.fryPotThree.InputMaterialArrivedSingle = 1;
+            }), "FryPotThreeInputArrive");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                globalVar.fryPotThree.EmptyBarrelArrivedSingle = 1;
+            }), "FryPotThreeEmptyRollerArrive");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                agvArriveLThreeUpLoad = true;
+            }), "AGVLThreeArrive");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                LThreeagvArriveUnLoad = true;
+            }), "AGVFryPotThreeDownArrive");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                agvArriveLThreeUpLoad = true;
+            }), "AGVFryPotThreeUpArrive");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                LThreeagvFryPotEmptyRollerArrive = true;
+
+            }), "AGVFryPotThreeGetEmptyRoller");
+        }
         public DosingLogicControl()
         {
             globalVar = new GlobalVariable();
             hardWareStatusModel = HardWareStatusViewModel.GetInstance;
-            ActionManage.GetInstance.Register(new Action<object>(RecipeDataParse), "RecipeSetDown");
+            ActionManage.GetInstance.Register(new Action<object[]>(RecipeDataParse), "RecipeSetDown");
             ActionManage.GetInstance.Register(new Action(() => { RecipeQuene.Clear(); InputMaterialQuene.Clear(); OutputMaterialQuene.Clear(); }), "ClearRecipes");
             ActionManage.GetInstance.Register(new Action(() => { globalVar.PlcInite = 1; }), "StartPlcInite");
             ActionManage.GetInstance.Register(new Action(() => { globalVar.PlcInite = 0; }), "EndPlcInite");
@@ -73,6 +227,7 @@ namespace FryPot_DosingSystem.Control
             ResetProgram();
             ReadPlcData();
             IniteTask();
+            CommandRegist();
         }
 
         /// <summary>
@@ -81,26 +236,48 @@ namespace FryPot_DosingSystem.Control
         /// <param name="obj"></param>
         private void AgvFeedBackUpReportDataAnalysis(object obj)
         {
-            if (obj != null && obj is byte[] datas)
+            //if (obj != null && obj is byte[] datas)
+            //{
+            //string strData = Encoding.UTF8.GetString(datas);
+            Upstreamrequest objData = JsonConvert.DeserializeObject<Upstreamrequest>(obj.ToString());
+            if (objData != null)
             {
-                string strData = Encoding.UTF8.GetString(datas);
-                object objData = JsonConvert.DeserializeObject(strData);
-                if (objData != null && objData is Upstreamrequest upDownReportData)
+
+                //线体1请求上下料
+                if (objData.robotJobId == LOnerobotJobId && objData.command == "LOAD")//同一任务号且处于上料阶段，AGV请求上料
                 {
-                    //if (upDownReportData.body != null && upDownReportData.body is UpstreamrequestBody body)
-                    //{
-                    //    if (body.robotJobId == robotJobId && body.command == "LOAD")//同一任务号且处于上料阶段
-                    //    {
-                    //        agvArriveUpLoad = true;//AGV到达上料位置
-                    //    }
-                    //    if (body.robotJobId == robotJobId && body.command == "UNLOAD")//同一任务号且处于下料阶段
-                    //    {
-                    //        agvArriveUnLoad = true;//AGV到达下料位置
-                    //    }
+                    agvArriveUpLoad = true;//AGV到达上料位置
+
+                }
+                if (objData.robotJobId == LOnerobotJobId && objData.command == "UNLOAD")//同一任务号且处于下料阶段
+                {
+                    agvArriveUnLoad = true;//AGV到达下料位置
+
+                }
+                //线体2请求上下料
+                if (objData.robotJobId == LTworobotJobId && objData.command == "LOAD")
+                {
+                    agvArriveLTwoUpLoad = true;//AGV到达上料位置
+
+                }
+                if (objData.robotJobId == LTworobotJobId && objData.command == "UNLOAD")//同一任务号且处于下料阶段
+                {
+                    LTwoagvArriveUnLoad = true;//AGV到达下料位置
+
+                }
+                //线体3请求上下料
+                if (objData.robotJobId == LThreerobotJobId && objData.command == "LOAD")
+                {
+                    agvArriveLThreeUpLoad = true;//AGV到达上料位置
+
+                }
+                if (objData.robotJobId == LThreerobotJobId && objData.command == "UNLOAD")//同一任务号且处于下料阶段
+                {
+                    LThreeagvArriveUnLoad = true;//AGV到达下料位置
 
-                    //}
                 }
             }
+
         }
 
         /// <summary>
@@ -109,21 +286,141 @@ namespace FryPot_DosingSystem.Control
         /// <param name="obj"></param>
         private void AgvTaskUpReportDataAnalysis(object obj)
         {
-            if (obj != null && obj is byte[] datas)
+            //if (obj != null && obj is byte[] datas)
+            //{
+            //    string strData = Encoding.UTF8.GetString(datas);
+            AGVToUpSystem objData = JsonConvert.DeserializeObject<AGVToUpSystem>(obj.ToString());
+            if (objData != null)
             {
-                string strData = Encoding.UTF8.GetString(datas);
-                object objData = JsonConvert.DeserializeObject(strData);
-                if (objData != null && objData is AGVToUpSystem agvUpReportData)
+                #region 线体上下料任务信息回报
+                //线体1任务上报
+                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "")// AGV正在上料，指线体上料
                 {
-                    //if (agvUpReportData.body != null && agvUpReportData.body is AGVToUpSystemBody body)
-                    //{
-                    //    if (body.state == "ROLLER_LOAD_FINISH" && body.jobData.startPointCode == "")//上料完成以及到达指定上料点位
-                    //    {
-                    //        agvFryPotEmptyRollerArrive = true;
-                    //    }
-                    //}
+                    //日志
+                }
+                //线体2任务上报
+                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "")// AGV正在上料，指线体上料
+                {
+                    //日志
+                }
+                //线体3任务上报
+                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "")// AGV正在上料，指线体上料
+                {
+                    //日志
+                }
+
+                //线体1任务上报
+                if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指线体上料
+                {
+
+                }
+                //线体2任务上报
+                if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指线体上料
+                {
+
+                }
+                //线体3任务上报
+                if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指线体上料
+                {
+
+                }
+                //线体1任务上报
+                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指线体下料
+                {
+
                 }
+                //线体2任务上报
+                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指线体下料
+                {
+
+                }
+                //线体3任务上报
+                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指线体下料
+                {
+
+                }
+                //线体1任务上报
+                if (objData.state == "DONE" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指线体下料
+                {
+
+                }
+                //线体2任务上报
+                if (objData.state == "DONE" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指线体下料
+                {
+
+                }
+                //线体3任务上报
+                if (objData.state == "DONE" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指线体下料
+                {
+
+                }
+                #endregion
+
+                #region 空桶上下料任务信息回报
+                //线体1任务上报
+                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "")// AGV正在上料，指空桶上料
+                {
+                    //日志
+                }
+                //线体2任务上报
+                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "")// AGV正在上料，指空桶上料
+                {
+                    //日志
+                }
+                //线体3任务上报
+                if (objData.state == "ROLLER_LOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "")// AGV正在上料，指空桶上料
+                {
+                    //日志
+                }
+
+                //线体1任务上报
+                if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LOnerobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指空桶上料
+                {
+                    agvFryPotEmptyRollerArrive = true;
+                }
+                //线体2任务上报
+                if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LTworobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指空桶上料
+                {
+                    LTwoagvFryPotEmptyRollerArrive = true;
+                }
+                //线体3任务上报
+                if (objData.state == "ROLLER_LOAD_FINISH" && objData.robotJobId == LThreerobotJobId && objData.jobData.startPointCode == "")//指定上料点上料完成，这里指空桶上料
+                {
+                    LThreeagvFryPotEmptyRollerArrive = true;
+                }
+                //线体1任务上报
+                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指空桶下料
+                {
+
+                }
+                //线体2任务上报
+                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指空桶下料
+                {
+
+                }
+                //线体3任务上报
+                if (objData.state == "ROLLER_UNLOAD_DOING" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "")//指定下料点正在下料，指空桶下料
+                {
+
+                }
+                //线体1任务上报
+                if (objData.state == "DONE" && objData.robotJobId == LOnerobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指空桶下料
+                {
+
+                }
+                //线体2任务上报
+                if (objData.state == "DONE" && objData.robotJobId == LTworobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指空桶下料
+                {
+
+                }
+                //线体3任务上报
+                if (objData.state == "DONE" && objData.robotJobId == LThreerobotJobId && objData.jobData.targetPointCode == "")//指定下料位置下料完成，指空桶下料
+                {
+
+                }
+                #endregion
             }
+
         }
 
         /// <summary>
@@ -135,7 +432,7 @@ namespace FryPot_DosingSystem.Control
             {
                 if (RTrig.GetInstance("ResetProgram").Start(globalVar.PlcInite == 1))//判断是否初始化 一初始化就重启主任务
                 {
-                    MessageLog.GetInstance.ShowRunLog("主任务正在重启");
+                    MessageLog.GetInstance.ShowUserLog("主任务正在重启");
                     ThreadManage.GetInstance().StopTask("MainTask", new Action(() =>
                     {
                         ThreadManage.GetInstance().StopTask("MainViewReadPlcData", new Action(() =>
@@ -148,7 +445,7 @@ namespace FryPot_DosingSystem.Control
                             ActionManage.GetInstance.Send("ClearRecipes");
                             ReadPlcData();
                             IniteTask();
-                            MessageLog.GetInstance.ShowRunLog("主任务重启完成");
+                            MessageLog.GetInstance.ShowUserLog("主任务重启完成");
                         }));
                     }));
                 }
@@ -161,113 +458,123 @@ namespace FryPot_DosingSystem.Control
         /// </summary>
         public void ReadPlcData()
         {
-            ThreadManage.GetInstance().StartLong(new Action(() =>
-            {
-                GetAddressData("D2001", new Action<ushort[]>((data) =>
-                {
-                    globalVar.rollerLineOne.StationOne = data[0];
-                    globalVar.rollerLineOne.StationTwo = data[1];
-                    globalVar.rollerLineOne.StationThree = data[2];
-                    globalVar.rollerLineOne.StationFour = data[3];
-                    globalVar.rollerLineOne.StationFive = data[4];
-                    globalVar.rollerLineOne.StationSix = data[5];
-                    globalVar.rollerLineOne.StationSeven = data[6];
-                    globalVar.rollerLineOne.StationEight = data[7];
-                }));
-                GetAddressData("D2011", new Action<ushort[]>((data) =>
-                {
-                    globalVar.rollerLineTwo.StationOne = data[0];
-                    globalVar.rollerLineTwo.StationTwo = data[1];
-                    globalVar.rollerLineTwo.StationThree = data[2];
-                    globalVar.rollerLineTwo.StationFour = data[3];
-                    globalVar.rollerLineTwo.StationFive = data[4];
-                    globalVar.rollerLineTwo.StationSix = data[5];
-                    globalVar.rollerLineTwo.StationSeven = data[6];
-                    globalVar.rollerLineTwo.StationEight = data[7];
-                }));
-                GetAddressData("D2021", new Action<ushort[]>((data) =>
-                {
-                    globalVar.rollerLineThree.StationOne = data[0];
-                    globalVar.rollerLineThree.StationTwo = data[1];
-                    globalVar.rollerLineThree.StationThree = data[2];
-                    globalVar.rollerLineThree.StationFour = data[3];
-                    globalVar.rollerLineThree.StationFive = data[4];
-                    globalVar.rollerLineThree.StationSix = data[5];
-                    globalVar.rollerLineThree.StationSeven = data[6];
-                    globalVar.rollerLineThree.StationEight = data[7];
-                }));
-                GetAddressData("D2031", new Action<ushort[]>((data) =>
-                {
-                    globalVar.rollerLineOne.OutMaterialingSingle = data[3];
-                    globalVar.rollerLineTwo.OutMaterialingSingle = data[4];
-                    globalVar.rollerLineThree.OutMaterialingSingle = data[5];
-                    globalVar.rollerLineOne.OutMaterialingTroubleSingle = data[6];
-                    globalVar.rollerLineTwo.OutMaterialingTroubleSingle = data[7];
-                    globalVar.rollerLineThree.OutMaterialingTroubleSingle = data[8];
-                }));
-                GetAddressData("D2040", new Action<ushort[]>((data) =>
-                {
-                    globalVar.fryPotOne.InputMaterialRollerRunningSingle = data[0];
-                    globalVar.fryPotTwo.InputMaterialRollerRunningSingle = data[1];
-                    globalVar.fryPotThree.InputMaterialRollerRunningSingle = data[2];
-                    globalVar.fryPotFour.InputMaterialRollerRunningSingle = data[3];
-                    globalVar.fryPotFive.InputMaterialRollerRunningSingle = data[4];
-                }));
-                GetAddressData("D2045", new Action<ushort[]>((data) =>
-                {
-                    globalVar.fryPotOne.InputMaterialArrivedSingle = data[0];
-                    globalVar.fryPotTwo.InputMaterialArrivedSingle = data[1];
-                    globalVar.fryPotThree.InputMaterialArrivedSingle = data[2];
-                    globalVar.fryPotFour.InputMaterialArrivedSingle = data[3];
-                    globalVar.fryPotFive.InputMaterialArrivedSingle = data[4];
-                }));
-                GetAddressData("D2050", new Action<ushort[]>((data) =>
-                {
-                    globalVar.fryPotOne.EmptyBarrelArrivedSingle = data[0];
-                    globalVar.fryPotTwo.EmptyBarrelArrivedSingle = data[1];
-                    globalVar.fryPotThree.EmptyBarrelArrivedSingle = data[2];
-                    globalVar.fryPotFour.EmptyBarrelArrivedSingle = data[3];
-                    globalVar.fryPotFive.EmptyBarrelArrivedSingle = data[4];
-                }));
-                GetAddressData("D2065", new Action<ushort[]>((data) =>
-                {
-                    globalVar.fryPotOne.EmptyBarrelRollerRunningSingle = data[0];
-                    globalVar.fryPotTwo.EmptyBarrelRollerRunningSingle = data[1];
-                    globalVar.fryPotThree.EmptyBarrelRollerRunningSingle = data[2];
-                    globalVar.fryPotFour.EmptyBarrelRollerRunningSingle = data[3];
-                    globalVar.fryPotFive.EmptyBarrelRollerRunningSingle = data[4];
-                }));
-                GetAddressData("D2070", new Action<ushort[]>((data) =>
-                {
-                    globalVar.fryPotOne.RollerTroubleSingle = data[0];
-                    globalVar.fryPotTwo.RollerTroubleSingle = data[1];
-                    globalVar.fryPotThree.RollerTroubleSingle = data[2];
-                    globalVar.fryPotFour.RollerTroubleSingle = data[3];
-                    globalVar.fryPotFive.RollerTroubleSingle = data[4];
-                }));
-                GetAddressData("D2078", new Action<ushort[]>(data =>
-                {
-                    globalVar.rollerLineOne.RecipeCompleteSingle = data[0];
-                    globalVar.rollerLineTwo.RecipeCompleteSingle = data[1];
-                    globalVar.rollerLineThree.RecipeCompleteSingle = data[2];
-                }));
-                GetAddressData("D2075", new Action<ushort[]>(data =>
-                {
+            //ThreadManage.GetInstance().StartLong(new Action(() =>
+            //{
+            //    GetAddressData("D2001", new Action<ushort[]>((data) =>
+            //    {
+            //        globalVar.rollerLineOne.StationOne = data[0];
+            //        globalVar.rollerLineOne.StationTwo = data[1];
+            //        globalVar.rollerLineOne.StationThree = data[2];
+            //        globalVar.rollerLineOne.StationFour = data[3];
+            //        globalVar.rollerLineOne.StationFive = data[4];
+            //        globalVar.rollerLineOne.StationSix = data[5];
+            //        globalVar.rollerLineOne.StationSeven = data[6];
+            //        globalVar.rollerLineOne.StationEight = data[7];
+            //    }));
+            //    GetAddressData("D2011", new Action<ushort[]>((data) =>
+            //    {
+            //        globalVar.rollerLineTwo.StationOne = data[0];
+            //        globalVar.rollerLineTwo.StationTwo = data[1];
+            //        globalVar.rollerLineTwo.StationThree = data[2];
+            //        globalVar.rollerLineTwo.StationFour = data[3];
+            //        globalVar.rollerLineTwo.StationFive = data[4];
+            //        globalVar.rollerLineTwo.StationSix = data[5];
+            //        globalVar.rollerLineTwo.StationSeven = data[6];
+            //        globalVar.rollerLineTwo.StationEight = data[7];
+            //    }));
+            //    GetAddressData("D2021", new Action<ushort[]>((data) =>
+            //    {
+            //        globalVar.rollerLineThree.StationOne = data[0];
+            //        globalVar.rollerLineThree.StationTwo = data[1];
+            //        globalVar.rollerLineThree.StationThree = data[2];
+            //        globalVar.rollerLineThree.StationFour = data[3];
+            //        globalVar.rollerLineThree.StationFive = data[4];
+            //        globalVar.rollerLineThree.StationSix = data[5];
+            //        globalVar.rollerLineThree.StationSeven = data[6];
+            //        globalVar.rollerLineThree.StationEight = data[7];
+            //    }));
+            //    GetAddressData("D2031", new Action<ushort[]>((data) =>
+            //    {
+            //        globalVar.rollerLineOne.OutMaterialingSingle = data[3];
+            //        globalVar.rollerLineTwo.OutMaterialingSingle = data[4];
+            //        globalVar.rollerLineThree.OutMaterialingSingle = data[5];
+            //        //globalVar.rollerLineOne.OutMaterialingTroubleSingle = data[6];
+            //        //globalVar.rollerLineTwo.OutMaterialingTroubleSingle = data[7];
+            //        //globalVar.rollerLineThree.OutMaterialingTroubleSingle = data[8];
+            //        AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble = data[6];
+            //        AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble = data[7];
+            //        AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble = data[8];
 
-                    globalVar.CleadBarrelEnterSingle = data[0];
-                }));
-                GetAddressData("D2077", new Action<ushort[]>(data =>
-                {
+            //    }));
+            //    GetAddressData("D2040", new Action<ushort[]>((data) =>
+            //    {
+            //        globalVar.fryPotOne.InputMaterialRollerRunningSingle = data[0];
+            //        globalVar.fryPotTwo.InputMaterialRollerRunningSingle = data[1];
+            //        globalVar.fryPotThree.InputMaterialRollerRunningSingle = data[2];
+            //        globalVar.fryPotFour.InputMaterialRollerRunningSingle = data[3];
+            //        globalVar.fryPotFive.InputMaterialRollerRunningSingle = data[4];
+            //    }));
+            //    GetAddressData("D2045", new Action<ushort[]>((data) =>
+            //    {
+            //        globalVar.fryPotOne.InputMaterialArrivedSingle = data[0];
+            //        globalVar.fryPotTwo.InputMaterialArrivedSingle = data[1];
+            //        globalVar.fryPotThree.InputMaterialArrivedSingle = data[2];
+            //        globalVar.fryPotFour.InputMaterialArrivedSingle = data[3];
+            //        globalVar.fryPotFive.InputMaterialArrivedSingle = data[4];
+            //    }));
+            //    GetAddressData("D2050", new Action<ushort[]>((data) =>
+            //    {
+            //        globalVar.fryPotOne.EmptyBarrelArrivedSingle = data[0];
+            //        globalVar.fryPotTwo.EmptyBarrelArrivedSingle = data[1];
+            //        globalVar.fryPotThree.EmptyBarrelArrivedSingle = data[2];
+            //        globalVar.fryPotFour.EmptyBarrelArrivedSingle = data[3];
+            //        globalVar.fryPotFive.EmptyBarrelArrivedSingle = data[4];
+            //    }));
+            //    GetAddressData("D2065", new Action<ushort[]>((data) =>
+            //    {
+            //        globalVar.fryPotOne.EmptyBarrelRollerRunningSingle = data[0];
+            //        globalVar.fryPotTwo.EmptyBarrelRollerRunningSingle = data[1];
+            //        globalVar.fryPotThree.EmptyBarrelRollerRunningSingle = data[2];
+            //        globalVar.fryPotFour.EmptyBarrelRollerRunningSingle = data[3];
+            //        globalVar.fryPotFive.EmptyBarrelRollerRunningSingle = data[4];
+            //    }));
+            //    GetAddressData("D2070", new Action<ushort[]>((data) =>
+            //    {
+            //        //globalVar.fryPotOne.RollerTroubleSingle = data[0];
+            //        //globalVar.fryPotTwo.RollerTroubleSingle = data[1];
+            //        //globalVar.fryPotThree.RollerTroubleSingle = data[2];
+            //        //globalVar.fryPotFour.RollerTroubleSingle = data[3];
+            //        //globalVar.fryPotFive.RollerTroubleSingle = data[4];
+            //        AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble = data[0];
+            //        AlarmHelper<AlarmInfo>.Alarm.FryPotTwoRollerTrouble = data[1];
+            //        AlarmHelper<AlarmInfo>.Alarm.FryPotThreeRollerTrouble = data[2];
+            //        AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble = data[3];
+            //        AlarmHelper<AlarmInfo>.Alarm.FryPotFiveRollerTrouble = data[4];
+            //    }));
+            //    GetAddressData("D2078", new Action<ushort[]>(data =>
+            //    {
+            //        globalVar.rollerLineOne.RecipeCompleteSingle = data[0];
+            //        globalVar.rollerLineTwo.RecipeCompleteSingle = data[1];
+            //        globalVar.rollerLineThree.RecipeCompleteSingle = data[2];
+            //    }));
+            //    GetAddressData("D2075", new Action<ushort[]>(data =>
+            //    {
 
-                    globalVar.CleadBarrelExitSingle = data[0];
-                }));
-                //globalVar.rollerLineOne.OutMaterialingSingle = 0;
-                //globalVar.rollerLineOne.StationOne = 401;
-                //globalVar.rollerLineOne.StationTwo = 402;
-                //globalVar.rollerLineOne.OutMaterialingTroubleSingle = 1;
-                RollerLineStatusDisplay();
-                Thread.Sleep(10);
-            }), "MainViewReadPlcData");
+            //        globalVar.CleadBarrelEnterSingle = data[0];
+            //    }));
+            //    GetAddressData("D2077", new Action<ushort[]>(data =>
+            //    {
+
+            //        globalVar.CleadBarrelExitSingle = data[0];
+            //    }));
+            //    //globalVar.rollerLineOne.OutMaterialingSingle = 0;
+            //    //globalVar.rollerLineOne.StationOne = 401;
+            //    //globalVar.rollerLineOne.StationTwo = 402;
+            //    //globalVar.rollerLineOne.OutMaterialingTroubleSingle = 1;
+            //    // AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble =1;
+            //    RollerLineStatusDisplay();
+            //    Thread.Sleep(10);
+            //}), "MainViewReadPlcData");
 
         }
         /// <summary>
@@ -283,7 +590,7 @@ namespace FryPot_DosingSystem.Control
             hardWareStatusModel.RollerOneModel.LocSixRollerSerial = globalVar.rollerLineOne.StationSix;
             hardWareStatusModel.RollerOneModel.LocSevenRollerSerial = globalVar.rollerLineOne.StationSeven;
             hardWareStatusModel.RollerOneModel.LocEightRollerSerial = globalVar.rollerLineOne.StationEight;
-            if (globalVar.rollerLineOne.OutMaterialingTroubleSingle == 0)
+            if (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 0)
             {
 
                 hardWareStatusModel.RollerOneModel.RollerAlarmState = Color.FromRgb(130, 232, 139);//无故障
@@ -311,7 +618,7 @@ namespace FryPot_DosingSystem.Control
             hardWareStatusModel.RollerTwoModel.LocSixRollerSerial = globalVar.rollerLineTwo.StationSix;
             hardWareStatusModel.RollerTwoModel.LocSevenRollerSerial = globalVar.rollerLineTwo.StationSeven;
             hardWareStatusModel.RollerTwoModel.LocEightRollerSerial = globalVar.rollerLineTwo.StationEight;
-            if (globalVar.rollerLineTwo.OutMaterialingTroubleSingle == 0)
+            if (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 0)
             {
                 hardWareStatusModel.RollerTwoModel.RollerAlarmState = Color.FromRgb(130, 232, 139);//无故障
             }
@@ -338,7 +645,7 @@ namespace FryPot_DosingSystem.Control
             hardWareStatusModel.RollerThreeModel.LocSixRollerSerial = globalVar.rollerLineThree.StationSix;
             hardWareStatusModel.RollerThreeModel.LocSevenRollerSerial = globalVar.rollerLineThree.StationSeven;
             hardWareStatusModel.RollerThreeModel.LocEightRollerSerial = globalVar.rollerLineThree.StationEight;
-            if (globalVar.rollerLineThree.OutMaterialingTroubleSingle == 0)
+            if (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 0)
             {
                 hardWareStatusModel.RollerThreeModel.RollerAlarmState = Color.FromRgb(130, 232, 139);//无故障
             }
@@ -396,159 +703,647 @@ namespace FryPot_DosingSystem.Control
         {
             Task.Run(new Action(() =>
             {
-                if (obj != null && obj is NewRecipeModel recipe)
+                if (obj != null && obj is NewRecipeModel[] recipes)
                 {
-                    RecipeQuene.Enqueue(recipe);
-                    ReicpeNum++;
-                    MessageLog.GetInstance.ShowRunLog($"接收到第{ReicpeNum}个配方");
+                    //int? res = (recipe.materialCollection.ElementAt(0).MaterialLoc) / 100;
+                    //if (res != null)
+                    //{
+                    //    switch (res)
+                    //    {
+                    //        case 1:
+                    //        case 4: RecipeQuene.Enqueue(recipe); break;
+                    //        case 3: LThreeRecipeQuene.Enqueue(recipe); break;
+                    //        case 2:
+                    //        case 5: LTwoRecipeQuene.Enqueue(recipe); break;
+                    //    }
+                    //    ReicpeNum++;
+                    //    MessageLog.GetInstance.ShowUserLog($"接收到第{ReicpeNum}个配方");
+                    //}
+                    ReicpeNum = ReicpeNum + recipes.Length;
+                    MessageLog.GetInstance.ShowUserLog($"新接收到{recipes.Length}个配方,总共{ReicpeNum}个配方");
+                    for (int i = 0; i < recipes.Length; i++)
+                    {
+                        int? res = recipes[i].materialCollection.ElementAt(0).MaterialLoc / 100;
+                        if (res != null)
+                        {
+                            switch (res)
+                            {
+                                case 1:
+                                case 4: RecipeQuene.Enqueue(recipes[i]); break;
+                                case 3: LThreeRecipeQuene.Enqueue(recipes[i]); break;
+                                case 2:
+                                case 5: LTwoRecipeQuene.Enqueue(recipes[i]); break;
+                            }
+                        }
+                    }
                 }
 
             }));
 
-
-
         }
         /// <summary>
         /// 开启主任务
         /// </summary>
         public void MainTask()
         {
-            RecipeDataToPlc();
-            AgvLoadRoller();
-            FryPotInputMaterial();
-            FryPotOutputMaterial();
+            ////RecipeDataToPlc();
+            //LOneRecipeDataToPlc();
+            //LTwoRecipeDataToPlc();
+            //LThreeRecipeDataToPlc();
+            ////AgvLoadRoller();
+            //LOneLoadRoller();
+            //LTwoAgvLoadRoller();
+            //LThreeAgvLoadRoller();
+            //// FryPotInputMaterial();
+            //LOneFryPotInputMaterial();
+            //LTwoFryPotInputMaterial();
+            //LThreeFryPotInputMaterial();
+            ////FryPotOutputMaterial();
+            //LOneFryPotOutputMaterial();
+            //LTwoFryPotOutputMaterial();
+            //LThreeFryPotOutputMaterial();
+            LineOneProcessExecute();
+            LineTwoProcessExecute();
+            LineThreeProcessExecute();
         }
         /// <summary>
-        /// 数据下发PLC
+        /// 线体1的执行流程
         /// </summary>
-        public void RecipeDataToPlc()
+        public void LineOneProcessExecute()
         {
-            if (RecipeQuene.Count > 0 && OutputMaterialQuene.Count == 0 && InputMaterialQuene.Count == 0)//后续添加其它限制条件
+            if (!globalVar.LOneTaskLock)
             {
-                //NewRecipeModel newRecipe = new NewRecipeModel();
-                MaterialType material = new MaterialType();
-                if (RecipeQuene.TryDequeue(out NewRecipeModel result))
+                globalVar.LOneTaskLock = true;
+                Task.Run(new Action(() =>
                 {
-                    MessageLog.GetInstance.ShowRunLog($"开始制作【{result.RecipeName}】 配方");
-                    //for (int k = 0; k < result.materialCollection.Count-1; k++)
-                    //{
-                    //    for (int j = 0; j < result.materialCollection.Count-1-k; j++)
-                    //    {
-                    //        if (result.materialCollection[j].MaterialLoc > result.materialCollection[j + 1].MaterialLoc)
-                    //        {
-                    //            material = result.materialCollection[j];
-                    //            result.materialCollection[j] = result.materialCollection[j + 1];
-                    //            result.materialCollection[j + 1] = material;
-                    //        }
-                    //    }
-                    //}
+                    LOneRecipeDataToPlc();
+                    LOneLoadRoller();
+                    LOneFryPotInputMaterial();
+                    LOneFryPotOutputMaterial();
+                    globalVar.LOneTaskLock = false;
+                }));
+
+            }
+
+        }
+        /// <summary>
+        /// 线体2的执行流程
+        /// </summary>
+        public void LineTwoProcessExecute()
+        {
+            if (!globalVar.LTwoTaskLock)
+            {
+                globalVar.LTwoTaskLock = true;
+                Task.Run(new Action(() =>
+                {
+                    LTwoRecipeDataToPlc();
+                    LTwoAgvLoadRoller();
+                    LTwoFryPotInputMaterial();
+                    LTwoFryPotOutputMaterial();
+                    globalVar.LTwoTaskLock = false;
+                }));
+            }
+        }
+        /// <summary>
+        /// 线体3的执行流程
+        /// </summary>
+        public void LineThreeProcessExecute()
+        {
+            if (!globalVar.LThreeTaskLock)
+            {
+                globalVar.LThreeTaskLock = true;
+                Task.Run(new Action(() =>
+                {
+                    LThreeRecipeDataToPlc();
+                    LThreeAgvLoadRoller();
+                    LThreeFryPotInputMaterial();
+                    LThreeFryPotOutputMaterial();
+                    globalVar.LThreeTaskLock = false;
+                }));
+            }
+        }
+
+        /// <summary>
+        /// 3号滚筒线数据下发 2022/7/4 新增
+        /// </summary>
+        /// <exception cref="NotImplementedException"></exception>
+        private void LThreeRecipeDataToPlc()
+        {
+            if (LThreeOutputMaterialQuene.Count == 0 && LThreeInputMaterialQuene.Count == 0 && !LThreeErrorRecipe)
+            {
+                if (globalVar.LThreeCurrentRecipeName != string.Empty)
+                {
+                    MessageLog.GetInstance.ShowUserLog($"【3】号滚筒线【{globalVar.LThreeCurrentRecipeName}】 配方制作完成");
+                    globalVar.LThreeCurrentRecipeName = string.Empty;
+                }
+            }
+            if (LThreeRecipeQuene.Count > 0 && LThreeOutputMaterialQuene.Count == 0 && LThreeInputMaterialQuene.Count == 0)//后续添加其它限制条件
+            {
+                if (globalVar.LThreeCurrentRecipeName != string.Empty)
+                    MessageLog.GetInstance.ShowUserLog($"【3】号滚筒线【{globalVar.LThreeCurrentRecipeName}】 配方制作完成");
+                if (LThreeRecipeQuene.TryDequeue(out NewRecipeModel result))
+                {
+                    LThreeErrorRecipe = false;
+                    int headNum = result.materialCollection[0].MaterialLoc / 100;
+                    globalVar.LThreeCurrentRecipeName = result.RecipeName;
+                    MessageLog.GetInstance.ShowUserLog($"【3】号滚筒线开始制作【{result.RecipeName}】 配方");
                     for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料
                     {
-                        //将配方中原料加入新的队列
-                        InputMaterialQuene.Enqueue(new MaterialInfo()
+                        if (result.materialCollection[i].MaterialLoc % 100 == i + 1 && result.materialCollection[i].MaterialLoc / 100 == headNum && headNum == 3)
                         {
-                            materialType = result.materialCollection[i],
-                            materialId = result.RecipeId
-                        });
-                        ushort n = result.materialCollection[i].MaterialLoc;
-                        switch (n / 100)
+                            //将配方中原料加入新的队列
+                            LThreeInputMaterialQuene.Enqueue(new MaterialInfo()
+                            {
+                                materialType = result.materialCollection[i],
+                                materialId = result.RecipeId
+                            });
+                            RollerThreeDataWrite(i, result.materialCollection[i].MaterialLoc, result.materialCollection[i].MaterialWeight);//3号滚筒线桶号以及重量数据下发 
+                        }
+                        else
                         {
-                            case 1:
-                            case 4: RollerOneDataWrite(i, result.materialCollection[i].MaterialLoc, result.materialCollection[i].MaterialWeight); break;//1号滚筒线桶号以及重量数据下发
-                            case 2:
-                            case 5: RollerTwoDataWrite(i, result.materialCollection[i].MaterialLoc, result.materialCollection[i].MaterialWeight); break;//2号滚筒线桶号以及重量数据下发
-                            case 3: RollerThreeDataWrite(i, result.materialCollection[i].MaterialLoc, result.materialCollection[i].MaterialWeight); break;//3号滚筒线桶号以及重量数据下发
+                            MessageLog.GetInstance.ShowUserLog($"【3】号滚筒线配方桶号配置错误，取消【{result.RecipeName}】配方制作");
+                            LThreeInputMaterialQuene.Clear();
+                            LThreeErrorRecipe = true;
+                            return;
                         }
                     }
-                    switch (result.materialCollection[0].MaterialLoc / 100)
+                    DeviceOperate.GetInstance.WritePlcData("D1043", (ushort)result.materialCollection.Count);//发送3号滚筒线工序数据
+                }
+            }
+
+
+
+        }
+        /// <summary>
+        /// 2号滚筒线数据下发 2022/7/4 新增
+        /// </summary>
+        /// <exception cref="NotImplementedException"></exception>
+        private void LTwoRecipeDataToPlc()
+        {
+            if (LTwoOutputMaterialQuene.Count == 0 && LTwoInputMaterialQuene.Count == 0 && !LTwoErrorRecipe)
+            {
+                if (globalVar.LTwoCurrentRecipeName != string.Empty)
+                {
+                    MessageLog.GetInstance.ShowUserLog($"【2】号滚筒线【{globalVar.LTwoCurrentRecipeName}】 配方制作完成");
+                    globalVar.LTwoCurrentRecipeName = string.Empty;
+                }
+            }
+
+            if (LTwoRecipeQuene.Count > 0 && LTwoOutputMaterialQuene.Count == 0 && LTwoInputMaterialQuene.Count == 0)//后续添加其它限制条件
+            {
+                if (globalVar.LTwoCurrentRecipeName != string.Empty)
+                    MessageLog.GetInstance.ShowUserLog($"【2】号滚筒线【{globalVar.LTwoCurrentRecipeName}】 配方制作完成");
+                if (LTwoRecipeQuene.TryDequeue(out NewRecipeModel result))
+                {
+                    LTwoErrorRecipe = false;
+                    int headNum = result.materialCollection[0].MaterialLoc / 100;
+                    globalVar.LTwoCurrentRecipeName = result.RecipeName;
+                    MessageLog.GetInstance.ShowUserLog($"【2】号滚筒线开始制作【{result.RecipeName}】 配方");
+                    for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料
                     {
-                        case 1:
-                            DeviceOperate.GetInstance.WritePlcData("D1009", (ushort)result.materialCollection.Count); break;//发送1号滚筒线工序数据
-                        case 2:
-                            DeviceOperate.GetInstance.WritePlcData("D1026", (ushort)result.materialCollection.Count); break;//发送2号滚筒线工序数据
-                        case 3:
-                            DeviceOperate.GetInstance.WritePlcData("D1043", (ushort)result.materialCollection.Count); break;//发送3号滚筒线工序数据
+                        if (result.materialCollection[i].MaterialLoc % 100 == i + 1 && result.materialCollection[i].MaterialLoc / 100 == headNum && (headNum == 2 || headNum == 5))
+                        {
+                            //将配方中原料加入新的队列
+                            LTwoInputMaterialQuene.Enqueue(new MaterialInfo()
+                            {
+                                materialType = result.materialCollection[i],
+                                materialId = result.RecipeId
+                            });
+                            RollerTwoDataWrite(i, result.materialCollection[i].MaterialLoc, result.materialCollection[i].MaterialWeight);//2号滚筒线桶号以及重量数据下发 
+                        }
+                        else
+                        {
+                            MessageLog.GetInstance.ShowUserLog($"【2】号滚筒线配方桶号配置错误,取消【{result.RecipeName}】配方制作");
+                            LTwoInputMaterialQuene.Clear();
+                            LTwoErrorRecipe = true;
+                            return;
+                        }
                     }
+                    DeviceOperate.GetInstance.WritePlcData("D1026", (ushort)result.materialCollection.Count);//发送2号滚筒线工序数据
                 }
             }
 
+
+
         }
+
         /// <summary>
-        /// AGV到配方对应线体装桶以及出料到炒锅
+        /// 1号滚筒线数据下发 2022/7/4 新增
         /// </summary>
-        public void AgvLoadRoller()
+        private void LOneRecipeDataToPlc()
         {
-            //lineAlarm = 0;
-            if (InputMaterialQuene.Count > 0)
+            if (OutputMaterialQuene.Count == 0 && InputMaterialQuene.Count == 0 && !ErrorRecipe)
+            {
+                if (globalVar.LOneCurrentRecipeName != string.Empty)
+                {
+                    MessageLog.GetInstance.ShowUserLog($"【1】号滚筒线【{globalVar.LOneCurrentRecipeName}】 配方制作完成");
+                    globalVar.LOneCurrentRecipeName = string.Empty;
+                }
+            }
+            if (RecipeQuene.Count > 0 && OutputMaterialQuene.Count == 0 && InputMaterialQuene.Count == 0)//后续添加其它限制条件
             {
-                switch (InputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
+                if (RecipeQuene.TryDequeue(out NewRecipeModel result))
                 {
-                    case 1:
-                    case 4: AgvToLineOneLoadRoller(); AgvFromLineOneToFryPot(); break;//AGV到1号线体装桶
-                    case 2:
-                    case 5: AgvToLineTwoLoadRoller(); AgvFromLineTwoToFryPot(); break;//AGV到2号线体装桶
-                    case 3: AgvToLineThreeLoadRoller(); AgvFromLineThreeToFryPot(); break;//AGV到3号线体装桶
+                    ErrorRecipe = false;
+                    int headNum = result.materialCollection[0].MaterialLoc / 100; ;
+                    globalVar.LOneCurrentRecipeName = result.RecipeName;
+                    MessageLog.GetInstance.ShowUserLog($"【1】号滚筒线开始制作【{result.RecipeName}】 配方");
+                    for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料
+                    {
+                        if (result.materialCollection.Count<=8&&result.materialCollection[i].MaterialLoc % 100 == i + 1 && result.materialCollection[i].MaterialLoc / 100 == headNum && (headNum == 1 || headNum == 4))
+                        {
+                            //将配方中原料加入新的队列
+                            InputMaterialQuene.Enqueue(new MaterialInfo()
+                            {
+                                materialType = result.materialCollection[i],
+                                materialId = result.RecipeId
+                            });
+                            RollerOneDataWrite(i, result.materialCollection[i].MaterialLoc, result.materialCollection[i].MaterialWeight);//1号滚筒线桶号以及重量数据下发
+                        }
+                        else
+                        {
+                            MessageLog.GetInstance.ShowUserLog($"【1】号滚筒线配方桶号配置错误，取消【{result.RecipeName}】配方制作");
+                            InputMaterialQuene.Clear();
+                            ErrorRecipe = true;
+                            return;
+                        }
+                    }
+                    DeviceOperate.GetInstance.WritePlcData("D1009", (ushort)result.materialCollection.Count);//发送1号滚筒线工序数据
+
                 }
             }
 
+
+
+        }
+
+        /// <summary>
+        /// 数据下发PLC
+        /// </summary>
+        //public void RecipeDataToPlc()
+        //{
+        //    if (RecipeQuene.Count > 0 && OutputMaterialQuene.Count == 0 && InputMaterialQuene.Count == 0)//后续添加其它限制条件
+        //    {
+        //        //NewRecipeModel newRecipe = new NewRecipeModel();
+        //        //MaterialType material = new MaterialType();
+        //        if (RecipeQuene.TryDequeue(out NewRecipeModel result))
+        //        {
+        //            //newRecipe = result;
+        //            MessageLog.GetInstance.ShowRunLog($"开始制作【{result.RecipeName}】 配方");
+        //            //for (int k = 0; k < newRecipe.materialCollection.Count - 1; k++)
+        //            //{
+        //            //    for (int j = 0; j < newRecipe.materialCollection.Count - 1 - k; j++)
+        //            //    {
+        //            //        if (newRecipe.materialCollection[j].MaterialLoc > newRecipe.materialCollection[j + 1].MaterialLoc)
+        //            //        {
+        //            //            material = newRecipe.materialCollection[j];
+        //            //           // newRecipe.materialCollection[j] = null;
+        //            //            newRecipe.materialCollection[j] = newRecipe.materialCollection[j + 1];
+        //            //           // newRecipe.materialCollection[j + 1] = null;
+        //            //            newRecipe.materialCollection[j + 1] = material;
+        //            //        }
+        //            //    }
+        //            //}
+        //            for (int i = 0; i < result.materialCollection.Count; i++) //遍历单个配方中所有物料
+        //            {
+        //                //将配方中原料加入新的队列
+        //                InputMaterialQuene.Enqueue(new MaterialInfo()
+        //                {
+        //                    materialType = result.materialCollection[i],
+        //                    materialId = result.RecipeId
+        //                });
+        //                ushort n = result.materialCollection[i].MaterialLoc;
+        //                switch (n / 100)
+        //                {
+        //                    case 1:
+        //                    case 4: RollerOneDataWrite(i, result.materialCollection[i].MaterialLoc, result.materialCollection[i].MaterialWeight); break;//1号滚筒线桶号以及重量数据下发
+        //                    case 2:
+        //                    case 5: RollerTwoDataWrite(i, result.materialCollection[i].MaterialLoc, result.materialCollection[i].MaterialWeight); break;//2号滚筒线桶号以及重量数据下发
+        //                    case 3: RollerThreeDataWrite(i, result.materialCollection[i].MaterialLoc, result.materialCollection[i].MaterialWeight); break;//3号滚筒线桶号以及重量数据下发
+        //                }
+        //            }
+        //            switch (result.materialCollection[0].MaterialLoc / 100)
+        //            {
+        //                case 1:
+        //                    DeviceOperate.GetInstance.WritePlcData("D1009", (ushort)result.materialCollection.Count); break;//发送1号滚筒线工序数据
+        //                case 2:
+        //                    DeviceOperate.GetInstance.WritePlcData("D1026", (ushort)result.materialCollection.Count); break;//发送2号滚筒线工序数据
+        //                case 3:
+        //                    DeviceOperate.GetInstance.WritePlcData("D1043", (ushort)result.materialCollection.Count); break;//发送3号滚筒线工序数据
+        //            }
+        //        }
+        //    }
+
+        //}
+        /// <summary>
+        /// AGV到配方线体1装桶以及出料到炒锅
+        /// </summary>
+        //public void AgvLoadRoller()
+        //{
+        //    //lineAlarm = 0;
+        //    if (InputMaterialQuene.Count > 0)
+        //    {
+        //        switch (InputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
+        //        {
+        //            case 1:
+        //            case 4: AgvToLineOneLoadRoller(); AgvFromLineOneToFryPot(); break;//AGV到1号线体装桶
+        //            case 2:
+        //            case 5: AgvToLineTwoLoadRoller(); AgvFromLineTwoToFryPot(); break;//AGV到2号线体装桶
+        //            case 3: AgvToLineThreeLoadRoller(); AgvFromLineThreeToFryPot(); break;//AGV到3号线体装桶
+        //        }
+        //    }
+
+        //}
+        /// <summary>
+        /// AGV到配方线体1装桶以及出料到炒锅
+        /// </summary>
+        public void LOneLoadRoller()
+        {
+            if (InputMaterialQuene.Count > 0)
+            {
+                AgvToLineOneLoadRoller();
+                AgvFromLineOneToFryPot();//AGV到1号线体装桶
+            }
+        }
+        /// <summary>
+        ///  AGV到配方线体2装桶以及出料到炒锅
+        /// </summary>
+        public void LTwoAgvLoadRoller()
+        {
+            if (LTwoInputMaterialQuene.Count > 0)
+            {
+
+                AgvToLineTwoLoadRoller();
+                AgvFromLineTwoToFryPot();//AGV到2号线体装桶 
+
+
+            }
+        }
+        /// <summary>
+        ///  AGV到配方线体3装桶以及出料到炒锅
+        /// </summary>
+        public void LThreeAgvLoadRoller()
+        {
+            if (LThreeInputMaterialQuene.Count > 0)
+            {
+
+                AgvToLineThreeLoadRoller();
+                AgvFromLineThreeToFryPot();//AGV到2号线体装桶  
+
+
+            }
         }
         /// <summary>
         /// AGV从炒锅送料位置到倒料过程处理
         /// </summary>
-        public void FryPotInputMaterial()
+        //public void FryPotInputMaterial()
+        //{
+        //    if (OutputMaterialQuene.Count > 0 && !globalVar.InOrOutputLock)
+        //    {
+        //        while (!agvArriveUnLoad)//等待agv到达炒锅位置
+        //        {
+        //            Thread.Sleep(5);
+        //            if (globalVar.ExitMainTask)
+        //                return;
+        //        }
+        //        AgvArriveFryPotSingleSetDown();
+        //        FryPotRollerTroubleCheck();
+        //        if (FryPotAlarm == 1)//炒锅滚筒无故障
+        //        {
+        //            //炒锅滚筒进料运行到位处理
+        //            FryPotInputMaterialRollerOperate();
+        //            globalVar.InOrOutputLock = true;
+        //        }
+
+        //    }
+
+        //}
+        /// <summary>
+        /// 线体1的AGV从炒锅送料位置到倒料过程处理
+        /// </summary>
+        public void LOneFryPotInputMaterial()
         {
             if (OutputMaterialQuene.Count > 0 && !globalVar.InOrOutputLock)
             {
-
                 while (!agvArriveUnLoad)//等待agv到达炒锅位置
                 {
                     Thread.Sleep(5);
                     if (globalVar.ExitMainTask)
                         return;
                 }
-                AgvArriveFryPotSingleSetDown();
-                FryPotRollerTroubleCheck();
-                if (FryPotAlarm == 1)//炒锅滚筒无故障
+                agvArriveUnLoad = false;
+                MessageLog.GetInstance.ShowRunLog("AGV到达【1】号线体指定炒锅下料位置");
+                AgvArriveFryPotOneOrFourSingleSetDown();
+                FryPotOneRollerTroubleCheck();
+                if (FryPotAlarm == 1 || FryPotFourAlarm == 1)//炒锅滚筒无故障
                 {
                     //炒锅滚筒进料运行到位处理
-                    FryPotInputMaterialRollerOperate();
+                    FryPotOneOrFourInputMaterialRollerOperate();
                     globalVar.InOrOutputLock = true;
                 }
 
             }
-
         }
         /// <summary>
-        /// 炒锅出桶
+        /// 线体2的AGV从炒锅送料位置到倒料过程处理
+        /// </summary>
+        public void LTwoFryPotInputMaterial()
+        {
+            if (LTwoOutputMaterialQuene.Count > 0 && !globalVar.LTwoInOrOutputLock)
+            {
+                while (!LTwoagvArriveUnLoad)//等待agv到达炒锅位置
+                {
+                    Thread.Sleep(5);
+                    if (globalVar.ExitMainTask)
+                        return;
+                }
+                LTwoagvArriveUnLoad = false;
+                MessageLog.GetInstance.ShowRunLog("AGV到达【2】号线体指定炒锅下料位置");
+                AgvArriveFryPotTwoOrFiveSingleSetDown();
+                FryPotTwoRollerTroubleCheck();
+                if (FryPotTwoAlarm == 1 || FryPotFiveAlarm == 1)//炒锅滚筒无故障
+                {
+                    //炒锅滚筒进料运行到位处理
+                    FryPotTwoOrFiveInputMaterialRollerOperate();
+                    globalVar.LTwoInOrOutputLock = true;
+                }
+
+            }
+        }
+        /// <summary>
+        /// 线体3的AGV从炒锅送料位置到倒料过程处理
+        /// </summary>
+        public void LThreeFryPotInputMaterial()
+        {
+            if (LThreeOutputMaterialQuene.Count > 0 && !globalVar.LThreeInOrOutputLock)
+            {
+                while (!LThreeagvArriveUnLoad)//等待agv到达炒锅位置
+                {
+                    Thread.Sleep(5);
+                    if (globalVar.ExitMainTask)
+                        return;
+                }
+                LThreeagvArriveUnLoad = false;
+                MessageLog.GetInstance.ShowRunLog("AGV到达【3】号线体指定炒锅下料位置");
+                AgvArriveFryPotThreeSingleSetDown();
+                FryPotThreeRollerTroubleCheck();
+                if (FryPotThreeAlarm == 1)//炒锅滚筒无故障
+                {
+                    //炒锅滚筒进料运行到位处理
+                    FryPotThreeInputMaterialRollerOperate();
+                    globalVar.LThreeInOrOutputLock = true;
+                }
+
+            }
+        }
+        /// <summary>
+        /// 炒锅出桶
+        /// </summary>
+        //public void FryPotOutputMaterial()
+        //{
+        //    if (OutputMaterialQuene.Count > 0 && globalVar.InOrOutputLock)
+        //    {
+        //        AgvFromFryPotToClean();//上游下发搬运任务给AGV
+        //        while (!agvArriveUpLoad)//等待agv到达炒锅位置
+        //        {
+        //            Thread.Sleep(5);
+        //            if (globalVar.ExitMainTask)
+        //                return;
+        //        }
+        //        agvArriveUpLoad = false;
+        //        AgvArriveFryPotOutEmptyRollerSingleSetDown();//暂时考虑agv送完料后原地等待，不加条件，直接发送到位信号
+        //        FryPotRollerTroubleCheck();
+        //        if (FryPotAlarm == 1)//无故障
+        //        {
+        //            FryPotOutEmpetyRollerOperate();
+        //            if (OutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
+        //            {
+        //                while (!agvFryPotEmptyRollerArrive)//等待AGV拿到出桶空桶
+        //                {
+        //                    Thread.Sleep(5);
+        //                    if (globalVar.ExitMainTask)
+        //                        return;
+        //                }
+        //                //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅
+        //                globalVar.AllowAgvToLineLoadRoller = true;
+        //                globalVar.InOrOutputLock = false;
+        //            }
+        //        }
+
+        //    }
+        //}
+        /// <summary>
+        /// 线体1对应炒锅出桶
+        /// </summary>
+        public void LOneFryPotOutputMaterial()
+        {
+            if (OutputMaterialQuene.Count > 0 && globalVar.InOrOutputLock)
+            {
+                AgvFromFryPotOneOrFourToClean();//上游下发搬运任务给AGV
+                while (!agvArriveUpLoad)//等待agv到达炒锅位置
+                {
+                    Thread.Sleep(5);
+                    if (globalVar.ExitMainTask)
+                        return;
+                }
+                agvArriveUpLoad = false;
+                MessageLog.GetInstance.ShowRunLog("AGV到达【1】号滚筒线对应炒锅空桶上料位置");
+                AgvArriveFryPotOneOrFourOutEmptyRollerSingleSetDown();//暂时考虑agv送完料后原地等待，不加条件，直接发送到位信号
+                FryPotOneRollerTroubleCheck();
+                if (FryPotAlarm == 1 || FryPotFourAlarm == 1)//无故障
+                {
+                    FryPotOneOrFourOutEmpetyRollerOperate();
+                    if (OutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
+                    {
+                        while (!agvFryPotEmptyRollerArrive)//等待AGV拿到出桶空桶
+                        {
+                            Thread.Sleep(5);
+                            if (globalVar.ExitMainTask)
+                                return;
+                        }
+                        agvFryPotEmptyRollerArrive = false;
+                        MessageLog.GetInstance.ShowRunLog("AGV在【1】号滚筒线对应炒锅空桶上料完成,将进行空桶回收");
+                        //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅
+                        globalVar.AllowAgvToLineLoadRoller = true;
+                        globalVar.InOrOutputLock = false;
+                    }
+                }
+
+            }
+        }
+        /// <summary>
+        /// 线体2对应炒锅出桶
+        /// </summary>
+        public void LTwoFryPotOutputMaterial()
+        {
+            if (LTwoOutputMaterialQuene.Count > 0 && globalVar.LTwoInOrOutputLock)
+            {
+                AgvFromFryPotTwoOrFiveToClean();//上游下发搬运任务给AGV
+                while (!agvArriveLTwoUpLoad)//等待agv到达炒锅上料位置
+                {
+                    Thread.Sleep(5);
+                    if (globalVar.ExitMainTask)
+                        return;
+                }
+                agvArriveLTwoUpLoad = false;
+                MessageLog.GetInstance.ShowRunLog("AGV到达【2】号滚筒线对应炒锅空桶上料位置");
+                AgvArriveFryPotTwoOrFiveOutEmptyRollerSingleSetDown();//暂时考虑agv送完料后原地等待，不加条件，直接发送到位信号
+                FryPotTwoRollerTroubleCheck();
+                if (FryPotTwoAlarm == 1 || FryPotFiveAlarm == 1)//无故障
+                {
+                    FryPotTwoOrFiveOutEmpetyRollerOperate();
+                    if (LTwoOutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
+                    {
+                        while (!LTwoagvFryPotEmptyRollerArrive)//等待AGV拿到出桶空桶
+                        {
+                            Thread.Sleep(5);
+                            if (globalVar.ExitMainTask)
+                                return;
+                        }
+                        LTwoagvFryPotEmptyRollerArrive = false;
+                        MessageLog.GetInstance.ShowRunLog("AGV在【2】号滚筒线对应炒锅空桶上料完成,将进行空桶回收");
+                        //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅
+                        globalVar.AllowAgvToLineTwoLoadRoller = true;
+                        globalVar.LTwoInOrOutputLock = false;
+                    }
+                }
+
+            }
+        }
+        /// <summary>
+        /// 线体3对应炒锅出桶
         /// </summary>
-        public void FryPotOutputMaterial()
+        public void LThreeFryPotOutputMaterial()
         {
-            if (OutputMaterialQuene.Count > 0 && globalVar.InOrOutputLock)
+            if (LThreeOutputMaterialQuene.Count > 0 && globalVar.LThreeInOrOutputLock)
             {
-                AgvFromFryPotToClean();//上游下发搬运任务给AGV
-                while (!agvArriveUpLoad)//等待agv到达炒锅位置
+                AgvFromFryPotThreeToClean();//上游下发搬运任务给AGV
+                while (!agvArriveLThreeUpLoad)//等待agv到达炒锅位置
                 {
                     Thread.Sleep(5);
                     if (globalVar.ExitMainTask)
                         return;
                 }
-                agvArriveUpLoad = false;
-                AgvArriveFryPotOutEmptyRollerSingleSetDown();//暂时考虑agv送完料后原地等待，不加条件，直接发送到位信号
-                FryPotRollerTroubleCheck();
-                if (FryPotAlarm == 1)//无故障
+                agvArriveLThreeUpLoad = false;
+                MessageLog.GetInstance.ShowRunLog("AGV到达【3】号滚筒线对应炒锅空桶上料位置");
+                AgvArriveFryPotThreeOutEmptyRollerSingleSetDown();//暂时考虑agv送完料后原地等待，不加条件，直接发送到位信号
+                FryPotThreeRollerTroubleCheck();
+                if (FryPotThreeAlarm == 1)//无故障
                 {
-                    FryPotOutEmpetyRollerOperate();
-                    if (OutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
+                    FryPotThreeOutEmpetyRollerOperate();
+                    if (LThreeOutputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))//空桶出桶后，出料原料队列移除对应原料
                     {
-                        while (!agvFryPotEmptyRollerArrive)//等待AGV拿到出桶空桶
+                        while (!LThreeagvFryPotEmptyRollerArrive)//等待AGV拿到出桶空桶
                         {
                             Thread.Sleep(5);
                             if (globalVar.ExitMainTask)
                                 return;
                         }
+                        LThreeagvFryPotEmptyRollerArrive = false;
+                        MessageLog.GetInstance.ShowRunLog("AGV在【3】号滚筒线对应炒锅空桶上料完成,将进行空桶回收");
                         //AGV拿到空桶,让AGV运桶到指定位置，同时可以让下一个AGV从线体装料运到炒锅
-                        globalVar.AllowAgvToLineLoadRoller = true;
-                        globalVar.InOrOutputLock = false;
+                        globalVar.AllowAgvToLineThreeLoadRoller = true;
+                        globalVar.LThreeInOrOutputLock = false;
                     }
                 }
 
@@ -557,9 +1352,9 @@ namespace FryPot_DosingSystem.Control
         /// <summary>
         /// 炒锅滚筒进料运行到位处理
         /// </summary>
-        public void FryPotInputMaterialRollerOperate()
+        public void FryPotInputMaterialRollerOperate(ConcurrentQueue<MaterialInfo> queue)
         {
-            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
+            switch (queue.ElementAt(0).materialType.MaterialLoc / 100)
             {
                 case 1:
                     while (globalVar.fryPotOne.InputMaterialArrivedSingle == 0)
@@ -600,11 +1395,66 @@ namespace FryPot_DosingSystem.Control
 
         }
         /// <summary>
-        /// 炒锅滚筒空桶出桶处理
+        /// 炒锅1,4滚筒进料运行到位处理
         /// </summary>
-        public void FryPotOutEmpetyRollerOperate()
+        public void FryPotOneOrFourInputMaterialRollerOperate()
         {
             switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
+            {
+                case 1:
+                    while (globalVar.fryPotOne.InputMaterialArrivedSingle == 0)
+                    {
+                        Thread.Sleep(5); if (globalVar.ExitMainTask)
+                            return;
+                    }
+                    MessageLog.GetInstance.ShowRunLog($"炒锅【1】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}已到进料位置，准备倒料"); break;
+                case 4:
+                    while (globalVar.fryPotFour.InputMaterialArrivedSingle == 0)
+                    {
+                        Thread.Sleep(5); if (globalVar.ExitMainTask)
+                            return;
+                    }
+                    MessageLog.GetInstance.ShowRunLog($"炒锅【4】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}已到进料位置，准备倒料"); break;
+            }
+        }
+        /// <summary>
+        /// 炒锅2,5滚筒进料运行到位处理
+        /// </summary>
+        public void FryPotTwoOrFiveInputMaterialRollerOperate()
+        {
+            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
+            {
+                case 2:
+                    while (globalVar.fryPotTwo.InputMaterialArrivedSingle == 0)
+                    {
+                        Thread.Sleep(5); if (globalVar.ExitMainTask)
+                            return;
+                    }
+                    MessageLog.GetInstance.ShowRunLog($"炒锅【2】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}已到进料位置，准备倒料"); break;
+                case 5:
+                    while (globalVar.fryPotFive.InputMaterialArrivedSingle == 0)
+                    {
+                        Thread.Sleep(5); if (globalVar.ExitMainTask)
+                            return;
+                    }
+                    MessageLog.GetInstance.ShowRunLog($"炒锅【5】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}已到进料位置，准备倒料"); break;
+            }
+        }
+        public void FryPotThreeInputMaterialRollerOperate()
+        {
+            while (globalVar.fryPotThree.InputMaterialArrivedSingle == 0)
+            {
+                Thread.Sleep(5); if (globalVar.ExitMainTask)
+                    return;
+            }
+            MessageLog.GetInstance.ShowRunLog($"炒锅【3】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}已到进料位置，准备倒料");
+        }
+        /// <summary>
+        /// 炒锅滚筒空桶出桶处理
+        /// </summary>
+        public void FryPotOutEmpetyRollerOperate(ConcurrentQueue<MaterialInfo> queue)
+        {
+            switch (queue.ElementAt(0).materialType.MaterialLoc / 100)
             {
                 case 1:
                     while (globalVar.fryPotOne.EmptyBarrelArrivedSingle == 0)
@@ -612,44 +1462,102 @@ namespace FryPot_DosingSystem.Control
                         Thread.Sleep(5); if (globalVar.ExitMainTask)
                             return;
                     }
-                    MessageLog.GetInstance.ShowRunLog($"炒锅【1】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}空桶到达出桶位置,正在出桶"); break;
+                    MessageLog.GetInstance.ShowRunLog($"炒锅【1】原料：【{queue.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
                 case 2:
                     while (globalVar.fryPotTwo.EmptyBarrelArrivedSingle == 0)
                     {
                         Thread.Sleep(5); if (globalVar.ExitMainTask)
                             return;
                     }
-                    MessageLog.GetInstance.ShowRunLog($"炒锅【2】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}空桶到达出桶位置,正在出桶"); break;
+                    MessageLog.GetInstance.ShowRunLog($"炒锅【2】原料：【{queue.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
                 case 3:
                     while (globalVar.fryPotThree.EmptyBarrelArrivedSingle == 0)
                     {
                         Thread.Sleep(5); if (globalVar.ExitMainTask)
                             return;
                     }
-                    MessageLog.GetInstance.ShowRunLog($"炒锅【3】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}空桶到达出桶位置,正在出桶"); break;
+                    MessageLog.GetInstance.ShowRunLog($"炒锅【3】原料：【{queue.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
                 case 4:
                     while (globalVar.fryPotFour.EmptyBarrelArrivedSingle == 0)
                     {
                         Thread.Sleep(5); if (globalVar.ExitMainTask)
                             return;
                     }
-                    MessageLog.GetInstance.ShowRunLog($"炒锅【4】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}空桶到达出桶位置,正在出桶"); break;
+                    MessageLog.GetInstance.ShowRunLog($"炒锅【4】原料：【{queue.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
                 case 5:
                     while (globalVar.fryPotFive.EmptyBarrelArrivedSingle == 0)
                     {
                         Thread.Sleep(5); if (globalVar.ExitMainTask)
                             return;
                     }
-                    MessageLog.GetInstance.ShowRunLog($"炒锅【5】原料：{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}空桶到达出桶位置,正在出桶"); break;
+                    MessageLog.GetInstance.ShowRunLog($"炒锅【5】原料：【{queue.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
 
             }
         }
         /// <summary>
-        /// 发送agv送料就位信号至PLC（线体到炒锅）
+        /// 炒锅1,4滚筒空桶出桶处理
         /// </summary>
-        public void AgvArriveFryPotSingleSetDown()
+        public void FryPotOneOrFourOutEmpetyRollerOperate()
         {
             switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
+            {
+                case 1:
+                    while (globalVar.fryPotOne.EmptyBarrelArrivedSingle == 0)
+                    {
+                        Thread.Sleep(5); if (globalVar.ExitMainTask)
+                            return;
+                    }
+                    MessageLog.GetInstance.ShowRunLog($"炒锅【1】原料：【{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
+                case 4:
+                    while (globalVar.fryPotFour.EmptyBarrelArrivedSingle == 0)
+                    {
+                        Thread.Sleep(5); if (globalVar.ExitMainTask)
+                            return;
+                    }
+                    MessageLog.GetInstance.ShowRunLog($"炒锅【4】原料：【{OutputMaterialQuene.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
+            }
+        }
+        /// <summary>
+        /// 炒锅2,5滚筒空桶出桶处理
+        /// </summary>
+        public void FryPotTwoOrFiveOutEmpetyRollerOperate()
+        {
+            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
+            {
+                case 2:
+                    while (globalVar.fryPotTwo.EmptyBarrelArrivedSingle == 0)
+                    {
+                        Thread.Sleep(5); if (globalVar.ExitMainTask)
+                            return;
+                    }
+                    MessageLog.GetInstance.ShowRunLog($"炒锅【2】原料：【{LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
+                case 5:
+                    while (globalVar.fryPotFive.EmptyBarrelArrivedSingle == 0)
+                    {
+                        Thread.Sleep(5); if (globalVar.ExitMainTask)
+                            return;
+                    }
+                    MessageLog.GetInstance.ShowRunLog($"炒锅【5】原料：【{LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶"); break;
+            }
+        }
+        /// <summary>
+        /// 炒锅3滚筒空桶出桶处理
+        /// </summary>
+        public void FryPotThreeOutEmpetyRollerOperate()
+        {
+            while (globalVar.fryPotThree.EmptyBarrelArrivedSingle == 0)
+            {
+                Thread.Sleep(5); if (globalVar.ExitMainTask)
+                    return;
+            }
+            MessageLog.GetInstance.ShowRunLog($"炒锅【3】原料：【{LThreeOutputMaterialQuene.ElementAt(0).materialType.MaterialName}】空桶到达出桶位置,正在出桶");
+        }
+        /// <summary>
+        /// 发送agv送料就位信号至PLC（线体到炒锅）
+        /// </summary>
+        public void AgvArriveFryPotSingleSetDown(ConcurrentQueue<MaterialInfo> queue)
+        {
+            switch (queue.ElementAt(0).materialType.MaterialLoc / 100)
             {
                 case 1: DeviceOperate.GetInstance.WritePlcData("D1055", 1); break;//agv到炒锅1送料就位信号
                 case 2: DeviceOperate.GetInstance.WritePlcData("D1056", 1); break;//agv到炒锅2送料就位信号
@@ -659,11 +1567,40 @@ namespace FryPot_DosingSystem.Control
             }
         }
         /// <summary>
-        /// 发送agv回桶就位信号至PLC
+        /// 发送agv送料就位信号至PLC（线体1到炒锅）
         /// </summary>
-        public void AgvArriveFryPotOutEmptyRollerSingleSetDown()
+        public void AgvArriveFryPotOneOrFourSingleSetDown()
         {
             switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
+            {
+                case 1: DeviceOperate.GetInstance.WritePlcData("D1055", 1); break;//agv到炒锅1送料就位信号
+                case 4: DeviceOperate.GetInstance.WritePlcData("D1058", 1); break;//agv到炒锅4送料就位信号
+            }
+        }
+        /// <summary>
+        /// 发送agv送料就位信号至PLC（线体2到炒锅）
+        /// </summary>
+        public void AgvArriveFryPotTwoOrFiveSingleSetDown()
+        {
+            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
+            {
+                case 2: DeviceOperate.GetInstance.WritePlcData("D1056", 1); break;//agv到炒锅2送料就位信号
+                case 5: DeviceOperate.GetInstance.WritePlcData("D1059", 1); break;//agv到炒锅5送料就位信号
+            }
+        }
+        /// <summary>
+        /// 发送agv送料就位信号至PLC（线体3到炒锅）
+        /// </summary>
+        public void AgvArriveFryPotThreeSingleSetDown()
+        {
+            DeviceOperate.GetInstance.WritePlcData("D1057", 1); //agv到炒锅3送料就位信号
+        }
+        /// <summary>
+        /// 发送agv回桶就位信号至PLC
+        /// </summary>
+        public void AgvArriveFryPotOutEmptyRollerSingleSetDown(ConcurrentQueue<MaterialInfo> queue)
+        {
+            switch (queue.ElementAt(0).materialType.MaterialLoc / 100)
             {
                 case 1: DeviceOperate.GetInstance.WritePlcData("D1060", 1); break;//agv到炒锅1送料就位信号
                 case 2: DeviceOperate.GetInstance.WritePlcData("D1061", 1); break;//agv到炒锅2送料就位信号
@@ -672,67 +1609,161 @@ namespace FryPot_DosingSystem.Control
                 case 5: DeviceOperate.GetInstance.WritePlcData("D1064", 1); break;//agv到炒锅5送料就位信号
             }
         }
+
+        public void AgvArriveFryPotOneOrFourOutEmptyRollerSingleSetDown()
+        {
+            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
+            {
+                case 1: DeviceOperate.GetInstance.WritePlcData("D1060", 1); break;//agv到炒锅1送料就位信号
+                case 4: DeviceOperate.GetInstance.WritePlcData("D1063", 1); break;//agv到炒锅4送料就位信号
+            }
+        }
+        public void AgvArriveFryPotTwoOrFiveOutEmptyRollerSingleSetDown()
+        {
+            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
+            {
+                case 2: DeviceOperate.GetInstance.WritePlcData("D1061", 1); break;//agv到炒锅2送料就位信号
+                case 5: DeviceOperate.GetInstance.WritePlcData("D1064", 1); break;//agv到炒锅5送料就位信号
+            }
+        }
+        public void AgvArriveFryPotThreeOutEmptyRollerSingleSetDown()
+        {
+            DeviceOperate.GetInstance.WritePlcData("D1062", 1);//agv到炒锅3送料就位信号
+        }
         /// <summary>
         /// AGV离开炒锅运送空桶任务
         /// </summary>
-        public void AgvFromFryPotToClean()
+        public void AgvFromFryPotToClean(ConcurrentQueue<MaterialInfo> queue)
         {
-            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
+            switch (queue.ElementAt(0).materialType.MaterialLoc / 100)
             {
                 case 1:
                 erp: string id = Guid.NewGuid().ToString("N");//上游唯一ID
-                    if (id == robotJobId)
+                    if (id == LOnerobotJobId)
                     {
                         goto erp;
                     }
                     string info = AGVHelper.GetInstance.AgvLeaveFryPotOne(id);
-                    robotJobId = id;
+                    LOnerobotJobId = id;
                     FryCarryTaskErrorCodeAnalysis(info, 1); break;
                 case 2:
                 erp1: string id1 = Guid.NewGuid().ToString("N");//上游唯一ID
-                    if (id1 == robotJobId)
+                    if (id1 == LTworobotJobId)
                     {
                         goto erp1;
                     }
                     string info1 = AGVHelper.GetInstance.AgvLeaveFryPotTwo(id1);
-                    robotJobId = id1;
+                    LTworobotJobId = id1;
                     FryCarryTaskErrorCodeAnalysis(info1, 2); break;
                 case 3:
                 erp2: string id2 = Guid.NewGuid().ToString("N");//上游唯一ID
-                    if (id2 == robotJobId)
+                    if (id2 == LThreerobotJobId)
                     {
                         goto erp2;
                     }
                     string info2 = AGVHelper.GetInstance.AgvLeaveFryPotThree(id2);
-                    robotJobId = id2;
+                    LThreerobotJobId = id2;
                     FryCarryTaskErrorCodeAnalysis(info2, 3); break;
                 case 4:
                 erp3: string id3 = Guid.NewGuid().ToString("N");//上游唯一ID
-                    if (id3 == robotJobId)
+                    if (id3 == LOnerobotJobId)
+                    {
+                        goto erp3;
+                    }
+                    string info3 = AGVHelper.GetInstance.AgvLeaveFryPotFour(id3);
+                    LOnerobotJobId = id3;
+                    FryCarryTaskErrorCodeAnalysis(info3, 4); break;
+                case 5:
+                erp4: string id4 = Guid.NewGuid().ToString("N");//上游唯一ID
+                    if (id4 == LTworobotJobId)
+                    {
+                        goto erp4;
+                    }
+                    string info4 = AGVHelper.GetInstance.AgvLeaveFryPotFive(id4);
+                    LTworobotJobId = id4;
+                    FryCarryTaskErrorCodeAnalysis(info4, 5); break;
+            }
+        }
+        /// <summary>
+        /// AGV离开炒锅1,4运送空桶任务
+        /// </summary>
+        public void AgvFromFryPotOneOrFourToClean()
+        {
+            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
+            {
+                case 1:
+                erp: string id = Guid.NewGuid().ToString("N");//上游唯一ID
+                    if (id == LOnerobotJobId)
+                    {
+                        goto erp;
+                    }
+                    MessageLog.GetInstance.ShowRunLog("AGV执行【1】号炒锅空桶回收任务");
+                    string info = AGVHelper.GetInstance.AgvLeaveFryPotOne(id);
+                    LOnerobotJobId = id;
+                    FryCarryTaskErrorCodeAnalysis(info, 1); break;
+                case 4:
+                erp3: string id3 = Guid.NewGuid().ToString("N");//上游唯一ID
+                    if (id3 == LOnerobotJobId)
                     {
                         goto erp3;
                     }
+                    MessageLog.GetInstance.ShowRunLog("AGV执行【4】号炒锅空桶回收任务");
                     string info3 = AGVHelper.GetInstance.AgvLeaveFryPotFour(id3);
-                    robotJobId = id3;
+                    LOnerobotJobId = id3;
                     FryCarryTaskErrorCodeAnalysis(info3, 4); break;
+            }
+        }
+        /// <summary>
+        /// AGV离开炒锅2,5运送空桶任务
+        /// </summary>
+        public void AgvFromFryPotTwoOrFiveToClean()
+        {
+            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
+            {
+                case 2:
+                erp1: string id1 = Guid.NewGuid().ToString("N");//上游唯一ID
+                    if (id1 == LTworobotJobId)
+                    {
+                        goto erp1;
+                    }
+                    MessageLog.GetInstance.ShowRunLog("AGV执行【2】号炒锅空桶回收任务");
+                    string info1 = AGVHelper.GetInstance.AgvLeaveFryPotTwo(id1);
+                    LTworobotJobId = id1;
+                    FryCarryTaskErrorCodeAnalysis(info1, 2); break;
                 case 5:
                 erp4: string id4 = Guid.NewGuid().ToString("N");//上游唯一ID
-                    if (id4 == robotJobId)
+                    if (id4 == LTworobotJobId)
                     {
                         goto erp4;
                     }
+                    MessageLog.GetInstance.ShowRunLog("AGV执行【5】号炒锅空桶回收任务");
                     string info4 = AGVHelper.GetInstance.AgvLeaveFryPotFive(id4);
-                    robotJobId = id4;
+                    LTworobotJobId = id4;
                     FryCarryTaskErrorCodeAnalysis(info4, 5); break;
             }
         }
         /// <summary>
+        /// AGV离开炒锅3运送空桶任务
+        /// </summary>
+        public void AgvFromFryPotThreeToClean()
+        {
+        erp2: string id2 = Guid.NewGuid().ToString("N");//上游唯一ID
+            if (id2 == LThreerobotJobId)
+            {
+                goto erp2;
+            }
+            MessageLog.GetInstance.ShowRunLog("AGV执行【3】号炒锅空桶回收任务");
+            string info2 = AGVHelper.GetInstance.AgvLeaveFryPotThree(id2);
+            LThreerobotJobId = id2;
+            FryCarryTaskErrorCodeAnalysis(info2, 3);
+        }
+        /// <summary>
         /// 处理agv从线体1到送料到炒锅的条件
         /// </summary>
         /// <param name="lineAlarm"></param>
         public void AgvFromLineOneToFryPot()
         {
-        erp: if (globalVar.rollerLineOne.OutMaterialingTroubleSingle == 0)//无故障
+        erp: if (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 0)//无故障
             {
                 while (!agvArriveUpLoad)//等待AGV到线体装料位置
                 {
@@ -741,7 +1772,8 @@ namespace FryPot_DosingSystem.Control
                         return;
                 }
                 agvArriveUpLoad = false;
-                AgvArriveLineSingelSetDown();
+                MessageLog.GetInstance.ShowRunLog("AGV到达【1】号滚筒线装桶位置");
+                AgvArriveLineSingelSetDown(InputMaterialQuene);
                 if (InputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
                 {
                     while (!(globalVar.rollerLineOne.StationEight == materialInfo.materialType.MaterialLoc))//等待线体工号位8存放对应原料桶号
@@ -750,6 +1782,7 @@ namespace FryPot_DosingSystem.Control
                         if (globalVar.ExitMainTask)
                             return;
                     }
+                    MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
                     OutputMaterialQuene.Enqueue(materialInfo);
                     //原料到位，agv到位，agv自行运料到炒锅
                 }
@@ -757,9 +1790,9 @@ namespace FryPot_DosingSystem.Control
             }
             else//有故障
             {
-                while (globalVar.rollerLineOne.OutMaterialingTroubleSingle == 1)
+                while (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 1)
                 {
-                    Thread.Sleep(50);
+                    Thread.Sleep(5);
                     if (globalVar.ExitMainTask)
                         return;
                 }
@@ -774,17 +1807,18 @@ namespace FryPot_DosingSystem.Control
         /// <param name="lineAlarm"></param>
         public void AgvFromLineTwoToFryPot()
         {
-        erp: if (globalVar.rollerLineTwo.OutMaterialingTroubleSingle == 0)//无故障
+        erp: if (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 0)//无故障
             {
-                while (!agvArriveUpLoad)//等待AGV到线体装料位置
+                while (!agvArriveLTwoUpLoad)//等待AGV到线体装料位置
                 {
                     Thread.Sleep(5);
                     if (globalVar.ExitMainTask)
                         return;
                 }
-                agvArriveUpLoad = false;
-                AgvArriveLineSingelSetDown();
-                if (InputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
+                agvArriveLTwoUpLoad = false;
+                MessageLog.GetInstance.ShowRunLog("AGV到达【2】号滚筒线装桶位置");
+                AgvArriveLineSingelSetDown(LTwoInputMaterialQuene);
+                if (LTwoInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
                 {
                     while (!(globalVar.rollerLineTwo.StationEight == materialInfo.materialType.MaterialLoc))//等待线体工号位8存放对应原料桶号
                     {
@@ -792,16 +1826,17 @@ namespace FryPot_DosingSystem.Control
                         if (globalVar.ExitMainTask)
                             return;
                     }
-                    OutputMaterialQuene.Enqueue(materialInfo);
+                    MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
+                    LTwoOutputMaterialQuene.Enqueue(materialInfo);
                     //原料到位，agv到位，agv运料到炒锅
                 }
 
             }
             else//有故障
             {
-                while (globalVar.rollerLineTwo.OutMaterialingTroubleSingle == 1)
+                while (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 1)
                 {
-                    Thread.Sleep(50);
+                    Thread.Sleep(5);
                     if (globalVar.ExitMainTask)
                         return;
                 }
@@ -816,17 +1851,18 @@ namespace FryPot_DosingSystem.Control
         /// <param name="lineAlarm"></param>
         public void AgvFromLineThreeToFryPot()
         {
-        erp: if (globalVar.rollerLineThree.OutMaterialingTroubleSingle == 0)//无故障
+        erp: if (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 0)//无故障
             {
-                while (!agvArriveUpLoad)//等待AGV到线体装料位置
+                while (!agvArriveLThreeUpLoad)//等待AGV到线体装料位置
                 {
                     Thread.Sleep(5);
                     if (globalVar.ExitMainTask)
                         return;
                 }
-                agvArriveUpLoad = false;
-                AgvArriveLineSingelSetDown();
-                if (InputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
+                agvArriveLThreeUpLoad = false;
+                MessageLog.GetInstance.ShowRunLog("AGV到达【3】号滚筒线装桶位置");
+                AgvArriveLineSingelSetDown(LThreeInputMaterialQuene);
+                if (LThreeInputMaterialQuene.TryDequeue(out MaterialInfo materialInfo))
                 {
                     while (!(globalVar.rollerLineThree.StationEight == materialInfo.materialType.MaterialLoc))//等待线体工号位8存放对应原料桶号
                     {
@@ -834,16 +1870,17 @@ namespace FryPot_DosingSystem.Control
                         if (globalVar.ExitMainTask)
                             return;
                     }
-                    OutputMaterialQuene.Enqueue(materialInfo);
+                    MessageLog.GetInstance.ShowRunLog($"AGV正在装载{materialInfo.materialType.MaterialLoc}号料桶");
+                    LThreeOutputMaterialQuene.Enqueue(materialInfo);
                     //原料到位，agv到位，agv运料到炒锅
                 }
 
             }
             else //有故障
             {
-                while (globalVar.rollerLineThree.OutMaterialingTroubleSingle == 1)
+                while (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 1)
                 {
-                    Thread.Sleep(50);
+                    Thread.Sleep(5);
                     if (globalVar.ExitMainTask)
                         return;
                 }
@@ -861,16 +1898,16 @@ namespace FryPot_DosingSystem.Control
         {
             if (errorCode == "SUCCESS")
             {
-                MessageLog.GetInstance.ShowRunLog($"AGV去{num}号线体");
+                MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线装桶");
                 globalVar.AllowAgvToLineLoadRoller = false;
             }
             else if (errorCode == "Analysis Error")
             {
-                MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号线体接口调用失败，请检查");
+                MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线API调用失败，请检查");
             }
             else
             {
-                MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号线体失败，错误码:{errorCode}");
+                MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线失败，错误码:{errorCode}");
             }
         }
         /// <summary>
@@ -896,7 +1933,7 @@ namespace FryPot_DosingSystem.Control
 
         public void AgvToLineOneLoadRoller()
         {
-            if (globalVar.rollerLineOne.OutMaterialingTroubleSingle == 0)//输送线无故障
+            if (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 0)//输送线无故障
             {
                 if (InputMaterialQuene.Count > 0)
                 {
@@ -907,10 +1944,11 @@ namespace FryPot_DosingSystem.Control
                             return;
                     }
                 e: string id = Guid.NewGuid().ToString("N");
-                    if (id == robotJobId)
+                    if (id == LOnerobotJobId)
                         goto e;
+
                     string info = AGVHelper.GetInstance.AgvToLineOneLoadRoller(id);
-                    robotJobId = id;
+                    LOnerobotJobId = id;
                     Thread.Sleep(500);
                     LineCarryTaskErrorCodeAnalysis(info, 1);
                 }
@@ -924,21 +1962,22 @@ namespace FryPot_DosingSystem.Control
         }
         public void AgvToLineTwoLoadRoller()
         {
-            if (globalVar.rollerLineTwo.OutMaterialingTroubleSingle == 0)//输送线无故障
+            if (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 0)//输送线无故障
             {
-                if (InputMaterialQuene.Count > 0)
+                if (LTwoInputMaterialQuene.Count > 0)
                 {
-                    while (!globalVar.AllowAgvToLineLoadRoller || globalVar.rollerLineOne.OutMaterialingSingle == 0) //后续考虑是否用while
+                    while (!globalVar.AllowAgvToLineTwoLoadRoller || globalVar.rollerLineTwo.OutMaterialingSingle == 0) //后续考虑是否用while
                     {
                         Thread.Sleep(5);
                         if (globalVar.ExitMainTask)
                             return;
                     }
                 p: string id = Guid.NewGuid().ToString();
-                    if (id == robotJobId)
+                    if (id == LTworobotJobId)
                         goto p;
                     string info = AGVHelper.GetInstance.AgvToLineTwoLoadRoller(id);
-                    robotJobId = id;
+                    // MessageLog.GetInstance.ShowRunLog("AGV去【2】号滚筒线装桶");
+                    LTworobotJobId = id;
                     Thread.Sleep(500);
                     LineCarryTaskErrorCodeAnalysis(info, 2);
                 }
@@ -953,21 +1992,22 @@ namespace FryPot_DosingSystem.Control
         }
         public void AgvToLineThreeLoadRoller()
         {
-            if (globalVar.rollerLineThree.OutMaterialingTroubleSingle == 0)//输送线无故障
+            if (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 0)//输送线无故障
             {
-                if (InputMaterialQuene.Count > 0)
+                if (LThreeInputMaterialQuene.Count > 0)
                 {
-                    while (!globalVar.AllowAgvToLineLoadRoller || globalVar.rollerLineOne.OutMaterialingSingle == 0) //后续考虑是否用while
+                    while (!globalVar.AllowAgvToLineThreeLoadRoller || globalVar.rollerLineThree.OutMaterialingSingle == 0) //后续考虑是否用while
                     {
                         Thread.Sleep(5);
                         if (globalVar.ExitMainTask)
                             return;
                     }
                 g: string id = Guid.NewGuid().ToString();
-                    if (id == robotJobId)
+                    if (id == LThreerobotJobId)
                         goto g;
                     string info = AGVHelper.GetInstance.AgvToLineThreeLoadRoller(id);
-                    robotJobId = id;
+                    //  MessageLog.GetInstance.ShowRunLog("AGV去【3】号滚筒线装桶");
+                    LThreerobotJobId = id;
                     Thread.Sleep(500);
                     LineCarryTaskErrorCodeAnalysis(info, 3);
                 }
@@ -1117,11 +2157,11 @@ namespace FryPot_DosingSystem.Control
 
         }
         /// <summary>
-        /// AGV进料就位信号下发至PLC
+        /// AGV线体进料就位信号下发至PLC
         /// </summary>
-        public void AgvArriveLineSingelSetDown()
+        public void AgvArriveLineSingelSetDown(ConcurrentQueue<MaterialInfo> queue)
         {
-            switch (InputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
+            switch (queue.ElementAt(0).materialType.MaterialLoc / 100)
             {
                 case 1:
                 case 4: DeviceOperate.GetInstance.WritePlcData("D1052", 1); break;//AGV进料就位信号1
@@ -1131,56 +2171,130 @@ namespace FryPot_DosingSystem.Control
             }
 
         }
+
         /// <summary>
         /// 炒锅滚筒信号检测
         /// </summary>
         public void FryPotRollerTroubleCheck()
         {
             FryPotAlarm = 0;
+            FryPotTwoAlarm = 0;
+            FryPotThreeAlarm = 0;
+            FryPotFourAlarm = 0;
+            FryPotFiveAlarm = 0;
             switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
             {
                 case 1:
-                    if (globalVar.fryPotOne.RollerTroubleSingle == 1) { FryPotAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【1】输送滚筒发生故障"); } else { FryPotAlarm = 1; } while (globalVar.fryPotOne.RollerTroubleSingle == 1)
+                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble == 1) { FryPotAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【1】输送滚筒发生故障"); } else { FryPotAlarm = 1; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble == 1)
                     {
-                        Thread.Sleep(50); if (globalVar.ExitMainTask)
+                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                             return;
                     }
                     MessageLog.GetInstance.ShowRunLog("炒锅【1】输送滚筒故障解除，继续运行");
                     FryPotAlarm = 1; break;
                 case 2:
-                    if (globalVar.fryPotTwo.RollerTroubleSingle == 1) { FryPotAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【2】输送滚筒发生故障"); } else { FryPotAlarm = 1; } while (globalVar.fryPotTwo.RollerTroubleSingle == 1)
+                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotTwoRollerTrouble == 1) { FryPotTwoAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【2】输送滚筒发生故障"); } else { FryPotTwoAlarm = 1; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotTwoRollerTrouble == 1)
                     {
-                        Thread.Sleep(50); if (globalVar.ExitMainTask)
+                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                             return;
                     }
                     MessageLog.GetInstance.ShowRunLog("炒锅【2】输送滚筒故障解除，继续运行");
-                    FryPotAlarm = 1; break;
+                    FryPotTwoAlarm = 1; break;
                 case 3:
-                    if (globalVar.fryPotThree.RollerTroubleSingle == 1) { FryPotAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【3】输送滚筒发生故障"); } else { FryPotAlarm = 1; } while (globalVar.fryPotThree.RollerTroubleSingle == 1)
+                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotThreeRollerTrouble == 1) { FryPotThreeAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【3】输送滚筒发生故障"); } else { FryPotThreeAlarm = 1; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotThreeRollerTrouble == 1)
                     {
-                        Thread.Sleep(50); if (globalVar.ExitMainTask)
+                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                             return;
                     }
                     MessageLog.GetInstance.ShowRunLog("炒锅【3】输送滚筒故障解除，继续运行");
-                    FryPotAlarm = 1; break;
+                    FryPotThreeAlarm = 1; break;
                 case 4:
-                    if (globalVar.fryPotFour.RollerTroubleSingle == 1) { FryPotAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【4】输送滚筒发生故障"); } else { FryPotAlarm = 1; } while (globalVar.fryPotFour.RollerTroubleSingle == 1)
+                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble == 1) { FryPotFourAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【4】输送滚筒发生故障"); } else { FryPotFourAlarm = 1; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble == 1)
                     {
-                        Thread.Sleep(50); if (globalVar.ExitMainTask)
+                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                             return;
                     }
                     MessageLog.GetInstance.ShowRunLog("炒锅【4】输送滚筒故障解除，继续运行");
-                    FryPotAlarm = 1; break;
+                    FryPotFourAlarm = 1; break;
                 case 5:
-                    if (globalVar.fryPotFive.RollerTroubleSingle == 1) { FryPotAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【5】输送滚筒发生故障"); } else { FryPotAlarm = 1; } while (globalVar.fryPotFive.RollerTroubleSingle == 1)
+                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotFiveRollerTrouble == 1) { FryPotFiveAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【5】输送滚筒发生故障"); } else { FryPotFiveAlarm = 1; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotFiveRollerTrouble == 1)
                     {
-                        Thread.Sleep(50); if (globalVar.ExitMainTask)
+                        Thread.Sleep(5); if (globalVar.ExitMainTask)
                             return;
                     }
                     MessageLog.GetInstance.ShowRunLog("炒锅【5】输送滚筒故障解除，继续运行");
+                    FryPotFiveAlarm = 1; break;
+
+            }
+        }
+        /// <summary>
+        /// 炒锅1,4滚筒信号检测
+        /// </summary>
+        public void FryPotOneRollerTroubleCheck()
+        {
+            FryPotAlarm = 0;
+            FryPotFourAlarm = 0;
+            switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
+            {
+                case 1:
+                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble == 1) { FryPotAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【1】输送滚筒发生故障"); } else { FryPotAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble == 1)
+                    {
+                        Thread.Sleep(5); if (globalVar.ExitMainTask)
+                            return;
+                    }
+                    MessageLog.GetInstance.ShowRunLog("炒锅【1】输送滚筒故障解除，继续运行");
                     FryPotAlarm = 1; break;
+                case 4:
+                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble == 1) { FryPotFourAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【4】输送滚筒发生故障"); } else { FryPotFourAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble == 1)
+                    {
+                        Thread.Sleep(5); if (globalVar.ExitMainTask)
+                            return;
+                    }
+                    MessageLog.GetInstance.ShowRunLog("炒锅【4】输送滚筒故障解除，继续运行");
+                    FryPotFourAlarm = 1; break;
+            }
 
+        }
+        /// <summary>
+        /// 炒锅2,5滚筒信号检测
+        /// </summary>
+        public void FryPotTwoRollerTroubleCheck()
+        {
+            FryPotTwoAlarm = 0;
+            FryPotFiveAlarm = 0;
+            switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
+            {
+                case 2:
+                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotTwoRollerTrouble == 1) { FryPotTwoAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【1】输送滚筒发生故障"); } else { FryPotTwoAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotTwoRollerTrouble == 1)
+                    {
+                        Thread.Sleep(5); if (globalVar.ExitMainTask)
+                            return;
+                    }
+                    MessageLog.GetInstance.ShowRunLog("炒锅【1】输送滚筒故障解除，继续运行");
+                    FryPotTwoAlarm = 1; break;
+                case 5:
+                    if (AlarmHelper<AlarmInfo>.Alarm.FryPotFiveRollerTrouble == 1) { FryPotFiveAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【4】输送滚筒发生故障"); } else { FryPotFiveAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotFiveRollerTrouble == 1)
+                    {
+                        Thread.Sleep(5); if (globalVar.ExitMainTask)
+                            return;
+                    }
+                    MessageLog.GetInstance.ShowRunLog("炒锅【4】输送滚筒故障解除，继续运行");
+                    FryPotFiveAlarm = 1; break;
+            }
+        }
+        /// <summary>
+        /// 炒锅3滚筒信号检测
+        /// </summary>
+        public void FryPotThreeRollerTroubleCheck()
+        {
+            FryPotThreeAlarm = 0;
+            if (AlarmHelper<AlarmInfo>.Alarm.FryPotThreeRollerTrouble == 1) { FryPotThreeAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【3】输送滚筒发生故障"); } else { FryPotThreeAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotThreeRollerTrouble == 1)
+            {
+                Thread.Sleep(5); if (globalVar.ExitMainTask)
+                    return;
             }
+            MessageLog.GetInstance.ShowRunLog("炒锅【3】输送滚筒故障解除，继续运行");
+            FryPotThreeAlarm = 1;
         }
 
     }
diff --git a/FryPot_DosingSystem/Control/GlobalVariable.cs b/FryPot_DosingSystem/Control/GlobalVariable.cs
index 90119a8e..c2afb2e6 100644
--- a/FryPot_DosingSystem/Control/GlobalVariable.cs
+++ b/FryPot_DosingSystem/Control/GlobalVariable.cs
@@ -11,6 +11,8 @@ namespace FryPot_DosingSystem.Control
     /// </summary>
     internal  class GlobalVariable
     {
+       
+        
         /// <summary>
         /// 滚筒线1
         /// </summary>
@@ -61,17 +63,57 @@ namespace FryPot_DosingSystem.Control
         /// </summary>
         public bool ExitMainTask { get; set; }
         /// <summary>
-        /// 允许AGV去线体装桶条件
+        /// 允许AGV去线体1装桶条件
         /// </summary>
         public  bool AllowAgvToLineLoadRoller { get; set; } = true;
         /// <summary>
+        /// 允许AGV去线体2装桶条件
+        /// </summary>
+        public bool AllowAgvToLineTwoLoadRoller { get; set; } = true;
+        /// <summary>
+        /// 允许AGV去线体3装桶条件
+        /// </summary>
+        public bool AllowAgvToLineThreeLoadRoller { get; set; } = true;
+        /// <summary>
         /// 配方唯一ID
         /// </summary>
         public  string RecipeId { get; set; }
         /// <summary>
-        /// 进桶出桶互锁
+        /// 线体1对应的进桶出桶互锁
         /// </summary>
         public  bool InOrOutputLock { get; set; }
+        /// <summary>
+        /// 线体2对应的进桶出桶互锁
+        /// </summary>
+        public bool LTwoInOrOutputLock { get; set; }
+        /// <summary>
+        /// 线体3对应的进桶出桶互锁
+        /// </summary>
+        public bool LThreeInOrOutputLock { get; set; }
+        /// <summary>
+        /// 线体1任务执行锁
+        /// </summary>
+        public bool LOneTaskLock { get; set; }
+        /// <summary>
+        /// 线体2任务执行锁
+        /// </summary>
+        public bool LTwoTaskLock { get; set; }
+        /// <summary>
+        /// 线体3任务执行锁
+        /// </summary>
+        public bool LThreeTaskLock { get; set; }
+        /// <summary>
+        /// 线体1当前正在制作的配方名称
+        /// </summary>
+        public string LOneCurrentRecipeName { get; set; } = string.Empty;
+        /// <summary>
+        /// 线体2当前正在制作的配方名称
+        /// </summary>
+        public string LTwoCurrentRecipeName { get; set; } = string.Empty;
+        /// <summary>
+        /// 线体3当前正在制作的配方名称
+        /// </summary>
+        public string LThreeCurrentRecipeName { get; set; } = string.Empty;
         #endregion
 
     }
diff --git a/FryPot_DosingSystem/Model/MaterialNames.cs b/FryPot_DosingSystem/Model/MaterialNames.cs
new file mode 100644
index 00000000..56dbd017
--- /dev/null
+++ b/FryPot_DosingSystem/Model/MaterialNames.cs
@@ -0,0 +1,17 @@
+using Microsoft.Toolkit.Mvvm.ComponentModel;
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace FryPot_DosingSystem.Model
+{
+    public class MaterialNames:ObservableObject
+    {
+        private static MaterialNames _instance;
+        public static MaterialNames GetInstance=>_instance ?? (_instance = new MaterialNames());    
+        public ObservableCollection<string> Names { get; set; }=new ObservableCollection<string>();
+    }
+}
diff --git a/FryPot_DosingSystem/View/AgvView.xaml b/FryPot_DosingSystem/View/AgvView.xaml
index 69572dee..3c826bbe 100644
--- a/FryPot_DosingSystem/View/AgvView.xaml
+++ b/FryPot_DosingSystem/View/AgvView.xaml
@@ -4,8 +4,9 @@
              xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
              xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
              xmlns:local="clr-namespace:FryPot_DosingSystem.View"
+             xmlns:vm="clr-namespace:FryPot_DosingSystem.ViewModel"
              mc:Ignorable="d" 
-             d:DesignHeight="800" d:DesignWidth="1200">
+             d:DesignHeight="984" d:DesignWidth="1734">
     <UserControl.Resources>
         <ResourceDictionary>
             <ResourceDictionary.MergedDictionaries>
@@ -15,6 +16,7 @@
 
             <Style x:Key="传送带"  BasedOn="{x:Null}" TargetType="{x:Type TextBox}">
                 <Setter Property="Foreground" Value="#FF1F4D69"/>
+                <Setter Property="Tag" Value="8"/>
                 <Setter Property="Template">
                     <Setter.Value>
                         <ControlTemplate TargetType="{x:Type TextBox}">
@@ -39,10 +41,8 @@
                                         <DiscreteObjectKeyFrame KeyTime="00:00:1.2" Value="{x:Static Visibility.Collapsed}"/>
                                     </ObjectAnimationUsingKeyFrames>
                                 </Storyboard>
-                                
-                                
                             </ControlTemplate.Resources>
-                            <Grid  Width="60" Height="200" HorizontalAlignment="Left" VerticalAlignment="Top" Margin="0,0,0,0">
+                            <Grid  Width="60" Height="240" HorizontalAlignment="Left" VerticalAlignment="Top" Margin="0,0,0,0">
                                 <GridSplitter Width="5"></GridSplitter>
                                 <GridSplitter Width="5" HorizontalAlignment="Left"></GridSplitter>
                                 <StackPanel>
@@ -60,28 +60,63 @@
                                     <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
                                     <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
                                     <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
+                                    <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
                                 </StackPanel>
-                                <StackPanel>
-                                    <Grid Width="40" Height="50">
-                                        <Border Style="{DynamicResource border碗}"></Border>
+                                <StackPanel VerticalAlignment="Bottom" Margin="0,0,0,20">
+                                    <Grid x:Name="c1"  Width="40" Height="27" >
+                                        <Border Style="{DynamicResource border碗}" ></Border>
                                         <Border x:Name="cai1" Style="{DynamicResource border菜}"></Border>
                                     </Grid>
-                                    <Grid Width="40" Height="50">
-                                        <Border Style="{DynamicResource border碗}"></Border>
-                                        <Border  x:Name="cai2" Style="{DynamicResource border菜}"></Border>
+                                    <Grid x:Name="c2"  Width="40" Height="27" >
+                                        <Border Style="{DynamicResource border碗}" ></Border>
+                                        <Border x:Name="cai2" Style="{DynamicResource border菜}"></Border>
                                     </Grid>
-                                    <Grid Width="40" Height="50">
-                                        <Border Style="{DynamicResource border碗}"></Border>
-                                        <Border x:Name="cai3"  Style="{DynamicResource border菜}"></Border>
+                                    <Grid  x:Name="c3" Width="40" Height="27" >
+                                        <Border Style="{DynamicResource border碗}" ></Border>
+                                        <Border x:Name="cai3" Style="{DynamicResource border菜}"></Border>
                                     </Grid>
-                                    <Grid Width="40" Height="50">
-                                        <Border  Style="{DynamicResource border碗}"></Border>
+                                    <Grid x:Name="c4"  Width="40" Height="27" >
+                                        <Border Style="{DynamicResource border碗}" ></Border>
                                         <Border x:Name="cai4" Style="{DynamicResource border菜}"></Border>
                                     </Grid>
+                                    <Grid  x:Name="c5" Width="40" Height="27" >
+                                        <Border Style="{DynamicResource border碗}" ></Border>
+                                        <Border x:Name="cai5" Style="{DynamicResource border菜}"></Border>
+                                    </Grid>
+                                    <Grid  x:Name="c6" Width="40" Height="27" >
+                                        <Border Style="{DynamicResource border碗}" ></Border>
+                                        <Border x:Name="cai6" Style="{DynamicResource border菜}"></Border>
+                                    </Grid>
+                                    <Grid  x:Name="c7" Width="40" Height="27" >
+                                        <Border Style="{DynamicResource border碗}" ></Border>
+                                        <Border x:Name="cai7" Style="{DynamicResource border菜}"></Border>
+                                    </Grid>
+                                    <Grid x:Name="c8" Width="40" Height="27" >
+                                        <Border Style="{DynamicResource border碗}" ></Border>
+                                        <Border x:Name="cai8" Style="{DynamicResource border菜}"></Border>
+                                    </Grid>
                                 </StackPanel>
                                 <Ellipse x:Name="ellipse" Margin="0,4,6,0" Visibility="Collapsed" Fill="Lime" Width="6" Height="6" VerticalAlignment="Bottom" HorizontalAlignment="Right"/>
-                                <Path x:Name="path"  Margin="0,192,0,0"  Visibility="Collapsed" Data="M16.958333,191.79167 L30.458334,195.87501 43.698719,191.79167" Fill="Transparent" StrokeThickness="2" HorizontalAlignment="Center" Height="5" Stroke="#FF20564F" Stretch="Fill" VerticalAlignment="Top" Width="27"/>
-                                <Path x:Name="path1"  Margin="0,195,0,0" Visibility="Collapsed" Data="M16.958333,191.79167 L30.458334,195.87501 43.698719,191.79167" Fill="Transparent" StrokeThickness="2" HorizontalAlignment="Center" Height="5" Stroke="#FF20564F" Stretch="Fill" VerticalAlignment="Top" Width="27"/>
+                                <Path x:Name="path"  Margin="0,230,0,0"  Visibility="Collapsed" Data="M16.958333,191.79167 L30.458334,195.87501 43.698719,191.79167" Fill="Transparent" StrokeThickness="2" HorizontalAlignment="Center" Height="5" Stroke="#FF20564F" Stretch="Fill" VerticalAlignment="Top" Width="27" RenderTransformOrigin="0.5,0.5">
+                                    <Path.RenderTransform>
+                                        <TransformGroup>
+                                            <ScaleTransform/>
+                                            <SkewTransform/>
+                                            <RotateTransform Angle="0"/>
+                                            <TranslateTransform/>
+                                        </TransformGroup>
+                                    </Path.RenderTransform>
+                                </Path>
+                                <Path x:Name="path1"  Margin="0,235,0,0" Visibility="Collapsed" Data="M16.958333,191.79167 L30.458334,195.87501 43.698719,191.79167" Fill="Transparent" StrokeThickness="2" HorizontalAlignment="Center" Height="5" Stroke="#FF20564F" Stretch="Fill" VerticalAlignment="Top" Width="27" RenderTransformOrigin="0.5,0.5">
+                                    <Path.RenderTransform>
+                                        <TransformGroup>
+                                            <ScaleTransform/>
+                                            <SkewTransform/>
+                                            <RotateTransform Angle="0"/>
+                                            <TranslateTransform/>
+                                        </TransformGroup>
+                                    </Path.RenderTransform>
+                                </Path>
                             </Grid>
                             <ControlTemplate.Triggers>
                                 <Trigger Property="Text" Value="Start">
@@ -89,23 +124,375 @@
                                         <BeginStoryboard x:Name="begin_name" Storyboard="{StaticResource csd_dh}"/>
                                     </Trigger.EnterActions>
                                 </Trigger>
+                                <Trigger Property="Text" Value="Stop">
+                                    <Trigger.EnterActions>
+                                        <StopStoryboard BeginStoryboardName="begin_name"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+
+                                <Trigger Property="IsEnabled" Value="false">
+                                    <Setter TargetName="cai1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="cai2" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="cai3" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="cai4" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="cai5" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="cai6" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="cai7" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="cai8" Property="Visibility" Value="Collapsed" />
+                                    <!--<Setter TargetName="pathname1" Property="Angle" Value="180" />
+                                    <Setter TargetName="pathname2" Property="Angle" Value="180" />-->
+                                </Trigger>
+                                <Trigger Property="IsEnabled" Value="True">
+                                    <Setter TargetName="cai1" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="cai2" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="cai3" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="cai4" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="cai5" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="cai6" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="cai7" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="cai8" Property="Visibility" Value="Visible" />
+                                    <!--<Setter TargetName="pathname1" Property="Angle" Value="0" />
+                                    <Setter TargetName="pathname2" Property="Angle" Value="0" />-->
+                                </Trigger>
+
+                                <!--#region Tag 数据绑定-->
+                                <Trigger Property="Tag" Value="0">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Collapsed" />
+                                </Trigger>
+                                <Trigger Property="Tag" Value="1">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Visible" />
+                                </Trigger>
+                                <Trigger Property="Tag" Value="2">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Visible" />
+                                </Trigger>
+                                <Trigger Property="Tag" Value="3">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Visible" />
+                                </Trigger>
+                                <Trigger Property="Tag" Value="4">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Visible" />
+                                </Trigger>
+                                <Trigger Property="Tag" Value="5">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Visible" />
+                                </Trigger>
+                                <Trigger Property="Tag" Value="6">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Visible" />
+                                </Trigger>
+                                <Trigger Property="Tag" Value="7">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Visible" />
+                                </Trigger>
+                                <Trigger Property="Tag" Value="8">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Visible" />
+                                </Trigger>
+
+                                <!--#endregion-->
 
+
+
+
+                            </ControlTemplate.Triggers>
+                        </ControlTemplate>
+                    </Setter.Value>
+                </Setter>
+            </Style>
+
+            <Style x:Key="传送带空"  BasedOn="{x:Null}" TargetType="{x:Type TextBox}">
+                <Setter Property="Foreground" Value="#FF1F4D69"/>
+                <Setter Property="Tag" Value="8"/>
+                <Setter Property="Template">
+                    <Setter.Value>
+                        <ControlTemplate TargetType="{x:Type TextBox}">
+                            <ControlTemplate.Resources>
+                                <Storyboard RepeatBehavior="Forever"  x:Key="csd_dh">
+                                    <ObjectAnimationUsingKeyFrames Storyboard.TargetName="path" Storyboard.TargetProperty="(UIElement.Visibility)">
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:00" Value="{x:Static Visibility.Visible}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:0.5" Value="{x:Static Visibility.Collapsed}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:01" Value="{x:Static Visibility.Visible}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:1.2" Value="{x:Static Visibility.Collapsed}"/>
+                                    </ObjectAnimationUsingKeyFrames>
+                                    <ObjectAnimationUsingKeyFrames Storyboard.TargetName="path1" Storyboard.TargetProperty="(UIElement.Visibility)">
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:00" Value="{x:Static Visibility.Visible}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:0.5" Value="{x:Static Visibility.Collapsed}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:01" Value="{x:Static Visibility.Visible}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:1.2" Value="{x:Static Visibility.Collapsed}"/>
+                                    </ObjectAnimationUsingKeyFrames>
+                                    <ObjectAnimationUsingKeyFrames Storyboard.TargetName="ellipse" Storyboard.TargetProperty="(UIElement.Visibility)">
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:00" Value="{x:Static Visibility.Visible}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:0.5" Value="{x:Static Visibility.Collapsed}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:01" Value="{x:Static Visibility.Visible}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:1.2" Value="{x:Static Visibility.Collapsed}"/>
+                                    </ObjectAnimationUsingKeyFrames>
+                                </Storyboard>
+                            </ControlTemplate.Resources>
+                            <Grid  Width="60" Height="240" HorizontalAlignment="Left" VerticalAlignment="Top" Margin="0,0,0,0">
+                                <GridSplitter Width="5"></GridSplitter>
+                                <GridSplitter Width="5" HorizontalAlignment="Left"></GridSplitter>
+                                <StackPanel>
+                                    <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
+                                    <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
+                                    <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
+                                    <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
+                                    <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
+                                    <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
+                                    <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
+                                    <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
+                                    <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
+                                    <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
+                                    <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
+                                    <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
+                                    <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
+                                    <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
+                                    <Rectangle Fill="{TemplateBinding Foreground}" Height="5" Margin="5"/>
+                                </StackPanel>
+                                <StackPanel VerticalAlignment="Bottom" Margin="0,0,0,20">
+                                    <Grid x:Name="c1"  Width="40" Height="27" >
+                                        <Border Style="{DynamicResource border碗}" ></Border>
+                                        <Border x:Name="cai1" Style="{DynamicResource border菜}"></Border>
+                                    </Grid>
+                                    <Grid x:Name="c2"  Width="40" Height="27" >
+                                        <Border Style="{DynamicResource border碗}" ></Border>
+                                        <Border x:Name="cai2" Style="{DynamicResource border菜}"></Border>
+                                    </Grid>
+                                    <Grid  x:Name="c3" Width="40" Height="27" >
+                                        <Border Style="{DynamicResource border碗}" ></Border>
+                                        <Border x:Name="cai3" Style="{DynamicResource border菜}"></Border>
+                                    </Grid>
+                                    <Grid x:Name="c4"  Width="40" Height="27" >
+                                        <Border Style="{DynamicResource border碗}" ></Border>
+                                        <Border x:Name="cai4" Style="{DynamicResource border菜}"></Border>
+                                    </Grid>
+                                    <Grid  x:Name="c5" Width="40" Height="27" >
+                                        <Border Style="{DynamicResource border碗}" ></Border>
+                                        <Border x:Name="cai5" Style="{DynamicResource border菜}"></Border>
+                                    </Grid>
+                                    <Grid  x:Name="c6" Width="40" Height="27" >
+                                        <Border Style="{DynamicResource border碗}" ></Border>
+                                        <Border x:Name="cai6" Style="{DynamicResource border菜}"></Border>
+                                    </Grid>
+                                    <Grid  x:Name="c7" Width="40" Height="27" >
+                                        <Border Style="{DynamicResource border碗}" ></Border>
+                                        <Border x:Name="cai7" Style="{DynamicResource border菜}"></Border>
+                                    </Grid>
+                                    <Grid x:Name="c8" Width="40" Height="27" >
+                                        <Border Style="{DynamicResource border碗}" ></Border>
+                                        <Border x:Name="cai8" Style="{DynamicResource border菜}"></Border>
+                                    </Grid>
+                                </StackPanel>
+                                <Ellipse x:Name="ellipse" Margin="0,4,6,0" Visibility="Collapsed" Fill="Lime" Width="6" Height="6" VerticalAlignment="Bottom" HorizontalAlignment="Right"/>
+                                <Path x:Name="path"  Margin="0,230,0,0"  Visibility="Collapsed" Data="M16.958333,191.79167 L30.458334,195.87501 43.698719,191.79167" Fill="Transparent" StrokeThickness="2" HorizontalAlignment="Center" Height="5" Stroke="#FF20564F" Stretch="Fill" VerticalAlignment="Top" Width="27" RenderTransformOrigin="0.5,0.5">
+                                    <Path.RenderTransform>
+                                        <TransformGroup>
+                                            <ScaleTransform/>
+                                            <SkewTransform/>
+                                            <RotateTransform Angle="180"/>
+                                            <TranslateTransform/>
+                                        </TransformGroup>
+                                    </Path.RenderTransform>
+                                </Path>
+                                <Path x:Name="path1"  Margin="0,235,0,0" Visibility="Collapsed" Data="M16.958333,191.79167 L30.458334,195.87501 43.698719,191.79167" Fill="Transparent" StrokeThickness="2" HorizontalAlignment="Center" Height="5" Stroke="#FF20564F" Stretch="Fill" VerticalAlignment="Top" Width="27" RenderTransformOrigin="0.5,0.5">
+                                    <Path.RenderTransform>
+                                        <TransformGroup>
+                                            <ScaleTransform/>
+                                            <SkewTransform/>
+                                            <RotateTransform Angle="180"/>
+                                            <TranslateTransform/>
+                                        </TransformGroup>
+                                    </Path.RenderTransform>
+                                </Path>
+                            </Grid>
+                            <ControlTemplate.Triggers>
+                                <Trigger Property="Text" Value="Start">
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_name" Storyboard="{StaticResource csd_dh}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
                                 <Trigger Property="Text" Value="Stop">
                                     <Trigger.EnterActions>
                                         <StopStoryboard BeginStoryboardName="begin_name"/>
                                     </Trigger.EnterActions>
                                 </Trigger>
-                                <!--<EventTrigger RoutedEvent="Loaded">
-                                    -->
-                                <!--<BeginStoryboard Storyboard="{StaticResource maindh}" />-->
-                                <!--
-                                </EventTrigger>-->
+
                                 <Trigger Property="IsEnabled" Value="false">
                                     <Setter TargetName="cai1" Property="Visibility" Value="Collapsed" />
                                     <Setter TargetName="cai2" Property="Visibility" Value="Collapsed" />
                                     <Setter TargetName="cai3" Property="Visibility" Value="Collapsed" />
                                     <Setter TargetName="cai4" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="cai5" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="cai6" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="cai7" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="cai8" Property="Visibility" Value="Collapsed" />
+                                    <!--<Setter TargetName="pathname1" Property="Angle" Value="180" />
+                                    <Setter TargetName="pathname2" Property="Angle" Value="180" />-->
+                                </Trigger>
+                                <Trigger Property="IsEnabled" Value="True">
+                                    <Setter TargetName="cai1" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="cai2" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="cai3" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="cai4" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="cai5" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="cai6" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="cai7" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="cai8" Property="Visibility" Value="Visible" />
+                                    <!--<Setter TargetName="pathname1" Property="Angle" Value="0" />
+                                    <Setter TargetName="pathname2" Property="Angle" Value="0" />-->
+                                </Trigger>
+
+                                <!--#region Tag 数据绑定-->
+                                <Trigger Property="Tag" Value="0">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Collapsed" />
+                                </Trigger>
+                                <Trigger Property="Tag" Value="1">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Visible" />
+                                </Trigger>
+                                <Trigger Property="Tag" Value="2">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Visible" />
+                                </Trigger>
+                                <Trigger Property="Tag" Value="3">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Visible" />
                                 </Trigger>
+                                <Trigger Property="Tag" Value="4">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Visible" />
+                                </Trigger>
+                                <Trigger Property="Tag" Value="5">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Visible" />
+                                </Trigger>
+                                <Trigger Property="Tag" Value="6">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Visible" />
+                                </Trigger>
+                                <Trigger Property="Tag" Value="7">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Visible" />
+                                </Trigger>
+                                <Trigger Property="Tag" Value="8">
+                                    <Setter TargetName="c1" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c2" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c3" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c4" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c5" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c6" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c7" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="c8" Property="Visibility" Value="Visible" />
+                                </Trigger>
+
+                                <!--#endregion-->
+
                             </ControlTemplate.Triggers>
                         </ControlTemplate>
                     </Setter.Value>
@@ -118,11 +505,12 @@
                 <Setter Property="Template">
                     <Setter.Value>
                         <ControlTemplate TargetType="{x:Type TextBox}">
-                            <Grid  Width="60" Height="20">
-                                <Ellipse x:Name="name_11" Visibility="Collapsed" Margin="0,0,0,0" Fill="#FF9E4C4C" Stroke="#FF9E4141" Width="60" Height="20"></Ellipse>
-                                <Ellipse x:Name="name_12" Visibility="Collapsed" Fill="#FFAD2121" Stroke="#FF9E4141" Width="40" Height="10"></Ellipse>
-                                <Ellipse x:Name="name_21" Visibility="Visible" Margin="0,0,0,0" Fill="#FF4CA756" Stroke="#FF419E53" Width="60" Height="20"></Ellipse>
-                                <Ellipse x:Name="name_22" Visibility="Visible" Fill="#FF1CAB3F" Stroke="#FF2D842A" Width="40" Height="10"></Ellipse>
+                            <Grid  Width="60" Height="55">
+                                <Ellipse x:Name="name_11"  VerticalAlignment="Bottom" Visibility="Collapsed" Margin="0,0,0,0" Fill="#FF9E4C4C" Stroke="#FF9E4141" Width="60" Height="20"></Ellipse>
+                                <Ellipse x:Name="name_12"  VerticalAlignment="Bottom" Visibility="Collapsed"  Margin="0,0,0,5" Fill="#FFAD2121" Stroke="#FF9E4141" Width="40" Height="10"></Ellipse>
+                                <Ellipse x:Name="name_21"  VerticalAlignment="Bottom" Visibility="Visible" Margin="0,0,0,0" Fill="#FF4CA756" Stroke="#FF419E53" Width="60" Height="20"></Ellipse>
+                                <Ellipse x:Name="name_22"  VerticalAlignment="Bottom" Visibility="Visible" Margin="0,0,0,5" Fill="#FF1CAB3F" Stroke="#FF2D842A" Width="40" Height="10"></Ellipse>
+                                <Border x:Name="chezi" Style="{DynamicResource border车}"  Width="60" Height="60" HorizontalAlignment="Right" VerticalAlignment="Top"></Border>
                             </Grid>
                             <ControlTemplate.Triggers>
                                 <Trigger Property="Text" Value="Yes">
@@ -130,12 +518,15 @@
                                     <Setter TargetName="name_12" Property="Visibility" Value="Collapsed" />
                                     <Setter TargetName="name_21" Property="Visibility" Value="Visible" />
                                     <Setter TargetName="name_22" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="chezi" Property="Visibility" Value="Visible" />
+
                                 </Trigger>
                                 <Trigger Property="Text" Value="No">
                                     <Setter TargetName="name_11" Property="Visibility" Value="Visible" />
                                     <Setter TargetName="name_12" Property="Visibility" Value="Visible" />
                                     <Setter TargetName="name_21" Property="Visibility" Value="Collapsed" />
                                     <Setter TargetName="name_22" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="chezi" Property="Visibility" Value="Collapsed" />
                                 </Trigger>
                             </ControlTemplate.Triggers>
                         </ControlTemplate>
@@ -240,25 +631,495 @@
                 </Setter>
             </Style>
 
+            <Style x:Key="运输车新"  BasedOn="{x:Null}" TargetType="{x:Type TextBox}">
+                <Setter Property="Foreground" Value="#FF1F4D69"/>
+                <Setter Property="Tag" Value="Stop"/>
+                <Setter Property="Text" Value="Yes"/>
+                <Setter Property="Template">
+                    <Setter.Value>
+                        <ControlTemplate TargetType="{x:Type TextBox}">
+                            <ControlTemplate.Resources>
+                                <Storyboard RepeatBehavior="Forever"  x:Key="csd_dh">
+                                    <ObjectAnimationUsingKeyFrames Storyboard.TargetName="path1" Storyboard.TargetProperty="(UIElement.Visibility)">
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:00" Value="{x:Static Visibility.Visible}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:0.25" Value="{x:Static Visibility.Visible}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:0.5" Value="{x:Static Visibility.Visible}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:0.75" Value="{x:Static Visibility.Visible}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:1" Value="{x:Static Visibility.Collapsed}"/>
+                                    </ObjectAnimationUsingKeyFrames>
+                                    <ObjectAnimationUsingKeyFrames Storyboard.TargetName="path2" Storyboard.TargetProperty="(UIElement.Visibility)">
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:00" Value="{x:Static Visibility.Collapsed}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:0.25" Value="{x:Static Visibility.Visible}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:01" Value="{x:Static Visibility.Visible}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:0.75" Value="{x:Static Visibility.Visible}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:1" Value="{x:Static Visibility.Collapsed}"/>
+                                    </ObjectAnimationUsingKeyFrames>
+
+                                    <ObjectAnimationUsingKeyFrames Storyboard.TargetName="path3" Storyboard.TargetProperty="(UIElement.Visibility)">
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:00" Value="{x:Static Visibility.Collapsed}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:0.25" Value="{x:Static Visibility.Collapsed}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:0.5" Value="{x:Static Visibility.Visible}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:0.75" Value="{x:Static Visibility.Visible}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:1" Value="{x:Static Visibility.Collapsed}"/>
+                                    </ObjectAnimationUsingKeyFrames>
+
+                                    <ObjectAnimationUsingKeyFrames Storyboard.TargetName="path4" Storyboard.TargetProperty="(UIElement.Visibility)">
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:00" Value="{x:Static Visibility.Collapsed}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:0.25" Value="{x:Static Visibility.Collapsed}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:0.5" Value="{x:Static Visibility.Collapsed}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:0.75" Value="{x:Static Visibility.Visible}"/>
+                                        <DiscreteObjectKeyFrame KeyTime="00:00:1" Value="{x:Static Visibility.Collapsed}"/>
+                                    </ObjectAnimationUsingKeyFrames>
+                                </Storyboard>
+
+                                <!--取菜品路线 3个-->
+                                <PathGeometry x:Key="qc_1" Figures="M1512,491 L334.66667,492.16701 335.49989,294"/>
+                                <PathGeometry x:Key="qc_2" Figures="M1512,491 L495.375,491.5 494.75015,294"/>
+                                <PathGeometry x:Key="qc_3" Figures="M1512,491 L652.5,491 653.5,294"/>
+                                <!--送菜品路线 1号取菜口送到5个锅-->
+                                <PathGeometry x:Key="yc_1_1" Figures="M337,260 L337.5,488.5 100,491.99236 100,840"/>
+                                <PathGeometry x:Key="yc_1_2" Figures="M336,255 L334.25,491.5 383.90625,491.74947 382.8173,840"/>
+                                <PathGeometry x:Key="yc_1_3" Figures="M335,258 L334.5,490.5 680,490.99893 680,840"/>
+                                <PathGeometry x:Key="yc_1_4" Figures="M337,256.5 L334,492 965.5,492 966.50079,840"/>
+                                <PathGeometry x:Key="yc_1_5" Figures="M335.99357,253.70082 L334.33946,490.553 1256.2374,491.4823 1254.2358,840"/>
+                                <!--送菜品路线 2号取菜口送到5个锅-->
+                                <PathGeometry x:Key="yc_2_1" Figures="M488.35495,257.41892 L488.65986,490.93723  100,491.1112 100,840"/>
+                                <PathGeometry x:Key="yc_2_2" Figures="M488.35495,257.41892 L488.65986,490.93723  391.20932,490.91674 391.28296,840"/>
+                                <PathGeometry x:Key="yc_2_3" Figures="M488.35495,257.41892 L488.65986,490.93723 680,491.12867 680,840"/>
+                                <PathGeometry x:Key="yc_2_4" Figures="M488.35495,257.41892 L488.65986,490.93723  964.81356,491.71074 962.82129,840"/>
+                                <PathGeometry x:Key="yc_2_5" Figures="M488.35495,257.41892 L488.65986,490.93723  1254.2358,491.20803 1254.2358,840"/>
+                                <!--送菜品路线 3号取菜口送到5个锅-->
+                                <PathGeometry x:Key="yc_3_1" Figures="M678.97662,256.40013 L678.68368,491.79548 100,492.63368 100,840"/>
+                                <PathGeometry x:Key="yc_3_2" Figures="M678.97662,256.40013 L678.68368,491.79548 391.28296,488.69436 391.28296,840"/>
+                                <PathGeometry x:Key="yc_3_3" Figures="M678.97662,256.40013 L678.68368,491.79548 680,491.67667 680,840"/>
+                                <PathGeometry x:Key="yc_3_4" Figures="M678.97662,256.40013 L678.68368,491.79548 964.81356,490.50591 962.82129,840"/>
+                                <PathGeometry x:Key="yc_3_5" Figures="M678.97662,256.40013 L678.68368,491.79548 1256.2374,491.4823 1254.2358,840"/>
+                                <!--送完菜品 回收路线-->
+                                <PathGeometry x:Key="hs_1" Figures="M100,862 L99.749407,491.33482 455.92934,491.23722 811.14431,490.74164 811.53039,265"/>
+                                <PathGeometry x:Key="hs_2" Figures="M389.82645,862.91662 L389.79339,491.26265 811.14431,490.74164 811.53039,265"/>
+                                <PathGeometry x:Key="hs_3" Figures="M675.38594,860.33333 L676.05047,490.74164 811.14431,490.74164 811.53039,265"/>
+                                <PathGeometry x:Key="hs_4" Figures="M965.6722,862.33333 L964.6735,490.60998 811.14431,490.74164 811.53039,265"/>
+                                <PathGeometry x:Key="hs_5" Figures="M1252.0339,863 L1252.0339,491.0315 811.14431,490.74164 811.53039,265"/>
+                                <!--回家路线-->
+                                <PathGeometry x:Key="hj" Figures="M811.53039,265 L811.53039,491 1512,491"/>
+
+                                <!--取菜品路线 3个-->
+                                <Storyboard  x:Key="Storyboard_qc_1"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource qc_1}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource qc_1}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource qc_1}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_qc_2"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource qc_2}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource qc_2}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource qc_2}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_qc_3"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource qc_3}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource qc_3}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource qc_3}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <!--送菜品路线 1号取菜口送到5个锅-->
+                                <Storyboard  x:Key="Storyboard_yc_1_1"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource yc_1_1}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource yc_1_1}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource yc_1_1}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_yc_1_2"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource yc_1_2}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource yc_1_2}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource yc_1_2}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_yc_1_3"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource yc_1_3}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource yc_1_3}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource yc_1_3}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_yc_1_4"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource yc_1_4}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource yc_1_4}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource yc_1_4}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_yc_1_5"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource yc_1_5}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource yc_1_5}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource yc_1_5}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <!--送菜品路线 2号取菜口送到5个锅-->
+                                <Storyboard  x:Key="Storyboard_yc_2_1"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource yc_2_1}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource yc_2_1}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource yc_2_1}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_yc_2_2"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource yc_2_2}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource yc_2_2}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource yc_2_2}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_yc_2_3"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource yc_2_3}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource yc_2_3}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource yc_2_3}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_yc_2_4"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource yc_2_4}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource yc_2_4}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource yc_2_4}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_yc_2_5"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource yc_2_5}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource yc_2_5}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource yc_2_5}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <!--送菜品路线 3号取菜口送到5个锅-->
+                                <Storyboard  x:Key="Storyboard_yc_3_1"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource yc_3_1}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource yc_3_1}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource yc_3_1}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_yc_3_2"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource yc_3_2}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource yc_3_2}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource yc_3_2}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_yc_3_3"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource yc_3_3}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource yc_3_3}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource yc_3_3}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_yc_3_4"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource yc_3_4}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource yc_3_4}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource yc_3_4}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_yc_3_5"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource yc_3_5}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource yc_3_5}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource yc_3_5}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+
+                                <!--送完菜品 回收路线-->
+                                <Storyboard  x:Key="Storyboard_hs_1"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource hs_1}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource hs_1}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource hs_1}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_hs_2"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource hs_2}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource hs_2}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource hs_2}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_hs_3"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource hs_3}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource hs_3}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource hs_3}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_hs_4"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource hs_4}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource hs_4}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource hs_4}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <Storyboard  x:Key="Storyboard_hs_5"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource hs_5}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource hs_5}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource hs_5}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                                <!--回家路线-->
+                                <Storyboard  x:Key="Storyboard_hj"  RepeatBehavior="0:0:5">
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[2].(Angle)" Duration="0:0:5" PathGeometry="{StaticResource hj}"  Storyboard.TargetName="yunshuche" Source="Angle"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.X)" Duration="0:0:5" PathGeometry="{StaticResource hj}"  Storyboard.TargetName="yunshuche" Source="X"/>
+                                    <DoubleAnimationUsingPath Storyboard.TargetProperty="(UIElement.RenderTransform).(TransformGroup.Children)[3].(TranslateTransform.Y)" Duration="0:0:5" PathGeometry="{StaticResource hj}" Storyboard.TargetName="yunshuche" Source="Y"/>
+                                </Storyboard>
+                            </ControlTemplate.Resources>
+                            <Grid x:Name="yunshuche">
+                                <Grid.RenderTransform>
+                                    <TransformGroup>
+                                        <ScaleTransform/>
+                                        <SkewTransform/>
+                                        <RotateTransform/>
+                                        <TranslateTransform/>
+                                    </TransformGroup>
+                                </Grid.RenderTransform>
+                                <Grid  Width="120" Height="120" RenderTransformOrigin="0.5,0.5" Margin="-60,-60,0,0">
+                                    <Grid.RenderTransform>
+                                        <TransformGroup>
+                                            <ScaleTransform/>
+                                            <SkewTransform/>
+                                            <RotateTransform Angle="180"/>
+                                            <TranslateTransform/>
+                                        </TransformGroup>
+                                    </Grid.RenderTransform>
+                                    <Border Style="{DynamicResource border车}"  Width="60" Height="60" HorizontalAlignment="Right"></Border>
+                                    <Grid HorizontalAlignment="Right" VerticalAlignment="Top" x:Name="caiping">
+                                        <Border  Margin="0,20,15,0" Width="20" Height="10" Style="{DynamicResource border菜}"></Border>
+                                        <Border  Margin="0,20,5,0" Width="20" Height="10" Style="{DynamicResource border菜}"></Border>
+                                    </Grid>
+                                    <Grid x:Name="biaoji" HorizontalAlignment="Right" VerticalAlignment="Top" Margin="0,20,0,0">
+                                        <Path  x:Name="path1" Visibility="Collapsed" Data="M142.25,37 L128.75,44 146.40385,53.25" Fill="#26ECCE09" HorizontalAlignment="Right" Height="17" Margin="128,37,54,0" Stroke="#7FECCE09" StrokeThickness="3" Stretch="Fill" VerticalAlignment="Top" Width="18"/>
+                                        <Path  x:Name="path2" Visibility="Collapsed" Data="M123.5,38.25 L110.5,44.5 126.75,53.788194" Fill="#26ECCE09" HorizontalAlignment="Right" Height="16" Margin="0,38,70,0" Stroke="#7FECCE09" Stretch="Fill" StrokeThickness="3" VerticalAlignment="Top" Width="17"/>
+                                        <Path  x:Name="path3" Visibility="Collapsed" Data="M106.41667,38.333333 L93.583331,44.583332 109.04914,53.958332" Fill="#26ECCE09" HorizontalAlignment="Right" Height="16" Margin="0,38,87,0" Stroke="#7FECCE09" StrokeThickness="3" Stretch="Fill" VerticalAlignment="Top" Width="17"/>
+                                        <Path  x:Name="path4" Visibility="Collapsed" Data="M86.083333,38.583333 L71.166669,43.416665 86.663428,52.197217" Fill="#26ECCE09" HorizontalAlignment="Right" Height="15" Margin="71,39,110,0" Stroke="#7FECCE09" StrokeThickness="3" Stretch="Fill" VerticalAlignment="Top" Width="17"/>
+                                    </Grid>
+                                </Grid>
+                            </Grid>
+                            <ControlTemplate.Triggers>
+                                <!--#region 是否有物品-->
+                                <Trigger Property="Text" Value="Yes">
+                                    <Setter TargetName="caiping" Property="Visibility" Value="Visible" />
+                                </Trigger>
+                                <Trigger Property="Text" Value="No">
+                                    <Setter TargetName="caiping" Property="Visibility" Value="Collapsed" />
+                                </Trigger>
+                                <!--#endregion-->
+
+                                <!--#region 是否运动模式-->
+                                <Trigger Property="IsEnabled" Value="false">
+                                    <Trigger.EnterActions>
+                                        <StopStoryboard BeginStoryboardName="begin_name"/>
+                                    </Trigger.EnterActions>
+                                    <Setter TargetName="path1" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="path2" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="path3" Property="Visibility" Value="Collapsed" />
+                                    <Setter TargetName="path4" Property="Visibility" Value="Collapsed" />
+                                </Trigger>
+                                <Trigger Property="IsEnabled" Value="true">
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_name" Storyboard="{StaticResource csd_dh}"/>
+                                    </Trigger.EnterActions>
+                                    <Setter TargetName="path1" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="path2" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="path3" Property="Visibility" Value="Visible" />
+                                    <Setter TargetName="path4" Property="Visibility" Value="Visible" />
+                                </Trigger>
+                                <!--#endregion-->
+
+                                <!--#region 停止所有动画-->
+                                <Trigger Property="Tag" Value="Stop">
+                                    <Trigger.EnterActions>
+                                        <StopStoryboard BeginStoryboardName="begin_qc_1"/>
+                                        <StopStoryboard BeginStoryboardName="begin_qc_2"/>
+                                        <StopStoryboard BeginStoryboardName="begin_qc_3"/>
+
+                                        <StopStoryboard BeginStoryboardName="begin_yc_1_1"/>
+                                        <StopStoryboard BeginStoryboardName="begin_yc_1_2"/>
+                                        <StopStoryboard BeginStoryboardName="begin_yc_1_3"/>
+                                        <StopStoryboard BeginStoryboardName="begin_yc_1_4"/>
+                                        <StopStoryboard BeginStoryboardName="begin_yc_1_5"/>
+
+                                        <StopStoryboard BeginStoryboardName="begin_yc_2_1"/>
+                                        <StopStoryboard BeginStoryboardName="begin_yc_2_2"/>
+                                        <StopStoryboard BeginStoryboardName="begin_yc_2_3"/>
+                                        <StopStoryboard BeginStoryboardName="begin_yc_2_4"/>
+                                        <StopStoryboard BeginStoryboardName="begin_yc_2_5"/>
+
+                                        <StopStoryboard BeginStoryboardName="begin_yc_3_1"/>
+                                        <StopStoryboard BeginStoryboardName="begin_yc_3_2"/>
+                                        <StopStoryboard BeginStoryboardName="begin_yc_3_3"/>
+                                        <StopStoryboard BeginStoryboardName="begin_yc_3_4"/>
+                                        <StopStoryboard BeginStoryboardName="begin_yc_3_5"/>
+
+                                        <StopStoryboard BeginStoryboardName="begin_hs_1"/>
+                                        <StopStoryboard BeginStoryboardName="begin_hs_2"/>
+                                        <StopStoryboard BeginStoryboardName="begin_hs_3"/>
+                                        <StopStoryboard BeginStoryboardName="begin_hs_4"/>
+                                        <StopStoryboard BeginStoryboardName="begin_hs_5"/>
+
+                                        <StopStoryboard BeginStoryboardName="begin_hj"/>
+                                    </Trigger.EnterActions>
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Collapsed" />
+                                </Trigger>
+                                <!--#endregion-->
+
+                                <!--#region 取菜-->
+                                <Trigger Property="Tag" Value="qc_1">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_qc_1" Storyboard="{StaticResource Storyboard_qc_1}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="qc_2">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_qc_2" Storyboard="{StaticResource Storyboard_qc_2}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="qc_3">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_qc_3" Storyboard="{StaticResource Storyboard_qc_3}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <!--#endregion-->
+
+                                <!--#region 送菜1-->
+                                <Trigger Property="Tag" Value="yc_1_1">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_yc_1_1" Storyboard="{StaticResource Storyboard_yc_1_1}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="yc_1_2">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_yc_1_2" Storyboard="{StaticResource Storyboard_yc_1_2}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="yc_1_3">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_yc_1_3" Storyboard="{StaticResource Storyboard_yc_1_3}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="yc_1_4">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_yc_1_4" Storyboard="{StaticResource Storyboard_yc_1_4}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="yc_1_5">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_yc_1_5" Storyboard="{StaticResource Storyboard_yc_1_5}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <!--#endregion-->
+
+                                <!--#region 送菜2-->
+                                <Trigger Property="Tag" Value="yc_2_1">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_yc_2_1" Storyboard="{StaticResource Storyboard_yc_2_1}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="yc_2_2">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_yc_2_2" Storyboard="{StaticResource Storyboard_yc_2_2}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="yc_2_3">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_yc_2_3" Storyboard="{StaticResource Storyboard_yc_2_3}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="yc_2_4">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_yc_2_4" Storyboard="{StaticResource Storyboard_yc_2_4}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="yc_2_5">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_yc_2_5" Storyboard="{StaticResource Storyboard_yc_2_5}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <!--#endregion-->
+
+                                <!--#region 送菜3-->
+                                <Trigger Property="Tag" Value="yc_3_1">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_yc_3_1" Storyboard="{StaticResource Storyboard_yc_3_1}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="yc_3_2">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_yc_3_2" Storyboard="{StaticResource Storyboard_yc_3_2}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="yc_3_3">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_yc_3_3" Storyboard="{StaticResource Storyboard_yc_3_3}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="yc_3_4">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_yc_3_4" Storyboard="{StaticResource Storyboard_yc_3_4}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="yc_3_5">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_yc_3_5" Storyboard="{StaticResource Storyboard_yc_3_5}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <!--#endregion-->
+
+                                <!--#region 回收-->
+                                <Trigger Property="Tag" Value="hs_1">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_hs_1" Storyboard="{StaticResource Storyboard_hs_1}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="hs_2">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_hs_2" Storyboard="{StaticResource Storyboard_hs_2}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="hs_3">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_hs_3" Storyboard="{StaticResource Storyboard_hs_3}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="hs_4">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_hs_4" Storyboard="{StaticResource Storyboard_hs_4}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <Trigger Property="Tag" Value="hs_5">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_hs_5" Storyboard="{StaticResource Storyboard_hs_5}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <!--#endregion-->
+
+                                <!--#region 回家路线-->
+                                <Trigger Property="Tag" Value="hj">
+                                    <Setter TargetName="yunshuche" Property="Visibility" Value="Visible" />
+                                    <Trigger.EnterActions>
+                                        <BeginStoryboard x:Name="begin_hj" Storyboard="{StaticResource Storyboard_hj}"/>
+                                    </Trigger.EnterActions>
+                                </Trigger>
+                                <!--#endregion-->
+                            </ControlTemplate.Triggers>
+                        </ControlTemplate>
+                    </Setter.Value>
+                </Setter>
+            </Style>
+
         </ResourceDictionary>
     </UserControl.Resources>
     <Grid>
 
         <!--#region 测试按钮-->
         <StackPanel HorizontalAlignment="Right" VerticalAlignment="Top" Margin="0,20,100,0" Orientation="Horizontal">
-            <Button Width="100" Margin="10,0,0,0" Click="Button_Click" Cursor="Hand">开始</Button>
-            <Button Width="100" Margin="10,0,0,0" Click="Button_Click">暂停</Button>
-            <Button Width="100" Margin="10,0,0,0" Click="Button_Click">结束</Button>
+            <Button x:Name="StartButton" Width="100" Margin="10,0,0,0" Click="Button_Click" Cursor="Hand">开始</Button>
+            <Button Width="100" Margin="10,0,0,0" Click="Button_Click_1">取菜</Button>
+            <Button x:Name="StopButton" Width="100" Margin="10,0,0,0" Click="StopButton_Click" Cursor="Hand">运输菜</Button>
+            <Button  Width="100" Margin="10,0,0,0" Click="Button_Click_2" Cursor="Hand">送空桶</Button>
+            <Button  Width="100" Margin="10,0,0,0" Click="Button_Click_3" Cursor="Hand">回去</Button>
+
+            <Button  Width="100" Margin="10,0,0,0" Click="Button_Click_4" Cursor="Hand">停止</Button>
 
         </StackPanel>
         <!--#endregion-->
-        
+
         <!--#region 墙体-->
         <Border Width="20" Margin="0,0,0,18" Style="{DynamicResource border垂直墙}" HorizontalAlignment="Left"/>
         <Border Height="20" Margin="-1,0,0,0" Style="{DynamicResource border水平墙}" VerticalAlignment="Bottom"/>
         <Border Height="20" Margin="21,300,0,0" Width="250" Style="{DynamicResource border水平墙1}" VerticalAlignment="Top" HorizontalAlignment="Left"/>
         <Border Width="20" Margin="250,0,0,0" Height="300" Style="{DynamicResource border垂直墙1}" VerticalAlignment="Top" HorizontalAlignment="Left"/>
-        <Border Height="20" Margin="270,150,0,0" Style="{DynamicResource border水平墙}" VerticalAlignment="Top"/>
+        <Border Height="20" Margin="270,190,0,0" Style="{DynamicResource border水平墙}" VerticalAlignment="Top"/>
         <Border Width="20" Margin="0,0,0,18" Style="{DynamicResource border垂直墙}" HorizontalAlignment="Right"/>
         <!--#endregion-->
 
@@ -266,44 +1127,41 @@
         <Grid>
 
             <Grid x:Name="一号道路" Margin="0,80,0,0">
-                <Path Data="M1016.6667,260 L327.11962,260.68309 327.28662,131.58135" Fill="Transparent" HorizontalAlignment="Left" Height="128" Margin="328,133,240,0" Stroke="#FF627569" StrokeDashArray="5 5" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" />
-                <Path Data="M1018.3363,244.98095 L612.63519,246.05789 612.59349,132.27052" Fill="Transparent" HorizontalAlignment="Left" Height="114" Margin="589,134,240,0" Stroke="#FF2D3E33" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top"  />
-                <Path Data="M356.23752,274.16195 L1019.4984,273.77704"  Fill="Transparent" HorizontalAlignment="Left" Height="3" Margin="356,273,240,0" Stroke="#FF2D3E33"  StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top"/>
-                <Path Data="M555.4365,133.67843 L555.4365,246.89867 505.21188,247.23365 505.21188,134.49816" Fill="Transparent" HorizontalAlignment="Left" Height="115" Margin="506,133,0,0" Stroke="#FF2D3E33"  StrokeThickness="2"  Stretch="Fill" VerticalAlignment="Top" Width="50"/>
-                <Path Data="M477.00398,136 L477.34799,247.99153 424.71438,247.99153 424.11067,136.50447" Fill="Transparent" HorizontalAlignment="Left" Height="113" Margin="424,134,0,0" Stroke="#FF2D3E33"  StrokeThickness="2"  Stretch="Fill" VerticalAlignment="Top" Width="53"/>
-                <Path Data="M394.03935,134 L394.03935,247.78816 350.80237,247.78816 350.80237,132.22206" Fill="Transparent" HorizontalAlignment="Left" Height="116" Margin="351,132,0,0" Stroke="#FF2D3E33"  StrokeThickness="2"  Stretch="Fill" VerticalAlignment="Top" Width="44"/>
-                <Path Data="M409.5,243 L409.5,145.5" Fill="Transparent" HorizontalAlignment="Left" Height="98" StrokeDashArray="5 5" Margin="410,146,0,0" Stroke="#FF627569" StrokeThickness="2"  Stretch="Fill" VerticalAlignment="Top"/>
-                <Path Data="M492,245 L492,139" Fill="Transparent" HorizontalAlignment="Left" Height="107" StrokeDashArray="5 5" Margin="492,139,0,0" Stroke="#FF627569" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" />
-                <Path Data="M574,246 L574,142.5" Fill="Transparent" HorizontalAlignment="Left" Height="104" StrokeDashArray="5 5" Margin="574,142,0,0" Stroke="#FF627569" StrokeThickness="2"  Stretch="Fill" VerticalAlignment="Top"/>
+                <Path Data="M1016.6667,415.98725 L330.95862,417.18254 331.55089,170.03705" Fill="Transparent" HorizontalAlignment="Left" Height="243" Margin="334,170,0,0" Stroke="#FF627569" StrokeDashArray="5 5" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="1160" />
+                <Path Data="M1016.0158,386.81528 L725.54498,387.52324 725.50328,170.91436" Fill="Transparent" HorizontalAlignment="Left" Height="215" Margin="840,172,0,0" Stroke="#FF2D3E33" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="649"  />
+                <Path Data="M794.17358,168.8504 L795.74395,387.54981 689.48232,387.29818 689.48232,165.11694" Fill="Transparent" HorizontalAlignment="Left" Height="223" Margin="682,164,0,0" Stroke="#FF2D3E33"  StrokeThickness="2"  Stretch="Fill" VerticalAlignment="Top" Width="104"/>
+                <Path Data="M632.68285,173.84703 L633.02686,385.98646 527.43527,386.74398 526.83156,171.85808" Fill="Transparent" HorizontalAlignment="Left" Height="215" Margin="523,172,0,0" Stroke="#FF2D3E33"  StrokeThickness="2"  Stretch="Fill" VerticalAlignment="Top" Width="104"/>
+                <Path Data="M470.73348,171.25096 L470.73348,386.67023 364.24292,386.67023 364.24292,169.22349" Fill="Transparent" HorizontalAlignment="Left" Height="216" Margin="364,171,0,0" Stroke="#FF2D3E33"  StrokeThickness="2"  Stretch="Fill" VerticalAlignment="Top" Width="105"/>
+                <Path Data="M494,380.61719 L494,173.42969" Fill="Transparent" HorizontalAlignment="Left" Height="206" StrokeDashArray="5 5" Margin="494,174,0,0" Stroke="#FF627569" StrokeThickness="2"  Stretch="Fill" VerticalAlignment="Top" Width="2"/>
+                <Path Data="M651.5,387.34183 L651.5,164.69054" Fill="Transparent" HorizontalAlignment="Left" Height="223" StrokeDashArray="5 5" Margin="652,164,0,0" Stroke="#FF627569" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="2" />
+                <Path Data="M812,390.42647 L812,175.98529" Fill="Transparent" HorizontalAlignment="Left" Height="213" StrokeDashArray="5 5" Margin="812,175,0,0" Stroke="#FF627569" StrokeThickness="2"  Stretch="Fill" VerticalAlignment="Top" Width="2"/>
+                <Path Data="M311.25,9.5 L311.25,224" Fill="Transparent" HorizontalAlignment="Left" Height="216" Margin="309,172,0,0" Stroke="#FF2D3E33" Stretch="Fill" VerticalAlignment="Top" StrokeThickness="2" Width="4"/>
+
             </Grid>
 
             <Grid x:Name="二号道路" Margin="0,240,0,0">
-                <Path Data="M1016.6667,260 L327.3254,260 327.4924,96.402842" Fill="Transparent" HorizontalAlignment="Left" Height="162" Margin="328,99,240,0" Stroke="#FF627569" StrokeDashArray="5 5" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" />
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-                <Path Data="M642.29311,458.41209 L641.91372,275.13184 532.74204,275.47011 533.24441,458.53806" Fill="Transparent" HorizontalAlignment="Left"  Margin="532,276,0,120" Stroke="#FF2D3E33" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="111"/>
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+                <Path Data="M958.38095,275.75 L886.94477,275.07759 886.94477,450.57759" Fill="Transparent" HorizontalAlignment="Left"  Margin="1284,275,0,0" Stroke="#FF2D3E33" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Height="349" Width="208" />
+                <Path Data="M1222.0821,458.41209 L1221.7027,275.13184 1002.4912,275.47011 1002.9936,458.53806" Fill="Transparent" HorizontalAlignment="Left"  Margin="999,276,0,0" Stroke="#FF2D3E33" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="221" Height="348"/>
+                <Path Data="M933.07226,460.00209 L933.07225,275.97135 714.82568,276.30686 714.82568,459.49788" Fill="Transparent" HorizontalAlignment="Left"  Margin="712,276,0,0" Stroke="#FF2D3E33" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="218" Height="348"/>
+                <Path Data="M645.61378,452.00064 L645.86835,270.23107 423.46744,269.56702 423.04353,453.80193" Fill="Transparent" HorizontalAlignment="Left"  Margin="421,276,0,0" Stroke="#FF2D3E33" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="222" Height="348"/>
+                <Path Data="M356.049,459.1237 L356.54766,276.96216 134.22488,275.96128 133.21451,458.29578" Fill="Transparent" HorizontalAlignment="Left"  Margin="133,276,0,0" Stroke="#FF2D3E33" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="223" Height="348"/>
+                <Path Data="M61.281856,471.84298 L61.784981,243.57743 312.20682,243.71954" Fill="Transparent" HorizontalAlignment="Left" Margin="61,225,0,0" Stroke="#FF2D3E33" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="252" Height="400"/>
+                <Path Data="M1252.3333,278 L1252.3333,455.5" Fill="Transparent" HorizontalAlignment="Left"  Margin="1251,278,0,0"  StrokeDashArray="5 5" Stroke="#FF627569" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Height="346" Width="2" />
+                <Path Data="M675.83333,277.5 L675.83333,453.5" Fill="Transparent" HorizontalAlignment="Left"  Margin="676,278,0,0"  StrokeDashArray="5 5" Stroke="#FF627569" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Height="346" Width="2" />
+                <Path Data="M389,280.5 L389,456" Fill="Transparent" HorizontalAlignment="Left"  Margin="389,278,0,0"  StrokeDashArray="5 5" Stroke="#FF627569" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Height="346" Width="2" />
+                <Path Data="M964.83333,280 L964.83333,454.5" Fill="Transparent" HorizontalAlignment="Left"  Margin="964,278,0,0"  StrokeDashArray="5 5" Stroke="#FF627569" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Height="346" Width="2" />
+                <Path Data="M326,255.21409 L98.5,255.21409 98.5,452.5" Fill="Transparent" HorizontalAlignment="Left"  Margin="98,251,0,0"  StrokeDashArray="5 5" Stroke="#FF627569" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="228" Height="373"/>
             </Grid>
 
             <Grid  x:Name="回家道路" Margin="0,0,0,0">
-                <Path Data="M958.75,325.5 L958.75,244.52083 1030.2048,244.68953" Fill="Transparent" HorizontalAlignment="Right" Height="82" Margin="959,245,170,0"  Stroke="#FF2D3E33" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="72"/>
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+                <Path Data="M952.25777,465.46072 L952.25777,241.72543 1039.7321,241.89413" Fill="Transparent" HorizontalAlignment="Right" Height="224" Margin="0,242,161,0"  Stroke="#FF2D3E33" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="87"/>
+                <Path Data="M956.96815,516.33333 L956.96815,676.95339 1044.8918,676.7024" Fill="Transparent" HorizontalAlignment="Right" Height="162" Margin="0,516,156,0"  Stroke="#FF2D3E33" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="89"/>
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-                <Path Data="M1026.6667,659.83333 L974.49996,659.83333 974.49996,257.49998 1023.4898,257.49998" Fill="Transparent" HorizontalAlignment="Right" Height="403" Margin="975,258,170,0" StrokeDashArray="5 5" Stroke="#FF627569" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="53"/>
+                <Path Data="M1026.6667,663.17911 L974.49996,663.17911 974.49996,254.32277 1034.8498,254.32277" Fill="Transparent" HorizontalAlignment="Right" Height="409" Margin="0,255,162,0" StrokeDashArray="5 5" Stroke="#FF627569" StrokeThickness="2" Stretch="Fill" VerticalAlignment="Top" Width="61"/>
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@@ -314,41 +1172,83 @@
 
         <!--#region 运动轨迹路线-->
         <Canvas x:Name="cvsMain">
-            <TextBox x:Name="yunshuche" Style="{StaticResource 运输车}" IsEnabled="True" Text="No"  Tag="Start"   HorizontalAlignment="Right" VerticalAlignment="Top" RenderTransformOrigin="0.5,0.5"/>
-
-            <Path x:Name="qc_1" Data="M1016.5,258.5 L978,258.5 978,340 337.32051,340 337.32051,218.75617" Fill="Transparent" HorizontalAlignment="Right" Height="122" Margin="329,218,100,0" Stroke="Red"  Stretch="Fill" VerticalAlignment="Top"/>
+            <!--canvas定位确定在左上角,需要定位在中心left和top需要减去自身半径的一半 Margin="-50,35,0,0"-->
+            <TextBox x:Name="一号车" Style="{StaticResource 运输车新}" IsEnabled="True" Text="{Binding cartModel_1.isBool,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Tag="{Binding cartModel_1.Tag,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" HorizontalAlignment="Right" VerticalAlignment="Top" RenderTransformOrigin="0.5,0.5"/>
+            <TextBox x:Name="二号车" Style="{StaticResource 运输车新}" IsEnabled="True" Text="{Binding cartModel_2.isBool,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Tag="{Binding cartModel_2.Tag,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" HorizontalAlignment="Right" VerticalAlignment="Top" RenderTransformOrigin="0.5,0.5"/>
+            <TextBox x:Name="三号车" Style="{StaticResource 运输车新}" IsEnabled="True" Text="{Binding cartModel_3.isBool,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Tag="{Binding cartModel_3.Tag,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" HorizontalAlignment="Right" VerticalAlignment="Top" RenderTransformOrigin="0.5,0.5"/>
+            <TextBox x:Name="四号车" Style="{StaticResource 运输车新}" IsEnabled="True" Text="{Binding cartModel_4.isBool,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Tag="{Binding cartModel_4.Tag,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" HorizontalAlignment="Right" VerticalAlignment="Top" RenderTransformOrigin="0.5,0.5"/>
+            <!--取菜品路线 3个-->
+            <!--<Path x:Name="qc_1" Data="M1767.8205,341.00202 L337.32051,340 337.32051,218.75617"  Fill="Transparent" HorizontalAlignment="Center" Height="234" Stroke="Red"  Stretch="Fill" VerticalAlignment="Top" Width="1151" />
+            <Path x:Name="qc_2" Data="M1528.625,340.5 L410.5,338.83333 410.24997,239.18145" Fill="Transparent" Height="238" Canvas.Left="494.25" Stroke="Red" Stretch="Fill" Canvas.Top="254.583" Width="995" HorizontalAlignment="Center" VerticalAlignment="Top"/>
+            <Path x:Name="qc_3" Data="M1528.5,340.5 L492.20537,339.99017 491.79339,220.53846" Fill="Transparent" Height="236" Canvas.Left="652.498" Stroke="Red" Stretch="Fill" Canvas.Top="255.834" Width="840" HorizontalAlignment="Center" VerticalAlignment="Top"/>-->
+            <!--送菜品路线 1号取菜口送到5个锅-->
+            <!--<Path x:Name="yc_1_1" Data="M332.67208,254.56557 L332.48784,490.99955 214.5,490.62207 214.5,860.5" Fill="Transparent" Height="607" Canvas.Left="99" Stroke="Red" Stretch="Fill" Canvas.Top="254.583" Width="237" HorizontalAlignment="Center" VerticalAlignment="Top"/>
+            <Path x:Name="yc_1_2" Data="M329.58309,254.75998 L329.5,492.15513 359.47145,491.53205 359.47145,860.83532" Fill="Transparent" Height="607" Canvas.Left="334.667" Stroke="Red" Stretch="Fill" Canvas.Top="254.583" Width="61" HorizontalAlignment="Center" VerticalAlignment="Top"/>
+            <Path x:Name="yc_1_3" Data="M332.47966,254.57884 L332.77785,492.7685 505.3807,491.73602 504.87598,861.77688" Fill="Transparent" Height="606" Canvas.Left="334.417" Stroke="Red" Stretch="Fill" Canvas.Top="254.417" Width="343" HorizontalAlignment="Center" VerticalAlignment="Top"/>
+            <Path x:Name="yc_1_4" Data="M334.04421,253.74895 L333.67261,491.61375 845.84124,491.49411 845.84124,861.40354" Fill="Transparent" Height="609" Canvas.Left="334.667" Stroke="Red" Stretch="Fill" Canvas.Top="253.75" Width="633" HorizontalAlignment="Left" VerticalAlignment="Center"/>
+            <Path x:Name="yc_1_5" Data="M335.99357,253.70082 L334.33946,490.553 1256.2374,491.4823 1254.2358,861.10545" Fill="Transparent" Height="609" Canvas.Left="334.333" Stroke="Red" Stretch="Fill" Canvas.Top="253.749" Width="923" HorizontalAlignment="Left" VerticalAlignment="Center"/>-->
+            <!--送菜品路线 2号取菜口送到5个锅-->
+            <!--<Path x:Name="yc_2_1" Data="M452.92227,255.38823 L453.38217,491.10097 254.6441,491.1112 254.39313,859.04081" Fill="Transparent" Height="605" Canvas.Left="99" Stroke="Red" Stretch="Fill" Canvas.Top="255.5" Width="397" HorizontalAlignment="Center" VerticalAlignment="Top"/>
+            <Path x:Name="yc_2_2" Data="M488.35495,257.41892 L488.65986,490.93723 391.20932,490.91674 391.28296,858.33801" Fill="Transparent" Height="604" Canvas.Left="389.5" Stroke="Red" Stretch="Fill" Canvas.Top="257.5" Width="108" HorizontalAlignment="Center" VerticalAlignment="Top"/>
+            <Path x:Name="yc_2_3" Data="M512.32396,255.41644 L512.62105,492.0013 728.21212,491.12867 729.1022,856.40139" Fill="Transparent" Height="604" Canvas.Left="496.367" Stroke="Red" Stretch="Fill" Canvas.Top="255.5" Width="184" HorizontalAlignment="Center" VerticalAlignment="Top"/>
+            <Path x:Name="yc_2_4" Data="M493.84351,255.63081 L494.24767,491.94281 964.81356,491.71074 962.82129,862.26842" Fill="Transparent" Height="606" Canvas.Left="494.563" Stroke="Red" Stretch="Fill" Canvas.Top="255.5" Width="474" HorizontalAlignment="Center" VerticalAlignment="Top"/>
+            <Path x:Name="yc_2_5" Data="M492.78748,255.93328 L493.64028,491.52582 1232.0872,491.20803 1231.8435,852.81206" Fill="Transparent" Height="597" Canvas.Left="494.424" Stroke="Red" Stretch="Fill" Canvas.Top="255.833" Width="760" HorizontalAlignment="Center" VerticalAlignment="Top"/>-->
+            <!--送菜品路线 3号取菜口送到5个锅-->
+            <!--<Path x:Name="yc_3_1" Data="M678.97662,256.40013 L678.68368,491.79548 33.856468,492.63368 33.565475,862.66674" Fill="Transparent" Height="605" Canvas.Left="98.5" Stroke="Red" Stretch="Fill" Canvas.Top="256.167" Width="555" HorizontalAlignment="Center" VerticalAlignment="Top"/>
+            <Path x:Name="yc_3_2" Data="M679.85815,257.83602 L678.4997,489.82208 372.49606,488.69436 372.29971,855.85772" Fill="Transparent" Height="605" Canvas.Left="389.333" Stroke="Red" Stretch="Fill" Canvas.Top="256.833" Width="265" HorizontalAlignment="Center" VerticalAlignment="Top"/>
+            <Path x:Name="yc_3_3" Data="M572.41025,257.61404 L572.77894,491.54068 584.67854,491.67667 584.26824,863.18636" Fill="Transparent" Height="606" Canvas.Left="652.138" Stroke="Red" Stretch="Fill" Canvas.Top="257.5" Width="26" HorizontalAlignment="Center" VerticalAlignment="Top"/>
+            <Path x:Name="yc_3_4" Data="M662.64002,256.80477 L661.85547,490.83265 994.30957,490.50591 994.84049,859.5945" Fill="Transparent" Height="605" Canvas.Left="652.185" Stroke="Red" Stretch="Fill" Canvas.Top="256.833" Width="315" HorizontalAlignment="Center" VerticalAlignment="Top"/>
+            <Path x:Name="yc_3_6" Data="M0.50000387,-72.608117 L0.50000387,160.28068 599.32136,159.12096 600.82164,531.95397" Fill="Transparent" Height="605" Canvas.Left="652.833" Stroke="Red" Stretch="Fill" Canvas.Top="258.833" Width="601" HorizontalAlignment="Center" VerticalAlignment="Top"/>-->
+            <!--送完菜品 回收路线-->
+            <!--<Path x:Name="hs_1" Data="M100,862 L99.749407,491.33482 455.92934,491.23722 455.29168,371.3206 455.18157,257.16252" Fill="Transparent" Height="605" Canvas.Left="99.999" Stroke="Red" Stretch="Fill" Canvas.Top="257.5" Width="715" HorizontalAlignment="Center" VerticalAlignment="Top"/>
+            <Path x:Name="hs_2" Data="M389.82645,862.91662 L389.79339,491.26265 814.21309,490.29053 814.03219,257.27355" Fill="Transparent" Height="608" Canvas.Left="389.486" Stroke="Red" Stretch="Fill" Canvas.Top="257.5" Width="425" HorizontalAlignment="Center" VerticalAlignment="Top"/>
+            <Path x:Name="hs_3" Data="M675.38594,860.33333 L676.05047,490.74164 811.14431,490.74164 810.88341,257.70126" Fill="Transparent" Height="604" Canvas.Left="676.654" Stroke="Red" Stretch="Fill" Canvas.Top="257.5" Width="137" HorizontalAlignment="Center" VerticalAlignment="Top"/>
+            <Path x:Name="hs_4" Data="M965.6722,862.33333 L964.6735,490.60998 811.86871,491.21259 811.53039,256.83952" Fill="Transparent" Height="607" Canvas.Left="812.162" Stroke="Red" Stretch="Fill" Canvas.Top="256.556" Width="155" HorizontalAlignment="Center" VerticalAlignment="Center"/>
+            <Path x:Name="hs_5" Data="M1252.0339,863 L1252.0339,491.0315 812.43016,491.0315 812.43016,255.61095" Fill="Transparent" Height="608" Canvas.Left="812.42" Stroke="Red" Stretch="Fill" Canvas.Top="255.833" Width="441" HorizontalAlignment="Center" VerticalAlignment="Top"/>-->
+            <!--回家路线-->
+            <!--<Path x:Name="hj" Data="M695.05385,257.32244 L694.62073,490.08196 1034.3248,490.43729" Fill="Transparent" Height="235" Canvas.Left="812.633" Stroke="Red" Stretch="Fill" Canvas.Top="257.5" Width="681" HorizontalAlignment="Center" VerticalAlignment="Top"/>-->
         </Canvas>
-
-            <!--#endregion-->
+        <!--#endregion-->
 
         <!--#region 炒锅区域-->
-        <StackPanel Orientation="Horizontal">
-            <Border Style="{DynamicResource border炒锅}">
-                <TextBlock Style="{DynamicResource 80号字体样式}" Width="14" Margin="-10,0,0,0"  HorizontalAlignment="Left" VerticalAlignment="Bottom">炒锅(1)号</TextBlock>
+        <Grid >
+            <Grid.ColumnDefinitions>
+                <ColumnDefinition/>
+                <ColumnDefinition/>
+                <ColumnDefinition/>
+                <ColumnDefinition/>
+                <ColumnDefinition/>
+                <ColumnDefinition/>
+            </Grid.ColumnDefinitions>
+            <Border Style="{DynamicResource border炒锅}" HorizontalAlignment="Left">
+                <TextBlock Style="{DynamicResource 80号字体样式}" FontSize="16" Width="18" Margin="-10,0,0,0"  HorizontalAlignment="Left" VerticalAlignment="Bottom">炒锅(1)号</TextBlock>
             </Border>
-            <Border Style="{DynamicResource border炒锅}">
-                <TextBlock Style="{DynamicResource 80号字体样式}" Width="14" Margin="-10,0,0,0"  HorizontalAlignment="Left" VerticalAlignment="Bottom">炒锅(2)号</TextBlock>
+            <Border Style="{DynamicResource border炒锅}" Grid.Column="1" HorizontalAlignment="Left">
+                <TextBlock Style="{DynamicResource 80号字体样式}" FontSize="16" Width="18" Margin="-10,0,0,0"  HorizontalAlignment="Left" VerticalAlignment="Bottom">炒锅(2)号</TextBlock>
             </Border>
-            <Border Style="{DynamicResource border炒锅}">
-                <TextBlock Style="{DynamicResource 80号字体样式}" Width="14" Margin="-10,0,0,0"  HorizontalAlignment="Left" VerticalAlignment="Bottom">炒锅(3)号</TextBlock>
+            <Border Style="{DynamicResource border炒锅}" Grid.Column="2" HorizontalAlignment="Left">
+                <TextBlock Style="{DynamicResource 80号字体样式}" FontSize="16" Width="18" Margin="-10,0,0,0"  HorizontalAlignment="Left" VerticalAlignment="Bottom">炒锅(3)号</TextBlock>
             </Border>
-            <Border Style="{DynamicResource border炒锅}">
-                <TextBlock Style="{DynamicResource 80号字体样式}" Width="14" Margin="-10,0,0,0"  HorizontalAlignment="Left" VerticalAlignment="Bottom">炒锅(4)号</TextBlock>
+            <Border Style="{DynamicResource border炒锅}" Grid.Column="3" HorizontalAlignment="Left">
+                <TextBlock Style="{DynamicResource 80号字体样式}" FontSize="16" Width="18" Margin="-10,0,0,0"  HorizontalAlignment="Left" VerticalAlignment="Bottom">炒锅(4)号</TextBlock>
             </Border>
-            <Border Style="{DynamicResource border炒锅}">
-                <TextBlock Style="{DynamicResource 80号字体样式}" Width="14" Margin="-10,0,0,0"  HorizontalAlignment="Left" VerticalAlignment="Bottom">炒锅(5)号</TextBlock>
+            <Border Style="{DynamicResource border炒锅}" Grid.Column="4" HorizontalAlignment="Left">
+                <TextBlock Style="{DynamicResource 80号字体样式}" FontSize="16" Width="18" Margin="-10,0,0,0"  HorizontalAlignment="Left" VerticalAlignment="Bottom">炒锅(5)号</TextBlock>
             </Border>
-        </StackPanel>
+        </Grid>
         <!--#endregion-->
 
-        <!--#region 滚筒线,IsEnabled True代表有菜 false 空碗.Text:Start 执行动画-->
-        <StackPanel Orientation="Horizontal" Height="200" Width="325" HorizontalAlignment="Left" VerticalAlignment="Top" Margin="290,0,0,0">
-            <TextBlock Style="{DynamicResource 80号字体样式}" Width="12" HorizontalAlignment="Right">满料桶滚筒线</TextBlock>
-            <TextBox Style="{StaticResource 传送带}" IsEnabled="True" Text="Start" Margin="0,0,0,0"></TextBox>
-            <TextBox Style="{StaticResource 传送带}" IsEnabled="True" Text="Start" Margin="20,0,0,0"></TextBox>
-            <TextBox Style="{StaticResource 传送带}" IsEnabled="True" Text="Stop" Margin="20,0,0,0"></TextBox>
-            <TextBox Style="{StaticResource 传送带}" IsEnabled="False" Margin="20,0,0,0"></TextBox>
-            <TextBlock Style="{DynamicResource 80号字体样式}" Width="12" HorizontalAlignment="Right">空桶滚筒线</TextBlock>
+        <!--#region 滚筒线,IsEnabled True代表有菜 false 空碗.Text:Start 执行动画  Tag：代表传输带上有几个菜碗-->
+        <StackPanel Orientation="Horizontal" Height="240" Width="580" HorizontalAlignment="Left" VerticalAlignment="Top" Margin="290,0,0,0">
+            <TextBlock Style="{DynamicResource 80号字体样式}" FontSize="16" Width="18" HorizontalAlignment="Right">满料桶滚筒线</TextBlock>
+            <TextBox Style="{StaticResource 传送带}" IsEnabled="True" Text="{Binding RollerLines_1.Text,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Tag="{Binding RollerLines_1.DishesNum,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}"  Margin="0,0,0,0" ></TextBox>
+            <TextBlock Style="{DynamicResource 80号字体样式}" FontSize="16" Width="18" HorizontalAlignment="Right">(1)号</TextBlock>
+            <TextBox Style="{StaticResource 传送带}" IsEnabled="True" Text="{Binding RollerLines_2.Text,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Tag="{Binding RollerLines_2.DishesNum,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Margin="80,0,0,0"></TextBox>
+            <TextBlock Style="{DynamicResource 80号字体样式}" FontSize="16" Width="18" HorizontalAlignment="Right">(2)号</TextBlock>
+            <TextBox Style="{StaticResource 传送带}" IsEnabled="True" Text="{Binding RollerLines_3.Text,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Tag="{Binding RollerLines_3.DishesNum,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Margin="80,0,0,0" ></TextBox>
+            <TextBlock Style="{DynamicResource 80号字体样式}" FontSize="16" Width="18" HorizontalAlignment="Right">(3)号</TextBlock>
+            <TextBox Style="{StaticResource 传送带空}" IsEnabled="False" Text="{Binding RollerLines_4.Text,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Tag="{Binding RollerLines_4.DishesNum,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Margin="80,0,0,0"></TextBox>
+            <TextBlock Style="{DynamicResource 80号字体样式}" FontSize="16" Width="16" HorizontalAlignment="Right">空桶滚筒线</TextBlock>
         </StackPanel>
         <!--#endregion-->
 
@@ -374,21 +1274,12 @@
             </Border>
         </StackPanel>
         <StackPanel HorizontalAlignment="Right" VerticalAlignment="Top" Margin="0,200,100,0">
-            <TextBox Style="{StaticResource 停车位}" Margin="0,50,0,0"/>
-            <TextBox Style="{StaticResource 停车位}" Margin="0,60,0,0"/>
-            <TextBox Style="{StaticResource 停车位}" Margin="0,60,0,0"/>
-            <TextBox Style="{StaticResource 停车位}" Margin="0,60,0,0"/>
-            <TextBox Style="{StaticResource 停车位}" Margin="0,60,0,0"/>
-            <TextBox Style="{StaticResource 停车位}" Margin="0,60,0,0" Text="No"/>
-        </StackPanel>
-        <!--#endregion-->
-
-        <!--#region 车子-->
-        <StackPanel HorizontalAlignment="Right" VerticalAlignment="Top" Margin="0,200,90,0">
-            <TextBox Style="{StaticResource 运输车}" IsEnabled="False" Text="No"></TextBox>
-            <TextBox Style="{StaticResource 运输车}" IsEnabled="False" Text="No"></TextBox>
-            <TextBox Style="{StaticResource 运输车}" IsEnabled="False" Text="No"></TextBox>
-            <TextBox Style="{StaticResource 运输车}" IsEnabled="False" Text="No"></TextBox>
+            <TextBox Style="{StaticResource 停车位}" Margin="0,15,0,0" Text="{Binding ParkingPileModel_1.Text,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}"/>
+            <TextBox Style="{StaticResource 停车位}" Margin="0,23,0,0" Text="{Binding ParkingPileModel_2.Text,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}"/>
+            <TextBox Style="{StaticResource 停车位}" Margin="0,26,0,0" Text="{Binding ParkingPileModel_3.Text,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}"/>
+            <TextBox Style="{StaticResource 停车位}" Margin="0,25,0,0" Text="{Binding ParkingPileModel_4.Text,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}"/>
+            <TextBox Style="{StaticResource 停车位}" Margin="0,25,0,0" Text="{Binding ParkingPileModel_5.Text,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" />
+            <TextBox Style="{StaticResource 停车位}" Margin="0,25,0,0" Text="{Binding ParkingPileModel_6.Text,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}"/>
         </StackPanel>
         <!--#endregion-->
     </Grid>
diff --git a/FryPot_DosingSystem/View/AgvView.xaml.cs b/FryPot_DosingSystem/View/AgvView.xaml.cs
index 5792930a..de598ba4 100644
--- a/FryPot_DosingSystem/View/AgvView.xaml.cs
+++ b/FryPot_DosingSystem/View/AgvView.xaml.cs
@@ -1,4 +1,5 @@
-using FryPot_DosingSystem.ViewModel;
+using FryPot_DosingSystem.AGV;
+using FryPot_DosingSystem.ViewModel;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -30,38 +31,42 @@ namespace FryPot_DosingSystem.View
 
         private void Button_Click(object sender, RoutedEventArgs e)
         {
-            AnimationByPath(yunshuche,qc_1);
+           // AgvViewModel.GetInstance().cartModel_1.cartMotionTrajectory = CartMotionTrajectory.Stop;
+            AgvViewModel.GetInstance().ParkingPileModel_1.isBool = IsBool.No;
+            AgvViewModel.GetInstance().cartModel_1.isBool=IsBool.No;
+            AgvViewModel.GetInstance().cartModel_1.cartMotionTrajectory = CartMotionTrajectory.qc_1;
+
+            
         }
 
-        /// <summary>
-        /// 路径动画
-        /// </summary>
-        /// <param name="cvs">画板</param>
-        /// <param name="path">路径</param>
-        /// <param name="target">动画对象</param>
-        /// <param name="duration">时间</param>
-        private void AnimationByPath(TextBox target, Path path, int duration = 5)
+        private void Button_Click_1(object sender, RoutedEventArgs e)
         {
-            target.RenderTransformOrigin = new Point(0.5, 0.5);
+            AgvViewModel.GetInstance().RollerLines_1.isRun = IsRun.Start;
+        }
 
-            MatrixTransform matrix = new MatrixTransform();
-            TransformGroup groups = new TransformGroup();
-            groups.Children.Add(matrix);
-            target.RenderTransform = groups;
-            string registname = "matrix" + Guid.NewGuid().ToString().Replace("-", "");
-            this.RegisterName(registname, matrix);
-            MatrixAnimationUsingPath matrixAnimation = new MatrixAnimationUsingPath();
-            matrixAnimation.PathGeometry = PathGeometry.CreateFromGeometry(Geometry.Parse(path.Data.ToString()));
-            matrixAnimation.Duration = new Duration(TimeSpan.FromSeconds(duration));
-            matrixAnimation.DoesRotateWithTangent = true;//跟随路径旋转
-            matrixAnimation.RepeatBehavior = RepeatBehavior.Forever;//循环
-            Storyboard story = new Storyboard();
-            story.Children.Add(matrixAnimation);
-            Storyboard.SetTargetName(matrixAnimation, registname);
-            Storyboard.SetTargetProperty(matrixAnimation, new PropertyPath(MatrixTransform.MatrixProperty));
+        private void StopButton_Click(object sender, RoutedEventArgs e)
+        {
+            AgvViewModel.GetInstance().RollerLines_1.isRun = IsRun.Stop;
+            AgvViewModel.GetInstance().cartModel_1.isBool = IsBool.Yes;
+            AgvViewModel.GetInstance().cartModel_1.cartMotionTrajectory = CartMotionTrajectory.yc_1_1;
+        }
+
+        private void Button_Click_2(object sender, RoutedEventArgs e)
+        {
+            AgvViewModel.GetInstance().cartModel_1.isBool = IsBool.No;
+            AgvViewModel.GetInstance().cartModel_1.cartMotionTrajectory = CartMotionTrajectory.hs_1;
+        }
 
-            story.FillBehavior = FillBehavior.Stop;
-            story.Begin(target, true);
-        }    
+        private void Button_Click_3(object sender, RoutedEventArgs e)
+        {
+            AgvViewModel.GetInstance().cartModel_1.cartMotionTrajectory = CartMotionTrajectory.hj;
+            AgvViewModel.GetInstance().ParkingPileModel_1.isBool = IsBool.Yes;
+        }
+
+        private void Button_Click_4(object sender, RoutedEventArgs e)
+        {
+            AgvViewModel.GetInstance().cartModel_1.cartMotionTrajectory = CartMotionTrajectory.Stop;
+
+        }
     }
 }
diff --git a/FryPot_DosingSystem/View/DebugView.xaml b/FryPot_DosingSystem/View/DebugView.xaml
new file mode 100644
index 00000000..24afcb6c
--- /dev/null
+++ b/FryPot_DosingSystem/View/DebugView.xaml
@@ -0,0 +1,96 @@
+<UserControl x:Class="FryPot_DosingSystem.View.DebugView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:local="clr-namespace:FryPot_DosingSystem.View"
+             xmlns:vm="clr-namespace:FryPot_DosingSystem.ViewModel"
+             mc:Ignorable="d" 
+             d:DesignHeight="450" d:DesignWidth="800">
+    <UserControl.DataContext>
+        <vm:DebugViewModel/>
+    </UserControl.DataContext>
+    <UserControl.Resources>
+        <Style x:Key="buttonStyle" TargetType="Button">
+            <Setter Property="Width" Value="100"></Setter>
+            <Setter Property="Height" Value="30"/>
+            <Setter Property="Background" Value="Transparent"></Setter>
+            <Setter Property="BorderThickness" Value="2"/>
+            <Setter Property="BorderBrush" Value="Orange"/>
+            <Setter Property="HorizontalContentAlignment" Value="Center"/>
+            <Setter Property="VerticalContentAlignment" Value="Center"/>
+            <Setter Property="Margin" Value="3,3"/>
+            <Setter Property="Foreground" Value="SkyBlue"/>
+            <Setter Property="FontSize" Value="13"/>
+        </Style>
+    </UserControl.Resources>
+
+    <Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition/>
+            <RowDefinition/>
+            <RowDefinition/>
+        </Grid.RowDefinitions>
+        <UniformGrid Columns="2">
+                <GroupBox Grid.Column="1" Header="PLC信号" Foreground="Aqua" BorderBrush="Pink">
+                    <WrapPanel Orientation="Horizontal">
+                        <Button Content="滚筒线运行信号" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding RollerLineRunning}"></Button>
+                        <!--<Button Content="工位号8桶号" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding EightWorkLoc}"></Button>-->
+                        <ComboBox SelectionChanged="ComboBox_SelectionChanged" ItemsSource="{Binding LineOneRollerCode}" Background="Transparent" Width="100" Height="34" Margin="3,3"/>
+                        <Button Content="炒锅进料就位" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding FryPotInputArrive}"/>
+                        <Button Content="炒锅空桶就位" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding FryPotEmptyRollerArrive}"/>
+                    </WrapPanel>
+                </GroupBox>
+                <GroupBox Grid.Column="2" Header="AGV信号" Foreground="Aqua">
+                    <WrapPanel Orientation="Horizontal">
+                        <Button Content="AGV线体1上料就位" Style="{StaticResource buttonStyle}" Width="120" Command="{Binding AGVLOneArrive}"/>
+                        <Button Content="AGV炒锅下料就位" Style="{StaticResource buttonStyle}" RenderTransformOrigin="0.5,0.5" Width="114" Command="{Binding AGVFryPotDownArrive}">
+                        </Button>
+                        <Button Content="AGV炒锅空桶上料就位" Style="{StaticResource buttonStyle}" Width="139" Command="{Binding AGVFryPotUpArrive}"/>
+                        <Button Content="AGV拿到空桶信号" Style="{StaticResource buttonStyle}" Width="114" Command="{Binding AGVFryPotGetEmptyRoller}"/>
+                    </WrapPanel>
+                </GroupBox>
+            </UniformGrid>
+        <UniformGrid Columns="2" Grid.Row="1">
+            <GroupBox Grid.Column="1" Header="PLC信号" Foreground="Aqua" BorderBrush="Pink">
+                <WrapPanel Orientation="Horizontal">
+                    <Button Content="滚筒线运行信号" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding RollerLineTwoRunning}"></Button>
+                    <!--<Button Content="工位号8桶号" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding EightWorkLoc}"></Button>-->
+                    <ComboBox SelectionChanged="ComboBox_SelectionChanged_1" ItemsSource="{Binding LineTwoRollerCode}" Background="Transparent" Width="100" Height="34" Margin="3,3"/>
+                    <Button Content="炒锅进料就位" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding FryPotTwoInputArrive}"/>
+                    <Button Content="炒锅空桶就位" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding FryPotTwoEmptyRollerArrive}"/>
+                </WrapPanel>
+            </GroupBox>
+            <GroupBox Grid.Column="2" Header="AGV信号" Foreground="Aqua">
+                <WrapPanel Orientation="Horizontal">
+                    <Button Content="AGV线体2上料就位" Style="{StaticResource buttonStyle}" Width="120" Command="{Binding AGVLTwoArrive}"/>
+                    <Button Content="AGV炒锅下料就位" Style="{StaticResource buttonStyle}" RenderTransformOrigin="0.5,0.5" Width="114" Command="{Binding AGVFryPotTwoDownArrive}">
+                    </Button>
+                    <Button Content="AGV炒锅空桶上料就位" Style="{StaticResource buttonStyle}" Width="139" Command="{Binding AGVFryPotTwoUpArrive}"/>
+                    <Button Content="AGV拿到空桶信号" Style="{StaticResource buttonStyle}" Width="114" Command="{Binding AGVFryPotTwoGetEmptyRoller}"/>
+                </WrapPanel>
+            </GroupBox>
+        </UniformGrid>
+        <UniformGrid Columns="2" Grid.Row="2">
+            <GroupBox Grid.Column="1" Header="PLC信号" Foreground="Aqua" BorderBrush="Pink">
+                <WrapPanel Orientation="Horizontal">
+                    <Button Content="滚筒线运行信号" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding RollerLineThreeRunning}"></Button>
+                    <!--<Button Content="工位号8桶号" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding EightWorkLoc}"></Button>-->
+                    <ComboBox SelectionChanged="ComboBox_SelectionChanged_2" ItemsSource="{Binding LineThreeRollerCode}" Background="Transparent" Width="100" Height="34" Margin="3,3"/>
+                    <Button Content="炒锅进料就位" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding FryPotThreeInputArrive}"/>
+                    <Button Content="炒锅空桶就位" Style="{StaticResource buttonStyle}" VerticalAlignment="Top" Command="{Binding FryPotThreeEmptyRollerArrive}"/>
+                </WrapPanel>
+            </GroupBox>
+            <GroupBox Grid.Column="2" Header="AGV信号" Foreground="Aqua">
+                <WrapPanel Orientation="Horizontal">
+                    <Button Content="AGV线体3上料就位" Style="{StaticResource buttonStyle}" Width="120" Command="{Binding AGVLThreeArrive}"/>
+                    <Button Content="AGV炒锅下料就位" Style="{StaticResource buttonStyle}" RenderTransformOrigin="0.5,0.5" Width="114" Command="{Binding AGVFryPotThreeDownArrive}">
+                    </Button>
+                    <Button Content="AGV炒锅空桶上料就位" Style="{StaticResource buttonStyle}" Width="139" Command="{Binding AGVFryPotThreeUpArrive}"/>
+                    <Button Content="AGV拿到空桶信号" Style="{StaticResource buttonStyle}" Width="114" Command="{Binding AGVFryPotThreeGetEmptyRoller}"/>
+                </WrapPanel>
+            </GroupBox>
+        </UniformGrid>
+    </Grid>
+
+</UserControl>
diff --git a/FryPot_DosingSystem/View/DebugView.xaml.cs b/FryPot_DosingSystem/View/DebugView.xaml.cs
new file mode 100644
index 00000000..d739abbc
--- /dev/null
+++ b/FryPot_DosingSystem/View/DebugView.xaml.cs
@@ -0,0 +1,62 @@
+using BPASmartClient.Helper;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace FryPot_DosingSystem.View
+{
+    /// <summary>
+    /// DebugView.xaml 的交互逻辑
+    /// </summary>
+    public partial class DebugView : UserControl
+    {
+        public DebugView()
+        {
+            InitializeComponent();
+        }
+
+        private void ComboBox_SelectionChanged(object sender, SelectionChangedEventArgs e)
+        {
+            if (sender is ComboBox cbo)
+            {
+                if (cbo.SelectedValue != null)
+                {
+                    ActionManage.GetInstance.Send("EightWorkLoc",cbo.SelectedValue);
+                }
+            }
+        }
+
+        private void ComboBox_SelectionChanged_1(object sender, SelectionChangedEventArgs e)
+        {
+            if (sender is ComboBox cbo)
+            {
+                if (cbo.SelectedValue != null)
+                {
+                    ActionManage.GetInstance.Send("TwoEightWorkLoc", cbo.SelectedValue);
+                }
+            }
+        }
+
+        private void ComboBox_SelectionChanged_2(object sender, SelectionChangedEventArgs e)
+        {
+            if (sender is ComboBox cbo)
+            {
+                if (cbo.SelectedValue != null)
+                {
+                    ActionManage.GetInstance.Send("ThreeEightWorkLoc", cbo.SelectedValue);
+                }
+            }
+        }
+    }
+}
diff --git a/FryPot_DosingSystem/View/DeviceListVIew.xaml b/FryPot_DosingSystem/View/DeviceListVIew.xaml
index 7652df36..acfa4837 100644
--- a/FryPot_DosingSystem/View/DeviceListVIew.xaml
+++ b/FryPot_DosingSystem/View/DeviceListVIew.xaml
@@ -18,20 +18,20 @@
             </ResourceDictionary.MergedDictionaries>
         </ResourceDictionary>
     </UserControl.Resources>
- 
+        
         <Grid>
             <Grid.RowDefinitions>
-                <RowDefinition Height="50"/>
-                <RowDefinition Height="20"/>
+                <RowDefinition Height="55"/>
+                <RowDefinition Height="10"/>
                 <RowDefinition/>
             </Grid.RowDefinitions>
             <StackPanel Orientation="Horizontal" HorizontalAlignment="Right">
-                <Button Width="150" Height="35" VerticalAlignment="Center" HorizontalAlignment="Right" Margin="0,0,20,0" Content="添加设备"  Command="{Binding AddDeviceCommand}"></Button>
-                <Button Content="保存设置" Width="150" Height="35" Margin="0,0,20,0" Command="{Binding SaveDeviceConfig}"></Button>
+                <Button Width="150" Height="35" VerticalAlignment="Center" HorizontalAlignment="Right" Margin="0,13,10,0" Content="添加设备"  Command="{Binding AddDeviceCommand}"></Button>
+                <Button Content="保存设置" Width="150" Height="35" Margin="0,13,10,0" Command="{Binding SaveDeviceConfig}"></Button>
             </StackPanel>
-            <Line Grid.Row="1" X1="0" Y1="10" X2="1300" Y2="10" Stroke="Aqua" StrokeThickness="1"></Line>
+            <Line Grid.Row="1" X1="0" Y1="10" X2="1920" Y2="10" Stroke="Aqua" StrokeThickness="1" VerticalAlignment="Center"></Line>
         <Viewbox Grid.Row="2" VerticalAlignment="Top" >
-            <ItemsControl  ItemsSource="{Binding devices}">
+            <ItemsControl  ItemsSource="{Binding devices}" Padding="0,5,0,0">
                 <ItemsControl.ItemsPanel>
                     <ItemsPanelTemplate>
                         <StackPanel></StackPanel>
diff --git a/FryPot_DosingSystem/View/NewRecipeView.xaml b/FryPot_DosingSystem/View/NewRecipeView.xaml
index 155b8795..891894a2 100644
--- a/FryPot_DosingSystem/View/NewRecipeView.xaml
+++ b/FryPot_DosingSystem/View/NewRecipeView.xaml
@@ -190,17 +190,26 @@
         <Grid >
             <Grid.RowDefinitions>
                 <RowDefinition Height="50"></RowDefinition>
-                <RowDefinition Height="60"></RowDefinition>
+                <RowDefinition Height="80"></RowDefinition>
+                <RowDefinition Height="40"></RowDefinition>
                 <RowDefinition></RowDefinition>
             </Grid.RowDefinitions>
-            
+
             <TextBlock Text="配方信息" HorizontalAlignment="Center" VerticalAlignment="Center" Foreground="Aqua" FontSize="25" Margin="0,10"></TextBlock>
             <UniformGrid Grid.Row="1" Columns="2">
-                <StackPanel Orientation="Horizontal">
-                    <TextBlock Text="请输入配方名称：" Foreground="Aqua" FontSize="18" Margin="10,0,5,0" VerticalAlignment="Center"></TextBlock>
-                    <TextBox Style="{DynamicResource TextBoxStyle}" Text="{Binding RecipeName}" Width="230" Height="30" BorderThickness="1" Background="Transparent" Foreground="Orange"
+                <StackPanel Orientation="Vertical">
+                    <StackPanel Orientation="Horizontal" Margin="0,8">
+                        <TextBlock Text="请输入配方名称：" Foreground="Aqua" FontSize="18" Margin="10,0,5,0" VerticalAlignment="Center"></TextBlock>
+                        <TextBox Style="{DynamicResource TextBoxStyle}" Text="{Binding RecipeName}" Width="230" Height="30" BorderThickness="1" Background="Transparent" Foreground="Orange"
                              VerticalContentAlignment="Center"
   BorderBrush="Aqua" VerticalAlignment="Center" FontSize="16" ></TextBox>
+                    </StackPanel>
+                    <StackPanel Orientation="Horizontal">
+                        <TextBlock Text="请输入桶的数量：" Foreground="Aqua" FontSize="18" Margin="10,0,5,0" VerticalAlignment="Center"></TextBlock>
+                        <TextBox Style="{DynamicResource TextBoxStyle}" Text="{Binding RecipeRollerNum}" InputMethod.IsInputMethodEnabled="False"  Width="230" Height="30" BorderThickness="1" Background="Transparent" Foreground="Orange"
+                             VerticalContentAlignment="Center"
+  BorderBrush="Aqua" VerticalAlignment="Center" FontSize="16" TextChanged="TextBox_TextChanged"></TextBox>
+                    </StackPanel>
                 </StackPanel>
                 <StackPanel Orientation="Horizontal">
                     <Button Content="添加原料" Width="150" Margin="10" Height="30" Background="Transparent" BorderBrush="Aqua" Foreground="Aqua" Cursor="Hand" Command="{Binding AddRecipe}" ></Button>
@@ -208,7 +217,22 @@
                     <Button Click="Button_Click" Content="取消" Height="30" FontSize="20" Background="Transparent" BorderBrush="Aqua" Foreground="Aqua" Width="100" Margin="8,10" Cursor="Hand"></Button>
                 </StackPanel>
             </UniformGrid>
-            <ScrollViewer Grid.Row="2" VerticalScrollBarVisibility="Hidden">
+            <Grid Grid.Row="2" Background="Cyan" Margin="0,0,0,10">
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition Width="210"/>
+                    <ColumnDefinition Width="225"/>
+                    <ColumnDefinition  Width="225"/>
+                    <ColumnDefinition/>
+                </Grid.ColumnDefinitions>
+                <TextBlock Text="原料名称" HorizontalAlignment="Center" VerticalAlignment="Center" Foreground="Tomato"/>
+                <GridSplitter></GridSplitter>
+                <TextBlock Grid.Column="1" Text="原料桶号" HorizontalAlignment="Center" VerticalAlignment="Center" Foreground="Tomato"/>
+                <GridSplitter Grid.Column="1"></GridSplitter>
+                <TextBlock Grid.Column="2" Text="原料重量" VerticalAlignment="Center" HorizontalAlignment="Center" Foreground="Tomato"></TextBlock>
+                <GridSplitter Grid.Column="2"></GridSplitter>
+                <TextBlock Grid.Column="3" Text="操作" VerticalAlignment="Center" HorizontalAlignment="Center" Foreground="Tomato"/>
+            </Grid>
+            <ScrollViewer Grid.Row="3" VerticalScrollBarVisibility="Hidden">
                 <ItemsControl ItemsSource="{Binding materials}">
                     <ItemsControl.ItemsPanel>
                         <ItemsPanelTemplate>
@@ -228,8 +252,8 @@
                                                 <ColumnDefinition Width="225"></ColumnDefinition>
                                                 <ColumnDefinition></ColumnDefinition>
                                             </Grid.ColumnDefinitions>
-                                            <ComboBox  ItemsSource="{Binding DataContext.materialNames,RelativeSource={RelativeSource Mode=FindAncestor,AncestorType=ItemsControl}}" Text="{Binding MaterialName}"  Margin="10,0,0,10" Width="190" FontSize="14" Style="{StaticResource ComboBoxStyle1}">
-              <ComboBox.ItemContainerStyle>
+                                            <ComboBox ItemsSource="{Binding DataContext.materialNames,RelativeSource={RelativeSource Mode=FindAncestor,AncestorType=ItemsControl}}" Text="{Binding MaterialName}"  Margin="10,0,0,10" Width="190" FontSize="14" KeyUp="ComboBox_KeyUp" LostFocus="ComboBox_LostFocus"   Style="{StaticResource ComboBoxStyle1}">
+                                                <ComboBox.ItemContainerStyle>
                                                     <Style TargetType="{x:Type ComboBoxItem}">
                                                         <Setter Property="Background" Value="White" />
                                                         <Setter Property="Foreground" Value="#e69519"/>
@@ -252,7 +276,7 @@
                                                     Content="删除"
                                                     Width="94"
                                                     FontSize="14"
-                                                    Margin="0,0,10,10"
+                                                    Margin="0,0,20,10"
                                                     Background="Transparent"
                                                        BorderBrush="#e69519" Foreground="LightGray" HorizontalAlignment="Right"
                                                     Command="{Binding DataContext.RemoveRecipe,RelativeSource={RelativeSource Mode=FindAncestor,AncestorType=ItemsControl}}"
diff --git a/FryPot_DosingSystem/View/NewRecipeView.xaml.cs b/FryPot_DosingSystem/View/NewRecipeView.xaml.cs
index d9a62b9c..2cc052f2 100644
--- a/FryPot_DosingSystem/View/NewRecipeView.xaml.cs
+++ b/FryPot_DosingSystem/View/NewRecipeView.xaml.cs
@@ -1,8 +1,10 @@
 using BPASmartClient.Helper;
+using FryPot_DosingSystem.Model;
 using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
+using System.Text.RegularExpressions;
 using System.Threading.Tasks;
 using System.Windows;
 using System.Windows.Controls;
@@ -32,5 +34,56 @@ namespace FryPot_DosingSystem.View
         {
             this.Close();
         }
+
+        private void ComboBox_KeyUp(object sender, KeyEventArgs e)
+       {
+            var res = sender as ComboBox;
+            Json<MaterialNames>.Read();
+           
+            if (res.Text != null)
+            {
+                 var datas = Json<MaterialNames>.Data.Names.Where(s => s.Contains(res.Text.Trim()));
+               // var datas = Json<MaterialNames>.Data.Names.ToList().FindAll(s => s.Contains(res.Text.Trim()));
+                if (datas.Count() > 0)
+                {
+                    res.ItemsSource = datas;
+                    res.IsDropDownOpen = true;
+                }
+                else
+                {
+                    res.IsDropDownOpen = false;
+                }
+            }
+        }
+
+        private void ComboBox_LostFocus(object sender, RoutedEventArgs e)
+        {
+            var res = sender as ComboBox;
+            if (res.Text != null)
+            {
+                if (!MaterialNames.GetInstance.Names.Contains(res.Text.Trim()))//判断是否存在原料
+                {
+                    MaterialNames.GetInstance.Names.Add(res.Text.Trim());
+                    Json<MaterialNames>.Data = MaterialNames.GetInstance;
+                    Json<MaterialNames>.Save();
+                }
+             
+            }
+        }
+
+        private void TextBox_TextChanged(object sender, TextChangedEventArgs e)
+        {
+            if (sender is TextBox txt)
+            {
+                if (new Regex("^[1-8]$").IsMatch(txt.Text))//全匹配
+                {
+
+                }
+                else
+                { 
+                    txt.Text=string.Empty;
+                }
+            }
+        }
     }
 }
diff --git a/FryPot_DosingSystem/View/RecipeSetView.xaml b/FryPot_DosingSystem/View/RecipeSetView.xaml
index ce5cdd80..eaf09b2c 100644
--- a/FryPot_DosingSystem/View/RecipeSetView.xaml
+++ b/FryPot_DosingSystem/View/RecipeSetView.xaml
@@ -44,15 +44,15 @@
     </UserControl.Resources>
     <Grid>
         <Grid.RowDefinitions>
-            <RowDefinition Height="50"></RowDefinition>
-            <RowDefinition Height="20"></RowDefinition>
+            <RowDefinition Height="55"></RowDefinition>
+            <RowDefinition Height="30"></RowDefinition>
             <RowDefinition></RowDefinition>
         </Grid.RowDefinitions>
         <UniformGrid Columns="2">
             <Image Source="../hbl.ico" HorizontalAlignment="Left"></Image>
             <StackPanel Orientation="Horizontal" HorizontalAlignment="Right" Grid.Column="2">
                 <pry:IcoButton Content="新建配方" 
-                               Margin="80,5,15,5" 
+                               Margin="80,15,10,0" 
                                Width="150"
                                FontSize="16"
                                Foreground="Aqua"
@@ -62,7 +62,7 @@
                                Command="{Binding NewRecipe}">
                 </pry:IcoButton>
                 <pry:IcoButton
-                    Content="保存配方" Margin="5,5" 
+                    Content="保存配方" Margin="5,15,10,0" 
                                Width="150"
                                FontSize="16"
                                Foreground="Aqua"
@@ -75,8 +75,22 @@
             </StackPanel>
         </UniformGrid>
         <!--<TextBlock Grid.Row="1" Text="配方信息" Foreground="Aquamarine" HorizontalAlignment="Center" VerticalAlignment="Center" FontSize="18" Margin="0,5" ></TextBlock>-->
-        <Line Grid.Row="1" X1="0" Y1="10" X2="1000" Y2="10" Stroke="Aqua"></Line>
-        <ScrollViewer Grid.Row="2" HorizontalScrollBarVisibility="Hidden" VerticalScrollBarVisibility="Hidden">
+        <!--<Line Grid.Row="1" X1="0" Y1="5" X2="1920" Y2="10" Stroke="Aqua" VerticalAlignment="Center"></Line>-->
+        <Grid Grid.Row="1" Background="Cyan" Margin="0,5,0,0">
+            <Grid.ColumnDefinitions>
+                <ColumnDefinition Width="0.3*"/>
+                <ColumnDefinition Width="0.3*"/>
+                <ColumnDefinition Width="0.3*"/>
+                <!--<ColumnDefinition/>-->
+            </Grid.ColumnDefinitions>
+            <!--<TextBlock Text="编号" FontSize="16" Foreground="Tomato" HorizontalAlignment="Center" VerticalAlignment="Center"/>-->
+            <TextBlock Grid.Column="0" Text="配方名称" FontSize="16" Foreground="Tomato" HorizontalAlignment="Center" VerticalAlignment="Center"/>
+            <GridSplitter BorderThickness="0.5" BorderBrush="CadetBlue"/>
+            <TextBlock Grid.Column="1" Text="编辑配方" FontSize="16" Foreground="Tomato" HorizontalAlignment="Center" VerticalAlignment="Center"/>
+            <GridSplitter Grid.Column="1" BorderThickness="0.5" BorderBrush="CadetBlue"></GridSplitter>
+            <TextBlock Grid.Column="2" Text="删除配方" FontSize="16" Foreground="Tomato" HorizontalAlignment="Center" VerticalAlignment="Center"/>
+        </Grid>
+        <ScrollViewer Grid.Row="2" HorizontalScrollBarVisibility="Hidden" VerticalScrollBarVisibility="Hidden" Padding="0,5,0,0">
             <ItemsControl ItemsSource="{Binding recipeModels}">
                 <ItemsControl.ItemsPanel>
                     <ItemsPanelTemplate>
@@ -90,26 +104,26 @@
                                 <ControlTemplate>
                                     <Grid x:Name="gr">
                                         <Grid.ColumnDefinitions>
-                                            <ColumnDefinition></ColumnDefinition>
-                                            <ColumnDefinition></ColumnDefinition>
-                                            <ColumnDefinition></ColumnDefinition>
-                                            <ColumnDefinition></ColumnDefinition>
-                                            <ColumnDefinition></ColumnDefinition>
+                                            <ColumnDefinition Width="0.25*"></ColumnDefinition>
+                                            <ColumnDefinition Width="0.25*"></ColumnDefinition>
+                                            <ColumnDefinition Width="0.25*"></ColumnDefinition>
+                                            <!--<ColumnDefinition Width="0.25*"></ColumnDefinition>-->
+                                            
                                         </Grid.ColumnDefinitions>
-                                        <TextBlock Text="{Binding RecipeId}" Grid.Column="0" FontSize="16" HorizontalAlignment="Left" VerticalAlignment="Center"
+                                        <!--<TextBlock Text="{Binding RecipeId}" Grid.Column="0" FontSize="16" HorizontalAlignment="Left" VerticalAlignment="Center"
                                                    Foreground="Aqua"
-                                                   Margin="5,0,0,5"></TextBlock>
-                                        <TextBlock Text="{Binding RecipeName}" Grid.Column="1" Margin="5,0,0,5"
+                                                   Margin="5,0,0,5"></TextBlock>-->
+                                        <TextBlock Text="{Binding RecipeName}" Grid.Column="0" Margin="5,0,0,5"
                                                    HorizontalAlignment="Center" VerticalAlignment="Center" Foreground="Aqua" FontSize="16"></TextBlock>
-                                        <Grid Grid.Column="3">
-                                            <Button FontSize="16" 
-                                                    Margin="5,0,0,5" Content="编辑配方" Style="{StaticResource buttonStyle}" Command="{Binding DataContext.EditRecipeCommand,RelativeSource={RelativeSource Mode=FindAncestor,AncestorType=ItemsControl}}"
+                                      
+                                            <Button FontSize="16" Grid.Column="1"
+                                                    Margin="5,0,0,5" Content="编辑" Style="{StaticResource buttonStyle}" Command="{Binding DataContext.EditRecipeCommand,RelativeSource={RelativeSource Mode=FindAncestor,AncestorType=ItemsControl}}"
                                                     CommandParameter="{Binding RecipeId}"></Button>
-                                        </Grid>
-                                        <Grid Grid.Column="4">
-                                            <Button Margin="5,0,0,5" FontSize="16" Content="删除配方" Style="{StaticResource buttonStyle}" Command="{Binding DataContext.DeleteRecipeCommand,RelativeSource={RelativeSource Mode=FindAncestor,AncestorType=ItemsControl}}" CommandParameter="{Binding RecipeId}">
+                                       
+                                      
+                                            <Button Margin="5,0,0,5" FontSize="16" Grid.Column="2" Content="删除" Style="{StaticResource buttonStyle}" Command="{Binding DataContext.DeleteRecipeCommand,RelativeSource={RelativeSource Mode=FindAncestor,AncestorType=ItemsControl}}" CommandParameter="{Binding RecipeId}">
                                             </Button>
-                                        </Grid>
+                                       
                                     </Grid>
                                     <ControlTemplate.Triggers>
                                         <Trigger Property="IsMouseOver" Value="true">
diff --git a/FryPot_DosingSystem/ViewModel/AgvViewModel.cs b/FryPot_DosingSystem/ViewModel/AgvViewModel.cs
index a13e0d1c..c6a29caf 100644
--- a/FryPot_DosingSystem/ViewModel/AgvViewModel.cs
+++ b/FryPot_DosingSystem/ViewModel/AgvViewModel.cs
@@ -1,4 +1,5 @@
-using Microsoft.Toolkit.Mvvm.ComponentModel;
+using FryPot_DosingSystem.AGV;
+using Microsoft.Toolkit.Mvvm.ComponentModel;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -17,11 +18,479 @@ namespace FryPot_DosingSystem.ViewModel
         public static AgvViewModel GetInstance() => _Instance ?? (_Instance = new AgvViewModel());
         public AgvViewModel()
         {
+            Init();
+        }
+        #endregion
+
+        #region 私有函数
+        public void Init()
+        {
+            //初始化车辆控制
+            cartModel_1 = new CartModel();
+            cartModel_2 = new CartModel();
+            cartModel_3 = new CartModel();
+            cartModel_4 = new CartModel();
+
+            RollerLines_1 = new RollerLinesModel();
+            RollerLines_2 = new RollerLinesModel();
+            RollerLines_3 = new RollerLinesModel();
+            RollerLines_4 = new RollerLinesModel();
+
+            ParkingPileModel_1 = new ParkingPileModel { isBool = IsBool.Yes };
+            ParkingPileModel_2 = new ParkingPileModel { isBool = IsBool.Yes };
+            ParkingPileModel_3 = new ParkingPileModel { isBool = IsBool.Yes };
+            ParkingPileModel_4 = new ParkingPileModel { isBool = IsBool.Yes };
+            ParkingPileModel_5 = new ParkingPileModel { isBool = IsBool.No };
+            ParkingPileModel_6 = new ParkingPileModel { isBool = IsBool.No };
+
+            RollerLines_2.DishesNum = "3";
+        }
+        #endregion
+
+        #region 公共函数
 
+        #endregion
+
+        #region 4个滚筒线控制
+        /// <summary>
+        /// 一号滚筒线
+        /// </summary>
+        private RollerLinesModel _RollerLines_1;
+        public RollerLinesModel RollerLines_1
+        {
+            get
+            {
+                return _RollerLines_1;
+            }
+            set
+            {
+                if (_RollerLines_1 == value)
+                    return;
+                _RollerLines_1 = value;
+                OnPropertyChanged("RollerLines_1");
+            }
+        }
+        /// <summary>
+        /// 二号滚筒线
+        /// </summary>
+        private RollerLinesModel _RollerLines_2;
+        public RollerLinesModel RollerLines_2
+        {
+            get
+            {
+                return _RollerLines_2;
+            }
+            set
+            {
+                if (_RollerLines_2 == value)
+                    return;
+                _RollerLines_2 = value;
+                OnPropertyChanged("RollerLines_2");
+            }
+        }
+        /// <summary>
+        /// 三号滚筒线
+        /// </summary>
+        private RollerLinesModel _RollerLines_3;
+        public RollerLinesModel RollerLines_3
+        {
+            get
+            {
+                return _RollerLines_3;
+            }
+            set
+            {
+                if (_RollerLines_3 == value)
+                    return;
+                _RollerLines_3 = value;
+                OnPropertyChanged("RollerLines_3");
+            }
+        }
+        /// <summary>
+        /// 四号滚筒线
+        /// </summary>
+        private RollerLinesModel _RollerLines_4;
+        public RollerLinesModel RollerLines_4
+        {
+            get
+            {
+                return _RollerLines_4;
+            }
+            set
+            {
+                if (_RollerLines_4 == value)
+                    return;
+                _RollerLines_4 = value;
+                OnPropertyChanged("RollerLines_4");
+            }
         }
         #endregion
 
-        //public ObservableCollection<ActionMenu> menus { get; set; } = new ObservableCollection<ActionMenu>();
+        #region 4个运动小车控制
+        /// <summary>
+        /// 一号车控制
+        /// </summary>
+        private CartModel _cartModel_1;
+        public CartModel cartModel_1
+        {
+            get
+            {
+                return _cartModel_1;
+            }
+            set
+            {
+                if (_cartModel_1 == value)
+                    return;
+                _cartModel_1 = value;
+                OnPropertyChanged("cartModel_1");
+            }
+        }
+        /// <summary>
+        /// 二号车控制
+        /// </summary>
+        private CartModel _cartModel_2;
+        public CartModel cartModel_2
+        {
+            get
+            {
+                return _cartModel_2;
+            }
+            set
+            {
+                if (_cartModel_2 == value)
+                    return;
+                _cartModel_2 = value;
+                OnPropertyChanged("cartModel_2");
+            }
+        }
+        /// <summary>
+        /// 三号车控制
+        /// </summary>
+        private CartModel _cartModel_3;
+        public CartModel cartModel_3
+        {
+            get
+            {
+                return _cartModel_3;
+            }
+            set
+            {
+                if (_cartModel_3 == value)
+                    return;
+                _cartModel_3 = value;
+                OnPropertyChanged("cartModel_3");
+            }
+        }
+        /// <summary>
+        /// 四号车控制
+        /// </summary>
+        private CartModel _cartModel_4;
+        public CartModel cartModel_4
+        {
+            get
+            {
+                return _cartModel_4;
+            }
+            set
+            {
+                if (_cartModel_4 == value)
+                    return;
+                _cartModel_4 = value;
+                OnPropertyChanged("cartModel_4");
+            }
+        }
+        #endregion
+
+        #region 6个停车桩控制
+        /// <summary>
+        /// 一号停车装
+        /// </summary>
+        private ParkingPileModel _ParkingPileModel_1;
+        public ParkingPileModel ParkingPileModel_1
+        {
+            get
+            {
+                return _ParkingPileModel_1;
+            }
+            set
+            {
+                if (_ParkingPileModel_1 == value)
+                    return;
+                _ParkingPileModel_1 = value;
+                OnPropertyChanged("ParkingPileModel_1");
+            }
+        }
+        /// <summary>
+        /// 二号停车装
+        /// </summary>
+        private ParkingPileModel _ParkingPileModel_2;
+        public ParkingPileModel ParkingPileModel_2
+        {
+            get
+            {
+                return _ParkingPileModel_2;
+            }
+            set
+            {
+                if (_ParkingPileModel_2 == value)
+                    return;
+                _ParkingPileModel_2 = value;
+                OnPropertyChanged("ParkingPileModel_2");
+            }
+        }
+        /// <summary>
+        /// 三号停车装
+        /// </summary>
+        private ParkingPileModel _ParkingPileModel_3;
+        public ParkingPileModel ParkingPileModel_3
+        {
+            get
+            {
+                return _ParkingPileModel_3;
+            }
+            set
+            {
+                if (_ParkingPileModel_3 == value)
+                    return;
+                _ParkingPileModel_3 = value;
+                OnPropertyChanged("ParkingPileModel_3");
+            }
+        }
+        /// <summary>
+        /// 四号停车装
+        /// </summary>
+        private ParkingPileModel _ParkingPileModel_4;
+        public ParkingPileModel ParkingPileModel_4
+        {
+            get
+            {
+                return _ParkingPileModel_4;
+            }
+            set
+            {
+                if (_ParkingPileModel_4 == value)
+                    return;
+                _ParkingPileModel_4 = value;
+                OnPropertyChanged("ParkingPileModel_4");
+            }
+        }
+        /// <summary>
+        /// 五号停车装
+        /// </summary>
+        private ParkingPileModel _ParkingPileModel_5;
+        public ParkingPileModel ParkingPileModel_5
+        {
+            get
+            {
+                return _ParkingPileModel_5;
+            }
+            set
+            {
+                if (_ParkingPileModel_5 == value)
+                    return;
+                _ParkingPileModel_5 = value;
+                OnPropertyChanged("ParkingPileModel_5");
+            }
+        }
+        /// <summary>
+        /// 六号停车装
+        /// </summary>
+        private ParkingPileModel _ParkingPileModel_6;
+        public ParkingPileModel ParkingPileModel_6
+        {
+            get
+            {
+                return _ParkingPileModel_6;
+            }
+            set
+            {
+                if (_ParkingPileModel_6 == value)
+                    return;
+                _ParkingPileModel_6 = value;
+                OnPropertyChanged("ParkingPileModel_6");
+            }
+        }
+        #endregion
+
+    }
+
+    /// <summary>
+    /// 小车控制Model
+    /// </summary>
+    public class CartModel : ObservableObject
+    {
+
+        /// <summary>
+        /// 车上是否有物品
+        /// </summary>
+        private IsBool _isBool = IsBool.No;
+        public IsBool isBool
+        {
+            get
+            {
+                return _isBool;
+            }
+            set
+            {
+                _isBool = value;
+                Text= _isBool.ToString();
+                OnPropertyChanged("isBool");
+            }
+        }
+        
+        /// <summary>
+        /// 车运动轨迹方式
+        /// </summary>
+        private CartMotionTrajectory _cartMotionTrajectory = CartMotionTrajectory.Stop;
+        public CartMotionTrajectory cartMotionTrajectory
+        {
+            get
+            {
+                return _cartMotionTrajectory;
+            }
+            set
+            {
+                _cartMotionTrajectory = value;
+                Tag= _cartMotionTrajectory.ToString();
+                OnPropertyChanged("cartMotionTrajectory");
+            }
+        }
+        private string _Text = IsBool.No.ToString();
+        public string Text
+        {
+            get
+            {
+                return _Text;
+            }
+            set
+            {
+                _Text = value;
+                OnPropertyChanged("Text");
+            }
+        }
+        private string _Tag = CartMotionTrajectory.Stop.ToString();
+        public string Tag
+        {
+            get
+            {
+                return _Tag;
+            }
+            set
+            {
+                _Tag = value;
+                OnPropertyChanged("Tag");
+            }
+        }
 
     }
+    /// <summary>
+    /// 停车装控制
+    /// </summary>
+    public class ParkingPileModel : ObservableObject
+    {
+        /// <summary>
+        /// 是否有小车
+        /// </summary>
+        private IsBool _isBool = IsBool.No;
+        public IsBool isBool
+        {
+            get
+            {
+                return _isBool;
+            }
+            set
+            {
+                _isBool = value;
+                Text = _isBool.ToString();
+                OnPropertyChanged("isBool");
+            }
+        }
+        private string _Text = IsBool.No.ToString();
+        public string Text
+        {
+            get
+            {
+                return _Text;
+            }
+            set
+            {
+                _Text = value;
+                OnPropertyChanged("Text");
+            }
+        }
+    }
+    /// <summary>
+    /// 滚筒线控制
+    /// </summary>
+    public class RollerLinesModel : ObservableObject
+    {
+        /// <summary>
+        /// 是否运行
+        /// </summary>
+        private IsRun _isRun = IsRun.Stop;
+        public IsRun isRun
+        {
+            get
+            {
+                return _isRun;
+            }
+            set
+            {
+                _isRun = value;
+                Text= _isRun.ToString();
+                OnPropertyChanged("isBool");
+            }
+        }
+        /// <summary>
+        /// 滚筒线上面的数量
+        /// </summary>
+        private string _DishesNum = "8";
+        public string DishesNum
+        {
+            get
+            {
+                return _DishesNum;
+            }
+            set
+            {
+                _DishesNum = value;
+                if (!string.IsNullOrEmpty(_DishesNum))
+                {
+                    int count = 1;
+                    try
+                    {
+                        count = int.Parse(_DishesNum);
+                        if (count > 0 && count <= 8)
+                        {
+                            _DishesNum = count.ToString();
+                        }
+                        else
+                            _DishesNum = 8.ToString();
+                    }
+                    catch (Exception ex)
+                    {
+                        _DishesNum = 8.ToString();
+                    }
+                }
+                OnPropertyChanged("DishesNum");
+            }
+        }
+
+
+        private string _Text = IsRun.Stop.ToString();
+        public string Text
+        {
+            get
+            {
+                return _Text;
+            }
+            set
+            {
+                _Text = value;
+                OnPropertyChanged("Text");
+            }
+        }
+    }
+
+
 }
diff --git a/FryPot_DosingSystem/ViewModel/DebugViewModel.cs b/FryPot_DosingSystem/ViewModel/DebugViewModel.cs
new file mode 100644
index 00000000..d7191cb5
--- /dev/null
+++ b/FryPot_DosingSystem/ViewModel/DebugViewModel.cs
@@ -0,0 +1,165 @@
+using BPASmartClient.Helper;
+using FryPot_DosingSystem.Control;
+using Microsoft.Toolkit.Mvvm.ComponentModel;
+using Microsoft.Toolkit.Mvvm.Input;
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace FryPot_DosingSystem.ViewModel
+{
+    internal class DebugViewModel : ObservableObject
+    {
+        public ObservableCollection<ushort> LineOneRollerCode { get; set; } = new ObservableCollection<ushort>() { 101,102,103,104,105,106,107,108,401,402,403,404,405,406,407,408};
+        public ObservableCollection<ushort> LineTwoRollerCode { get; set; } = new ObservableCollection<ushort>() {201,202,203,204,205,206,207,208,501,502,503,504,505,506,507,508 };
+        public ObservableCollection<ushort> LineThreeRollerCode { get; set; } = new ObservableCollection<ushort>() { 301,302,303,304,305,306,307,308};
+        //滚筒线1绑定命令
+        public RelayCommand RollerLineRunning { get; set; }
+        public RelayCommand EightWorkLoc { get; set; }
+        public RelayCommand FryPotInputArrive { get; set; }
+        public RelayCommand FryPotEmptyRollerArrive { get; set; }
+
+
+        public RelayCommand AGVLOneArrive { get; set; }
+        public RelayCommand AGVFryPotDownArrive { get; set; }
+        public RelayCommand AGVFryPotUpArrive { get; set; }
+        public RelayCommand AGVFryPotGetEmptyRoller { get; set; }
+
+        //滚筒线2绑定命令
+        public RelayCommand RollerLineTwoRunning { get; set; }
+        //public RelayCommand EightWorkLoc { get; set; }
+        public RelayCommand FryPotTwoInputArrive { get; set; }
+        public RelayCommand FryPotTwoEmptyRollerArrive { get; set; }
+
+
+        public RelayCommand AGVLTwoArrive { get; set; }
+        public RelayCommand AGVFryPotTwoDownArrive { get; set; }
+        public RelayCommand AGVFryPotTwoUpArrive { get; set; }
+        public RelayCommand AGVFryPotTwoGetEmptyRoller { get; set; }
+        //滚筒线3绑定命令
+        public RelayCommand RollerLineThreeRunning { get; set; }
+        //public RelayCommand EightWorkLoc { get; set; }
+        public RelayCommand FryPotThreeInputArrive { get; set; }
+        public RelayCommand FryPotThreeEmptyRollerArrive { get; set; }
+
+
+        public RelayCommand AGVLThreeArrive { get; set; }
+        public RelayCommand AGVFryPotThreeDownArrive { get; set; }
+        public RelayCommand AGVFryPotThreeUpArrive { get; set; }
+        public RelayCommand AGVFryPotThreeGetEmptyRoller { get; set; }
+
+        public DebugViewModel()
+        {
+            RollerLineRunning = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("RollerLineRunning");
+
+            }));
+           
+            FryPotInputArrive = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("FryPotInputArrive");
+
+            }));
+            FryPotEmptyRollerArrive = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("FryPotEmptyRollerArrive");
+
+            }));
+            AGVLOneArrive = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("AGVLOneArrive");
+
+            }));
+            AGVFryPotDownArrive = new RelayCommand(new Action(() =>
+            {
+
+                ActionManage.GetInstance.Send("AGVFryPotDownArrive");
+            }));
+            AGVFryPotUpArrive = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("AGVFryPotUpArrive");
+
+            }));
+            AGVFryPotGetEmptyRoller = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("AGVFryPotGetEmptyRoller");
+            }));
+            //滚筒线2
+            RollerLineTwoRunning = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("RollerLineTwoRunning");
+
+            }));
+
+            FryPotTwoInputArrive = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("FryPotTwoInputArrive");
+
+            }));
+            FryPotTwoEmptyRollerArrive = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("FryPotTwoEmptyRollerArrive");
+
+            }));
+            AGVLTwoArrive = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("AGVLTwoArrive");
+
+            }));
+            AGVFryPotTwoDownArrive = new RelayCommand(new Action(() =>
+            {
+
+                ActionManage.GetInstance.Send("AGVFryPotTwoDownArrive");
+            }));
+            AGVFryPotTwoUpArrive = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("AGVFryPotTwoUpArrive");
+
+            }));
+            AGVFryPotTwoGetEmptyRoller = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("AGVFryPotTwoGetEmptyRoller");
+            }));
+            //滚筒线3
+            RollerLineThreeRunning = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("RollerLineThreeRunning");
+
+            }));
+
+            FryPotThreeInputArrive = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("FryPotThreeInputArrive");
+
+            }));
+            FryPotThreeEmptyRollerArrive = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("FryPotThreeEmptyRollerArrive");
+
+            }));
+            AGVLThreeArrive = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("AGVLThreeArrive");
+
+            }));
+            AGVFryPotThreeDownArrive = new RelayCommand(new Action(() =>
+            {
+
+                ActionManage.GetInstance.Send("AGVFryPotThreeDownArrive");
+            }));
+            AGVFryPotThreeUpArrive = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("AGVFryPotThreeUpArrive");
+
+            }));
+            AGVFryPotThreeGetEmptyRoller = new RelayCommand(new Action(() =>
+            {
+                ActionManage.GetInstance.Send("AGVFryPotThreeGetEmptyRoller");
+            }));
+        }
+    }
+}
diff --git a/FryPot_DosingSystem/ViewModel/NewRecipeViewModel.cs b/FryPot_DosingSystem/ViewModel/NewRecipeViewModel.cs
index 53440266..2355d788 100644
--- a/FryPot_DosingSystem/ViewModel/NewRecipeViewModel.cs
+++ b/FryPot_DosingSystem/ViewModel/NewRecipeViewModel.cs
@@ -1,4 +1,5 @@
-using BPASmartClient.Helper;
+using BPASmartClient.CustomResource.Pages.Model;
+using BPASmartClient.Helper;
 using FryPot_DosingSystem.Model;
 using Microsoft.Toolkit.Mvvm.ComponentModel;
 using Microsoft.Toolkit.Mvvm.Input;
@@ -18,27 +19,38 @@ namespace FryPot_DosingSystem.ViewModel
         /// </summary>
         public string recipeId { get; set; }
         /// <summary>
-        /// 配料名称
+        /// 配方名称
         /// </summary>
         private string _recipeName;
         public string RecipeName { get { return _recipeName; } set { _recipeName = value; OnPropertyChanged(); } }
 
+        private int _recipeRollerNum;
+        /// <summary>
+        /// 配方中桶数
+        /// </summary>
+        public int RecipeRollerNum { get { return _recipeRollerNum; } set { _recipeRollerNum = value; OnPropertyChanged(); } }
+
         public ObservableCollection<MaterialType> materials { get; set; } = new ObservableCollection<MaterialType>();
 
-        public ObservableCollection<string> materialNames { get; set; } = new ObservableCollection<string>() { "肉","葱","蒜"};
+        public ObservableCollection<string> materialNames { get; set; } = new ObservableCollection<string>();
 
         public RelayCommand AddRecipe { get; set; }
         public RelayCommand<string> RemoveRecipe { get; set; }
         public RelayCommand Comfirm { get; set; }
         public NewRecipeViewModel()
         {
-            ActionManage.GetInstance.Register(new Action<object>(Id => {
+            Json<MaterialNames>.Read();
+            MaterialNames.GetInstance.Names = Json<MaterialNames>.Data.Names;
+            materialNames = Json<MaterialNames>.Data.Names;
+            ActionManage.GetInstance.Register(new Action<object>(Id =>
+            {
                 if (Id != null && Id is string strId)
                 {
                     var res = Json<RecipeManage>.Data.Recipes.FirstOrDefault(p => p.RecipeId == strId);
                     if (res != null && res is NewRecipeModel rom)
                     {
                         RecipeName = rom.RecipeName;
+                        RecipeRollerNum = rom.materialCollection.Count;
                         foreach (var item in rom.materialCollection)
                         {
                             materials.Add(item);
@@ -46,20 +58,24 @@ namespace FryPot_DosingSystem.ViewModel
                         recipeId = strId;
                     }
                 }
-            }),"EditRecipe");
+            }), "EditRecipe");
             AddRecipe = new RelayCommand(() =>
             {
-            pr:
-                string materialCode = Guid.NewGuid().ToString();//原料唯一ID ，后期需要根据实际要求更改
-                var res = materials.FirstOrDefault(p => p.MaterialCode == materialCode);
-                if (res == null)
-                {
-                    materials.Add(new MaterialType() { MaterialCode = materialCode });
-                }
-                else
-                {
-                    goto pr;
-                }
+                    for (int i = 0; i < RecipeRollerNum; i++)
+                    {
+                    pr1:
+                        string materialCode = Guid.NewGuid().ToString();//原料唯一ID ，后期需要根据实际要求更改
+                        var res = materials.FirstOrDefault(p => p.MaterialCode == materialCode);
+                        if (res == null)
+                        {
+                            materials.Add(new MaterialType() { MaterialCode = materialCode });
+                        }
+                        else
+                        {
+                            goto pr1;
+                        }
+                    }
+                
             });
             RemoveRecipe = new RelayCommand<string>(code =>
             {
@@ -72,27 +88,35 @@ namespace FryPot_DosingSystem.ViewModel
                 var bom = Json<RecipeManage>.Data.Recipes.FirstOrDefault(p => p.RecipeId == recipeId);
                 if (bom == null)//新配方
                 {
-                prop: string recipeID = Guid.NewGuid().ToString();//配方唯一ID，后期根据实际要求更改
-                    var res = Json<RecipeManage>.Data.Recipes.FirstOrDefault(p => p.RecipeId == recipeID);
-                    if (res == null)
+                    if (RecipeRollerNum != 0)
                     {
-                        Json<RecipeManage>.Data.Recipes.Add(new NewRecipeModel { RecipeId = recipeID, RecipeName = RecipeName, materialCollection = materials });//配方添加
+                    prop: string recipeID = Guid.NewGuid().ToString();//配方唯一ID，后期根据实际要求更改
+                        var res = Json<RecipeManage>.Data.Recipes.FirstOrDefault(p => p.RecipeId == recipeID);
+                        if (res == null)
+                        {
+                            Json<RecipeManage>.Data.Recipes.Add(new NewRecipeModel { RecipeId = recipeID, RecipeName = RecipeName, materialCollection = materials });//配方添加
 
+                        }
+                        else
+                        {
+                            goto prop;
+                        }
+                        MessageLog.GetInstance.ShowUserLog("新建配方成功");
                     }
                     else
                     {
-                        goto prop;
+                        MessageLog.GetInstance.ShowUserLog("新建配方无效【配方中没有添加原料】");
                     }
                     ActionManage.GetInstance.Send("CloseNewRecipeView");
                 }
                 else //已有配方，用于编辑
                 {
-                    bom.materialCollection= materials;
+                    bom.materialCollection = materials;
                     bom.RecipeName = RecipeName;
                     ActionManage.GetInstance.Send("CloseNewRecipeView");
                 }
             });
-           
+
         }
     }
 }
diff --git a/FryPot_DosingSystem/ViewModel/RecipeSetDownViewModel.cs b/FryPot_DosingSystem/ViewModel/RecipeSetDownViewModel.cs
index 16f1bfb1..9ec7b40e 100644
--- a/FryPot_DosingSystem/ViewModel/RecipeSetDownViewModel.cs
+++ b/FryPot_DosingSystem/ViewModel/RecipeSetDownViewModel.cs
@@ -14,7 +14,7 @@ namespace FryPot_DosingSystem.ViewModel
 {
     internal class RecipeSetDownViewModel : ObservableObject
     {
-       
+
 
         /// <summary>
         /// 配方下发
@@ -36,18 +36,19 @@ namespace FryPot_DosingSystem.ViewModel
                     var res = Recipes.FirstOrDefault(p => p.RecipeId == strId);
                     if (res != null)
                     {
-                        RecipeSetDown(res);
+                        RecipeSetDown(new NewRecipeModel[] { res });
                     }
                 }
             });
             AllRecipeSetDownCommand = new RelayCommand(() =>
             {
-                if (Recipes!=null)
+                if (Recipes != null)
                 {
-                    foreach (var recipeModel in Recipes)
-                    {
-                        RecipeSetDown(recipeModel);
-                    } 
+                    //foreach (var recipeModel in Recipes)
+                    //{
+                    //    RecipeSetDown(recipeModel);
+                    //} 
+                    RecipeSetDown(Recipes.ToArray());
                 }
 
             });
@@ -55,9 +56,9 @@ namespace FryPot_DosingSystem.ViewModel
         /// <summary>
         /// 数据下发方法
         /// </summary>
-        public void RecipeSetDown(NewRecipeModel recipeModel)
+        public void RecipeSetDown(NewRecipeModel[] recipes)
         {
-            ActionManage.GetInstance.Send("RecipeSetDown",recipeModel);
+            ActionManage.GetInstance.Send("RecipeSetDown", recipes);
         }
     }
 }
diff --git a/SmartClient.sln b/SmartClient.sln
index bcb39d36..358a538c 100644
--- a/SmartClient.sln
+++ b/SmartClient.sln
@@ -1,6 +1,6 @@
 
 Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio Version 17
+# Blend for Visual Studio Version 17
 VisualStudioVersion = 17.0.32002.185
 MinimumVisualStudioVersion = 10.0.40219.1
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.DRCoffee", "BPASmartClient.DRCoffee\BPASmartClient.DRCoffee.csproj", "{31E9DC70-5889-4BA5-A5BA-FFDE66AFF314}"
diff --git a/TestDemo/Form1.cs b/TestDemo/Form1.cs
index 5777866f..152a2884 100644
--- a/TestDemo/Form1.cs
+++ b/TestDemo/Form1.cs
@@ -16,7 +16,7 @@ namespace TestDemo
         {
             AGVToUpSystem aGVToUpSystem = new AGVToUpSystem();
             string value = JsonConvert.SerializeObject(aGVToUpSystem);
-            string url = $"http://192.168.1.99:8089/apicallback/quicktron/robotjob/report?sign={value}";
+            string url = $"http://192.168.1.130:8089/apicallback/quicktron/robotjob/report?sign={value}";
             var res = APIHelper.GetInstance.HttpRequest(url, "", aGVToUpSystem, RequestType.POST);
         }
 
@@ -25,7 +25,7 @@ namespace TestDemo
 
             Upstreamrequest aGVToUpSystem = new Upstreamrequest();
             string value = JsonConvert.SerializeObject(aGVToUpSystem);
-            string url = $"http://192.168.1.99:8089/apicallback/quicktron/robotjob/upstreamrequest?sign={value}";
+            string url = $"http://192.168.1.130:8089/apicallback/quicktron/robotjob/upstreamrequest?sign={value}";
             var res = APIHelper.GetInstance.HttpRequest(url, "", aGVToUpSystem, RequestType.POST);
         }
     }