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

BPASmartClient.Lebai/LebaiRobot.cs

@@ -52,6 +52,7 @@ namespace BPASmartClient.Lebai
                 status["RobotValue1"] = LebaiHelper.GetInstance().GetValueAsync(1).Value;
                 status["GetInput"] = LebaiHelper.GetInstance().GetInput();
                 status["GetInput2"] = LebaiHelper.GetInstance().GetInput(2);
+                
                 if (LebaiHelper.GetInstance().robotData != null) status["RobotMode"] = LebaiHelper.GetInstance().robotData.RobotMode.Mode;
                 LebaiHelper.GetInstance().GetRobotModeStatus();
                 Thread.Sleep(10);
@@ -117,6 +118,12 @@ namespace BPASmartClient.Lebai
                         case "机器人急停":
                             LebaiHelper.GetInstance().EStopRobot();
                             break;
+                        case "暂停":
+                            LebaiHelper.GetInstance().pauseMode();
+                            break;
+                        case "恢复":
+                            LebaiHelper.GetInstance().resumeMode();
+                            break;
                         default:
                             break;
                     }
@@ -149,6 +156,12 @@ namespace BPASmartClient.Lebai
 
         public override void WriteData(string address, object value)
         {
+            
+        }
+        public void SetDO(bool value, int Ch=0)
+        {
+            LebaiHelper.GetInstance().SetOutput(value,Ch);
         }
+       
     }
 }

BPASmartClient.LebaiRobot/LebaiHelper.cs

@@ -189,6 +189,42 @@ namespace BPASmartClient.LebaiRobot
                 MessageLog.GetInstance.ShowEx(ex.ToString());
             }
         }
+        /// <summary>
+        /// 暂停
+        /// </summary>
+        public async void pauseMode()
+        {
+            try
+            {
+                if (robotData != null)
+                {
+                    await client.Pause();
+                    MessageLog.GetInstance.Show("机器人切换为暂停模式.");
+                }
+            }
+            catch (Exception ex)
+            {
+                MessageLog.GetInstance.ShowEx(ex.ToString());
+            }
+        }
+        /// <summary>
+        /// 恢复
+        /// </summary>
+        public async void resumeMode()
+        {
+            try
+            {
+                if (robotData != null)
+                {
+                    await client.Resume();
+                    MessageLog.GetInstance.Show("机器人切换为暂停后恢复模式.");
+                }
+            }
+            catch (Exception ex)
+            {
+                MessageLog.GetInstance.ShowEx(ex.ToString());
+            }
+        }
 
         /// <summary>
         /// 机器人急停
@@ -266,7 +302,24 @@ namespace BPASmartClient.LebaiRobot
             }
             return false;
         }
+        /// <summary>
+        /// 设置DO输出
+        /// </summary>
+        /// <param name="pin"></param>
+        /// <returns></returns>
+        public void SetOutput(bool bDO, int pin = 0)
+        {
+            try
+            {
+                if (client == null) { return; }
+                var res = client.SetDIO(new DIO() { Pin = pin, Value = bDO ? 1 : 0 });
 
+            }
+            catch (Exception ex)
+            {
+                MessageLog.GetInstance.ShowEx(ex.ToString());
+            }
+        }
         public bool GetTcpInput(int pin = 1)
         {
             try

BPASmartClient.Model/果汁机/JuicerModel.cs

@@ -10,26 +10,56 @@ namespace BPASmartClient.Model
     public class JuicerModel
     {
         #region 果汁机设备MORKT2  Lebai机器人
-        public const int JUICE2_初始位 = 10021;
-        public const int JUICE2_检测位回原点 = 10023;
-        public const int JUICE2_取纸杯 = 10006;
-        public const int JUICE2_二次取杯 = 10008;
-        public const int JUICE2_纸杯检测 = 10007;
+        //public const int JUICE2_初始位 = 10021;
+        //public const int JUICE2_检测位回原点 = 10023;
+        //public const int JUICE2_取纸杯 = 10006;
+        //public const int JUICE2_二次取杯 = 10008;
+        //public const int JUICE2_纸杯检测 = 10007;
+        //public const int JUICE2_再检测 = 10024;
+        //public const int JUICE2_接咖啡 = 10009;
+        //public const int JUICE2_放咖啡杯 = 10010;
+
+        //public const int JUICE2_接茶叶 = 10017;
+        //public const int JUICE2_接茶水 = 10018;
+        //public const int JUICE2_接水 = 10020;
+        //public const int JUICE2_放水杯 = 10019;
+
+        //public const int JUICE2_接果汁公共位 = 10011;
+        //public const int JUICE2_接1号果汁 = 10012;
+        //public const int JUICE2_接2号果汁 = 10013;
+        //public const int JUICE2_接3号果汁 = 10014;
+        //public const int JUICE2_接4号果汁 = 10015;
+        //public const int JUICE2_放果汁杯 = 10016;
+
+        public const int JUICE2_初始位 = 10001;
+        public const int JUICE2_检测位回原点 = 10001;
+        public const int JUICE2_取空杯过渡位 = 10004;
+        public const int JUICE2_取纸杯 = 10002;
+        public const int JUICE2_取纸杯检测 = 10003;
         public const int JUICE2_再检测 = 10024;
-        public const int JUICE2_接咖啡 = 10009;
-        public const int JUICE2_放咖啡杯 = 10010;
-
-        public const int JUICE2_接茶叶 = 10017;
-        public const int JUICE2_接茶水 = 10018;
-        public const int JUICE2_接水 = 10020;
-        public const int JUICE2_放水杯 = 10019;
-
-        public const int JUICE2_接果汁公共位 = 10011;
-        public const int JUICE2_接1号果汁 = 10012;
-        public const int JUICE2_接2号果汁 = 10013;
-        public const int JUICE2_接3号果汁 = 10014;
-        public const int JUICE2_接4号果汁 = 10015;
-        public const int JUICE2_放果汁杯 = 10016;
+        public const int JUICE2_二次取杯 = 10008;
+
+        //public const int JUICE2_取杯完成后接饮料过渡位 = 10004;
+
+        public const int JUICE2_接咖啡 = 10004;
+        //public const int JUICE2_接咖啡放杯过渡位 = 10004;
+        public const int JUICE2_接果汁1 = 10004;
+        public const int JUICE2_接果汁2 = 10004;
+        public const int JUICE2_接果汁3 = 10004;
+        public const int JUICE2_接果汁4 = 10004;
+
+        public const int JUICE2_接茶叶 = 10004;
+        public const int JUICE2_接茶水 = 10004;
+        public const int JUICE2_接开水 = 10004;
+        //public const int JUICE2_接开水_茶水放杯过渡位 = 10004;
+
+        public const int JUICE2_放咖啡杯 = 10004;//放咖啡杯包括取接好咖啡的流程
+        public const int JUICE2_放果汁杯1 = 10004;
+        public const int JUICE2_放果汁杯2 = 10004;
+        public const int JUICE2_放果汁杯3 = 10004;
+        public const int JUICE2_放果汁杯4 = 10004;
+        public const int JUICE2_放水杯 = 10004;
+
         #endregion
 
         #region 果汁机设备 MORKT1 JAKA机器人

BPASmartClient.MorkT.Lebai.JC/BPASmartClient.MorkTLebaiJC.csproj

@@ -1,4 +1,4 @@
-<Project Sdk="Microsoft.NET.Sdk">
+<Project Sdk="Microsoft.NET.Sdk">
 
   <PropertyGroup>
     <TargetFramework>net6.0-windows</TargetFramework>
@@ -7,10 +7,20 @@
   </PropertyGroup>
 
   <ItemGroup>
+    <ProjectReference Include="..\BPASmartClient.Business\BPASmartClient.Business.csproj" />
     <ProjectReference Include="..\BPASmartClient.Device\BPASmartClient.Device.csproj" />
+    <ProjectReference Include="..\BPASmartClient.DRCoffee\BPASmartClient.DRCoffee.csproj" />
+    <ProjectReference Include="..\BPASmartClient.GSIceCream\BPASmartClient.GSIceCream.csproj" />
     <ProjectReference Include="..\BPASmartClient.Juicer\BPASmartClient.Juicer.csproj" />
     <ProjectReference Include="..\BPASmartClient.Lebai\BPASmartClient.Lebai.csproj" />
     <ProjectReference Include="..\BPASmartClient.MCU\BPASmartClient.MCU.csproj" />
   </ItemGroup>
 
+  <ItemGroup>
+    <Page Update="View\DebugView.xaml">
+      <XamlRuntime>$(DefaultXamlRuntime)</XamlRuntime>
+      <SubType>Designer</SubType>
+    </Page>
+  </ItemGroup>
+
 </Project>

BPASmartClient.MorkT.Lebai.JC/GVL_MorkTLebeiJC.cs

@@ -0,0 +1,75 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using BPASmartClient.Device;
+using System.Collections.Concurrent;
+
+namespace BPASmartClient.MorkTLebaiJC
+{
+    public class GVL_MorkTLebaiJC : IStatus
+    {
+        /// <summary>
+        /// <summary>
+        /// 咖啡订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesCoffee = new ConcurrentQueue<OrderLocInfo>();
+        /// <summary>
+        /// 是否有咖啡杯
+        /// </summary>
+        public bool IsHaveCoffeeCup = false;
+
+        /// <summary>
+        /// 咖啡是否制作完成
+        /// </summary>
+        public bool MakeCoffeeEnd = false;
+
+        /// <summary>
+        /// 果汁订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesJuicer = new ConcurrentQueue<OrderLocInfo>();
+        /// <summary>
+        /// 果汁是否在制作中
+        /// </summary>
+        public bool IsHaveJuiceCup = false;
+        /// <summary>
+        /// 咖啡是否制作完成
+        /// </summary>
+        public bool MakeJuiceEnd = false;
+
+        /// <summary>
+        /// 做茶订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesTea = new ConcurrentQueue<OrderLocInfo>();
+        /// <summary>
+        /// 茶或水是否在制作中
+        /// </summary>
+        public bool IsHaveTeaWaterCup = false;
+        /// <summary>
+        /// 咖啡是否制作完成
+        /// </summary>
+        public bool MakeTeaEnd = false;
+
+        /// <summary>
+        /// 做开水订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesWater = new ConcurrentQueue<OrderLocInfo>();
+
+        /// <summary>
+        /// 等待取餐订单
+        /// </summary>
+        public OrderLocInfo waitMorkOrder = new OrderLocInfo();
+
+        /// <summary>
+        /// 当前正在制作咖啡
+        /// </summary>
+        public OrderLocInfo MakeCoffeeOrder = new OrderLocInfo();
+
+        /// <summary>
+        /// 订单ID
+        /// </summary>
+        public string SuborderId = null;
+    }
+    
+}

BPASmartClient.MorkT.Lebai.JC/OrderLocInfo.cs

@@ -0,0 +1,17 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkTLebaiJC
+{
+    public class OrderLocInfo
+    {
+        public string SuborderId { get; set; }
+        public ushort Loc { get; set; }
+        public ushort RecipeNumber { get; set; }
+        public int BatchingId { get; set; }
+        public string GoodName { get; set; }
+    }
+}

BPASmartClient.MorkT.Lebai.JC/View/DebugView.xaml

@@ -0,0 +1,399 @@
+<UserControl x:Class="BPASmartClient.MorkTJAKAJC.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:vm="clr-namespace:BPASmartClient.MorkTLebaiJC.ViewModel"
+             mc:Ignorable="d" 
+             Name="调试界面"
+             d:DesignHeight="500" d:DesignWidth="1000" Unloaded="Dubug_Unloaded">
+    <UserControl.DataContext>
+        <vm:DebugViewModel/>
+    </UserControl.DataContext>
+    <UserControl.Resources>
+        <ResourceDictionary>
+            <ResourceDictionary.MergedDictionaries>
+                <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/GenricStyle.xaml" />
+                <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/MyStyle.xaml" />
+            </ResourceDictionary.MergedDictionaries>
+        </ResourceDictionary>
+    </UserControl.Resources>
+    <Grid>
+        <Grid.ColumnDefinitions>
+            <ColumnDefinition Width="10*"/>
+            <ColumnDefinition Width="10*"/>
+        </Grid.ColumnDefinitions>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="10*"/>
+            <RowDefinition Height="10*"/>
+            <RowDefinition Height="20*"/>
+        </Grid.RowDefinitions>
+
+        <GroupBox Grid.ColumnSpan="2"
+            FontFamily="楷体"
+            FontSize="20"
+            Header=" 乐白机器人 ">
+            <Grid Margin="10">
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="3*"/>
+                </Grid.RowDefinitions>
+                <StackPanel Orientation="Horizontal">
+                    <TextBlock Text="连接状态" />
+                    <TextBlock Text="{Binding RobotConnected}"
+                           Margin="40,0"/>
+                    <TextBlock Text="机器人模式："/>
+                    <TextBlock Text="{Binding RobotMode}"
+                               Margin="40,0"/>
+                </StackPanel>
+                <TextBlock Text="连接状态" />
+                <TextBlock Text="{Binding RobotConnected}"
+                           Margin="120,0,0,0"/>
+                
+                <ListBox Grid.Row="2" Background="Transparent" Margin="0,0,0,-9">
+                    <ListBox.Template>
+                        <ControlTemplate TargetType="{x:Type ListBox}">
+                            <ScrollViewer  HorizontalScrollBarVisibility="Disabled" VerticalScrollBarVisibility="Auto">
+                                <WrapPanel Orientation="Horizontal" IsItemsHost="True" ScrollViewer.CanContentScroll="True"/>
+                            </ScrollViewer>
+                        </ControlTemplate>
+                    </ListBox.Template>
+                    <Button Content="机器人启动"
+                            Margin="20,5" Width="80" Height="40"
+                            Command="{Binding Button_RobotControlCommand}"
+                            CommandParameter="机器人启动">
+                    </Button>
+                    <Button Content="启动示教"
+                            Margin="20,5" Width="80" Height="40"
+                            Command="{Binding Button_RobotControlCommand}"
+                            CommandParameter="启动示教"/>
+                    <Button Content="停止示教" 
+                            Margin="20,5" Width="80" Height="40"
+                            Command="{Binding Button_RobotControlCommand}"
+                            CommandParameter="停止示教"/>
+                    <Button Content="机器人急停"
+                            Margin="20,5"  Width="80" Height="40"
+                            Command="{Binding Button_RobotControlCommand}"
+                            CommandParameter="机器人急停"/>
+                    <Button Content="暂停"
+                            Margin="10,5"  Width="40" Height="40"
+                            Command="{Binding Button_RobotControlCommand}"
+                            CommandParameter="暂停"/>
+                    <Button Content="恢复"
+                            Margin="10,5"  Width="40" Height="40"
+                            Command="{Binding Button_RobotControlCommand}"
+                            CommandParameter="恢复"/>
+                </ListBox>
+                <Grid Margin="629,-24,19,0" Grid.RowSpan="3">
+                    <Grid.RowDefinitions>
+                        <RowDefinition></RowDefinition>
+                        <RowDefinition></RowDefinition>
+                    </Grid.RowDefinitions>
+                    <Grid Grid.Row="0">
+                        <TextBlock>DI</TextBlock>
+                        <CheckBox Margin="50,0,0,0" IsEnabled="false" Name="Robot_DI0">DI0</CheckBox>
+                        <CheckBox Margin="120,0,0,0" IsEnabled="false" Name="Robot_DI1">DI1</CheckBox>
+                        <CheckBox Margin="190,0,0,0" IsEnabled="false" Name="Robot_DI2">DI2</CheckBox>
+                        <CheckBox Margin="260,0,0,0" IsEnabled="false" Name="Robot_DI3">DI3</CheckBox>
+                    </Grid>
+                    <Grid Grid.Row="1">
+                        <TextBlock Width="50">DO</TextBlock>
+                        <ComboBox  Width="70" Margin="50,12,268,10" SelectedIndex="{Binding Lebai_DO_CH}">
+                            <ComboBoxItem IsSelected="true">DO0</ComboBoxItem>
+                            <ComboBoxItem>DO1</ComboBoxItem>
+                            <ComboBoxItem>DO2</ComboBoxItem>
+                            <ComboBoxItem>DO3</ComboBoxItem>
+                        </ComboBox>
+                        <ComboBox Margin="142,12,108,10" Width="70" SelectedIndex="{Binding Lebai_DO_Value}">
+                            <ComboBoxItem IsSelected="true">true</ComboBoxItem>
+                            <ComboBoxItem>false</ComboBoxItem>
+                        </ComboBox>
+                        <Button Width="50" Margin="260,12,10,10" Command="{Binding Button_LebaiDOuputCommand}" >输出</Button>
+                    </Grid>
+                </Grid>
+            </Grid>
+        </GroupBox>
+        <GroupBox  Grid.Row="2"
+            FontFamily="楷体"
+            FontSize="20"
+            Header=" 果汁机 ">
+            <Grid>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="3*"/>
+                    <RowDefinition Height="3*"/>
+                    <RowDefinition Height="3*"/>
+                </Grid.RowDefinitions>
+                <TextBlock Text="连接状态" />
+                <TextBlock Text="{Binding JuicerConnected}"
+                           Margin="120,0,0,0"/>
+                <Grid Grid.Row="1">
+                    <Grid.RowDefinitions>
+                        <RowDefinition></RowDefinition>
+                    </Grid.RowDefinitions>
+                    <Grid.ColumnDefinitions>
+                        <ColumnDefinition Width="120"/>
+                        <ColumnDefinition></ColumnDefinition>
+                    </Grid.ColumnDefinitions>
+                    <TextBlock Text="设备状态" />
+                    <Grid Grid.Column="1">
+                        <Grid.RowDefinitions>
+                            <RowDefinition></RowDefinition>
+                        </Grid.RowDefinitions>
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition></ColumnDefinition>
+                            <ColumnDefinition></ColumnDefinition>
+                            <ColumnDefinition></ColumnDefinition>
+                            <ColumnDefinition></ColumnDefinition>
+                            <ColumnDefinition></ColumnDefinition>
+                        </Grid.ColumnDefinitions>
+                        <TextBlock Grid.Column="0" Name="Heating" HorizontalAlignment="Center">制热</TextBlock>
+                        <TextBlock Grid.Column="1" Name="cooling"  HorizontalAlignment="Center">制冷</TextBlock>
+                        <TextBlock Grid.Column="2" Name="LackOfWater"  HorizontalAlignment="Center">缺水</TextBlock>
+                        <TextBlock Grid.Column="3" Name="ChildLocks"  HorizontalAlignment="Center">童锁</TextBlock>
+                        <TextBlock Grid.Column="4" Name="Use"  HorizontalAlignment="Center">使用</TextBlock>
+                    </Grid>
+
+                </Grid>
+
+
+                <StackPanel Grid.Row="2" Orientation="Vertical">
+                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal">
+                        <TextBlock>果汁</TextBlock>
+                        <ComboBox Margin="100,0,0,0"
+                                Width="100" >
+                            <ComboBoxItem IsSelected="true">饮品1</ComboBoxItem>
+                            <ComboBoxItem>饮品2</ComboBoxItem>
+                            <ComboBoxItem>饮品3</ComboBoxItem>
+                            <ComboBoxItem>饮品4</ComboBoxItem>
+                        </ComboBox>
+                        <ComboBox Margin="20,0,0,0" Width="100">
+                            <ComboBoxItem IsSelected="true">冷饮</ComboBoxItem>
+                            <ComboBoxItem>热饮</ComboBoxItem>
+                        </ComboBox>
+                        <Button Command="{Binding Button_MakeIceCreamCommand}"
+                                Margin="20,0"
+                                Content="制作" />
+                    </StackPanel>
+                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal">
+
+                    </StackPanel>
+                </StackPanel>
+            </Grid>
+        </GroupBox>
+        <GroupBox  Grid.Row="2" Grid.Column="1"
+            FontFamily="楷体"
+            FontSize="20"
+            Header=" 咖啡机">
+            <Grid>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="30"/>
+                    <RowDefinition />
+                    <RowDefinition />
+                </Grid.RowDefinitions>
+                <TextBlock Text="连接状态" />
+                <TextBlock Text="{Binding CoffeeConnected}"
+                           Margin="120,0,0,0"/>
+                <Grid Grid.Row="1">
+                    <Grid.Resources>
+                        <Style TargetType="TextBlock">
+                            <Setter Property="HorizontalAlignment" Value="Left" />
+                            <Setter Property="VerticalAlignment" Value="Center" />
+                        </Style>
+                    </Grid.Resources>
+                    <Grid.RowDefinitions>
+                        <RowDefinition />
+                        <RowDefinition />
+                    </Grid.RowDefinitions>
+                    <Grid.ColumnDefinitions>
+                        <ColumnDefinition Width="99" />
+                        <ColumnDefinition Width="140" />
+                        <ColumnDefinition Width="100" />
+                        <ColumnDefinition Width="171" />
+                    </Grid.ColumnDefinitions>
+                    <TextBlock Height="23" Width="100" FontSize="18" HorizontalAlignment="Center">咖啡机状态</TextBlock>
+                    <TextBlock FontSize="18" 
+                            Grid.Column="1"
+                            Text="{Binding CoffeeStatus}" Height="23" />
+                    <TextBlock Grid.Column="2" Height="23" Width="80" FontSize="18">应用状态</TextBlock>
+                    <TextBlock FontSize="18"
+                            Grid.Column="3" 
+                            Text="{Binding AppStatus}" Height="23"/>
+                    <TextBlock Grid.Row="1" Grid.Column="0" Height="22" Width="80" FontSize="18">告警信息</TextBlock>
+                    <TextBlock FontSize="15"
+                            Grid.Row="1"
+                            Grid.Column="1"
+                            Text="{Binding Warning}"  />
+                    <TextBlock Grid.Row="1" Grid.Column="2" Height="22" Width="80" FontSize="18">故障信息</TextBlock>
+                    <TextBlock FontSize="18"
+                            Grid.Row="1"
+                            Grid.Column="3"
+                            Text="{Binding CaffeeFault}" Height="22" Width="60" />
+                </Grid>
+                <StackPanel Grid.Row="2" Orientation="Vertical">
+                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal">
+                        <TextBlock>饮品</TextBlock>
+                        <ComboBox Margin="10,0"
+                                Width="100"
+                                ItemsSource="{Binding Coffees}"
+                                SelectedItem="{Binding SelectedCoffee}" />
+                        <Button Margin="10,0"
+                            Command="{}"
+                                Content="制作"/>
+                        <Button Margin="10,0"
+                            Command="{}"
+                                Content="停止制作"/>
+                    </StackPanel>
+                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal">
+                        <TextBlock>模式</TextBlock>
+                        <ComboBox Margin="10,0"
+                                Width="100"
+                                ItemsSource="{Binding CoffeeCmds}"
+                                SelectedItem="{Binding SelectedCoffeeCmd}"/>
+                        <Button Margin="10,0"
+                                Command="{}"
+                                Content="设置" Cursor="Hand"/>
+                    </StackPanel>
+                </StackPanel>
+            </Grid>
+        </GroupBox>
+        <GroupBox Header="单片机控制"
+                   FontSize="18"
+                  Grid.Row="1" Grid.ColumnSpan="2"
+                  Margin="0,0,0,10">
+            <Grid>
+                <Grid.RowDefinitions>
+                    <RowDefinition></RowDefinition>
+                </Grid.RowDefinitions>
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition Width="5*"/>
+                    <ColumnDefinition Width="5*"/>
+                    <ColumnDefinition Width="13*"/>
+                    <ColumnDefinition Width="7*"/>
+                </Grid.ColumnDefinitions>
+                <Grid Grid.Column="0" >
+                    <TextBlock FontSize="12">连接状态</TextBlock>
+                    <TextBlock Text="{Binding MCUConnected}"
+                           Margin="70,0,0,0"/>
+                    <TextBlock FontSize="12"></TextBlock>
+                </Grid>
+                <Grid Grid.Column="1" >
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition></RowDefinition>
+                            <RowDefinition></RowDefinition>
+                        </Grid.RowDefinitions>
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition></ColumnDefinition>
+                            <ColumnDefinition></ColumnDefinition>
+                        </Grid.ColumnDefinitions>
+                        <Grid Grid.Row="0" Grid.Column="0" >
+                            <TextBlock  FontSize="12"  HorizontalAlignment="Center">舵机控制</TextBlock>
+
+                        </Grid>
+                        <Grid Grid.Row="0" Grid.Column="1">
+                            <ComboBox Margin="0,0,0,0" FontSize="12" Width="60" SelectedIndex="{Binding MCU_PWM_CH}">
+                                <ComboBoxItem IsSelected="true">舵机1</ComboBoxItem>
+                                <ComboBoxItem>舵机2</ComboBoxItem>
+                                <ComboBoxItem>舵机3</ComboBoxItem>
+                                <ComboBoxItem>舵机4</ComboBoxItem>
+                            </ComboBox>
+                        </Grid>
+                        <Grid Grid.Row="1" Grid.Column="0">
+                            <Button FontSize="15"  HorizontalAlignment="Center"  Command="{Binding Button_MCUOuputCommand}">输出</Button>
+                        </Grid>
+                        <Grid Grid.Row="1" Grid.Column="1" Width="60" >
+                            <TextBox  Text="{Binding PWMInputNumber}"></TextBox>
+                        </Grid>
+                    </Grid>
+                </Grid>
+                <Grid Grid.Column="2" >
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition></RowDefinition>
+                            <RowDefinition></RowDefinition>
+                        </Grid.RowDefinitions>
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition></ColumnDefinition>
+                        </Grid.ColumnDefinitions>
+                        <Grid Grid.Row="0" Grid.Column="0" >
+                            <TextBlock  FontSize="12"  HorizontalAlignment="Center">DI输入</TextBlock>
+                        </Grid>
+                        <Grid Grid.Row="1" Grid.Column="0" Width="400">
+                            <Grid>
+                                <Grid.ColumnDefinitions>
+                                    <ColumnDefinition></ColumnDefinition>
+                                    <ColumnDefinition></ColumnDefinition>
+                                    <ColumnDefinition></ColumnDefinition>
+                                    <ColumnDefinition></ColumnDefinition>
+                                    <ColumnDefinition></ColumnDefinition>
+                                    <ColumnDefinition></ColumnDefinition>
+                                    <ColumnDefinition></ColumnDefinition>
+                                    <ColumnDefinition></ColumnDefinition>
+                                </Grid.ColumnDefinitions>
+                                <Grid Grid.Column="0">
+                                    <CheckBox FontSize="12" IsEnabled="false" IsChecked="{Binding CH0}">DI0</CheckBox>
+                                </Grid>
+                                <Grid Grid.Column="1">
+                                    <CheckBox FontSize="12" IsEnabled="false" Name="CH1">DI1</CheckBox>
+                                </Grid>
+                                <Grid Grid.Column="2">
+                                    <CheckBox FontSize="12" IsEnabled="false" Name="CH2">DI2</CheckBox>
+                                </Grid>
+                                <Grid Grid.Column="3">
+                                    <CheckBox FontSize="12" IsEnabled="false" Name="CH3">DI3</CheckBox>
+                                </Grid>
+                                <Grid Grid.Column="4">
+                                    <CheckBox FontSize="12" IsEnabled="false" Name="CH4">DI4</CheckBox>
+                                </Grid>
+                                <Grid Grid.Column="5">
+                                    <CheckBox FontSize="12" IsEnabled="false" Name="CH5">DI5</CheckBox>
+                                </Grid>
+                                <Grid Grid.Column="6">
+                                    <CheckBox FontSize="12" IsEnabled="false" Name="CH6">DI6</CheckBox>
+                                </Grid>
+                                <Grid Grid.Column="7">
+                                    <CheckBox FontSize="12" IsEnabled="false" Name="CH7">DI7</CheckBox>
+                                </Grid>
+                            </Grid>
+
+                        </Grid>
+                    </Grid>
+                </Grid>
+
+                <Grid Grid.Column="3" >
+                    <Grid.RowDefinitions>
+                        <RowDefinition></RowDefinition>
+                        <RowDefinition></RowDefinition>
+                    </Grid.RowDefinitions>
+                    <Grid.ColumnDefinitions>
+                        <ColumnDefinition></ColumnDefinition>
+                        <ColumnDefinition></ColumnDefinition>
+                    </Grid.ColumnDefinitions>
+                    <Grid Grid.Column="0">
+                        <TextBlock FontSize="12" HorizontalAlignment="Center">DO输出</TextBlock>
+                    </Grid>
+                    <Grid Grid.Column="1" Grid.Row="0">
+                        <ComboBox Width="50" FontSize="12" HorizontalAlignment="Center" SelectedIndex="{Binding MCU_DO_CH}">
+                            <ComboBoxItem IsSelected="true">DO0</ComboBoxItem>
+                            <ComboBoxItem>DO1</ComboBoxItem>
+                            <ComboBoxItem>DO2</ComboBoxItem>
+                            <ComboBoxItem>DO3</ComboBoxItem>
+                            <ComboBoxItem>DO4</ComboBoxItem>
+                            <ComboBoxItem>DO5</ComboBoxItem>
+                            <ComboBoxItem>DO6</ComboBoxItem>
+                            <ComboBoxItem>DO7</ComboBoxItem>
+                        </ComboBox>
+                    </Grid>
+                    <Grid Grid.Column="0" Grid.Row="1">
+                        <Button Width="50" Command="{Binding Button_MCUDOuputCommand}">输出</Button>
+                    </Grid>
+                    <Grid Grid.Column="1" Grid.Row="1">
+                        <RadioButton FontSize="12"  IsChecked="{Binding MCU_DO_Value}">True</RadioButton>
+                        <RadioButton Margin="50,0,0,0" FontSize="12">false</RadioButton>
+                    </Grid>
+                </Grid>
+            </Grid>
+        </GroupBox>
+    </Grid>
+</UserControl>

BPASmartClient.MorkT.Lebai.JC/View/DebugView.xaml.cs

@@ -0,0 +1,37 @@
+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 BPASmartClient.MorkTJAKAJC.View
+{
+    /// <summary>
+    /// DebugView.xaml 的交互逻辑
+    /// </summary>
+    public partial class DebugView : UserControl
+    {
+        public DebugView()
+        {
+            InitializeComponent();
+        }
+
+        private void Dubug_Unloaded(object sender, RoutedEventArgs e)
+        {
+            ThreadManage.GetInstance().StopTask("MorkT-状态刷新");
+            ThreadManage.GetInstance().StopTask("MorkT-传感器监视");
+
+        }
+    }
+
+}

BPASmartClient.MorkT.Lebai.JC/ViewModel/DebugViewModel.cs

@@ -0,0 +1,235 @@
+using BPASmartClient.Business;
+using BPASmartClient.Device;
+using BPASmartClient.DRCoffee;
+using BPASmartClient.EventBus;
+using BPASmartClient.GSIceCream;
+using BPASmartClient.Helper;
+using BPASmartClient.LebaiRobot;
+using BPASmartClient.Message;
+using BPASmartClient.Model;
+using BPASmartClient.Model.乐白机器人;
+using BPASmartClient.Model.冰淇淋.Enum;
+using BPASmartClient.Model.单片机;
+using BPASmartClient.Model.单片机.Enum;
+using BPASmartClient.Model.咖啡机.Enum;
+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.Threading;
+namespace BPASmartClient.MorkTLebaiJC.ViewModel;
+    public class DebugViewModel : ObservableObject
+    {
+        
+        #region 乐白机器人
+        /// <summary>
+        /// 乐白机器人连接状态
+        /// </summary>
+        public string RobotConnected { get { return _robotConnected; } set { _robotConnected = value; OnPropertyChanged(); } }
+        private string _robotConnected { get; set; }
+        /// <summary>
+        /// 乐白机器人的模式状态
+        /// </summary>
+        public string RobotMode { get { return _robotMode; } set { _robotMode = value; OnPropertyChanged(); } }
+        private string _robotMode { get; set; }
+        /// <summary>
+        /// 机器人控制指令
+        /// </summary>
+        public RelayCommand<object> Button_RobotControlCommand { get; set; }
+        /// <summary>
+        /// 机器人控制
+        /// </summary>
+        /// <param name="o"></param>
+        private void Button_RobotControl(object o)
+        {
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiControlEvent { DeviceId = DeviceId, LebaiControl = o.ToString() });
+        }
+
+        #endregion
+
+        #region 果汁机
+        /// <summary>
+        /// 果汁机的连接状态
+        /// </summary>
+        public string JuicerConnected { get { return _JuicerConnected; } set { _JuicerConnected = value; OnPropertyChanged(); } }
+        private string _JuicerConnected { get; set; }
+        
+        /// <summary>
+        /// 果汁机的状态
+        /// </summary>
+        public string JuicerState { get { return _JuicerState; } set { _JuicerState = value; OnPropertyChanged(); } }
+        private string _JuicerState { get; set; }
+        
+        #endregion
+
+        #region 咖啡机
+        /// <summary>
+        /// 咖啡机连接状态
+            /// </summary>
+        public string CoffeeConnected { get { return _coffeeConnected; } set { _coffeeConnected = value; OnPropertyChanged(); } }
+        private string _coffeeConnected { get; set; }
+        /// <summary>
+        /// 咖啡机状态
+        /// </summary>
+        public string CoffeeStatus { get { return _coffeeStatus; } set { _coffeeStatus = value; OnPropertyChanged(); } }
+        private string _coffeeStatus { get; set; }
+        /// <summary>
+        /// 应用状态
+        /// </summary>
+        public string AppStatus { get { return _appStatus; } set { _appStatus = value; OnPropertyChanged(); } }
+        private string _appStatus { get; set; }
+        /// <summary>
+        /// 告警
+        /// </summary>
+        public string Warning { get { return _warning; } set { _warning = value; OnPropertyChanged(); } }
+        public string _warning { get; set; }
+        /// <summary>
+        /// 故障信息
+        /// </summary>
+        public string CaffeeFault { get { return _caffeeFault; } set { _caffeeFault = value; OnPropertyChanged(); } }
+        public string _caffeeFault { get; set; }
+
+        public List<string> Coffees { get; set; } = new List<string>();
+        public string SelectedCoffee { get; set; }
+
+        public List<string> CoffeeCmds { get; set; } = new List<string>();
+        public string SelectedCoffeeCmd { get; set; }
+        /// <summary>
+        /// 制作咖啡
+        /// </summary>
+        public RelayCommand Button_MakeCoffeeCommand { get; set; }
+        /// <summary>
+        /// 停止制作咖啡
+        /// </summary>
+        public RelayCommand Button_StopMakeCoffeCommand { get; set; }
+        /// <summary>
+        /// 咖啡模式设置
+        /// </summary>
+        public RelayCommand Button_CoffeeModeSetCommand { get; set; }
+
+        private void Button_MakeCoffee()
+        {
+            EventBus.EventBus.GetInstance().Publish(new DRCoffee_MakeCoffeeEvent() { DeviceId = DeviceId, DrinkCode = (DrCoffeeDrinksCode)Enum.Parse(typeof(DrCoffeeDrinksCode), SelectedCoffee)});
+        }
+        private void Button_StopMakeCoffe()
+        {
+            EventBus.EventBus.GetInstance().Publish(new DRCoffee_CancelMakeCoffeeEvent() { DeviceId = DeviceId });
+        }
+        private void Button_CoffeeModeSet()
+        {
+            EventBus.EventBus.GetInstance().Publish(new DRCoffee_CoffeeCommCmdEvent() { DeviceId = DeviceId, CommCmd = (DrCoffeeCommCmd)Enum.Parse(typeof(DrCoffeeCommCmd), SelectedCoffeeCmd)});
+        }
+        #endregion
+
+        #region 单片机
+        public string MCUConnected { get { return _mcuConnected; } set { _mcuConnected = value; OnPropertyChanged(); } }
+        private string _mcuConnected { get; set; }
+
+        public RelayCommand Button_MCUOuputCommand { get; set; }
+        public RelayCommand Button_MCUDOuputCommand { get; set; }
+        public RelayCommand Button_LebaiDOuputCommand { get; set; }
+    
+        public int PWMInputNumber { get { return _pwmInputNumber; } set { _pwmInputNumber = value; OnPropertyChanged(); } }
+        private int _pwmInputNumber = 1;
+
+        public int MCU_PWM_CH { get { return _choosePWM; } set { _choosePWM = value; OnPropertyChanged(); } }
+        private int _choosePWM = 1;
+
+        public int MCU_DO_CH { get { return _mcuDO_CH; } set { _mcuDO_CH = value; OnPropertyChanged(); } }
+        private int _mcuDO_CH = 1;
+
+        public int Lebai_DO_CH { get { return _lebaiDO_CH; } set { _lebaiDO_CH = value; OnPropertyChanged(); } }
+        private int _lebaiDO_CH = 1;
+
+        public int Lebai_DO_Value { get { return _lebaiDO_Value; } set { _lebaiDO_Value = value; OnPropertyChanged(); } }
+        private int _lebaiDO_Value = 1;
+
+        private int[] DICH  { get { return _diCH; } set { _diCH = value; OnPropertyChanged(); } }
+        private int[] _diCH = new int[8];
+
+        public bool MCU_DO_Value { get { return _mcu_DO_Valuer; } set { _mcu_DO_Valuer = value; OnPropertyChanged(); } }
+        private bool _mcu_DO_Valuer = true;
+    
+        private void Button_McuOutput() 
+        {
+            string sChoosePWM =Convert.ToString(MCU_PWM_CH+1);
+            new WriteMcu() { TagName = "ServoControl", Address = sChoosePWM, Value = PWMInputNumber }.Publish();
+        }
+        private void Button_McuDOutput()
+        {
+            string sChooseDO = Convert.ToString(MCU_DO_CH + 1);
+            new WriteMcu() { TagName = "OutputControl", Address = sChooseDO, Value = MCU_DO_Value }.Publish();
+        }
+        private void Button_LebaiDOutput() 
+        {
+            string sChooseDO = Convert.ToString(Lebai_DO_CH + 1);
+            
+        }
+    #endregion
+
+    /// <summary>
+    /// 设备ID
+    /// </summary>
+    public int DeviceId { get; set; }
+        /// <summary>
+        /// 设备数据
+        /// </summary>
+        public ObservableCollection<VariableMonitor> variableMonitors { get; set; }
+        
+        public DebugViewModel()
+        {
+            Button_RobotControlCommand = new RelayCommand<object>(Button_RobotControl);
+            Button_MakeCoffeeCommand = new RelayCommand(Button_MakeCoffee);
+            Button_StopMakeCoffeCommand = new RelayCommand(Button_StopMakeCoffe);
+            Button_CoffeeModeSetCommand = new RelayCommand(Button_CoffeeModeSet);
+
+            Button_MCUOuputCommand = new RelayCommand(Button_McuOutput);
+            Button_MCUDOuputCommand = new RelayCommand(Button_McuDOutput);
+            Button_LebaiDOuputCommand = new RelayCommand(Button_LebaiDOutput);
+        foreach (DrCoffeeDrinksCode code in Enum.GetValues(typeof(DrCoffeeDrinksCode)))
+            {
+                Coffees.Add(code.ToString());
+            }
+            SelectedCoffee = Coffees[0];
+            foreach (DrCoffeeCommCmd code in Enum.GetValues(typeof(DrCoffeeCommCmd)))
+            {
+                CoffeeCmds.Add(code.ToString());
+            }
+            SelectedCoffeeCmd = CoffeeCmds[0];
+
+            Plugin.GetInstance()?.GetPlugin<DeviceMgr>()?.GetDevices().ForEach(device =>
+            {
+                if (device.Name == "MorkT") DeviceId = device.DeviceId
+                ;
+            });
+
+
+
+            ThreadManage.GetInstance().StartLong(new Action(() =>
+            {
+
+                variableMonitors = Plugin.GetInstance()?.GetPlugin<DeviceMgr>()?.GetDevices()?.FirstOrDefault(p => p.DeviceId == DeviceId)?.variableMonitors;
+
+                if (variableMonitors != null && variableMonitors.Count > 0)
+                {
+                    RobotConnected  = variableMonitors.FirstOrDefault(p=>p.Notes == "机器人连接状态").CurrentValue == "True" ? "已连接" : "未连接";
+                    CoffeeConnected = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机连接状态").CurrentValue == "True" ? "已连接" : "未连接";
+                    JuicerConnected = variableMonitors.FirstOrDefault(p => p.Notes == "果汁机连接状态").CurrentValue == "True" ? "已连接" : "未连接";
+                    MCUConnected    = variableMonitors.FirstOrDefault(p => p.Notes == "单片机连接状态").CurrentValue == "True" ? "已连接" : "未连接";
+
+                    RobotMode = variableMonitors.FirstOrDefault(p => p.Notes == "机器人状态").CurrentValue;
+
+                    CoffeeStatus = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机状态").CurrentValue;
+                    AppStatus = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机应用状态").CurrentValue;
+                    Warning = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机告警").CurrentValue;
+                    CaffeeFault = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机故障").CurrentValue;
+
+
+                }
+                Thread.Sleep(500);
+            }), "MorkT-状态刷新");
+        }
+    }
+

BPASmartClient.MorkT.Lebai.JC/ViewModel/MonitorViewModel.cs

@@ -0,0 +1,94 @@
+using BPASmartClient.Business;
+using BPASmartClient.Helper;
+using BPASmartClient.Model.乐白机器人;
+using Microsoft.Toolkit.Mvvm.ComponentModel;
+using System;
+using System.Collections.Generic;
+using System.Globalization;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Windows.Data;
+using System.Windows.Media;
+
+namespace BPASmartClient.MorkTLebaiJC.ViewModel
+{
+
+    public class MonitorViewModel: ObservableObject
+    {
+        #region 传感器
+        /// <summary>
+        /// 机器人夹爪传感器
+        /// </summary>
+        public bool RobotSenser { get { return _robotSenser; } set { _robotSenser = value; OnPropertyChanged(); } }
+        private bool _robotSenser;
+        /// <summary>
+        /// 冰淇淋出口传感器
+        /// </summary>
+        public bool IceCreamSenser { get { return _iceCreamSenser; } set { _iceCreamSenser = value; OnPropertyChanged(); } }
+        private bool _iceCreamSenser;
+        /// <summary>
+        /// 取餐口检测传感器
+        /// </summary>
+        public bool TakeMealSenser { get { return _takeMealSenser; } set { _takeMealSenser = value; OnPropertyChanged(); } }
+        private bool _takeMealSenser;
+
+        #endregion
+
+
+        /// <summary>
+        /// 设备ID
+        /// </summary>
+        int DeviceId;
+        public MonitorViewModel()
+        {
+            Plugin.GetInstance()?.GetPlugin<DeviceMgr>()?.GetDevices().ForEach(device =>
+            {
+                if (device.Name == "MorkT") DeviceId = device.DeviceId;
+
+            });
+            ThreadManage.GetInstance().StartLong(new Action(() =>
+            {
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetTCPInputEvent() { DeviceId = DeviceId, Pin = 1 },(res)=>
+                {
+                    if(res != null&& res.Length>0&& res[0] is bool b)
+                    {
+                        RobotSenser = b;
+                    }
+                });
+
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent() { DeviceId = DeviceId, Pin = 0 }, (res) =>
+                {
+                    if (res != null && res.Length > 0 && res[0] is bool b)
+                    {
+                        TakeMealSenser = b;
+                    }
+                });
+
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetTCPInputEvent() { DeviceId = DeviceId, Pin = 3 }, (res) =>
+                {
+                    if (res != null && res.Length > 0 && res[0] is bool b)
+                    {
+                        IceCreamSenser = b;
+                    }
+                });
+                Thread.Sleep(500);
+            }), "MorkT-传感器监视");
+        }
+    }
+
+    public class BoolToColorConvert : IValueConverter
+    {
+        public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            return (bool) value? new SolidColorBrush(Color.FromRgb(144, 238, 144)) : new SolidColorBrush(Color.FromRgb(178, 34, 34));
+        }
+
+        public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            throw new NotImplementedException();
+        }
+    }
+
+}

BPASmartClient.Morkt.JAKA.JC/View/DebugView.xaml

@@ -79,11 +79,11 @@
                     <Button Content="暂停"
                             Margin="10,5"  Width="40" Height="40"
                             Command="{Binding Button_RobotControlCommand}"
-                            CommandParameter="机器人急停"/>
+                            CommandParameter="暂停"/>
                     <Button Content="恢复"
                             Margin="10,5"  Width="40" Height="40"
                             Command="{Binding Button_RobotControlCommand}"
-                            CommandParameter="机器人急停"/>
+                            CommandParameter="恢复"/>
                 </ListBox>
                 <Grid Margin="629,-24,19,0" Grid.RowSpan="3">
                     <Grid.RowDefinitions>
@@ -125,7 +125,7 @@
                     <RowDefinition Height="3*"/>
                 </Grid.RowDefinitions>
                 <TextBlock Text="连接状态" />
-                <TextBlock Text="{Binding IceCreamConnected}"
+                <TextBlock Text="{Binding JuicerConnected}"
                            Margin="120,0,0,0"/>
                 <Grid Grid.Row="1">
                     <Grid.RowDefinitions>
@@ -273,6 +273,8 @@
                 </Grid.ColumnDefinitions>
                 <Grid Grid.Column="0" >
                     <TextBlock FontSize="12">连接状态</TextBlock>
+                    <TextBlock Text="{Binding MCUConnected}"
+                           Margin="70,0,0,0"/>
                     <TextBlock FontSize="12"></TextBlock>
                 </Grid>
                 <Grid Grid.Column="1" >
@@ -290,7 +292,7 @@
 
                         </Grid>
                         <Grid Grid.Row="0" Grid.Column="1">
-                            <ComboBox Margin="0,0,0,0" FontSize="12" Width="60">
+                            <ComboBox Margin="0,0,0,0" FontSize="12" Width="60" SelectedIndex="{Binding MCU_PWM_CH}">
                                 <ComboBoxItem IsSelected="true">舵机1</ComboBoxItem>
                                 <ComboBoxItem>舵机2</ComboBoxItem>
                                 <ComboBoxItem>舵机3</ComboBoxItem>
@@ -298,10 +300,10 @@
                             </ComboBox>
                         </Grid>
                         <Grid Grid.Row="1" Grid.Column="0">
-                            <Button FontSize="15"  HorizontalAlignment="Center">输出</Button>
+                            <Button FontSize="15"  HorizontalAlignment="Center"  Command="{Binding Button_MCUOuputCommand}">输出</Button>
                         </Grid>
-                        <Grid Grid.Row="1" Grid.Column="1" Width="60">
-                            <TextBox>1</TextBox>
+                        <Grid Grid.Row="1" Grid.Column="1" Width="60" >
+                            <TextBox  Text="{Binding PWMInputNumber}"></TextBox>
                         </Grid>
                     </Grid>
                 </Grid>
@@ -330,7 +332,7 @@
                                     <ColumnDefinition></ColumnDefinition>
                                 </Grid.ColumnDefinitions>
                                 <Grid Grid.Column="0">
-                                    <CheckBox FontSize="12" IsEnabled="false" Name="CH0">DI0</CheckBox>
+                                    <CheckBox FontSize="12" IsEnabled="false" IsChecked="{Binding CH0}">DI0</CheckBox>
                                 </Grid>
                                 <Grid Grid.Column="1">
                                     <CheckBox FontSize="12" IsEnabled="false" Name="CH1">DI1</CheckBox>
@@ -372,7 +374,7 @@
                         <TextBlock FontSize="12" HorizontalAlignment="Center">DO输出</TextBlock>
                     </Grid>
                     <Grid Grid.Column="1" Grid.Row="0">
-                        <ComboBox Width="50" FontSize="12" HorizontalAlignment="Center">
+                        <ComboBox Width="50" FontSize="12" HorizontalAlignment="Center" SelectedIndex="{Binding MCU_DO_CH}">
                             <ComboBoxItem IsSelected="true">DO0</ComboBoxItem>
                             <ComboBoxItem>DO1</ComboBoxItem>
                             <ComboBoxItem>DO2</ComboBoxItem>
@@ -384,10 +386,10 @@
                         </ComboBox>
                     </Grid>
                     <Grid Grid.Column="0" Grid.Row="1">
-                        <Button Width="50">输出</Button>
+                        <Button Width="50" Command="{Binding Button_MCUDOuputCommand}">输出</Button>
                     </Grid>
                     <Grid Grid.Column="1" Grid.Row="1">
-                        <RadioButton FontSize="12" IsChecked="true">True</RadioButton>
+                        <RadioButton FontSize="12"  IsChecked="{Binding MCU_DO_Value}">True</RadioButton>
                         <RadioButton Margin="50,0,0,0" FontSize="12">false</RadioButton>
                     </Grid>
                 </Grid>

BPASmartClient.Morkt.JAKA.JC/View/DebugView.xaml.cs

@@ -30,6 +30,8 @@ namespace BPASmartClient.MorkTJAKAJC.View
         {
             ThreadManage.GetInstance().StopTask("MorkT-状态刷新");
             ThreadManage.GetInstance().StopTask("MorkT-传感器监视");
+
         }
     }
+
 }

BPASmartClient.Morkt.JAKA.JC/ViewModel/DebugViewModel.cs

@@ -19,7 +19,6 @@ using System.Collections.Generic;
 using System.Collections.ObjectModel;
 using System.Linq;
 using System.Threading;
-
 namespace BPASmartClient.MorkTJAKAJC.ViewModel;
     public class DebugViewModel : ObservableObject
     {
@@ -65,109 +64,104 @@ namespace BPASmartClient.MorkTJAKAJC.ViewModel;
         public string JuicerState { get { return _JuicerState; } set { _JuicerState = value; OnPropertyChanged(); } }
         private string _JuicerState { get; set; }
         
-    #endregion
+        #endregion
 
         #region 咖啡机
-    /// <summary>
-    /// 咖啡机连接状态
-    /// </summary>
-    public string CoffeeConnected { get { return _coffeeConnected; } set { _coffeeConnected = value; OnPropertyChanged(); } }
-            private string _coffeeConnected { get; set; }
-            /// <summary>
-            /// 咖啡机状态
-            /// </summary>
-            public string CoffeeStatus { get { return _coffeeStatus; } set { _coffeeStatus = value; OnPropertyChanged(); } }
-            private string _coffeeStatus { get; set; }
-            /// <summary>
-            /// 应用状态
-            /// </summary>
-            public string AppStatus { get { return _appStatus; } set { _appStatus = value; OnPropertyChanged(); } }
-            private string _appStatus { get; set; }
-            /// <summary>
-            /// 告警
-            /// </summary>
-            public string Warning { get { return _warning; } set { _warning = value; OnPropertyChanged(); } }
-            public string _warning { get; set; }
-            /// <summary>
-            /// 故障信息
-            /// </summary>
-            public string CaffeeFault { get { return _caffeeFault; } set { _caffeeFault = value; OnPropertyChanged(); } }
-            public string _caffeeFault { get; set; }
-
-            public List<string> Coffees { get; set; } = new List<string>();
-            public string SelectedCoffee { get; set; }
-
-            public List<string> CoffeeCmds { get; set; } = new List<string>();
-            public string SelectedCoffeeCmd { get; set; }
-            /// <summary>
-            /// 制作咖啡
-            /// </summary>
-            public RelayCommand Button_MakeCoffeeCommand { get; set; }
-            /// <summary>
-            /// 停止制作咖啡
-            /// </summary>
-            public RelayCommand Button_StopMakeCoffeCommand { get; set; }
-            /// <summary>
-            /// 咖啡模式设置
+        /// <summary>
+        /// 咖啡机连接状态
             /// </summary>
-            public RelayCommand Button_CoffeeModeSetCommand { get; set; }
-
-            private void Button_MakeCoffee()
-            {
-                EventBus.EventBus.GetInstance().Publish(new DRCoffee_MakeCoffeeEvent() { DeviceId = DeviceId, DrinkCode = (DrCoffeeDrinksCode)Enum.Parse(typeof(DrCoffeeDrinksCode), SelectedCoffee)});
-            }
-            private void Button_StopMakeCoffe()
-            {
-                EventBus.EventBus.GetInstance().Publish(new DRCoffee_CancelMakeCoffeeEvent() { DeviceId = DeviceId });
-            }
-            private void Button_CoffeeModeSet()
-            {
-                EventBus.EventBus.GetInstance().Publish(new DRCoffee_CoffeeCommCmdEvent() { DeviceId = DeviceId, CommCmd = (DrCoffeeCommCmd)Enum.Parse(typeof(DrCoffeeCommCmd), SelectedCoffeeCmd)});
-            }
-            #endregion
-
-        #region 单片机
+        public string CoffeeConnected { get { return _coffeeConnected; } set { _coffeeConnected = value; OnPropertyChanged(); } }
+        private string _coffeeConnected { get; set; }
+        /// <summary>
+        /// 咖啡机状态
+        /// </summary>
+        public string CoffeeStatus { get { return _coffeeStatus; } set { _coffeeStatus = value; OnPropertyChanged(); } }
+        private string _coffeeStatus { get; set; }
+        /// <summary>
+        /// 应用状态
+        /// </summary>
+        public string AppStatus { get { return _appStatus; } set { _appStatus = value; OnPropertyChanged(); } }
+        private string _appStatus { get; set; }
         /// <summary>
-        /// 咖啡杯或冰淇淋杯落杯
+        /// 告警
         /// </summary>
-        public RelayCommand<object> Button_CupControlCommand { get; set; }
+        public string Warning { get { return _warning; } set { _warning = value; OnPropertyChanged(); } }
+        public string _warning { get; set; }
         /// <summary>
-        /// 单片机冰淇淋机器制冷
+        /// 故障信息
         /// </summary>
-        public RelayCommand Button_SCChipRefrigerationCommand { get; set; }
+        public string CaffeeFault { get { return _caffeeFault; } set { _caffeeFault = value; OnPropertyChanged(); } }
+        public string _caffeeFault { get; set; }
+
+        public List<string> Coffees { get; set; } = new List<string>();
+        public string SelectedCoffee { get; set; }
+
+        public List<string> CoffeeCmds { get; set; } = new List<string>();
+        public string SelectedCoffeeCmd { get; set; }
         /// <summary>
-        /// 单片机冰淇淋机器打料
+        /// 制作咖啡
         /// </summary>
-        public RelayCommand Button_SCChipDischargeCommand { get; set; }
+        public RelayCommand Button_MakeCoffeeCommand { get; set; }
         /// <summary>
-        /// 模拟测试
+        /// 停止制作咖啡
         /// </summary>
-        public RelayCommand Button_SCChipTestCommand { get; set; }
+        public RelayCommand Button_StopMakeCoffeCommand { get; set; }
+        /// <summary>
+        /// 咖啡模式设置
+        /// </summary>
+        public RelayCommand Button_CoffeeModeSetCommand { get; set; }
 
-        private void Button_CupControl(object CupType)
+        private void Button_MakeCoffee()
         {
-            EventBus.EventBus.GetInstance().Publish(new SCChip_TakeCupEvent() { DeviceId = DeviceId, Cup = (IC_CUP)Enum.Parse(typeof(IC_CUP), CupType.ToString()) });
+            EventBus.EventBus.GetInstance().Publish(new DRCoffee_MakeCoffeeEvent() { DeviceId = DeviceId, DrinkCode = (DrCoffeeDrinksCode)Enum.Parse(typeof(DrCoffeeDrinksCode), SelectedCoffee)});
         }
-
-        private void Button_SCChipRefrigeration()
+        private void Button_StopMakeCoffe()
         {
-            EventBus.EventBus.GetInstance().Publish(new SCChip_RotorSwitchEvent { DeviceId = DeviceId, TurnOn = true });
-            Thread.Sleep(500);
-            EventBus.EventBus.GetInstance().Publish(new SCChip_RotorSwitchEvent { DeviceId = DeviceId, TurnOn = false });
-            
+            EventBus.EventBus.GetInstance().Publish(new DRCoffee_CancelMakeCoffeeEvent() { DeviceId = DeviceId });
         }
-
-        private void Button_SCChipDischarge()
+        private void Button_CoffeeModeSet()
         {
-            EventBus.EventBus.GetInstance().Publish(new SCChip_MakeIceCreamEvent { DeviceId = DeviceId, SteeringEngine = IC_SE.SE_2 });
+            EventBus.EventBus.GetInstance().Publish(new DRCoffee_CoffeeCommCmdEvent() { DeviceId = DeviceId, CommCmd = (DrCoffeeCommCmd)Enum.Parse(typeof(DrCoffeeCommCmd), SelectedCoffeeCmd)});
         }
-
         #endregion
 
-        /// <summary>
-        /// 设备ID
-        /// </summary>
-        public int DeviceId { get; set; }
+        #region 单片机
+        public string MCUConnected { get { return _mcuConnected; } set { _mcuConnected = value; OnPropertyChanged(); } }
+        private string _mcuConnected { get; set; }
+
+        public RelayCommand Button_MCUOuputCommand { get; set; }
+        public RelayCommand Button_MCUDOuputCommand { get; set; }
+        public int PWMInputNumber { get { return _pwmInputNumber; } set { _pwmInputNumber = value; OnPropertyChanged(); } }
+        private int _pwmInputNumber = 1;
+
+        public int MCU_PWM_CH { get { return _choosePWM; } set { _choosePWM = value; OnPropertyChanged(); } }
+        private int _choosePWM = 1;
+
+        public int MCU_DO_CH { get { return _mcuDO_CH; } set { _mcuDO_CH = value; OnPropertyChanged(); } }
+        private int _mcuDO_CH = 1;
+
+        private int[] DICH  { get { return _diCH; } set { _diCH = value; OnPropertyChanged(); } }
+        private int[] _diCH = new int[8];
+
+        public bool MCU_DO_Value { get { return _mcu_DO_Valuer; } set { _mcu_DO_Valuer = value; OnPropertyChanged(); } }
+        private bool _mcu_DO_Valuer = true;
+    
+        private void Button_McuOutput() 
+        {
+            string sChoosePWM =Convert.ToString(MCU_PWM_CH+1);
+            new WriteMcu() { TagName = "ServoControl", Address = sChoosePWM, Value = PWMInputNumber }.Publish();
+        }
+        private void Button_McuDOutput()
+        {
+            string sChooseDO = Convert.ToString(MCU_DO_CH + 1);
+            new WriteMcu() { TagName = "OutputControl", Address = sChooseDO, Value = MCU_DO_Value }.Publish();
+        }
+    #endregion
+
+    /// <summary>
+    /// 设备ID
+    /// </summary>
+    public int DeviceId { get; set; }
         /// <summary>
         /// 设备数据
         /// </summary>
@@ -180,15 +174,8 @@ namespace BPASmartClient.MorkTJAKAJC.ViewModel;
             Button_StopMakeCoffeCommand = new RelayCommand(Button_StopMakeCoffe);
             Button_CoffeeModeSetCommand = new RelayCommand(Button_CoffeeModeSet);
 
-            Button_CupControlCommand = new RelayCommand<object>(Button_CupControl);
-            Button_SCChipRefrigerationCommand = new RelayCommand(Button_SCChipRefrigeration);
-            Button_SCChipDischargeCommand = new RelayCommand(Button_SCChipDischarge);
-            Button_SCChipTestCommand = new RelayCommand(() =>
-            {
-                Button_SCChipRefrigeration();
-                Thread.Sleep(50);
-                Button_SCChipDischarge();
-            });
+            Button_MCUOuputCommand = new RelayCommand(Button_McuOutput);
+            Button_MCUDOuputCommand = new RelayCommand(Button_McuDOutput);
 
             foreach (DrCoffeeDrinksCode code in Enum.GetValues(typeof(DrCoffeeDrinksCode)))
             {
@@ -216,9 +203,10 @@ namespace BPASmartClient.MorkTJAKAJC.ViewModel;
 
                 if (variableMonitors != null && variableMonitors.Count > 0)
                 {
-                    RobotConnected = variableMonitors.FirstOrDefault(p=>p.Notes == "机器人连接状态").CurrentValue == "True" ? "已连接" : "未连接";
+                    RobotConnected  = variableMonitors.FirstOrDefault(p=>p.Notes == "机器人连接状态").CurrentValue == "True" ? "已连接" : "未连接";
                     CoffeeConnected = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机连接状态").CurrentValue == "True" ? "已连接" : "未连接";
                     JuicerConnected = variableMonitors.FirstOrDefault(p => p.Notes == "果汁机连接状态").CurrentValue == "True" ? "已连接" : "未连接";
+                    MCUConnected    = variableMonitors.FirstOrDefault(p => p.Notes == "单片机连接状态").CurrentValue == "True" ? "已连接" : "未连接";
 
                     RobotMode = variableMonitors.FirstOrDefault(p => p.Notes == "机器人状态").CurrentValue;
 
@@ -229,7 +217,6 @@ namespace BPASmartClient.MorkTJAKAJC.ViewModel;
 
 
                 }
-                
                 Thread.Sleep(500);
             }), "MorkT-状态刷新");
         }