From 68a291231b607efd008d0fde0aaeb20295444dbd Mon Sep 17 00:00:00 2001
From: NXX <447201003@qq>
Date: Fri, 11 Nov 2022 17:59:06 +0800
Subject: [PATCH] MorkBF

---
 BPASmartClient.Model/大炒/FryPotMessages.cs |  83 +++++
 .../大炒/LocalFryPotMessage.cs              |  14 +
 .../大炒/RobotActionModel.cs                |  32 ++
 BPASmartClient.MorkBF/Control_MorkBF.cs       | 296 +++++++++++++++++-
 .../Convert/FryActionToVisibilityConverter.cs | 127 ++++++++
 BPASmartClient.MorkBF/GVL_MorkBF.cs           |  62 +++-
 BPASmartClient.MorkBF/Model/BF_Food.cs        |  32 +-
 BPASmartClient.MorkBF/Model/Global.cs         |  14 +
 BPASmartClient.MorkBF/VIew/DebugView.xaml     |  38 ++-
 BPASmartClient.MorkBF/VIew/DebugView.xaml.cs  |  10 +-
 .../VIew/FoodManagerView.xaml                 |  91 ++++--
 .../VIew/FoodManagerView.xaml.cs              |  19 +-
 .../ViewModel/DebugViewModel.cs               |  44 ++-
 .../ViewModel/FoodManagerViewModel.cs         |  93 ++++++
 .../ViewModel/MonitorViewModel.cs             |   2 +-
 BPASmartClient.MorkF/Control_MorkF.cs         |   5 +-
 BPASmartClient/App.config                     |   8 +-
 17 files changed, 887 insertions(+), 83 deletions(-)
 create mode 100644 BPASmartClient.Model/大炒/FryPotMessages.cs
 create mode 100644 BPASmartClient.Model/大炒/LocalFryPotMessage.cs
 create mode 100644 BPASmartClient.Model/大炒/RobotActionModel.cs
 create mode 100644 BPASmartClient.MorkBF/Convert/FryActionToVisibilityConverter.cs
 create mode 100644 BPASmartClient.MorkBF/Model/Global.cs
 create mode 100644 BPASmartClient.MorkBF/ViewModel/FoodManagerViewModel.cs

diff --git a/BPASmartClient.Model/大炒/FryPotMessages.cs b/BPASmartClient.Model/大炒/FryPotMessages.cs
new file mode 100644
index 00000000..9ab0da81
--- /dev/null
+++ b/BPASmartClient.Model/大炒/FryPotMessages.cs
@@ -0,0 +1,83 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.Model.大炒
+{
+    public class FryPotMessages
+    {
+        public string GoodName { get; set; }
+        public string GoodKey { get; set; }
+        public List<FryPotProcess> fryPotProcesses { get; set; } = new List<FryPotProcess>();
+    }
+
+    public class FryPotProcess
+    {
+        /// <summary>
+        /// 步骤
+        /// </summary>
+        public int FryTime { get; set; }
+        /// <summary>
+        /// 动作
+        /// </summary>
+        public FryAction fryActions { get; set; }
+        /// <summary>
+        /// 加热时间 单位s
+        /// </summary>
+        public int FryDuration { get; set; } = 0;
+        /// <summary>
+        /// 加热挡位 1-5
+        /// </summary>
+        public int FryGear { get; set; } = 0;
+        /// <summary>
+        /// 搅拌挡位 小炒1-10 大炒1-5
+        /// </summary>
+        public int StirGear { get; set; } = 0;
+        /// <summary>
+        /// 翻转速度0到800
+        /// </summary>
+        public int TurnSpeed { get; set; }= 0;
+        /// <summary>
+        /// 炒制位置1到4
+        /// </summary>
+        public int FryPosition { get; set; }
+        /// <summary>
+        /// 辅料,调料，或者菜品集合
+        /// </summary>
+        public List<Accessories> accessories { get; set; } = new List<Accessories>();
+
+    }
+
+    public class Accessories
+    {
+        /// <summary>
+        /// 位置
+        /// </summary>
+        public int Loc { get; set; }
+        /// <summary>
+        /// 重量
+        /// </summary>
+        public int Qry { get; set; }
+    }
+
+    public enum FryAction
+    {
+        冷锅加热,
+        热油,
+        加调料,
+        加辅料,
+        炒制菜品,
+        
+    }
+
+    public enum FryRepot
+    {
+        开始,
+        热锅,
+        炒菜,
+        出餐,
+        完成,
+    }
+}
diff --git a/BPASmartClient.Model/大炒/LocalFryPotMessage.cs b/BPASmartClient.Model/大炒/LocalFryPotMessage.cs
new file mode 100644
index 00000000..9f318553
--- /dev/null
+++ b/BPASmartClient.Model/大炒/LocalFryPotMessage.cs
@@ -0,0 +1,14 @@
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.Model.大炒
+{
+    public class LocalFryPotMessage
+    {
+        public ObservableCollection<FryPotMessages> FryPotMessage { get; set; } = new ObservableCollection<FryPotMessages>();
+    }
+}
diff --git a/BPASmartClient.Model/大炒/RobotActionModel.cs b/BPASmartClient.Model/大炒/RobotActionModel.cs
new file mode 100644
index 00000000..b614cd34
--- /dev/null
+++ b/BPASmartClient.Model/大炒/RobotActionModel.cs
@@ -0,0 +1,32 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.Model.大炒
+{
+    public class RobotAction_Pot
+    {
+        public int Pot { get; set; }
+        public RobotActionModel robotActionModel { get; set; }
+    }
+
+    public enum RobotActionModel
+    {
+        无任务,
+        取1号炒锅荤菜盆倒1号炒锅,
+        取1号炒锅素菜盆1倒1号炒锅,
+        取1号炒锅素菜盆2倒1号炒锅,
+        取1号炒锅调料盆倒入1号炒锅,
+        取1号炒锅辅料盆1倒入1号炒锅,
+        取1号空盆出餐,
+
+        取2号炒锅荤菜盆1倒2号炒锅 = 20,
+        取2号炒锅素菜盆1倒2号炒锅 = 21,
+        取2号炒锅素菜盆2倒2号炒锅 =22,
+        取2号炒锅调料盆倒入2号炒锅 =23,
+        取2号炒锅辅料盆1倒入2号炒锅 =24,
+        取2号空盆出餐 =25,
+    }
+}
diff --git a/BPASmartClient.MorkBF/Control_MorkBF.cs b/BPASmartClient.MorkBF/Control_MorkBF.cs
index 76be2fdf..44c179f1 100644
--- a/BPASmartClient.MorkBF/Control_MorkBF.cs
+++ b/BPASmartClient.MorkBF/Control_MorkBF.cs
@@ -1,10 +1,13 @@
-using BPA.Message;
+using BPA.Helper;
+using BPA.Message;
 using BPA.Message.Enum;
 using BPASmartClient.Business;
 using BPASmartClient.Device;
 using BPASmartClient.EventBus;
 using BPASmartClient.Helper;
 using BPASmartClient.Model;
+using BPASmartClient.Model.大炒;
+using BPASmartClient.MorkBF.Model;
 using BPASmartClient.MorkBF.ViewModel;
 using System;
 using System.Collections.Generic;
@@ -13,6 +16,9 @@ using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
 using static BPASmartClient.EventBus.EventBus;
+using static BPASmartClient.Model.大炒.FryPotMessages;
+using ActionManage = BPA.Helper.ActionManage;
+using ThreadManage = BPA.Helper.ThreadManage;
 
 namespace BPASmartClient.MorkBF
 {
@@ -24,7 +30,8 @@ namespace BPASmartClient.MorkBF
 
         public override void DoMain()
         {
-
+            IsHealth = true;
+            BPASmartClient.Helper.Json<LocalFryPotMessage>.Read();
             MonitorViewModel.DeviceId = DeviceId;
             CommandRegist();//调试
             ServerInit();
@@ -44,8 +51,6 @@ namespace BPASmartClient.MorkBF
                     OrderCount++;
                     DeviceProcessLogShow($"接收到{OrderCount}次订单");
                     
-
-                    
                 }
 
             });
@@ -60,7 +65,6 @@ namespace BPASmartClient.MorkBF
                 if (@event is MaterialDeliveryEvent material)
                 {
                     orderMaterialDelivery = material.orderMaterialDelivery;
-
                 }
             });
 
@@ -132,11 +136,55 @@ namespace BPASmartClient.MorkBF
 
         public override void MainTask()
         {
+            if(morkBF.FirePan1_Order.Count>0&& morkBF.FirePot1_InitCompleted&&morkBF.FirePot2_IsAuto&&!morkBF.FirePan1_Busy)
+            {
+                ThreadManage.GetInstance().Start(FirePot1_Process, "炒锅1流程");
+            }
+
+            if(morkBF.RobotActinQueue.Count>0&&! morkBF.Robot_Origin)//机器人在原点为
+            {
+               if( morkBF.RobotActinQueue.TryDequeue(out RobotAction_Pot robotAction))
+               {
+                    morkBF.Robot_IsBusy =true;
+                    RobotProcess(robotAction);
+               }
+            }
         }
 
         private void FirePot1_Process()
         {
             
+            if(morkBF.FirePan1_Order.TryDequeue(out FryPotMessages result))
+            {
+                morkBF.FirePan1_Busy = true;
+                foreach (var item in result.fryPotProcesses)
+                {
+                    switch (item.fryActions)
+                    {
+                        case FryAction.冷锅加热:
+                            FirePot_PotPerHeat(item, 1);
+                            break;
+
+                        case FryAction.热油:
+                            FirePot_HeatOil(item,1);
+                            break;
+
+                        case FryAction.加调料:
+                            FirePot_AddSeasoning(item, 1);
+                            break;
+                        case FryAction.加辅料:
+                           
+                            break;
+                        case FryAction.炒制菜品:
+                            FirePot_FryFood(item,1);
+                            break;
+
+                        default:
+                            break;
+                    }
+                }
+                
+            }
         }
 
         private void FirePot2_Process()
@@ -144,6 +192,192 @@ namespace BPASmartClient.MorkBF
            
         }
 
+
+        #region 炒锅流程功能
+        /// <summary>
+        /// 冷锅预热
+        /// </summary>
+        private void FirePot_PotPerHeat(FryPotProcess item,int i)
+        {
+            if(i == 1)//炒锅1
+            {
+                FirePot1_SetFireGear(item.FryGear);
+                FirePot1_StartFire(true);
+                
+            }
+            else if(i == 2)//炒锅2
+            {
+                FirePot2_SetFireGear(item.FryGear);
+                FirePot2_StartFire(true);
+                
+            }
+            Thread.Sleep(item.FryDuration);
+        }
+
+        /// <summary>
+        /// 热油
+        /// </summary>
+        private void FirePot_HeatOil(FryPotProcess item, int i)
+        {
+            if (item.FryGear != 0)
+            {
+                FirePot1_SetFireGear(item.FryGear);//设定加热挡位
+                FirePot1_StartFire(true);//开启加热
+            }
+            if (item.StirGear != 0) 
+            {
+                FirePot1_SetStirGear(item.StirGear);//设定搅拌挡位
+                FirePot1_StartFire(true);//开启搅拌
+            }
+            Thread.Sleep(item.FryDuration);//加热时间;
+        }
+
+        /// <summary>
+        /// 加调料
+        /// </summary>
+        private void FirePot_AddSeasoning(FryPotProcess item,int i)
+        {
+            if(i == 1)
+            {
+                    
+                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot =1,robotActionModel = RobotActionModel.取1号炒锅调料盆倒入1号炒锅});
+                Thread.Sleep(item.FryDuration);
+
+            }
+
+            else if(i == 2)
+            {
+                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = RobotActionModel.取2号炒锅调料盆倒入2号炒锅 });
+                Thread.Sleep(item.FryDuration);
+            }
+           
+        }
+
+        /// <summary>
+        /// 加辅料
+        /// </summary>
+        private void FirePot_AddAccessories(FryPotProcess item, int i)
+        {
+            if (i == 1)
+            {
+
+                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 1, robotActionModel = RobotActionModel.取1号炒锅辅料盆1倒入1号炒锅 });
+                Thread.Sleep(item.FryDuration);
+
+            }
+
+            else if (i == 2)
+            {
+                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = RobotActionModel.取2号炒锅辅料盆1倒入2号炒锅 });
+                Thread.Sleep(item.FryDuration);
+            }
+
+        }
+
+        /// <summary>
+        /// 炒制菜品
+        /// </summary>
+        private void FirePot_FryFood(FryPotProcess item, int i)
+        {
+            if (i == 1)
+            {
+                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 1, robotActionModel = (RobotActionModel)item.accessories[0].Loc });
+                while (!morkBF.FirePot1_CompleteSingle[item.accessories[0].Loc])//取菜信号是否完成
+                {
+                    Thread.Sleep(100);
+                }
+                Thread.Sleep(item.FryDuration);
+
+            }
+
+            else if (i == 2)
+            {
+                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = (RobotActionModel)(item.accessories[0].Loc+19) });//炒制菜品位置
+                while (!morkBF.FirePot2_CompleteSingle[item.accessories[0].Loc])//取菜信号是否完成
+                {
+                    Thread.Sleep(100);
+                }
+                Thread.Sleep(item.FryDuration);
+            }
+        }
+        #endregion
+
+        /// <summary>
+        /// 机器人进程
+        /// </summary>
+        /// <param name="robotAction"></param>
+        private void RobotProcess(RobotAction_Pot robotAction)
+        {
+            Robot_Write("GI0",(int)robotAction.robotActionModel);
+            while (morkBF.Robot_ActionCallback != (int)robotAction.robotActionModel)//机器人动作执行完动作反馈
+            {
+                Thread.Sleep(100);
+            }
+            if(robotAction.Pot == 1)//炒锅1
+            {
+                if (robotAction.robotActionModel == RobotActionModel.取1号空盆出餐)
+                {
+                    Robot_Write("GM521", true);//炒锅去投料位置
+                    while(!morkBF.Robot_ArriveFirePot1)//机器人到位，请求1#炒锅倒菜
+                    {
+                        Thread.Sleep(100);
+                    }
+                    FirePot_Write("M11.6", true);//炒锅去出餐倒料位置
+                    while (!morkBF.FirePot1_PotOnOutFoodPosition)//炒锅在出餐倒料位置反馈
+                    {
+                        Thread.Sleep(1000);
+                    }
+                    Thread.Sleep(20 * 1000);//等待20s出餐
+
+                }
+                else
+                {
+                    FirePot_Write("M11.7", true);//炒锅去投料位置
+                    while (!morkBF.FirePot1_PotOnIntoFoodPosition)//等待炒锅允许倒料
+                    {
+                        Thread.Sleep(100);
+                    }
+                    Robot_Write("GM520", true);//机器人投料
+                }
+              
+            }
+            else if (robotAction.Pot == 2)
+            {
+                if (robotAction.robotActionModel == RobotActionModel.取1号空盆出餐)
+                {
+                    Robot_Write("GM531", true);//炒锅去投料位置
+                    while (!morkBF.Robot_ArriveFirePot2)//机器人到位，请求1#炒锅倒菜
+                    {
+                        Thread.Sleep(100);
+                    }
+                    FirePot_Write("M16.6", true);//炒锅去出餐倒料位置
+                    while (!morkBF.FirePot2_PotOnOutFoodPosition)//炒锅在出餐倒料位置反馈
+                    {
+                        Thread.Sleep(1000);
+                    }
+                    Thread.Sleep(20 * 1000);//等待20s出餐
+
+                }
+                else
+                {
+                    FirePot_Write("M16.7", true);
+                    while (!morkBF.FirePot2_PotOnIntoFoodPosition)
+                    {
+                        Thread.Sleep(100);
+                    }
+                    Robot_Write("GM530", true);
+                }
+               
+            }
+            
+            while(!morkBF.Robot_Origin)
+            {
+                Thread.Sleep(1000);
+            }
+            morkBF.Robot_IsBusy = false;
+            MessageLog.GetInstance.Show($"机器人完成[{robotAction.robotActionModel.ToString()}]任务");
+        }
+
         public override void ReadData()
         {
             GetStatus("M20.0",new Action<object>((o)=>
@@ -228,9 +462,10 @@ namespace BPASmartClient.MorkBF
                 if (o == null) return;
                 if (o is bool[] values && values.Length == 7)
                 {
-                    morkBF.Robot_FirePot1OutMeal = values[0];
-                    morkBF.Robot_FirePot1OutVegetables1 = values[1];
-                    morkBF.Robot_FirePot1OutVegetables2 = values[2];
+
+                    morkBF.FirePot1_CompleteSingle[0] = values[0];
+                    morkBF.FirePot1_CompleteSingle[1] = values[1];
+                    morkBF.FirePot1_CompleteSingle[2] = values[2];
                     morkBF.Robot_FirePot1OutSeasoning = values[3];
                     morkBF.Robot_FirePot1OutAccessories = values[4];
                     morkBF.Robot_ArriveFirePot1 = values[5];
@@ -243,9 +478,9 @@ namespace BPASmartClient.MorkBF
                 if (o == null) return;
                 if (o is bool[] values && values.Length == 7)
                 {
-                    morkBF.Robot_FirePot2OutMeal = values[0];
-                    morkBF.Robot_FirePot2OutVegetables1 = values[1];
-                    morkBF.Robot_FirePot2OutVegetables2 = values[2];
+                    morkBF.FirePot2_CompleteSingle[0] = values[0];
+                    morkBF.FirePot2_CompleteSingle[1] = values[1];
+                    morkBF.FirePot2_CompleteSingle[2] = values[2];
                     morkBF.Robot_FirePot2OutSeasoning = values[3];
                     morkBF.Robot_FirePot2OutAccessories = values[4];
                     morkBF.Robot_ArriveFirePot2 = values[5];
@@ -319,7 +554,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("VW100", value);
             }
-
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅1加热启停
@@ -332,6 +567,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("M10.0", value);
             }
+            Thread.Sleep(200);
         }    
         /// <summary>
         /// 炒锅1设置搅拌挡位
@@ -344,6 +580,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("VW102", value);
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅1搅拌启停
@@ -356,6 +593,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("M10.1", value);
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 设置炒锅1翻转速度
@@ -368,6 +606,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("VW104", value);
             }
+            Thread.Sleep(200);
         }
         #endregion
 
@@ -383,7 +622,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("VW130", value);
             }
-
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅2加热启停
@@ -396,6 +635,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("M15.0", value);
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅2设置搅拌挡位
@@ -408,6 +648,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("VW132", value);
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅2搅拌启停
@@ -420,6 +661,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("M15.1", value);
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 设置炒锅2翻转速度
@@ -432,6 +674,7 @@ namespace BPASmartClient.MorkBF
             {
                 FirePot_Write("VW134", value);
             }
+            Thread.Sleep(200);
         }
 
         #endregion
@@ -476,6 +719,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M15.5", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅去位置1
@@ -495,6 +739,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M16.2", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅去位置2
@@ -514,6 +759,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M16.3", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅去位置3
@@ -533,6 +779,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M16.4", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅去位置4
@@ -552,6 +799,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M16.5", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅去出餐位置
@@ -571,6 +819,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M16.6", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 炒锅去投料位置
@@ -590,6 +839,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M16.7", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 出餐启动
@@ -610,6 +860,7 @@ namespace BPASmartClient.MorkBF
                 }
 
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 清洗
@@ -622,13 +873,15 @@ namespace BPASmartClient.MorkBF
             {
                 if (i == 1)
                 {
-                    FirePot_Write("M10.7", true);
+                    if(morkBF.FirePot1_OnOrigin) FirePot_Write("M10.7", true);
+
                 }
                 else if (i == 2)
                 {
-                    FirePot_Write("M15.7", true);
+                    if (morkBF.FirePot2_OnOrigin) FirePot_Write("M15.7", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 抽水启动
@@ -648,6 +901,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M16.0", true);
                 }
             }
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 抽油启动
@@ -667,6 +921,7 @@ namespace BPASmartClient.MorkBF
                     FirePot_Write("M16.1", true);
                 }
             }
+            Thread.Sleep(200);
         }
         #endregion
 
@@ -677,6 +932,7 @@ namespace BPASmartClient.MorkBF
         private void RobotStart()
         {
             Robot_Write("GM600",true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 机器人停止
@@ -684,6 +940,7 @@ namespace BPASmartClient.MorkBF
         private void RobotStop()
         {
             Robot_Write("GM601", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 机器人复位
@@ -691,6 +948,7 @@ namespace BPASmartClient.MorkBF
         private void RobotReset()
         {
             Robot_Write("GM602", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 机器人程序重启
@@ -698,6 +956,7 @@ namespace BPASmartClient.MorkBF
         private void RobotProgramStart()
         {
             Robot_Write("GM603", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 1号炒锅允许机器人投料（炒锅在投料位给出）
@@ -705,6 +964,7 @@ namespace BPASmartClient.MorkBF
         private void Robot_Pot1AllowInMaterail()
         {
             Robot_Write("GM520", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 1号炒锅出餐倒料到减速位
@@ -712,6 +972,7 @@ namespace BPASmartClient.MorkBF
         private void Robot_Pot1OutFoodInSlowDown()
         {
             Robot_Write("GM621", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 1号炒锅出餐倒料完成
@@ -719,6 +980,7 @@ namespace BPASmartClient.MorkBF
         private void Robot_Pot1OutFood()
         {
             Robot_Write("GM522", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 2号炒锅允许机器人投料（炒锅在投料位给出）
@@ -726,6 +988,7 @@ namespace BPASmartClient.MorkBF
         private void Robot_Pot2AllowInMaterail()
         {
             Robot_Write("GM530", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 2号炒锅出餐倒料到减速位。开始倒菜
@@ -733,6 +996,7 @@ namespace BPASmartClient.MorkBF
         private void Robot_Pot2OutFoodInSlowDown()
         {
             Robot_Write("GM531", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 2号炒锅出餐倒料完成
@@ -740,6 +1004,7 @@ namespace BPASmartClient.MorkBF
         private void Robot_Pot2OutFood()
         {
             Robot_Write("GM532", true);
+            Thread.Sleep(200);
         }
         /// <summary>
         /// 
@@ -751,6 +1016,7 @@ namespace BPASmartClient.MorkBF
             {
                 Robot_Write("GI0",value);
             }
+            Thread.Sleep(200);
         }
         #endregion
 
diff --git a/BPASmartClient.MorkBF/Convert/FryActionToVisibilityConverter.cs b/BPASmartClient.MorkBF/Convert/FryActionToVisibilityConverter.cs
new file mode 100644
index 00000000..b6c17e30
--- /dev/null
+++ b/BPASmartClient.MorkBF/Convert/FryActionToVisibilityConverter.cs
@@ -0,0 +1,127 @@
+using BPASmartClient.Model.大炒;
+using System;
+using System.Collections.Generic;
+using System.Globalization;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Data;
+
+namespace BPASmartClient.MorkBF.Convert
+{
+    public class StirToVisibilityConverter : IValueConverter
+    {
+        public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            Visibility visibility = Visibility.Visible;
+            if (value != null && value is FryAction fryAction)
+            {
+                switch (fryAction)
+                {
+                    case FryAction.冷锅加热:
+                        visibility = Visibility.Collapsed;
+                        break;
+                    case FryAction.热油:
+                        visibility = Visibility.Visible;
+                        break;
+                    case FryAction.加调料:
+                        visibility = Visibility.Collapsed;
+                        break;
+                    case FryAction.加辅料:
+                        visibility = Visibility.Collapsed;
+                        break;
+                    case FryAction.炒制菜品:
+                        visibility = Visibility.Visible;
+                        break;
+                    default:
+                        break;
+                }
+            }
+            return visibility;
+        }
+            
+
+        public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            throw new NotImplementedException();
+        }
+    }
+
+    public class FirePositionToVisibilityConverter : IValueConverter
+    {
+        public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            Visibility visibility = Visibility.Visible;
+            if (value != null && value is FryAction fryAction)
+            {
+                switch (fryAction)
+                {
+                    case FryAction.冷锅加热:
+                        visibility = Visibility.Visible;
+                        break;
+                    case FryAction.热油:
+                        visibility = Visibility.Visible;
+                        break;
+                    case FryAction.加调料:
+                        visibility = Visibility.Collapsed;
+                        break;
+                    case FryAction.加辅料:
+                        visibility = Visibility.Collapsed;
+                        break;
+                    case FryAction.炒制菜品:
+                        visibility = Visibility.Visible;
+                        break;
+                    default:
+                        break;
+                }
+            }
+            return visibility;
+        }
+
+
+        public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            throw new NotImplementedException();
+        }
+    }
+
+    public class AccessoriesToVisibilityConverter : IValueConverter
+    {
+        public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            Visibility visibility = Visibility.Visible;
+            if (value != null && value is FryAction fryAction)
+            {
+                switch (fryAction)
+                {
+                    case FryAction.冷锅加热:
+                        visibility = Visibility.Collapsed;
+                        break;
+                    case FryAction.热油:
+                        visibility = Visibility.Collapsed;
+                        break;
+                    case FryAction.加调料:
+                        visibility = Visibility.Visible;
+                        break;
+                    case FryAction.加辅料:
+                        visibility = Visibility.Visible;
+                        break;
+                    case FryAction.炒制菜品:
+                        visibility = Visibility.Visible;
+                        break;
+                    default:
+                        break;
+                }
+            }
+            return visibility;
+        }
+
+
+        public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            throw new NotImplementedException();
+        }
+    }
+}
+
diff --git a/BPASmartClient.MorkBF/GVL_MorkBF.cs b/BPASmartClient.MorkBF/GVL_MorkBF.cs
index c802243c..f7a2bcc8 100644
--- a/BPASmartClient.MorkBF/GVL_MorkBF.cs
+++ b/BPASmartClient.MorkBF/GVL_MorkBF.cs
@@ -1,4 +1,5 @@
 using BPASmartClient.Device;
+using BPASmartClient.Model.大炒;
 using BPASmartClient.MorkBF.Model;
 using System;
 using System.Collections.Concurrent;
@@ -14,11 +15,15 @@ namespace BPASmartClient.MorkBF
         /// <summary>
         /// 炒锅1订单队列
         /// </summary>
-        public ConcurrentQueue<BF_Food> FirePan1_Order { get; set; } = new ConcurrentQueue<BF_Food>();
+        public ConcurrentQueue<FryPotMessages> FirePan1_Order { get; set; } = new ConcurrentQueue<FryPotMessages>();
         /// <summary>
         /// 炒锅2订单队列
         /// </summary>
-        public ConcurrentQueue<BF_Food> FirePan2_Order { get; set; } = new ConcurrentQueue<BF_Food>();
+        public ConcurrentQueue<FryPotMessages> FirePan2_Order { get; set; } = new ConcurrentQueue<FryPotMessages>();
+        /// <summary>
+        /// 机器人队列
+        /// </summary>
+        public ConcurrentQueue<RobotAction_Pot> RobotActinQueue { get; set; } = new ConcurrentQueue<RobotAction_Pot>();
         /// <summary>
         /// 炒锅1忙碌
         /// </summary>
@@ -247,30 +252,39 @@ namespace BPASmartClient.MorkBF
         #endregion
 
         #region 机器人数据读取
+        public bool Robot_IsBusy;
+
+
+        /// <summary>
+        /// 机器人在原点位
+        /// </summary>
+        [VariableMonitor("机器人在原点位", "GM105", "4201")]
+        public bool Robot_Origin { get; set; }
+
         /// <summary>
         /// 1号锅倒荤菜完成
         /// </summary>
-        [VariableMonitor("1号锅倒荤菜完成", "GM500", "4596")]
+        [VariableMonitor("机器人#1号锅倒荤菜完成", "GM500", "4596")]
         public bool Robot_FirePot1OutMeal{ get; set; }
         /// <summary>
         /// 1号炒锅倒素菜1完成
         /// </summary>
-        [VariableMonitor("1号炒锅倒素菜1完成", "GM501", "4597")]
+        [VariableMonitor("机器人#1号炒锅倒素菜1完成", "GM501", "4597")]
         public bool Robot_FirePot1OutVegetables1{ get; set; }
         /// <summary>
         /// 1号炒锅倒素菜2完成
         /// </summary>
-        [VariableMonitor("1号炒锅倒素菜2完成", "GM502", "4598")]
+        [VariableMonitor("机器人#1号炒锅倒素菜2完成", "GM502", "4598")]
         public bool Robot_FirePot1OutVegetables2{ get; set; }
         /// <summary>
         /// 1号炒锅倒调料完成
         /// </summary>
-        [VariableMonitor("1号炒锅倒调料完成", "GM503", "4599")]
+        [VariableMonitor("机器人#1号炒锅倒调料完成", "GM503", "4599")]
         public bool Robot_FirePot1OutSeasoning{ get; set; }
         /// <summary>
         /// 1号炒锅倒辅料完成
         /// </summary>
-        [VariableMonitor("1号炒锅倒辅料完成", "GM504", "4600")]
+        [VariableMonitor("机器人#1号炒锅倒辅料完成", "GM504", "4600")]
         public bool Robot_FirePot1OutAccessories{ get; set; }
         /// <summary>
         /// 机器人到位，请求1#炒锅倒菜
@@ -280,7 +294,7 @@ namespace BPASmartClient.MorkBF
         /// <summary>
         /// 1号炒锅出餐完成
         /// </summary>
-        [VariableMonitor("1号炒锅出餐完成", "GM506", "4602")]
+        [VariableMonitor("机器人#1号炒锅出餐完成", "GM506", "4602")]
         public bool Robot_FirePot1OutFoodComplete{ get; set; }
 
 
@@ -290,12 +304,12 @@ namespace BPASmartClient.MorkBF
         /// <summary>
         /// 2号锅倒荤菜完成
         /// </summary>
-        [VariableMonitor("2号锅倒荤菜完成", "GM510", "4606")]
+        [VariableMonitor("机器人#2号锅倒荤菜完成", "GM510", "4606")]
         public bool Robot_FirePot2OutMeal { get; set; }
         /// <summary>
         /// 2号炒锅倒素菜1完成
         /// </summary>
-        [VariableMonitor("2号炒锅倒素菜1完成", "GM511", "4607")]
+        [VariableMonitor("机器人#2号炒锅倒素菜1完成", "GM511", "4607")]
         public bool Robot_FirePot2OutVegetables1{ get; set; }
         /// <summary>
         /// 2号炒锅倒素菜2完成
@@ -305,22 +319,22 @@ namespace BPASmartClient.MorkBF
         /// <summary>
         /// 2号炒锅倒调料完成
         /// </summary>
-        [VariableMonitor("2号炒锅倒调料完成", "GM513", "4609")]
+        [VariableMonitor("机器人#2号炒锅倒调料完成", "GM513", "4609")]
         public bool Robot_FirePot2OutSeasoning{ get; set; }
         /// <summary>            
         /// 2号炒锅倒辅料完成    
         /// </summary>
-        [VariableMonitor("2号炒锅倒辅料完成", "GM514", "4610")]
+        [VariableMonitor("机器人#2号炒锅倒辅料完成", "GM514", "4610")]
         public bool Robot_FirePot2OutAccessories{ get; set; }
         /// <summary>
         /// 机器人到位，请求1#炒锅倒菜
         /// </summary>
-        [VariableMonitor("机器人到位，请求1#炒锅倒菜", "GM515", "4611")]
+        [VariableMonitor("机器人#机器人到位，请求1#炒锅倒菜", "GM515", "4611")]
         public bool Robot_ArriveFirePot2{ get; set; }
         /// <summary>
         /// 2号炒锅出餐完成
         /// </summary>
-        [VariableMonitor("2号炒锅出餐完成", "GM516", "4612")]
+        [VariableMonitor("机器人#2号炒锅出餐完成", "GM516", "4612")]
         public bool Robot_FirePot2OutFoodComplete{ get; set; }
         /// <summary>
         /// 机器人动作反馈
@@ -330,7 +344,27 @@ namespace BPASmartClient.MorkBF
 
         #endregion
 
+        public Dictionary<int, bool> FirePot1_CompleteSingle { get; set; }
+
+        public Dictionary<int, bool> FirePot2_CompleteSingle { get; set; }
+
+
+        public GVL_MorkBF()
+        {
+            FirePot1_CompleteSingle = new Dictionary<int, bool>
+            { 
+                {1,Robot_FirePot1OutMeal },
+                {2,Robot_FirePot1OutVegetables1 },
+                {3,Robot_FirePot1OutVegetables2 },
+            };
+            FirePot2_CompleteSingle = new Dictionary<int, bool>
+            {
+                {1,Robot_FirePot2OutMeal },
+                {2,Robot_FirePot2OutVegetables1 },
+                {3,Robot_FirePot2OutVegetables2 },
+            };
 
+        }
 
         public DateTime FirePan1_Date;
         public DateTime FirePan2_Date;
diff --git a/BPASmartClient.MorkBF/Model/BF_Food.cs b/BPASmartClient.MorkBF/Model/BF_Food.cs
index 6891c445..d1d49a4e 100644
--- a/BPASmartClient.MorkBF/Model/BF_Food.cs
+++ b/BPASmartClient.MorkBF/Model/BF_Food.cs
@@ -17,6 +17,8 @@ namespace BPASmartClient.MorkBF.Model
         /// </summary>
         public string FoodID { get; set; }
 
+        public List<BF_PotAction> PotActions { get; set; } = new List<BF_PotAction>();
+
     }
 
     public class BF_PotAction
@@ -40,7 +42,7 @@ namespace BPASmartClient.MorkBF.Model
         /// <summary>
         /// 动作
         /// </summary>
-        public string Actions
+        public PotAction Actions
         {
             get;
             set;
@@ -62,4 +64,32 @@ namespace BPASmartClient.MorkBF.Model
             set;
         }
     }
+
+
+    public enum PotAction
+    {
+        加热开启,       
+        加热关闭,
+        搅拌开启,  
+        搅拌关闭,
+
+        加调料,
+        加菜品,
+        加辅料,
+        加热时间,
+
+        抽油启动,
+        抽水启动,
+        出餐启动,
+
+        炒锅回原点,
+        炒制位置1,
+        炒制位置2,
+        炒制位置3,
+        炒制位置4,
+        炒锅去出餐倒料位置,
+        炒锅去投料位置,
+
+
+    }
 }
diff --git a/BPASmartClient.MorkBF/Model/Global.cs b/BPASmartClient.MorkBF/Model/Global.cs
new file mode 100644
index 00000000..4c504caf
--- /dev/null
+++ b/BPASmartClient.MorkBF/Model/Global.cs
@@ -0,0 +1,14 @@
+using BPASmartClient.Model.大炒;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkBF.Model
+{
+    public class Global
+    {
+        public static FryPotMessages GLoFryMessage { get; set; } = new FryPotMessages();
+    }
+}
diff --git a/BPASmartClient.MorkBF/VIew/DebugView.xaml b/BPASmartClient.MorkBF/VIew/DebugView.xaml
index 7928442d..2ac694c1 100644
--- a/BPASmartClient.MorkBF/VIew/DebugView.xaml
+++ b/BPASmartClient.MorkBF/VIew/DebugView.xaml
@@ -21,14 +21,40 @@
     </UserControl.Resources>
     <Grid>
         <Grid.RowDefinitions>
+            <RowDefinition Height="40"/>
+            <RowDefinition Height="2*"/>
             <RowDefinition Height="*"/>
             <RowDefinition Height="*"/>
             <RowDefinition Height="*"/>
         </Grid.RowDefinitions>
-        <GroupBox Header="炒锅1" FontSize="22">
-
-
-            <WrapPanel Grid.Row="1" Orientation="Horizontal">
+        <Button Content="添加新菜品" Width="200" Click="Button_Click"/>
+        <ListBox Grid.Row="1" ItemsSource="{Binding fryPotMessages}">
+            <ListBox.Template>
+                <ControlTemplate TargetType="{x:Type ListBox}">
+                    <WrapPanel Orientation="Horizontal" IsItemsHost="True"></WrapPanel>
+                </ControlTemplate>
+            </ListBox.Template>
+            <ListBox.ItemTemplate>
+                <DataTemplate>
+                    <Border Margin="5,10">
+                        <Border.Background>
+                            <ImageBrush ImageSource="/BPASmartClient.CustomResource;component/Image/矩形.png"/>
+                        </Border.Background>
+                        <StackPanel Orientation="Horizontal" Margin="10">
+                            <TextBlock Text="{Binding GoodName}" HorizontalAlignment="Center" VerticalAlignment="Center" FontSize="18" Margin="10,0"/>
+                            <Button Content="编辑" Command="{Binding DataContext.MenuEditCommand, RelativeSource={RelativeSource AncestorType=UserControl,Mode=FindAncestor}}"
+                                CommandParameter="{Binding DataContext , RelativeSource={RelativeSource AncestorType=ListBoxItem,Mode=FindAncestor}}" Margin="10,0"/>
+                            <Button Content="删除 " Command="{Binding DataContext.MenuDeleteCommand, RelativeSource={RelativeSource AncestorType=UserControl,Mode=FindAncestor}}"
+                                CommandParameter="{Binding DataContext , RelativeSource={RelativeSource AncestorType=ListBoxItem,Mode=FindAncestor}}" Margin="10,0"/>
+                        </StackPanel>
+                    </Border>
+                    
+                </DataTemplate>
+            </ListBox.ItemTemplate>
+        </ListBox>
+        
+        <GroupBox Grid.Row="2" Header="炒锅1" FontSize="22">
+            <WrapPanel  Orientation="Horizontal">
                 <Button Content="复位" Width="110" Margin="10,5" Command="{Binding FirePot_ResetCommand}" CommandParameter="1"/>
                 <TextBlock Text="加热挡位" Margin="10,5"/>
                 <ComboBox Width="80" ItemsSource="{Binding FireGear}" Margin="10,5" SelectedItem="{Binding FirePot1_FireGear}"/>
@@ -57,7 +83,7 @@
             </WrapPanel>
 
         </GroupBox>
-        <GroupBox Grid.Row="1" Header="炒锅2" FontSize="22">
+        <GroupBox Grid.Row="3" Header="炒锅2" FontSize="22">
             <WrapPanel Grid.Row="1" Orientation="Horizontal">
                 <Button Content="复位" Width="110" Margin="10,5" Command="{Binding FirePot_ResetCommand}" CommandParameter="1"/>
                 <TextBlock Text="加热挡位" Margin="10,5"/>
@@ -86,7 +112,7 @@
                 <Button Content="炒锅去投料位置" Width="110" Margin="10,5"  Command="{Binding FirePot_PotGotoInFoodPositionCommand}" CommandParameter="2"/>
             </WrapPanel>
         </GroupBox>
-        <GroupBox Grid.Row="3" Header="机器人" FontSize="22">
+        <GroupBox Grid.Row="4" Header="机器人" FontSize="22">
             <WrapPanel Orientation="Horizontal">
                 <Button Content="机器人启动" Width="110" Margin="10,5"  Command="{Binding RobotStartCommand}"/>
                 <Button Content="复位" Width="110" Margin="10,5"  Command="{Binding RobotResetCommand}"/>
diff --git a/BPASmartClient.MorkBF/VIew/DebugView.xaml.cs b/BPASmartClient.MorkBF/VIew/DebugView.xaml.cs
index bfd73890..25d5bfb8 100644
--- a/BPASmartClient.MorkBF/VIew/DebugView.xaml.cs
+++ b/BPASmartClient.MorkBF/VIew/DebugView.xaml.cs
@@ -1,4 +1,5 @@
-using System;
+using BPASmartClient.MorkBF.Model;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
@@ -24,5 +25,12 @@ namespace BPASmartClient.MorkBF.VIew
         {
             InitializeComponent();
         }
+
+        private void Button_Click(object sender, RoutedEventArgs e)
+        {
+            Global.GLoFryMessage = null;
+            FoodManagerView foodManagerView = new FoodManagerView();
+            foodManagerView.ShowDialog();
+        }
     }
 }
diff --git a/BPASmartClient.MorkBF/VIew/FoodManagerView.xaml b/BPASmartClient.MorkBF/VIew/FoodManagerView.xaml
index d5c0a00e..fe6c01bd 100644
--- a/BPASmartClient.MorkBF/VIew/FoodManagerView.xaml
+++ b/BPASmartClient.MorkBF/VIew/FoodManagerView.xaml
@@ -4,47 +4,72 @@
         xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
         xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
         xmlns:local="clr-namespace:BPASmartClient.MorkBF.VIew"
+        xmlns:con="clr-namespace:BPASmartClient.MorkBF.Convert"
+        xmlns:vm ="clr-namespace:BPASmartClient.MorkBF.ViewModel"
         mc:Ignorable="d"
-        Title="FoodManagerView" Height="450" Width="800" WindowStartupLocation="CenterScreen" ResizeMode="NoResize" WindowStyle="None" AllowsTransparency="True" Background="Transparent">
+        Title="FoodManagerView" Height="450" Width="1020" WindowStartupLocation="CenterScreen" ResizeMode="NoResize" WindowStyle="None" AllowsTransparency="True" Background="Transparent">
+    <Window.DataContext>
+        <vm:FoodManagerViewModel/>
+    </Window.DataContext>
     <Window.Resources>
         <ResourceDictionary>
             <ResourceDictionary.MergedDictionaries>
                 <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/GenricStyle.xaml" />
                 <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/MyStyle.xaml" />
             </ResourceDictionary.MergedDictionaries>
+            <con:StirToVisibilityConverter x:Key="StirToVisibilityConverter" />
+            <con:FirePositionToVisibilityConverter x:Key="FirePositionToVisibilityConverter" />
+            <con:AccessoriesToVisibilityConverter x:Key="AccessoriesToVisibilityConverter" />
         </ResourceDictionary>
     </Window.Resources>
-    <Grid>
-        <Grid.RowDefinitions>
-            <RowDefinition Height="50"/>
-            <RowDefinition Height="*"/>
-        </Grid.RowDefinitions>
-        <StackPanel Orientation="Horizontal" HorizontalAlignment="Center" VerticalAlignment="Center" Height="45">
-            <TextBlock Text="菜品名称:" Margin="10,0"/>
-            <TextBox Text="{Binding FoodName}" Width="160" Margin="10,0" FontSize="16"/>
-            <Button Content="添加新步骤" Margin="10,0"  Style="{StaticResource ButtonStyle}" Height="36" />
-            <Button Content="保存" Margin="10,0" Style="{StaticResource ButtonStyle}" Height="36" Width="80"/>
-            <Button Content="退出" Margin="10,0"  Style="{StaticResource ButtonStyle}" Height="36" Width="80"/>
-        </StackPanel>
-        <Grid Grid.Row="1">
-            <Grid.ColumnDefinitions>
-                <ColumnDefinition Width="2*"/>
-                <ColumnDefinition Width="*"/>
-            </Grid.ColumnDefinitions>
-            <ListBox >
-                <ListBox.ItemTemplate>
-                    <DataTemplate>
-                        <Grid>
-                            <Grid.ColumnDefinitions>
-                                <ColumnDefinition Width="*"/>
-                                <ColumnDefinition Width="*"/>
-                            </Grid.ColumnDefinitions>
-                            <ComboBox />
-                            <Button  Content="删除"/>
-                        </Grid>
-                    </DataTemplate>
-                </ListBox.ItemTemplate>
-            </ListBox>
+    <Border CornerRadius="1,60,00,70" Background="#1E1E1E"  >
+        <Grid MouseLeftButtonDown="Grid_MouseLeftButtonDown">
+            <Grid.Background>
+                <ImageBrush ImageSource="/BPASmartClient.CustomResource;component/Image/不规则矩形.png"/>
+            </Grid.Background>
+            <Grid.RowDefinitions>
+                <RowDefinition Height="50"/>
+                <RowDefinition Height="*"/>
+            </Grid.RowDefinitions>
+            <StackPanel Orientation="Horizontal" HorizontalAlignment="Center" VerticalAlignment="Center" Height="45">
+                <TextBlock Text="菜品名称:" Margin="10,0"/>
+                <TextBox Text="{Binding GoodName}" Width="160" Margin="10,0" FontSize="16"/>
+                <Button Content="添加新步骤" Margin="10,0"  Style="{StaticResource ButtonStyle}" Height="36"  Command="{Binding AddCommand}"/>
+                <Button Content="保存" Margin="10,0" Style="{StaticResource ButtonStyle}" Height="36" Width="80" Command="{Binding SaveCommand}"/>
+                <Button Content="退出" Margin="10,0"  Style="{StaticResource ButtonStyle}" Height="36" Width="80" Click="Button_Click"/>
+            </StackPanel>
+            <Grid Grid.Row="1">
+                <ListBox ItemsSource="{Binding FryPotProcesses}" FontSize="15">
+                    <ListBox.ItemTemplate>
+                        <DataTemplate>
+                            <StackPanel Orientation="Horizontal" Margin="0,10">
+                                <TextBlock Text="步骤--" Margin="10,0,2,0" VerticalAlignment="Center"/>
+                                <TextBlock Text="{Binding FryTime}"   VerticalAlignment="Center"/>
+                                <TextBlock Text="加热时间--" Margin="10,0,2,0" VerticalAlignment="Center"/>
+                                <TextBox Text="{Binding FryDuration}" Margin="10,0" Width="40"  VerticalAlignment="Center"/>
+                                <TextBlock Text="动作--" Margin="10,0,2,0" VerticalAlignment="Center"/>
+                                <ComboBox ItemsSource="{Binding DataContext.FryAction,RelativeSource={RelativeSource AncestorType=Window,Mode=FindAncestor}}" 
+                                      SelectedItem="{Binding fryActions}"  Width="100" IsReadOnly="True" Margin="2,0,10,0"/>
+                                <TextBlock Text="加热挡位--" Margin="10,0,2,0"  VerticalAlignment="Center"/>
+                                <ComboBox ItemsSource="{Binding DataContext.Gear,RelativeSource={RelativeSource AncestorType=Window,Mode=FindAncestor}}" 
+                                      SelectedItem="{Binding FryGear}" Width="50" Margin="2,0,10,0" />
+                                <TextBlock Text="搅拌挡位--" Margin="10,0,2,0"  VerticalAlignment="Center"
+                                       Visibility="{Binding fryActions,Converter={StaticResource StirToVisibilityConverter}}"/>
+                                <ComboBox ItemsSource="{Binding DataContext.Gear,RelativeSource={RelativeSource AncestorType=Window,Mode=FindAncestor}}" SelectedItem="{Binding StirGear}" Width="50" Margin="2,0,10,0"
+                                      Visibility="{Binding fryActions,Converter={StaticResource StirToVisibilityConverter}}"/>
+                                <TextBlock Text="炒制位置--" Margin="10,0,2,0"  VerticalAlignment="Center"
+                                       Visibility="{Binding fryActions,Converter={StaticResource FirePositionToVisibilityConverter}}"/>
+                                <ComboBox ItemsSource="{Binding DataContext.PotPostion,RelativeSource={RelativeSource AncestorType=Window,Mode=FindAncestor} }" SelectedItem="{Binding FryPosition}"  Width="50" Margin="2,0,10,0"
+                                      Visibility="{Binding fryActions,Converter={StaticResource FirePositionToVisibilityConverter}}"/>
+                                <TextBlock Text="物料位置--" Margin="10,0,2,0"  VerticalAlignment="Center" 
+                                       Visibility="{Binding fryActions,Converter={StaticResource AccessoriesToVisibilityConverter}}"/>
+                                <TextBox Text="{Binding accessories[0].Loc}"   VerticalAlignment="Center" Width="50"
+                                     Visibility="{Binding fryActions,Converter={StaticResource AccessoriesToVisibilityConverter}}"/>
+                            </StackPanel>
+                        </DataTemplate>
+                    </ListBox.ItemTemplate>
+                </ListBox>
+            </Grid>
         </Grid>
-    </Grid>
+    </Border>
 </Window>
diff --git a/BPASmartClient.MorkBF/VIew/FoodManagerView.xaml.cs b/BPASmartClient.MorkBF/VIew/FoodManagerView.xaml.cs
index 6978bf31..d1826e7c 100644
--- a/BPASmartClient.MorkBF/VIew/FoodManagerView.xaml.cs
+++ b/BPASmartClient.MorkBF/VIew/FoodManagerView.xaml.cs
@@ -1,4 +1,6 @@
-using System;
+
+using BPASmartClient.Helper;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
@@ -22,6 +24,21 @@ namespace BPASmartClient.MorkBF.VIew
         public FoodManagerView()
         {
             InitializeComponent();
+            ActionManage.GetInstance.CancelRegister("FoodManagerViewClose");
+            ActionManage.GetInstance.Register(new Action(()=> 
+            { 
+                this.Close(); 
+            }), "FoodManagerViewClose");
+        }
+
+        private void Button_Click(object sender, RoutedEventArgs e)
+        {
+            ActionManage.GetInstance.Send("FoodManagerViewClose");
+        }
+
+        private void Grid_MouseLeftButtonDown(object sender, MouseButtonEventArgs e)
+        {
+            this.DragMove();
         }
     }
 }
diff --git a/BPASmartClient.MorkBF/ViewModel/DebugViewModel.cs b/BPASmartClient.MorkBF/ViewModel/DebugViewModel.cs
index 12f18de2..2ba1f123 100644
--- a/BPASmartClient.MorkBF/ViewModel/DebugViewModel.cs
+++ b/BPASmartClient.MorkBF/ViewModel/DebugViewModel.cs
@@ -1,19 +1,50 @@
-using System;
+global using CommunityToolkit.Mvvm.ComponentModel;
+global using CommunityToolkit.Mvvm.Input;
+using System;
 using System.Collections.Generic;
 using System.Collections.ObjectModel;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 using BPASmartClient.Helper;
-using CommunityToolkit.Mvvm.ComponentModel;
-using CommunityToolkit.Mvvm.Input;
+using BPASmartClient.Model.大炒;
+using BPASmartClient.MorkBF.Model;
+using BPASmartClient.MorkBF.VIew;
 
 namespace BPASmartClient.MorkBF.ViewModel
 {
     [INotifyPropertyChanged]
     partial class DebugViewModel
-    {
-        
+    { 
+
+        public ObservableCollection<FryPotMessages> fryPotMessages { get; set; } = Json<LocalFryPotMessage>.Data.FryPotMessage;
+
+        [RelayCommand]
+        private void MenuEdit(object o)
+        {
+            if (o == null) return;
+            if(o is FryPotMessages value)
+            {
+                Global.GLoFryMessage = value;
+                FoodManagerView foodManagerView = new FoodManagerView();
+                foodManagerView.ShowDialog();
+            }
+        }
+
+        [RelayCommand]
+        private void MenuDelete(object o)
+        {
+            if (o == null) return;
+            if (o is FryPotMessages value)
+            {
+                fryPotMessages.Remove(value);
+            }
+            Json<LocalFryPotMessage>.Save();
+        }
+
+
+
+
         /// <summary>
         /// 加热挡位
         /// </summary>
@@ -369,5 +400,8 @@ namespace BPASmartClient.MorkBF.ViewModel
         }
 
         #endregion
+
+
+      
     }
 }
diff --git a/BPASmartClient.MorkBF/ViewModel/FoodManagerViewModel.cs b/BPASmartClient.MorkBF/ViewModel/FoodManagerViewModel.cs
new file mode 100644
index 00000000..86df4efd
--- /dev/null
+++ b/BPASmartClient.MorkBF/ViewModel/FoodManagerViewModel.cs
@@ -0,0 +1,93 @@
+using BPASmartClient.Helper;
+using BPASmartClient.Model.大炒;
+using BPASmartClient.MorkBF.Model;
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkBF.ViewModel
+{
+    [INotifyPropertyChanged]
+    partial class FoodManagerViewModel
+    {
+        /// <summary>
+        /// 菜品步骤
+        /// </summary>
+        public ObservableCollection<FryPotProcess> FryPotProcesses { get; set; } =new ObservableCollection<FryPotProcess>();
+
+        public ObservableCollection<FryAction> FryAction { get; set; } = new ObservableCollection<FryAction>();
+
+        public ObservableCollection<int> Gear { get; set; } = new ObservableCollection<int>() { 0,1, 2, 3, 4, 5 };
+
+        public ObservableCollection<int> PotPostion { get; set; } = new ObservableCollection<int>() { 1, 2,3, 4 };
+
+        [ObservableProperty]
+        private string _goodName;
+        
+        [RelayCommand]
+        private void Add()
+        {
+            FryPotProcesses.Add(new FryPotProcess() { FryTime = FryPotProcesses.Count + 1 });
+        }
+
+        [RelayCommand]
+        private void Save()
+        {
+            if (string.IsNullOrEmpty(GoodName)) return;
+            
+            
+            if (Global.GLoFryMessage != null)
+            {
+                var res = Json<LocalFryPotMessage>.Data.FryPotMessage.FirstOrDefault(p => p.GoodKey == Global.GLoFryMessage.GoodKey);
+                if (res != null)
+                {
+                    res.GoodName = GoodName;
+                    res.fryPotProcesses = FryPotProcesses.ToList();
+                }
+            }
+            else
+            {
+                if (Json<LocalFryPotMessage>.Data.FryPotMessage.FirstOrDefault(p => p.GoodName == _goodName) != null) return;
+                Json<LocalFryPotMessage>.Data.FryPotMessage.Add(new FryPotMessages
+                {
+                    GoodName = GoodName,
+                    GoodKey = new Guid().ToString(),
+                    fryPotProcesses = FryPotProcesses.ToList()
+                });
+            }
+            Json<LocalFryPotMessage>.Save();
+            ActionManage.GetInstance.Send("FoodManagerViewClose");
+        }
+
+        [RelayCommand]
+        private void Delete(object o)
+        {
+            if (o == null) return;
+            if (o is FryPotProcess value)
+            {
+                FryPotProcesses.Remove(value);
+            }
+            
+        }
+
+
+
+        public FoodManagerViewModel()
+        {
+            foreach(var item in Enum.GetValues(typeof(FryAction)))
+            {
+                FryAction.Add((FryAction)item);
+            }
+
+            if (Global.GLoFryMessage != null)//编辑
+            {
+                GoodName = Global.GLoFryMessage.GoodName;
+                FryPotProcesses = new ObservableCollection<FryPotProcess>(Global.GLoFryMessage.fryPotProcesses);
+            }
+            
+        }
+    }
+}
diff --git a/BPASmartClient.MorkBF/ViewModel/MonitorViewModel.cs b/BPASmartClient.MorkBF/ViewModel/MonitorViewModel.cs
index 0d9e54f5..1f800525 100644
--- a/BPASmartClient.MorkBF/ViewModel/MonitorViewModel.cs
+++ b/BPASmartClient.MorkBF/ViewModel/MonitorViewModel.cs
@@ -10,7 +10,7 @@ using System.Collections.ObjectModel;
 
 namespace BPASmartClient.MorkBF.ViewModel
 {
-    public class MonitorViewModel : ObservableObject
+    public class MonitorViewModel
     {
         public MonitorViewModel()
         {
diff --git a/BPASmartClient.MorkF/Control_MorkF.cs b/BPASmartClient.MorkF/Control_MorkF.cs
index 4469134d..08182a0f 100644
--- a/BPASmartClient.MorkF/Control_MorkF.cs
+++ b/BPASmartClient.MorkF/Control_MorkF.cs
@@ -17,6 +17,7 @@ namespace BPASmartClient.MorkF
 {
     public class Control_MorkF : BaseDevice
     {
+        
         /// <summary>
         /// while循环最大sleep次数
         /// </summary>
@@ -70,7 +71,7 @@ namespace BPASmartClient.MorkF
             WriteControl("VD840", 0);
             Thread.Sleep(400);
             WriteControl("M0.0", true);
-
+            IsHealth = true;
             for (int i = 0;i< count;i++)
             {
                 morkFs.Add(i, new GVL_MorkF());
@@ -936,7 +937,7 @@ namespace BPASmartClient.MorkF
                     OrderCount++;
                     DeviceProcessLogShow($"接收到{OrderCount}次订单");
                     Enum.GetNames(typeof(StirFryPotActionEnum));
-
+                    
                     var res = LocalstirFryGoods?.FirstOrDefault(p => p.GoodsKey == order.MorkOrder.RecipeId);//匹配订单对应制作流程
                     if (res != null)
                     {
diff --git a/BPASmartClient/App.config b/BPASmartClient/App.config
index 1b915f4c..8550e35d 100644
--- a/BPASmartClient/App.config
+++ b/BPASmartClient/App.config
@@ -12,14 +12,14 @@
     <add key ="Namespaces" value="DEV.test1.Config"/>-->
 
     <!--开发环境-->
-    <add key="apollouri" value="http://10.2.1.21:28080/"/>
+    <!--<add key="apollouri" value="http://10.2.1.21:28080/"/>
     <add key="AppId" value="HostComputer"/>
-    <add key ="Namespaces" value="DEV.Config"/>
+    <add key ="Namespaces" value="DEV.Config"/>-->
 
     <!--正式环境-->
-    <!--<add key="apollouri" value="http://47.108.65.220:28080/"/>
+    <add key="apollouri" value="http://47.108.65.220:28080/"/>
     <add key="appid" value="hostcomputer"/>
-    <add key ="namespaces" value="test1.config"/>-->
+    <add key ="namespaces" value="test1.config"/>
 
     <!--阿里云上报启动方式:API 或者 LOCAL-->
     <!--API  :通过客户端ID,调用接口查询“设备连接信息”-->