解决冲突

BPASmart.ConfigurationSoftware/BPASmart.ConfigurationSoftware.csproj

@@ -20,7 +20,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Helper" Version="1.0.28" />
+    <PackageReference Include="BPA.Helper" Version="1.0.54" />
   </ItemGroup>
 
   <ItemGroup>

BPASmart.PageLoad/BPASmart.PageLoad.csproj

@@ -8,7 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Helper" Version="1.0.28" />
+    <PackageReference Include="BPA.Helper" Version="1.0.54" />
   </ItemGroup>
 
   <ItemGroup>

BPASmart.Server/BPASmart.Server.csproj

@@ -9,7 +9,7 @@
 
   <ItemGroup>
     <PackageReference Include="BPA.Communication" Version="1.0.36" />
-    <PackageReference Include="BPA.Helper" Version="1.0.28" />
+    <PackageReference Include="BPA.Helper" Version="1.0.54" />
     <PackageReference Include="Microsoft.EntityFrameworkCore.Sqlite" Version="6.0.9" />
   </ItemGroup>
 

BPASmart.VariableManager/BPASmart.VariableManager.csproj

@@ -30,7 +30,7 @@
 
   <ItemGroup>
     <PackageReference Include="BPA.Communication" Version="1.0.36" />
-    <PackageReference Include="BPA.Helper" Version="1.0.28" />
+    <PackageReference Include="BPA.Helper" Version="1.0.54" />
   </ItemGroup>
 
   <ItemGroup>

BPASmartClient.Business/BPASmartClient.Business.csproj

@@ -8,7 +8,7 @@
 
   <ItemGroup>
     <PackageReference Include="BPA.ApolloClient" Version="1.0.12" />
-    <PackageReference Include="BPA.Helper" Version="1.0.33" />
+    <PackageReference Include="BPA.Helper" Version="1.0.54" />
     <PackageReference Include="BPA.Message" Version="1.0.86" />
     <PackageReference Include="Microsoft.Extensions.Configuration" Version="6.0.1" />
     <PackageReference Include="Microsoft.Extensions.Configuration.FileExtensions" Version="6.0.0" />

BPASmartClient.CustomResource/BPASmartClient.CustomResource.csproj

@@ -409,7 +409,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Helper" Version="1.0.28" />
+    <PackageReference Include="BPA.Helper" Version="1.0.54" />
     <PackageReference Include="BPA.Message" Version="1.0.86" />
     <PackageReference Include="MahApps.Metro.IconPacks.FontAwesome" Version="4.11.0" />
     <PackageReference Include="Microsoft.Toolkit.Mvvm" Version="7.1.2" />

BPASmartClient.CustomResource/Pages/Model/MessageNotify.cs

@@ -81,7 +81,7 @@ namespace BPASmartClient.CustomResource.Pages.Model
                 catch (Exception)
                 {
 
-                   // throw;
+                    // throw;
                 }
             }
         }
@@ -109,34 +109,40 @@ namespace BPASmartClient.CustomResource.Pages.Model
 
         public bool ShowDialog(string info, DialogType dialogType = DialogType.Information)
         {
-            PromptView PV = new PromptView();
-            PV.TextBlockInfo = info;
-            switch (dialogType)
+            bool result = false;
+            Application.Current.Dispatcher.Invoke(() =>
             {
-                case DialogType.Warning:
-                    PV.TextBlockIcon = "";
-                    PV.TextBlockForeground = Brushes.Yellow;
-                    PV.infoType.Text = "警告：";
-                    //PV.Cancel.Visibility = Visibility.Collapsed;
-                    break;
-                case DialogType.Error:
-                    PV.TextBlockIcon = "";
-                    PV.TextBlockForeground = Brushes.Red;
-                    PV.infoType.Text = "错误：";
-                    //PV.Cancel.Visibility = Visibility.Collapsed;
-                    break;
-                case DialogType.Information:
-                    PV.TextBlockIcon = "";
-                    PV.TextBlockForeground = Brushes.DeepSkyBlue;
-                    PV.infoType.Text = "提示：";
-                    //PV.Cancel.Visibility = Visibility.Visible;
-                    break;
-                default:
-                    break;
-            }
-            PV.infoType.Foreground = PV.TextBlockForeground;
-            var res = PV.ShowDialog();
-            return res == null ? false : (bool)res;
+                PromptView PV = new PromptView();
+                PV.TextBlockInfo = info;
+                switch (dialogType)
+                {
+                    case DialogType.Warning:
+                        PV.TextBlockIcon = "";
+                        PV.TextBlockForeground = Brushes.Yellow;
+                        PV.infoType.Text = "警告：";
+                        //PV.Cancel.Visibility = Visibility.Collapsed;
+                        break;
+                    case DialogType.Error:
+                        PV.TextBlockIcon = "";
+                        PV.TextBlockForeground = Brushes.Red;
+                        PV.infoType.Text = "错误：";
+                        //PV.Cancel.Visibility = Visibility.Collapsed;
+                        break;
+                    case DialogType.Information:
+                        PV.TextBlockIcon = "";
+                        PV.TextBlockForeground = Brushes.DeepSkyBlue;
+                        PV.infoType.Text = "提示：";
+                        //PV.Cancel.Visibility = Visibility.Visible;
+                        break;
+                    default:
+                        break;
+                }
+                PV.infoType.Foreground = PV.TextBlockForeground;
+
+                var res = PV.ShowDialog();
+                result = res == null ? false : (bool)res;
+            });
+            return result;
         }
     }
 

BPASmartClient.CustomResource/UserControls/ConveyBelt2.xaml

@@ -83,7 +83,7 @@
                             Duration="0:0:20" />
                     </Storyboard>
                 </VisualState>
-                <VisualState Name="Stop" />
+                <!--<VisualState Name="Stop" />-->
             </VisualStateGroup>
             <VisualStateGroup Name="DirectionGroup">
                 <VisualState Name="LeftState">
@@ -96,6 +96,7 @@
                             Duration="0:0:20" />
                     </Storyboard>
                 </VisualState>
+                <VisualState Name="Stop" />
                 <VisualState Name="RightState">
                     <Storyboard RepeatBehavior="Forever">
                         <DoubleAnimation

BPASmartClient.CustomResource/UserControls/ConveyBelt2.xaml.cs

@@ -37,7 +37,22 @@ namespace BPASmartClient.CustomResource.UserControls
 
         private static void OnRunningChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
         {
-            VisualStateManager.GoToState(d as ConveyBelt2, (bool)e.NewValue ? "RunState" : "Stop", false);
+            string status = "Stop";
+            if ((bool)e.NewValue)
+            {
+                if ((d as ConveyBelt2)?.BeltDirection == 0)
+                {
+                    VisualStateManager.GoToState(d as ConveyBelt2, "RightState", false);
+                    return;
+                }
+                else
+                {
+                    VisualStateManager.GoToState(d as ConveyBelt2, "LeftState", false);
+                    return;
+                }
+            }
+            VisualStateManager.GoToState(d as ConveyBelt2, status, false);
+            //VisualStateManager.GoToState(d as ConveyBelt2, (bool)e.NewValue ? "RunState" : "Stop", false);
         }
 
         public double BeltWidth
@@ -59,7 +74,7 @@ namespace BPASmartClient.CustomResource.UserControls
             if (BeltHeight > 100)
             {
                 pathFigure.StartPoint = new Point(0, 35 + (BeltHeight - 100) / 2);
-                pathFigure.Segments.Add(new LineSegment(new Point(BeltWidth - 10, 35 + (BeltHeight - 100)/2), true));
+                pathFigure.Segments.Add(new LineSegment(new Point(BeltWidth - 10, 35 + (BeltHeight - 100) / 2), true));
             }
             else
             {
@@ -74,7 +89,7 @@ namespace BPASmartClient.CustomResource.UserControls
             {
                 this.recDown.Margin = new Thickness(0, BeltHeight - 20, 0, 0);
             }
-            else 
+            else
             {
                 this.recDown.Margin = new Thickness(0, 80, 0, 0);
             }
@@ -115,15 +130,29 @@ namespace BPASmartClient.CustomResource.UserControls
 
         private static void OnDirectionChanged(DependencyObject d, DependencyPropertyChangedEventArgs e)
         {
-
-            if ((d as ConveyBelt2)?.BeltDirection == 0)
-            {
-                VisualStateManager.GoToState(d as ConveyBelt2, "RightState", false);
-            }
-            else
+            string status = "Stop";
+            if ((d as ConveyBelt2).IsRun)
             {
-                VisualStateManager.GoToState(d as ConveyBelt2, "LeftState", false);
+                if ((d as ConveyBelt2)?.BeltDirection == 0)
+                {
+                    VisualStateManager.GoToState(d as ConveyBelt2, "RightState", false);
+                    return;
+                }
+                else
+                {
+                    VisualStateManager.GoToState(d as ConveyBelt2, "LeftState", false);
+                    return;
+                }
             }
+            VisualStateManager.GoToState(d as ConveyBelt2, status, false);
+            //if ((d as ConveyBelt2)?.BeltDirection == 0)
+            //{
+            //    VisualStateManager.GoToState(d as ConveyBelt2, "RightState", false);
+            //}
+            //else
+            //{
+            //    VisualStateManager.GoToState(d as ConveyBelt2, "LeftState", false);
+            //}
 
         }
     }

BPASmartClient.DosingSystemSingle/App.xaml

@@ -1,4 +1,5 @@
-<Application x:Class="BPASmartClient.DosingSystemSingle.App"
+<Application
+    x:Class="BPASmartClient.DosingSystemSingle.App"
     xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
     xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
     xmlns:con="clr-namespace:BPASmartClient.CustomResource.Converters;assembly=BPASmartClient.CustomResource"

BPASmartClient.DosingSystemSingle/BPASmartClient.DosingSystemSingle.csproj

@@ -16,7 +16,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Helper" Version="1.0.33" />
+    <PackageReference Include="BPA.Helper" Version="1.0.54" />
     <PackageReference Include="BPA.Message" Version="1.0.86" />
     <PackageReference Include="Newtonsoft.Json" Version="13.0.1" />
   </ItemGroup>

BPASmartClient.JXJFoodSmallStation/Model/GVL_SmallStation.cs

@@ -170,7 +170,8 @@ namespace BPASmartClient.JXJFoodSmallStation.Model
         /// <summary>
         /// 配方下发状态 =0：配方未下发 ，1：配方下发给plc ，2：plc成功接收配方，正在配料
         /// </summary>
-        public int RecipeStatusIDTray2 { get; set; } = 0;
+        public int[] RecipeProcessStatus { get; set; } = new int[5] { 0, 0, 0, 0, 0 };
+
 
         [VarComm("Global", "当前配方正在配料位置")]
         /// <summary>

BPASmartClient.JXJFoodSmallStation/Model/HK_PLC/HKDeviceStatus.cs

@@ -8,6 +8,7 @@ using System.Threading.Tasks;
 using BPASmartClient.S7Net;
 using BPASmartClient.CustomResource.Pages.Model;
 using System.Threading;
+using System.Collections.ObjectModel;
 
 namespace BPASmartClient.JXJFoodSmallStation.Model.HK_PLC
 {
@@ -188,5 +189,41 @@ namespace BPASmartClient.JXJFoodSmallStation.Model.HK_PLC
                 }
             }
         }
+
+        public void IssueRecipeToPlc(ObservableCollection<RemoteRecipeRawMaterial> rawMaterials,int recipeLoction)
+        {
+            if (IsConnected)
+            {
+                ushort barrel1 = 0;
+                ushort barrel2 = 0;
+                ushort barrel3 = 0;
+                foreach (var item in rawMaterials)
+                {
+                    switch (item.RawMaterialBarrelNum)
+                    {
+                        case 1:
+                            barrel1 = barrel1.SetBitValue((byte)item.RawMaterialLocation, true);
+                            break;
+                        case 2:
+                            barrel2 = barrel2.SetBitValue((byte)item.RawMaterialLocation, true);
+                            break;
+                        case 3:
+                            barrel3 = barrel3.SetBitValue((byte)item.RawMaterialLocation, true);
+                            break;
+                        default:
+                            break;
+                    }
+                }
+                string AddresBarrel1 = "DB4.DBW" + (12 + (recipeLoction - 1) * 6);
+                string AddresBarrel2 = "DB4.DBW" + (14 + (recipeLoction - 1) * 6);
+                string AddresBarrel3 = "DB4.DBW" + (16 + (recipeLoction - 1) * 6);
+                HK_PLC_S7.Write<ushort>(AddresBarrel1, barrel1);
+                HK_PLC_S7.Write<ushort>(AddresBarrel2, barrel2);
+                HK_PLC_S7.Write<ushort>(AddresBarrel3, barrel3);
+                MessageNotify.GetInstance.ShowRunLog($"配方下发，plc配方位置{recipeLoction},桶1料仓配料{barrel1.ToBinString}");
+                MessageNotify.GetInstance.ShowRunLog($"配方下发，plc配方位置{recipeLoction},桶2料仓配料{barrel1.ToBinString}");
+                MessageNotify.GetInstance.ShowRunLog($"配方下发，plc配方位置{recipeLoction},桶3料仓配料{barrel1.ToBinString}");
+            }
+        }
     }
-}   
+}   

BPASmartClient.JXJFoodSmallStation/Model/ProcessControl.cs

@@ -38,8 +38,11 @@ namespace BPASmartClient.JXJFoodSmallStation.Model
         /// 配方队列
         /// </summary>
         public ConcurrentQueue<string> RecipeQueueTray1 = new ConcurrentQueue<string>();
+
         public ConcurrentQueue<string> RecipeQueueTray2 = new ConcurrentQueue<string>();
 
+
+
         public SiemensDeviceStatus SiemensDevice = new SiemensDeviceStatus();
         public HKDeviceStatus HKDevice = new HKDeviceStatus();
         public WindSendDeviceStatus WindSendDevice = new WindSendDeviceStatus();

BPASmartClient.JakaRobot/JaKaHelper.cs

@@ -1,5 +1,7 @@
 using BPASmartClient.Helper;
 using BPASmartClient.Message;
+using System.Net;
+using System.Net.NetworkInformation;
 using System.Text;
 
 namespace BPASmartClient.JakaRobot
@@ -60,7 +62,7 @@ namespace BPASmartClient.JakaRobot
         //public const string SENCE_初始位 = "20000";
 
         #endregion
-        private int rshd = -1;
+        public int rshd = -1;
         private bool login = false;
 
         /// <summary>
@@ -74,49 +76,124 @@ namespace BPASmartClient.JakaRobot
         public bool IsIdle { get; set; } = false;
         public bool IsConnected { get { return login; } }
         public bool IsDeviceFirstInit { get; set; }
+        private string IpAddress { get; set; }
+        private bool IsPingOk { get; set; }
+
+        public void Conn(string ip)
+        {
+            jakaAPI.create_handler(ip.ToCharArray(), ref rshd);
+            login = true;
+        }
 
         public void Connect(string ip)
         {
-            bool ErrorFlag = false;
-            ThreadManage.GetInstance().StartLong(new Action(() =>
+            MessageLog.GetInstance.Show("节卡机器人连接中。。。。。");
+            IpAddress = ip;
+            Task.Factory.StartNew(() =>
             {
-                if (rshd == -1 || login == false) 
+                while (!IsPingOk)
                 {
-                    try
-                    {
-                        jakaAPI.create_handler(ip.ToCharArray(), ref rshd);
-                        login = true;
-                    }
-                    catch (Exception ex)
-                    {
-                        if (!ErrorFlag)
-                        {
-                            MessageLog.GetInstance.ShowEx(ex.ToString());
-                            ErrorFlag = true;
-                            login = false;
-                        }
-                        Thread.Sleep(3000);
-                    }
+                    Ping myPing = new Ping();
+                    myPing.PingCompleted += new PingCompletedEventHandler(_myPing_PingCompleted);
+                    myPing.SendAsync(IpAddress, 1000, null);
+                    Thread.Sleep(3000);
                 }
-                if (login && IsDeviceFirstInit==false)
+            });
+
+
+            //bool ErrorFlag = false;
+            //ThreadManage.GetInstance().StartLong(new Action(() =>
+            //{
+            //    if (rshd == -1 || login == false)
+            //    {
+            //        try
+            //        {
+            //            jakaAPI.create_handler(ip.ToCharArray(), ref rshd);
+            //            login = true;
+            //        }
+            //        catch (Exception ex)
+            //        {
+            //            if (!ErrorFlag)
+            //            {
+            //                MessageLog.GetInstance.ShowEx(ex.ToString());
+            //                ErrorFlag = true;
+            //                login = false;
+            //            }
+            //            Thread.Sleep(3000);
+            //        }
+            //    }
+            //    if (login && IsDeviceFirstInit == false)
+            //    {
+            //        try
+            //        {
+            //            Power_On();//打开机器人电源
+            //            Thread.Sleep(1000);
+            //            Enable_robot();//机器人上使能
+            //            IsDeviceFirstInit = true;
+            //            MessageLog.GetInstance.Show("机器人已上电使能");
+            //        }
+            //        catch (Exception ex)
+            //        {
+            //            MessageLog.GetInstance.ShowEx("机器人未完成上电和使能");
+            //        }
+            //    }
+            //    Thread.Sleep(5000);
+            //}), $"节卡机器人连接", true);
+
+        }
+
+        private void _myPing_PingCompleted(object sender, PingCompletedEventArgs e)
+        {
+            if (e.Reply != null && e.Reply.Status == IPStatus.Success)
+            {
+                IsPingOk = true;
+                MessageLog.GetInstance.Show("节卡机器人物理网络准备就绪");
+                Thread.Sleep(3000);
+                bool ErrorFlag = false;
+                ThreadManage.GetInstance().StartLong(new Action(() =>
                 {
-                    try
+                    if (rshd == -1 || login == false)
                     {
-                        Power_On();//打开机器人电源
-                        Thread.Sleep(1000);
-                        Enable_robot();//机器人上使能
-                        IsDeviceFirstInit = true;
-                        MessageLog.GetInstance.Show("机器人已上电使能");
+                        try
+                        {
+                            int result = jakaAPI.create_handler(IpAddress.ToCharArray(), ref rshd);
+                            login = true;
+                            MessageLog.GetInstance.Show($"节卡机器人创建连接成功,句柄：{rshd},返回值：{result}");
+                        }
+                        catch (Exception ex)
+                        {
+                            if (!ErrorFlag)
+                            {
+                                MessageLog.GetInstance.ShowEx(ex.ToString());
+                                ErrorFlag = true;
+                                login = false;
+                            }
+                            Thread.Sleep(3000);
+                        }
                     }
-                    catch (Exception ex)
+                    if (login && IsDeviceFirstInit == false)
                     {
-                        MessageLog.GetInstance.ShowEx("机器人未完成上电和使能");
+                        try
+                        {
+                            MessageLog.GetInstance.Show("节卡机器人打开电源准备");
+                            Thread.Sleep(2000);
+                            Power_On();//打开机器人电源
+                            Thread.Sleep(1000);
+                            MessageLog.GetInstance.Show("节卡机器人上使能准备");
+                            Enable_robot();//机器人上使能
+                            IsDeviceFirstInit = true;
+                            MessageLog.GetInstance.Show("机器人已上电使能");
+                        }
+                        catch (Exception ex)
+                        {
+                            MessageLog.GetInstance.ShowEx("机器人未完成上电和使能");
+                        }
                     }
-                }
-                Thread.Sleep(5000);
-            }), $"节卡机器人连接", true);
-           
+                    Thread.Sleep(5000);
+                }), $"节卡机器人连接", true);
+            }
         }
+
         public void Power_On()
         {
             if (login)
@@ -129,10 +206,10 @@ namespace BPASmartClient.JakaRobot
                 {
                     MessageLog.GetInstance.ShowEx(ave.ToString());
                 }
-                //catch (Exception ex)
-                //{
-                //    MessageLog.GetInstance.ShowEx(ex.ToString());
-                //}
+                catch (Exception ex)
+                {
+                    MessageLog.GetInstance.ShowEx(ex.ToString());
+                }
             }
             else
             {
@@ -324,8 +401,8 @@ namespace BPASmartClient.JakaRobot
         {
             try
             {
-                //加载
-                p: file = Programname.ToCharArray();
+            //加载
+            p: file = Programname.ToCharArray();
                 MessageLog.GetInstance.Show($"调用文件名：{Programname}");
                 status = new JKTYPE.ProgramState();
                 jakaAPI.get_program_state(ref rshd, ref status);

BPASmartClient.Model/GlobalFoodMenu.cs

@@ -1,14 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Collections.ObjectModel;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace BPASmartClient.Model
-{
-    public class GlobalFoodMenu
-    {
-        public static ObservableCollection<FoodMenuModel> LocalFoodMenus = new ObservableCollection<FoodMenuModel>(); 
-    }
-}

BPASmartClient.Model/小炒机/MaterialAndFryingTime.cs

@@ -0,0 +1,15 @@
+using BPA.Models;
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.Model.小炒机
+{
+    public class MaterialAndFryingTime
+    {
+        public Dictionary<string, ObservableCollection<PotActions>> materials { get; set; } = new Dictionary<string, ObservableCollection<PotActions>>();
+    }
+}

BPASmartClient.MorkBF/BPASmartClient.MorkBF.csproj

@@ -13,6 +13,7 @@
   <ItemGroup>
     <ProjectReference Include="..\BPASmartClient.Business\BPASmartClient.Business.csproj" />
     <ProjectReference Include="..\BPASmartClient.Device\BPASmartClient.Device.csproj" />
+    <ProjectReference Include="..\BPASmartClient.ViewModel\BPASmartClient.ViewModel.csproj" />
   </ItemGroup>
 
   <ItemGroup>

BPASmartClient.MorkBF/Control_MorkBF.cs

@@ -9,6 +9,7 @@ using BPASmartClient.Model;
 using BPASmartClient.Model.大炒;
 using BPASmartClient.MorkBF.Model;
 using BPASmartClient.MorkBF.ViewModel;
+using BPASmartClient.ViewModel;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -36,14 +37,14 @@ namespace BPASmartClient.MorkBF
             MonitorViewModel.DeviceId = DeviceId;
             ActionManage.GetInstance.Register(new Action(() =>
             {
-                GlobalFoodMenu.LocalFoodMenus.Clear();
-                if (BPASmartClient.Helper.Json<LocalFryPotMessage>.Data.FryPotMessage.Count > 0)
-                {
-                    foreach (var item in BPASmartClient.Helper.Json<LocalFryPotMessage>.Data.FryPotMessage)
-                    {
-                        GlobalFoodMenu.LocalFoodMenus.Add(new FoodMenuModel { GoodKey = item.GoodKey, GoodName = item.GoodName });
-                    }
-                }
+                //GlobalFoodMenu.LocalFoodMenus.Clear();
+                //if (BPASmartClient.Helper.Json<LocalFryPotMessage>.Data.FryPotMessage.Count > 0)
+                //{
+                //    foreach (var item in BPASmartClient.Helper.Json<LocalFryPotMessage>.Data.FryPotMessage)
+                //    {
+                //        GlobalFoodMenu.LocalFoodMenus.Add(new FoodMenuModel { GoodKey = item.GoodKey, GoodName = item.GoodName });
+                //    }
+                //}
             }), "更新菜单");
             CommandRegist();//调试
             ServerInit();
@@ -1022,7 +1023,7 @@ namespace BPASmartClient.MorkBF
                     WorkStatus_1 = morkBF.FryPan1_TemperatureNow > 0 ? WorkStatus.工作 : WorkStatus.待机,
                     WorkStatus_2 = morkBF.FryPan2_TemperatureNow > 0 ? WorkStatus.工作 : WorkStatus.待机,
                     RobotStatu =  WorkStatus.工作,
-                    Alarm = new List<AlarmModel>(),
+                    Alarm = new List<BPA.Message.AlarmModel>(),
                     FailuresCount = 0,
                     StatsCount = statsModels,
                     MaxWok_Dishes_1 = "满汉全席",

BPASmartClient.MorkF/BPASmartClient.MorkF.csproj

@@ -18,6 +18,7 @@
     <ProjectReference Include="..\BPASmartClient.Device\BPASmartClient.Device.csproj" />
     <ProjectReference Include="..\BPASmartClient.Modbus\BPASmartClient.Modbus.csproj" />
     <ProjectReference Include="..\BPASmartClient.Model\BPASmartClient.Model.csproj" />
+    <ProjectReference Include="..\BPASmartClient.ViewModel\BPASmartClient.ViewModel.csproj" />
   </ItemGroup>
 
 </Project>

BPASmartClient.MorkF/Control_MorkF.cs

@@ -1,4 +1,5 @@
 using BPA.Message;
+using System;
 using BPA.Message.Enum;
 using BPASmartClient.Device;
 using BPASmartClient.EventBus;
@@ -16,6 +17,8 @@ using System.Windows.Documents;
 using BPASmartClient.Business;
 using Microsoft.CodeAnalysis;
 using BPASmartClient.MorkF.ViewModel;
+using BPASmartClient.ViewModel;
+using System.Windows;
 
 namespace BPASmartClient.MorkF
 {
@@ -35,7 +38,7 @@ namespace BPASmartClient.MorkF
         /// <summary>
         /// 菜品库while循环最大sleep次数
         /// </summary>
-        private const int materialSleepCount = 900;
+        private const int materialSleepCount = 600;
 
         /// <summary>
         /// 菜品库while循环每次sleep时间
@@ -50,40 +53,40 @@ namespace BPASmartClient.MorkF
         /// <summary>
         /// 菜品盒下移高度，相对于坐标系
         /// </summary>
-        private const int materialBoxHigh = 4080;
+        //private const int materialBoxHigh = 4080;
 
-        //菜品库出餐高度
-        private const int materialHigh = 33000;
+        ////菜品库出餐高度
+        //private const int materialHigh = 33000;
 
-        //传感器到菜品库的高度（坐标系）
-        private const int materialLaserHigh = 34500;
+        ////传感器到菜品库的高度（坐标系）
+        //private const int materialLaserHigh = 34500;
 
         /// <summary>
         /// 菜品盒坐标系高度
         /// </summary>
-        private const int materialBoxHeight = 9500;
+        private const int materialBoxHeight = 9700;
 
         //传感器1到菜品库的高度（厘米）
-        private const int materialLaserHighCM_1 = 22;
+        //private const int materialLaserHighCM_1 = 22;
 
-        //传感器2到菜品库的高度（厘米）
-        private const int materialLaserHighCM_2 = 27;
+        ////传感器2到菜品库的高度（厘米）
+        //private const int materialLaserHighCM_2 = 27;
 
-        //传感器3到菜品库的高度（厘米）
-        private const int materialLaserHighCM_3 = 31;
+        ////传感器3到菜品库的高度（厘米）
+        //private const int materialLaserHighCM_3 = 31;
 
         /// <summary>
         /// 传感器到隔板的距离（坐标系）
         /// </summary>
         private const int clapboardLaserHigh = 10000;
 
-        //炒锅1倒菜的xy坐标
-        private const int materialPutPositionXFry1 = 70000;
-        private const int materialPutPositionYFry1 = 40000;
+        ////炒锅1倒菜的xy坐标
+        //private const int materialPutPositionXFry1 = 70000;
+        //private const int materialPutPositionYFry1 = 40000;
 
-        //炒锅2倒菜的xy坐标
-        private const int materialPutPositionXFry2 = 70000;
-        private const int materialPutPositionYFry2 = 40000;
+        ////炒锅2倒菜的xy坐标
+        //private const int materialPutPositionXFry2 = 70000;
+        //private const int materialPutPositionYFry2 = 40000;
 
         //菜品库机械爪放置菜品距离
         private const int materialToFryDistance = 10000;
@@ -146,7 +149,7 @@ namespace BPASmartClient.MorkF
         /// <summary>
         /// 告警列表
         /// </summary>
-        private List<AlarmModel> alarmModel = new List<AlarmModel>();
+        private List<BPA.Message.AlarmModel> alarmModel = new List<BPA.Message.AlarmModel>();
 
         /// <summary>
         /// 
@@ -201,7 +204,7 @@ namespace BPASmartClient.MorkF
                 MaterialCoordinate.GetInstance().frying2 = materialCoordinate.frying2;
                 MaterialCoordinate.GetInstance().materialHeight = materialCoordinate.materialHeight;
                 MaterialCoordinate.GetInstance().MaterialOneX = materialCoordinate.MaterialOneX;
-                    MaterialCoordinate.GetInstance().MaterialTwoX = materialCoordinate.MaterialTwoX;
+                MaterialCoordinate.GetInstance().MaterialTwoX = materialCoordinate.MaterialTwoX;
                 MaterialCoordinate.GetInstance().MaterialThreeX = materialCoordinate.MaterialThreeX;
             }
             ////菜品库编号与坐标系对象存储
@@ -346,7 +349,15 @@ namespace BPASmartClient.MorkF
                     ml_morkf.PawArrivePortThree = bools[2];
                 }
             }), 2);
-
+            //获取爪子伸出退回到位
+            GetStatus("M10.6", new Action<object>((objects) =>
+            {
+                if (objects is bool[] bools && bools.Length == 2)
+                {
+                    ml_morkf.PawOutComplete = bools[0];
+                    ml_morkf.PawInComplete = bools[1];
+                }
+            }), 2);
             //获取总初始化完成
             GetStatus("M10.2", new Action<object>((objects) =>
             {
@@ -396,7 +407,6 @@ namespace BPASmartClient.MorkF
             ActionManage.GetInstance.Register(PLCInite, "InitCommand");
             ActionManage.GetInstance.Register(StartOrder, "StartOrder");
             ActionManage.GetInstance.Register(StartOrderMain, "开始下单");
-            ActionManage.GetInstance.Register(StartLocalOrder, "StartLocalOrder");
             ActionManage.GetInstance.Register(StopLocalOrder, "StopLocalOrder");
             ActionManage.GetInstance.Register(new Action<object>((o) =>
             {
@@ -478,8 +488,21 @@ namespace BPASmartClient.MorkF
                     GetDistance_3();
                 }), "GetDistance_3");
             }), "GetDistance_3");
-            ActionManage.GetInstance.Register(PawExtend, "PawTurnFront");
-            ActionManage.GetInstance.Register(PawShrink, "PawTurnBack");
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                ThreadManage.GetInstance().Start(new Action(() =>
+                {
+                    PawExtend();
+                }), "PawTurnFront");
+            }), "PawTurnFront");
+               
+            ActionManage.GetInstance.Register(new Action(() =>
+                {
+                    ThreadManage.GetInstance().Start(new Action(() =>
+                    {
+                        PawShrink();
+                    }), "PawTurnBack");
+                }), "PawTurnBack");
             ActionManage.GetInstance.Register(new Action<object>((list) =>
             {
                 ThreadManage.GetInstance().Start(new Action(() =>
@@ -704,7 +727,7 @@ namespace BPASmartClient.MorkF
         }
 
         /// <summary>
-        /// 本地菜单下单
+        /// 根据菜品ID下单
         /// </summary>
         private void StartOrder(object o)
         {
@@ -728,44 +751,42 @@ namespace BPASmartClient.MorkF
         }
 
         /// <summary>
-        /// 本地菜单下单
+        /// 主界面本地菜单下单
         /// </summary>
         private void StartOrderMain(object o)
         {
             if (o == null) return;
-            if (o is string goodId)
-            {
-                var res = LocalstirFryGoods?.FirstOrDefault(p => p.GoodsKey.ToString() == goodId);//匹配订单对应制作流程
-                if (res != null)
-                {
-                    /* morkF.listStirBom.Add(res.StirFryBomInfo);*///添加订单制作流程
-                    if (StirFryGoodsQuenes.Count > 0) return;
-                    StirFryGoodsQuenes.Enqueue(new OrderLocInfo()
-                    {
-                        SuborderId = Guid.NewGuid().ToString(),
-                        StirPotActions = res.StirPotActions,
-                        GoodName = "本地菜品"
-                    });
-                    MessageLog.GetInstance.Show($"添加本地订单{res.GoodsKey}");
-                }
-            }
-        }
+            //if (o is FoodMenuModel good)
+            //{
+            //    NewStartLocalOrder(good.GoodName);
+            //}
 
-        private void StartLocalOrder()
-        {
-            if (StirFryGoodsQuenes.Count > 0) return;//只能一个一个做 
-            if (Json<LocalPotStep>.Data.LocalstirFryGoods.StirPotActions.Count > 0)
-            {
-                StirFryGoodsQuenes.Enqueue(new OrderLocInfo()
-                {
-                    SuborderId = Guid.NewGuid().ToString(),
-                    StirPotActions = Json<LocalPotStep>.Data.LocalstirFryGoods.StirPotActions,
-                    GoodName = "本地菜品"
-                });
-                MessageLog.GetInstance.Show($"添加本地模拟的订单{Json<LocalPotStep>.Data.LocalstirFryGoods.GoodsKey}");
-            }
+                
+            //if (o == null) return;
+            //if (o is string goodId)
+            //{
+            //    var res = LocalstirFryGoods?.FirstOrDefault(p => p.GoodsKey.ToString() == goodId);//匹配订单对应制作流程
+            //    if (res != null)
+            //    {
+            //        /* morkF.listStirBom.Add(res.StirFryBomInfo);*///添加订单制作流程
+            //        if (StirFryGoodsQuenes.Count > 0) return;
+            //        StirFryGoodsQuenes.Enqueue(new OrderLocInfo()
+            //        {
+            //            SuborderId = Guid.NewGuid().ToString(),
+            //            StirPotActions = res.StirPotActions,
+            //            GoodName = "本地菜品"
+            //        });
+            //        MessageLog.GetInstance.Show($"添加本地订单{res.GoodsKey}");
+            //    }
+            //}
         }
 
+        
+
+        /// <summary>
+        /// 本地配置的订单
+        /// </summary>
+        /// <param name="materialName"></param>
         private void NewStartLocalOrder(string materialName)
         {
             //if (StirFryGoodsQuenes.Count > 0) return;//只能一个一个做 
@@ -800,6 +821,7 @@ namespace BPASmartClient.MorkF
                     GoodName = materialName
                 });
                 MessageLog.GetInstance.Show($"添加本地模拟的订单{Json<LocalPotStep>.Data.LocalstirFryGoods.GoodsKey}");
+                MessageBox.Show("下单成功");
             }
         }
 
@@ -968,33 +990,54 @@ namespace BPASmartClient.MorkF
         /// 爪子伸出
         /// </summary>
         /// <param name="o">电磁阀启停：true：启动。false：停止。</param>
-        public void PawExtend()
+        public bool PawExtend()
         {
             if (!ml_morkf.InitialComplete)
             {
                 MessageLog.GetInstance.ShowEx("爪子伸出错误，菜品库未初始化");
-                return;
+                return false;
             }
-
+            Thread.Sleep(500);
             MaterailLibrary_Write("M0.6", true);
-            //等待爪子伸出延时4s
-            Thread.Sleep(6000);
+            for (int i = 0; i < materialSleepCount && !ml_morkf.PawOutComplete; i++)//潘华小炒没有夹爪到位功能
+            {
+                Thread.Sleep(materialSleepTime);
+                if (i >= materialSleepCount - 1)
+                {
+                    MessageLog.GetInstance.ShowEx("爪子伸出超时");
+                    return false;
+                }
+            }
+            return true;
+            ////等待爪子伸出延时4s
+            //Thread.Sleep(6000);
         }
         /// <summary>
         /// 爪子收缩
         /// </summary>
         /// <param name="o">电磁阀启停：true：启动。false：停止。</param>
-        public void PawShrink()
+        public bool PawShrink()
         {
             if (!ml_morkf.InitialComplete)
             {
                 MessageLog.GetInstance.ShowEx("爪子伸出错误，菜品库未初始化");
-                return;
+                return false;
             }
 
             MaterailLibrary_Write("M0.7", true);
+            Thread.Sleep(500);
+            for (int i = 0; i < materialSleepCount && !ml_morkf.PawInComplete; i++)//潘华小炒没有夹爪到位功能
+            {
+                Thread.Sleep(materialSleepTime);
+                if (i >= materialSleepCount - 1)
+                {
+                    MessageLog.GetInstance.ShowEx("爪子伸出超时");
+                    return false;
+                }
+            }
+            return true;
             //等待爪子收缩延时4s
-            Thread.Sleep(6000);
+            //Thread.Sleep(6000);
         }
         /// <summary>
         /// 电磁阀启停
@@ -1033,6 +1076,10 @@ namespace BPASmartClient.MorkF
                 Thread.Sleep(materialSleepTime);
                 if (i >= materialSleepCount - 1)
                 {
+                    if (i == 10)
+                    {
+                        MaterailLibrary_Write("M1.0", true);
+                    }
                     MessageLog.GetInstance.ShowEx("爪子去到1号位超时");
                     return false;
                 }
@@ -1063,6 +1110,10 @@ namespace BPASmartClient.MorkF
                 Thread.Sleep(materialSleepTime);
                 if (i >= materialSleepCount - 1)
                 {
+                    if (i == 10)
+                    {
+                        MaterailLibrary_Write("M1.1", true);
+                    }
                     MessageLog.GetInstance.ShowEx("爪子去到2号位超时");
                     return false;
                 }
@@ -1090,10 +1141,14 @@ namespace BPASmartClient.MorkF
             for (int i = 0; i < materialSleepCount && !ml_morkf.PawArrivePortThree; i++)
             {
                 Thread.Sleep(materialSleepTime);
+                if(i == 30)
+                {
+                    MaterailLibrary_Write("M1.2", true);
+                }
                 if (i >= materialSleepCount - 1)
                 {
                     MessageLog.GetInstance.ShowEx("爪子去到3号位超时");
-                    return false;
+
                 }
             }
             if (!ml_morkf.PawPositon_3)
@@ -1243,6 +1298,12 @@ namespace BPASmartClient.MorkF
                 return false;
             }
 
+            if (x>212000|| y >240000)
+            {
+                MessageLog.GetInstance.ShowEx("机械臂移动超出范围");
+                return false;
+            }
+
             //取反
             x = 0 - Math.Abs(x);
             y = 0 - Math.Abs(y);
@@ -1285,7 +1346,7 @@ namespace BPASmartClient.MorkF
 
             //MessageLog.GetInstance.Show("机械臂移动操作完成");
 
-            Thread.Sleep(500);
+            Thread.Sleep(300);
 
             return true;
         }
@@ -1374,9 +1435,9 @@ namespace BPASmartClient.MorkF
             Thread.Sleep(1000);
 
             //获取传感器的距离，转换成坐标系的点
-            //int laserHigh = ml_morkf.LaserDistance;
+            int laserHigh = ml_morkf.LaserDistance;
 
-            int laserHigh = 400;
+            
             //秦工要求读取后置0
             WriteDistance(0);
 
@@ -1396,7 +1457,7 @@ namespace BPASmartClient.MorkF
             }
 
             //设置到传感器感应的距离处
-            if (!SetArmPosition(x, y))
+            if (!SetArmPosition(x - moveX, y))  
             {
                 return false;
             }
@@ -1414,7 +1475,11 @@ namespace BPASmartClient.MorkF
             }
 
             //伸出爪子
-            PawExtend();
+            if (!PawExtend())
+            {
+                return false;
+            }
+          
 
             //移动前开启电磁阀
             Electromagnetism(new List<bool> { false });
@@ -1461,16 +1526,18 @@ namespace BPASmartClient.MorkF
                 return false;
             }
 
-            WriteSpeed(50000);
+            WriteSpeed(50000);//移动速度
             //ThreadManage.GetInstance().Start(new Action(() =>
             //{
             //    //收缩爪子
             //    PawShrink();
             //}), "GetMaterialPawShrink");
-            PawShrink();
+
+            //收缩爪子
+            if (!PawShrink()) return false;
 
             //判断炒锅是否可以放盒
-            for (int i = 0; materialSleepCount > i && !morkFs[fryIndex].FryPot1_HOBTPut; i++)
+            for (int i = 0; materialSleepCount > i && !morkFs[fryNum].FryPot1_HOBTPut; i++)
             {
                 Thread.Sleep(materialSleepTime);
                 if (i >= materialSleepCount - 1)
@@ -1520,8 +1587,12 @@ namespace BPASmartClient.MorkF
                 return false;
             }
 
+            
             //伸出爪子
-            PawExtend();
+            if (!PawExtend())
+            {
+                return false;
+            }
 
             Thread.Sleep(300);
 
@@ -1530,7 +1601,7 @@ namespace BPASmartClient.MorkF
             Thread.Sleep(300);
 
             //收缩爪子
-            PawShrink();
+            if (!PawShrink()) return false;
 
             //设置到炒锅i出菜处
             if (!SetArmPosition(x + materialToFryDistance, y))
@@ -1578,10 +1649,13 @@ namespace BPASmartClient.MorkF
                 Electromagnetism(new List<bool> { true });
 
                 //爪子收回
-                PawShrink();
+                if (!PawShrink())
+                {
+                    return false;
+                }
 
                 //爪子去2号点位
-                if(!PawToPoint2()) 
+                if (!PawToPoint2()) 
                 {
                     return false;
                 }
@@ -1670,8 +1744,10 @@ namespace BPASmartClient.MorkF
                 Laser2CoordinateState laser2CoordinateState = LaserDistance2MaterialCount(distance, x, out boxCount);
                 if (laser2CoordinateState == Laser2CoordinateState.MaterialNormal)
                 {
+                    int compensateHeight = boxCount > 1 ? 500 : 0;//补偿高度，超过1层盒子增加补偿
+                    
                     //盒子高度计算除去起始位置的那个盒子
-                    x_high = (boxCount - 1) * materialBoxHeight;
+                    x_high = (boxCount - 1) * materialBoxHeight + compensateHeight;
                 }
                 return laser2CoordinateState;
 
@@ -1722,6 +1798,7 @@ namespace BPASmartClient.MorkF
                 if(heightDifferent < 0)
                 {
                     MessageLog.GetInstance.ShowEx($"菜品库检测{x}处的菜品量时，传感器获取的高度差为负数，请校准该层高度");
+                    return Laser2CoordinateState.MaterialEmpty; ;
                 }
 
                 //盒子高度为45，但是需要考虑到误差，不足35，则认为为空
@@ -2216,11 +2293,7 @@ namespace BPASmartClient.MorkF
                                     GoodsKey = item.GoodsKey,
                                     StirPotActions = OrderSort(item.StirPotActions),
                                 });
-                                GlobalFoodMenu.LocalFoodMenus.Add(new FoodMenuModel
-                                {
-                                    GoodKey = item.GoodsKey.ToString(),
-                                    GoodName = "",
-                                });
+                                
                             }
                         }
 
@@ -2357,9 +2430,9 @@ namespace BPASmartClient.MorkF
         /// </summary>
         /// <param name="subid"></param>
         /// <param name="oRDER_STATUS"></param>
-        private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
+        private void OrderChange(string Id , string goodName, ORDER_STATUS oRDER_STATUS,int deviceId)
         {
-            EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, SubOrderId = subid });
+            EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, GoodName = goodName,DeviceId = deviceId,  SubOrderId =Id });
         }
 
         /// <summary>
@@ -2405,7 +2478,7 @@ namespace BPASmartClient.MorkF
                         if (materialInfo != null) 
                         {
                             //if
-                            if(Convert.ToInt32(materialInfo.Qty) - goodBatching.BatchingCount < 0)
+                            if(System.Convert.ToInt32(materialInfo.Qty) - goodBatching.BatchingCount < 0)
                             {
                                 MessageLog.GetInstance.ShowEx($"{materialInfo.Name}不够，请更新菜品库，并点击检测");
                                 return;
@@ -2487,13 +2560,14 @@ namespace BPASmartClient.MorkF
                     if (morkFs[i].AutoMode && morkFs[i].FryPot1_InitialComplete && ml_morkf.InitialComplete &&
                         !morkFs[i].FryWorking)//炒锅在自动状态&&初始化完成&&菜品库初始化&&是否在炒菜中
                     {
-                        Thread.Sleep(5000);
+                        Thread.Sleep(4000);
 
                         lock(lock_MainProcessExcute)
                         {
                             //待炒小炒队列出队列
                             if (StirFryGoodsQuenes.TryDequeue(out var res))
                             {
+                                OrderChange(res.SuborderId, res.GoodName, ORDER_STATUS.WAIT, DeviceId = i);
                                 //设置当前炒制菜品
                                 nowStirFryGood[i] = res;
                                 //炒锅工作状态置为正在工作中
@@ -2519,7 +2593,7 @@ namespace BPASmartClient.MorkF
                                         bool ret = true;
                                         
                                         MessageLog.GetInstance.Show($"炒锅{i}开始炒制菜品{res.GoodName}");
-
+                                        OrderChange(res.SuborderId, res.GoodName, ORDER_STATUS.COOKING, DeviceId = i);
                                         morkFs[i].GoodName = res.GoodName;
 
                                         Coordinate myCoordinate = new Coordinate();
@@ -2542,7 +2616,7 @@ namespace BPASmartClient.MorkF
 
                                             //更新
                                             morkFs[i].UpdateProcess(potActions);
-
+                                           
                                             switch (potActions.Actions)
                                             {
                                                 case nameof(StirFryPotActionEnum.加热开启):
@@ -2608,6 +2682,16 @@ namespace BPASmartClient.MorkF
                                                     MessageLog.GetInstance.Show(potActions.Actions);
                                                     break;
                                                 case nameof(StirFryPotActionEnum.取原料):
+                                                    if(potActions.SeasoningLists[0].Loc == 1 || 
+                                                    potActions.SeasoningLists[0].Loc == 9 || 
+                                                    potActions.SeasoningLists[0].Loc == 10 || 
+                                                    potActions.SeasoningLists[0].Loc == 18 ||
+                                                    potActions.SeasoningLists[0].Loc == 19 ||
+                                                    potActions.SeasoningLists[0].Loc == 27  )
+                                                    {
+                                                        MessageLog.GetInstance.ShowEx("该取料位置禁止使用");
+                                                        return;
+                                                    }
                                                     //炒锅取菜状态置为未取到
                                                     morkFs[i].GetMaterialComplete = false;
 
@@ -2678,7 +2762,7 @@ namespace BPASmartClient.MorkF
                                                     ret = OutFood(i, out error, true);
                                                     if(ret == false)
                                                     {
-                                                        alarmModel.Add(new AlarmModel() { AlarmTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"), AlarmMs = error });
+                                                        alarmModel.Add(new BPA.Message.AlarmModel() { AlarmTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"), AlarmMs = error });
                                                     }
                                                     break;
                                                 case nameof(StirFryPotActionEnum.炒制菜品):
@@ -2696,7 +2780,7 @@ namespace BPASmartClient.MorkF
                                                     }
                                                     if (ret == false)
                                                     {
-                                                        alarmModel.Add(new AlarmModel() { AlarmTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"), AlarmMs = error });
+                                                        alarmModel.Add(new BPA.Message.AlarmModel() { AlarmTime = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss"), AlarmMs = error });
                                                     }
                                                     MessageLog.GetInstance.Show(potActions.Actions);
                                                     break;
@@ -2713,9 +2797,9 @@ namespace BPASmartClient.MorkF
                                         Thread.Sleep(3000);
                                         //回原点位
                                         StirArmGoOrigin(i);
-
+                                        OrderChange(res.SuborderId, res.GoodName, ORDER_STATUS.COMPLETED_COOK, DeviceId = i);
                                         //同时只能允许有一个出餐
-                                        lock(lock_OutMeal)
+                                        lock (lock_OutMeal)
                                         {
                                             //出餐启动
                                             OutMeal(i);
@@ -2804,12 +2888,12 @@ namespace BPASmartClient.MorkF
                     if (batchingInfo == null)
                     {
                         //为空就新增
-                        BatchingInfos.Add(new BatchingInfo() { BatchingCount = Convert.ToInt32(surplus.Qty) - stagingCount, BatchingLoc = surplus.Loc, BatchingId = surplus.Key });
+                        BatchingInfos.Add(new BatchingInfo() { BatchingCount = System.Convert.ToInt32(surplus.Qty) - stagingCount, BatchingLoc = surplus.Loc, BatchingId = surplus.Key });
                     }
                     else
                     {
                         batchingInfo.BatchingLoc = surplus.Loc;
-                        batchingInfo.BatchingCount = Convert.ToInt32(surplus.Qty) - stagingCount;
+                        batchingInfo.BatchingCount = System.Convert.ToInt32(surplus.Qty) - stagingCount;
                     }
                 }
                 Thread.Sleep(1000);

BPASmartClient.MorkF/Convert/PotActionToVisibilityConvert.cs

@@ -0,0 +1,35 @@
+using AlibabaCloud.SDK.Iot20180120.Models;
+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.MorkF.Convert
+{
+    internal class PotActionToVisibilityConvert : IValueConverter
+    {
+        public object Convert(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            Visibility vs = Visibility.Collapsed;
+            if(value is string action)
+            {
+                switch (action)
+                {
+                    case "":
+                    default:
+                        break;
+                }
+            }
+            return vs;
+        }
+
+        public object ConvertBack(object value, Type targetType, object parameter, CultureInfo culture)
+        {
+            throw new NotImplementedException();
+        }
+    }
+}

BPASmartClient.MorkF/ML_MorkF.cs

@@ -35,6 +35,15 @@ namespace BPASmartClient.MorkF
         /// </summary>
         public bool InitialComplete { get; set; }
 
+        /// <summary>
+        /// 爪子伸出到位
+        /// </summary>
+        public bool PawOutComplete { get; set; }
+        /// <summary>
+        /// 爪子缩回到位
+        /// </summary>
+        public bool PawInComplete { get; set; }
+
         private bool _ArriveComplete = false;
         /// <summary>
         /// 定位到达，上升沿捕获需要特殊处理

BPASmartClient.MorkF/Model/FoodMenuModel.cs

@@ -0,0 +1,21 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkF.Model
+{
+    public class FoodMenuModel
+    {
+        public string ID { get; set; }
+        public string FoodName { get; set; }
+        public Dictionary<int,int> FoodHouseMaterials { get; set; } = new Dictionary<int,int>();
+   
+    }
+
+   
+
+
+        
+}

BPASmartClient.MorkF/Model/MaterialSurplus.cs

@@ -87,7 +87,7 @@ namespace BPASmartClient.MorkF
                 foreach(MaterialInfo material in materials)
                 {
                     //surplus += int.Parse(material.Qty.ToString());
-                    surplus += Convert.ToInt32(material.Qty);
+                    surplus += System.Convert.ToInt32(material.Qty);
                 }
                 return true;
             }

BPASmartClient.MorkF/View/DebugView.xaml

@@ -55,16 +55,16 @@
 
                     <TextBlock Text="菜单编号：" Margin="10,0"/>
                     <TextBox Text="{Binding FoodMenuID}" Width="100"/>
-                    <Button Content="下单" Margin="10,0" Command="{Binding StartOrder}" Cursor="Hand"/>
-                    <Button Content="本地模拟流程配置" Click="Button_Click"/>
-                    <Button Content="本地模拟流程下单"  Margin="10,0" Command="{Binding StartLocalOrder}" Cursor="Hand"/>
+                    <Button Content="菜单编号下单下单" Margin="10,0" Command="{Binding StartOrder}" Cursor="Hand"/>
+                    <Button Content="本地菜单流程配置" Click="Button_Click"/>
+                    
                     <Button Content="停止炒菜"  Margin="10,0" Command="{Binding StopLocalOrder}" Cursor="Hand"/>
-                            <Button Content="{Binding ModeButten}"  Margin="10,0" Command="{Binding ModeChange}" Cursor="Hand"/>
+                    <Button Content="{Binding ModeButten}"  Margin="10,0" Command="{Binding ModeChange}" Cursor="Hand"/>
                 </WrapPanel>
             </Grid>
 
         </GroupBox>
-        <GroupBox Header="菜品选择" FontSize="15" Foreground="Aqua" Grid.Row="2" VerticalAlignment="Center" Height="190" >
+        <!--<GroupBox Header="菜品选择" FontSize="15" Foreground="Aqua" Grid.Row="2" VerticalAlignment="Center" Height="190" >
             <Grid  >
                 <Grid.RowDefinitions>
                     <RowDefinition Height="*"/>
@@ -127,7 +127,7 @@
                 </WrapPanel>
             </Grid>
 
-        </GroupBox>
+        </GroupBox>-->
         <StackPanel Orientation="Vertical" Grid.Row="3">
             <GroupBox Header="配料仓控制" FontSize="15" Foreground="Aqua"  VerticalAlignment="Center" Height="65">
                 <WrapPanel Orientation="Horizontal" Grid.RowSpan="2" VerticalAlignment="Top" Margin="0,5,0,0" >

BPASmartClient.MorkF/View/LocalMenu.xaml

@@ -7,61 +7,102 @@
         xmlns:local="clr-namespace:BPASmartClient.MorkF.View"
         xmlns:vm="clr-namespace:BPASmartClient.MorkF.ViewModel"
         mc:Ignorable="d"
-        Title="LocalMenu" Height="800" Width="800" WindowStartupLocation="CenterScreen" WindowStyle="None" AllowsTransparency="True" MouseLeftButtonDown="Window_MouseLeftButtonDown">
+        Title="LocalMenu" Height="900" Width="800" WindowStartupLocation="CenterScreen" WindowStyle="None" AllowsTransparency="True" MouseLeftButtonDown="Window_MouseLeftButtonDown" Background="Gray"
+        >
     <Window.DataContext>
         <vm:LocalMenuViewModel/>
     </Window.DataContext>
     <Window.Resources>
-        <Style TargetType="ListBoxItem" >
-            <Setter Property="Template">
-                <Setter.Value>
-                    <ControlTemplate TargetType="{x:Type ListBoxItem}">
-                        <Border  BorderBrush="Black" BorderThickness="0" Background="White">
-                            <Grid Width="600" HorizontalAlignment="Center" VerticalAlignment="Center" >
-                                <Grid.ColumnDefinitions>
-                                    <ColumnDefinition/>
-                                    <ColumnDefinition/>
-                                    <ColumnDefinition Width="2*"/>
-                                    <ColumnDefinition/>
-                                    <ColumnDefinition/>
-                                    <ColumnDefinition/>
-                                </Grid.ColumnDefinitions>
-                                <TextBox Grid.Column="0" Text="{Binding FryTime}" HorizontalAlignment="Center" VerticalAlignment="Center" />
-                                <TextBox Grid.Column="1" Text="{Binding During}" Margin="10,0"/>
-                                <ComboBox Grid.Column="2" Width="120" ItemsSource="{Binding DataContext.strPotActions , RelativeSource={RelativeSource AncestorType=Window,Mode=FindAncestor}}"
+        <ResourceDictionary>
+            <ResourceDictionary.MergedDictionaries>
+                <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/GenricStyle.xaml" />
+                <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/MyStyle.xaml" />
+            </ResourceDictionary.MergedDictionaries>
+            <Style TargetType="ListBoxItem" x:Key="newFoodList" >
+                <Setter Property="Template">
+                    <Setter.Value>
+                        <ControlTemplate TargetType="{x:Type ListBoxItem}">
+                            <Border  BorderBrush="Black" BorderThickness="0" Background="Transparent" Margin="5">
+                                <StackPanel Orientation="Vertical">
+                                    <TextBlock Text="步骤:"/>
+                                    <TextBox  Text="{Binding FryTime}" HorizontalAlignment="Center" VerticalAlignment="Center" />
+                                    <ComboBox  Width="120" ItemsSource="{Binding DataContext.strPotActions , RelativeSource={RelativeSource AncestorType=Window,Mode=FindAncestor}}"
                                       SelectedValue="{Binding Actions}" Margin="10,0"/>
-                                <TextBox Grid.Column="3" Text="{Binding SeasoningLists[0].Loc}" Margin="10,0"/>
-                                <TextBox Grid.Column="4" Text="{Binding SeasoningLists[0].Qty}" Margin="10,0"/>
-                                <Button Grid.Column="5" Content="删除" Margin="10,0" HorizontalAlignment="Center"
+                                    <TextBlock Text="时间"/>
+                                    <TextBox  Text="{Binding During}" Margin="10,0"/>
+                                    
+                                    <TextBox Text="{Binding SeasoningLists[0].Loc}" Margin="10,0"/>
+                                    <TextBox Text="{Binding SeasoningLists[0].Qty}" Margin="10,0"/>
+                                    <Button  Content="删除" Margin="10,0" HorizontalAlignment="Center"/>
+                                </StackPanel>
+                                
+                            </Border>
+
+                        </ControlTemplate>
+                    </Setter.Value>
+                </Setter>
+            </Style>
+            <Style TargetType="ListBoxItem" >
+                <Setter Property="Template">
+                    <Setter.Value>
+                        <ControlTemplate TargetType="{x:Type ListBoxItem}">
+                            <Border  BorderBrush="Black" BorderThickness="0" Background="Transparent" Margin="5">
+                                <Grid Width="600" HorizontalAlignment="Center" VerticalAlignment="Center" >
+                                    <Grid.ColumnDefinitions>
+                                        <ColumnDefinition/>
+                                        <ColumnDefinition/>
+                                        <ColumnDefinition Width="2*"/>
+                                        <ColumnDefinition/>
+                                        <ColumnDefinition/>
+                                        <ColumnDefinition/>
+                                    </Grid.ColumnDefinitions>
+                                    <TextBox Grid.Column="0" Text="{Binding FryTime}" HorizontalAlignment="Center" VerticalAlignment="Center" />
+                                    <TextBox Grid.Column="1" Text="{Binding During}" Margin="10,0"/>
+                                    <ComboBox Grid.Column="2" Width="120" ItemsSource="{Binding DataContext.strPotActions , RelativeSource={RelativeSource AncestorType=Window,Mode=FindAncestor}}"
+                                      SelectedValue="{Binding Actions}" Margin="10,0"/>
+                                    <TextBox Grid.Column="3" Text="{Binding SeasoningLists[0].Loc}" Margin="10,0"/>
+                                    <TextBox Grid.Column="4" Text="{Binding SeasoningLists[0].Qty}" Margin="10,0"/>
+                                    <Button Grid.Column="5" Content="删除" Margin="10,0" HorizontalAlignment="Center"
                                     Command="{Binding DataContext.Delete, RelativeSource={RelativeSource AncestorType=Window,Mode=FindAncestor}}"
                                     CommandParameter="{Binding DataContext, RelativeSource={RelativeSource AncestorType=ListBoxItem,Mode=FindAncestor}}"/>
-                            </Grid>
-                        </Border>
-                       
-                    </ControlTemplate>
-                </Setter.Value>
-            </Setter>
-        </Style>
+                                </Grid>
+                            </Border>
+
+                        </ControlTemplate>
+                    </Setter.Value>
+                </Setter>
+            </Style>
+        </ResourceDictionary>
+        
     </Window.Resources>
-    <Grid>
+    <Grid >
+        <Grid.Background>
+            <ImageBrush ImageSource="/BPASmartClient.CustomResource;component/Image/窗体样式/From/内部背景.png"/>
+        </Grid.Background>
         <Grid.RowDefinitions>
-            <RowDefinition Height="50"/>
+            <RowDefinition Height="80"/>
+            <RowDefinition Height="80"/>
             <RowDefinition Height="50"/>
             <RowDefinition Height="*"/>
         </Grid.RowDefinitions>
-        <StackPanel Orientation="Horizontal" HorizontalAlignment="Center" VerticalAlignment="Center">
-            <ComboBox Name="Materials" SelectionChanged="Materials_SelectionChanged" ItemsSource="{Binding MaterialNames}" HorizontalAlignment="Center" VerticalAlignment="Center"/>
+        <StackPanel Margin="10,20,10,0" Orientation="Horizontal" HorizontalAlignment="Center" VerticalAlignment="Center">
+            
             <TextBox Text="{Binding MaterialName}"  Width="80" Height="40" Margin="10,0"/>
             <Button Content="增加菜谱" Command="{Binding AddMaterial}" Width="80" Height="40" Margin="10,0"/>
-            <Button Content="下单" Command="{Binding NewStartLocalMaterial}" Width="80" Height="40" Margin="10,0"/>
-            <!--<Button Content="菜谱重命名" Command="{Binding RenameMaterial}" Width="80" Height="40" Margin="10,0"/>
-            <Button Content="删除菜谱" Command="{Binding DeleteMaterial}" Width="80" Height="40" Margin="10,0"/>-->
+        </StackPanel>
+        <StackPanel Grid.Row="1" Margin="10,20,10,0" Orientation="Horizontal" HorizontalAlignment="Center" VerticalAlignment="Center">
+            <ComboBox Name="Materials" Width="100" Height="40" SelectionChanged="Materials_SelectionChanged"  SelectedIndex="0" IsReadOnly="True"
+                      ItemsSource="{Binding MaterialNames}" SelectedItem="{Binding SelectMaterialName}" HorizontalAlignment="Center" VerticalAlignment="Center"/>
+           
+            <!--<Button Content="下单" Command="{Binding NewStartLocalMaterial}" Width="80" Height="40" Margin="10,0" Cursor="Hand"/>-->
+            <!--<Button Content="菜谱重命名" Command="{Binding RenameMaterial}" Width="80" Height="40" Margin="10,0"/>-->
+            <Button Content="删除菜谱" Command="{Binding DeleteMaterial}" Width="80" Height="40" Margin="10,0"/>
             <Button Content="增加步骤" Command="{Binding AddFryTime}" Width="80" Height="40" Margin="10,0"/>
             <Button Content="保存" Command="{Binding Save}" Width="80" Height="40" Margin="10,0"/>
             <Button Content="退出" Click="Button_Click" Width="80" Height="40" Margin="10,0"/>
         </StackPanel>
         
-        <Grid Grid.Row="1" Width="600" HorizontalAlignment="Center" VerticalAlignment="Center">
+        <Grid Grid.Row="2" Width="600" HorizontalAlignment="Center" VerticalAlignment="Center">
             <Grid.ColumnDefinitions>
                 <ColumnDefinition/>
                 <ColumnDefinition/>
@@ -77,9 +118,9 @@
             <TextBlock Grid.Column="4" Text="调料重量" HorizontalAlignment="Center"/>
             <TextBlock Grid.Column="5" Text="删除" HorizontalAlignment="Center"/>
         </Grid>
-        <ListBox x:Name="listview1" Grid.Row="2"  BorderBrush="Black" BorderThickness="0" HorizontalAlignment="Center"  AllowDrop="True"
+        <ListBox x:Name="listview1" Grid.Row="3"  BorderBrush="Black" BorderThickness="0" HorizontalAlignment="Center"  AllowDrop="True"
                   ScrollViewer.HorizontalScrollBarVisibility="Disabled" ItemsSource="{Binding PotActionStep}" Margin=" 10" Background="Transparent"
-                 
+                  ItemContainerStyle="{DynamicResource newFoodList}"
                  >
             
         </ListBox>

BPASmartClient.MorkF/View/LocalMenu.xaml.cs

@@ -233,7 +233,7 @@ namespace BPASmartClient.MorkF.View
 
         private void Materials_SelectionChanged(object sender, SelectionChangedEventArgs e)
         {
-            string str = Materials.SelectedValue.ToString();
+            string str = Materials.SelectedValue?.ToString();
             if(str != string.Empty)
             {
                 ActionManage.GetInstance.Send("LoacMenuSelectMaterial", str);

BPASmartClient.MorkF/View/MaterialCalibration.xaml

@@ -82,6 +82,10 @@
     <Grid>
         <ScrollViewer>
             <Grid>
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition/>
+                    <ColumnDefinition Width="0.4*"/>
+                </Grid.ColumnDefinitions>
                 <Grid.RowDefinitions>
                     <RowDefinition></RowDefinition>
                     <RowDefinition></RowDefinition>
@@ -627,7 +631,7 @@
                                     <TextBlock Text="x轴：" Margin="10,0"/>
                                     <TextBox Grid.Column="1" Text="{Binding TwentySixX}" Width="100"/>
                                     <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
-                                    <TextBox Grid.Column="3" Text="{Binding SeventeenY}" Width="100"/>
+                                    <TextBox Grid.Column="3" Text="{Binding TwentySixY}" Width="100"/>
                                 </Grid>
                             </Grid>
                             <Grid>
@@ -657,6 +661,8 @@
                         <Grid.RowDefinitions>
                             <RowDefinition Height="*"/>
                             <RowDefinition Height="*"/>
+                            <RowDefinition Height="*"/>
+                            <RowDefinition Height="*"/>
                         </Grid.RowDefinitions>
                         <WrapPanel>
                             <Grid>
@@ -725,6 +731,7 @@
                                 <Grid.RowDefinitions>
                                     <RowDefinition Height="1*"/>
                                     <RowDefinition Height="1*"/>
+                                   
                                 </Grid.RowDefinitions>
                                 <RadioButton Content="第二层菜品库出菜位置" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionMaterialTwo}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
                                 <Grid Grid.Row="1">
@@ -740,6 +747,7 @@
                                 <Grid.RowDefinitions>
                                     <RowDefinition Height="1*"/>
                                     <RowDefinition Height="1*"/>
+                                   
                                 </Grid.RowDefinitions>
                                 <RadioButton Content="第三层菜品库出菜位置" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PositionMaterialThree}" GroupName="MaterialPosition" HorizontalAlignment="Center"/>
                                 <Grid Grid.Row="1">
@@ -749,56 +757,91 @@
                                         <TextBlock Grid.Column="2" Text="Y轴：" Margin="10,0"/>
                                         <TextBox Grid.Column="3" Text="0" IsEnabled="False" Width="100"/>
                                     </WrapPanel>
+                                    
                                 </Grid>
                             </Grid>
+
+                        </WrapPanel>
+                        <WrapPanel Grid.Row="2" Margin="10,10">
+                            <Button Content="感应器1标准位置" Margin="10,0,10,0" Command="{Binding GetDistance_1}" Cursor="Hand"/>
+                            <TextBox Grid.Column="1" Text="{Binding Distance_1}"  Margin="10,0,10,0" Width="100"/>
+                            <Button Content="感应器2标准位置" Margin="10,0,10,0"  Command="{Binding GetDistance_2}"/>
+                            <TextBox Grid.Column="1" Text="{Binding Distance_2}"  Margin="10,0,10,0" Width="100"/>
+                            <Button Content="感应器3标准位置" Margin="10,0,10,0" Command="{Binding GetDistance_3}"/>
+                            <TextBox Grid.Column="1" Text="{Binding Distance_3}"  Margin="10,0,10,0" Width="100"/>
+                        </WrapPanel>
+                        <WrapPanel Grid.Row="3">
+                            <Button Content="全部位置保存" Margin="10,0,50,0" Height="40" Command="{Binding SaveCoordinate}" Cursor="Hand"/>
+                            <Button Content="全部位置读取" Height="40" Command="{Binding ReadCoordinate}"/>
                         </WrapPanel>
                     </Grid>
                 </GroupBox>
-                <GroupBox Grid.Row="4" Header="操作" FontSize="15" Foreground="Aqua" VerticalAlignment="Center" >
-                    <Grid >
-                        <Grid.RowDefinitions>
-                            <RowDefinition Height="1*"/>
-                            <RowDefinition Height="1*"/>
-                            <RowDefinition Height="1*"/>
-                            <RowDefinition Height="1*"/>
-                        </Grid.RowDefinitions>
-                        <WrapPanel>
+                <GroupBox Grid.Row="0" Grid.RowSpan="3" Grid.Column="1" Header="操作" FontSize="15" Foreground="Aqua" VerticalAlignment="Center" >
+                    <StackPanel >
+                        <WrapPanel Margin="10,10">
                             <Button Content="菜品库初始化"  Margin="10,0,5,0" Command="{Binding FoodLibInit}"/>
+                           
+                           
+                           
+                        </WrapPanel>
+                        <WrapPanel Grid.Row="1" Margin="10,10">
                             <Button Content="电磁阀启动"  Margin="10,0,5,0" Command="{Binding StartElectromagnetism}"/>
                             <Button Content="电磁阀停止"  Margin="10,0,5,0" Command="{Binding StopElectromagnetism}"/>
-                            <Button  Content="夹爪伸出" Command="{Binding PawTurnFront}" Margin="5,0" Cursor="Hand"/>
-                            <Button  Content="夹爪收缩" Command="{Binding PawTurnBack}" Margin="5,0" Cursor="Hand"/>
+                        </WrapPanel>
+                        <WrapPanel Grid.Row="2" Margin="10,10">
+                            <Button  Content="夹爪伸出" Command="{Binding PawTurnFront}"  Margin="10,0,5,0"  Cursor="Hand"/>
+                            <Button  Content="夹爪收缩" Command="{Binding PawTurnBack}"  Margin="10,0,5,0"  Cursor="Hand"/>
+                        </WrapPanel>
+                        <WrapPanel Grid.Row="3" Margin="10,10">
+                            <TextBlock Text="夹爪位置:" Margin="10,0,5,0" />
                             <RadioButton Content="位置1" Margin="5,0"  IsEnabled="True" IsChecked="{Binding PawPositon1}" Command="{Binding PawToPoint1}" GroupName="PawTurn"/>
                             <RadioButton Content="位置2" Margin="5,0" IsEnabled="True" IsChecked="{Binding PawPositon2}"  Command="{Binding PawToPoint2}" GroupName="PawTurn"/>
                             <RadioButton Content="位置3" Margin="5,0 " IsEnabled="True" IsChecked="{Binding PawPositon3}" Command="{Binding PawToPoint3}" GroupName="PawTurn"/>
                         </WrapPanel>
-                        <WrapPanel Grid.Row="1">
-                            <Button Content="感应器1测距" Margin="5,0" Command="{Binding GetDistance_1}" Cursor="Hand"/>
-                            <TextBox Grid.Column="1" Text="{Binding Distance_1}" Width="100"/>
-                            <Button Content="感应器2测距" Margin="5,0" Command="{Binding GetDistance_2}"/>
-                            <TextBox Grid.Column="1" Text="{Binding Distance_2}" Width="100"/>
-                            <Button Content="感应器3测距" Margin="5,0" Command="{Binding GetDistance_3}"/>
-                            <TextBox Grid.Column="1" Text="{Binding Distance_3}" Width="100"/>
-                        </WrapPanel>
-                        <WrapPanel Grid.Row="2">
-                            <TextBlock Text="移动系数："></TextBlock>
+                     
+                        <WrapPanel Grid.Row="4" Margin="10,10">
+                            <TextBlock Text="移动系数："  Margin="10,0,0,0"></TextBlock>
                             <TextBox
-                 Style="{DynamicResource UserTextBoxStyle}"
-                 Foreground="#a2c2e8" Text="{Binding Str}"/>
-                            <TextBlock Text="移动方式：" Margin="50,0,0,0"></TextBlock>
+                            Style="{DynamicResource UserTextBoxStyle}"
+                                Foreground="#a2c2e8" Text="{Binding Str}"/>
+                            
+                           
+                        </WrapPanel>
+                        <WrapPanel Grid.Row="5"   Margin="10,10">
+                            <TextBlock Text="移动方式：" Margin="10,0,0,0"></TextBlock>
                             <RadioButton Content="上" Margin="5,0" IsChecked="{Binding Up}" GroupName="ArmRun"/>
                             <RadioButton Content="下" Margin="5,0" IsChecked="{Binding Down}" GroupName="ArmRun"/>
                             <RadioButton Content="左" Margin="5,0 " IsChecked="{Binding Left}" GroupName="ArmRun"/>
                             <RadioButton Content="右" Margin="5,0 " IsChecked="{Binding Right}" GroupName="ArmRun"/>
                             <RadioButton Content="定点" Margin="5,0 " IsChecked="{Binding Point}" GroupName="ArmRun"/>
                             <Button Content="移动" Command="{Binding SetNowPosition}"/>
+
                         </WrapPanel>
-                        <WrapPanel Grid.Row="3" Cursor="">
-                            <Button Content="自动计算" Margin="20,0,50,0" Command="{Binding AutoCalculation}"/>
-                            <Button Content="保存" Margin="20,0,50,0" Command="{Binding SaveCoordinate}"/>
-                            <Button Content="读取" Command="{Binding ReadCoordinate}"/>
+                        <WrapPanel Grid.Row="6"  Margin="10,10">
+                            <Button Content="自动计算" Margin="10,0,50,0" Command="{Binding AutoCalculation}"/>
+
+                        </WrapPanel >
+                        <WrapPanel Grid.Row="7"  Margin="10,10">
+                            <TextBlock Text="取料手臂设定位置" Margin="10,0,10,10"/>
+                            <TextBlock Text="X:" Margin="5,0"/>
+                            <TextBox Text="{Binding SettingX}" Width="70" Margin="5,0"  VerticalAlignment="Center" />
+                            <TextBlock Text="Y:" Margin="5,0"/>
+                            <TextBox Text="{Binding SettingY}" Width="70" Margin="5,0"  VerticalAlignment="Center"  />
+                            <Button Content="移动" Command="{Binding SetArmPosition}" Margin="5,0,10,0" Cursor="Hand"/>
+                            <TextBlock Text="移动速度:" Margin="5,0"/>
+                            <TextBox Text="{Binding MoveSpeed}" Width="70" Margin="5,0"  VerticalAlignment="Center"  />
+                            <Button Content="设定" Command="{Binding SetSpeed}" Cursor="Hand"   Margin="5,0,10,0" />
+                            
                         </WrapPanel>
-                    </Grid>
+                        <!--<WrapPanel Margin="10">
+                            <Button Content="感应器1测距" Margin="5,0" Command="{Binding GetTestDistance_1}" Cursor="Hand"/>
+                            <TextBox Text="{Binding SensingDistance_1}" Margin="5,0" Width="60" IsReadOnly="True"/>
+                            <Button Content="感应器2测距" Margin="5,0" Command="{Binding GetTestDistance_2}"/>
+                            <TextBox Text="{Binding SensingDistance_2}" Margin="5,0" Width="60" IsReadOnly="True"/>
+                            <Button Content="感应器3测距" Margin="5,0" Command="{Binding GetTestDistance_3}"/>
+                            <TextBox Text="{Binding SensingDistance_3}" Margin="5,0" Width="60" IsReadOnly="True"/>
+                        </WrapPanel>-->
+                    </StackPanel>
                 </GroupBox>
             </Grid>
         </ScrollViewer>

BPASmartClient.MorkF/ViewModel/DebugViewModel.cs

@@ -33,7 +33,7 @@ namespace BPASmartClient.MorkF.ViewModel
         public RelayCommand FoodPlcInite { get; set; }
         public RelayCommand Plc1Reset { get; set; }
         public RelayCommand StartOrder { get; set; }
-        public RelayCommand StartLocalOrder { get; set; }
+       
         public RelayCommand StopLocalOrder { get; set; }
         public RelayCommand ModeChange { get; set; }
 
@@ -205,7 +205,6 @@ namespace BPASmartClient.MorkF.ViewModel
             PlcInite = new RelayCommand(() => { ActionManage.GetInstance.Send("InitCommand"); });
             Plc1Reset = new RelayCommand(() => { ActionManage.GetInstance.Send("Plc1Reset"); });
             StartOrder = new RelayCommand(() => { ActionManage.GetInstance.Send("StartOrder", FoodMenuID); });
-            StartLocalOrder = new RelayCommand(() => { ActionManage.GetInstance.Send("StartLocalOrder"); });
             StopLocalOrder = new RelayCommand(() => { ActionManage.GetInstance.Send("StopLocalOrder"); });
             ModeChange = new RelayCommand(() => { 
                 ActionManage.GetInstance.Send("ModeChange"); 

BPASmartClient.MorkF/ViewModel/LocalMenuViewModel.cs

@@ -1,6 +1,9 @@
 using BPA.Models;
 using BPASmartClient.Helper;
+using BPASmartClient.Model;
+using BPASmartClient.Model.小炒机;
 using BPASmartClient.MorkF.Model;
+using BPASmartClient.ViewModel;
 using Microsoft.Toolkit.Mvvm.ComponentModel;
 using Microsoft.Toolkit.Mvvm.Input;
 using System;
@@ -17,20 +20,33 @@ namespace BPASmartClient.MorkF.ViewModel
     
     partial class LocalMenuViewModel:ObservableObject
     {
+        /// <summary>
+        /// 单个菜品流程
+        /// </summary>
         public  ObservableCollection<PotActions> PotActionStep { get { return _PotActionStep; }
             set { _PotActionStep = value; OnPropertyChanged(); } } 
             private ObservableCollection<PotActions> _PotActionStep = new ObservableCollection<PotActions>();
 
+        
         public string MaterialName { get; set; }
-
-        public string SelectMaterialName { get; set; }
-
+        /// <summary>
+        /// 选中的菜品
+        /// </summary>
+        public string SelectMaterialName { get { return _selectMaterialName; } set { _selectMaterialName = value; OnPropertyChanged(); } }
+        private string _selectMaterialName;
+        /// <summary>
+        /// 菜品combox集合
+        /// </summary>
         public ObservableCollection<string> MaterialNames { get; set; } = new ObservableCollection<string>();
 
-
+        /// <summary>
+        /// 动作名称combox集合
+        /// </summary>
         public ObservableCollection<string> strPotActions { get; set; } = new ObservableCollection<string>();
-
-        public MaterialAndFryingTime materialAndFryingTime { get; set; } = new MaterialAndFryingTime();
+        /// <summary>
+        /// 全部菜品流程集合
+        /// </summary>
+        public MaterialAndFryingTime materialAndFryingTime { get; set; } = Json<MaterialAndFryingTime>.Data;
 
         public RelayCommand<object> Delete { get; set; }
         public RelayCommand AddFryTime { get; set; }
@@ -106,34 +122,33 @@ namespace BPASmartClient.MorkF.ViewModel
                 else
                 {
                     MaterialNames.Add(MaterialName);
+                    SelectMaterialName = MaterialName;
                 }
             });
             DeleteMaterial = new RelayCommand(() =>
             {
-                //尝试是否能找到
-                if (MaterialNames.FirstOrDefault(o => o == SelectMaterialName) == SelectMaterialName)
+                if (materialAndFryingTime.materials.ContainsKey(SelectMaterialName))
                 {
-                    MaterialNames.Remove(SelectMaterialName);
-                    if(materialAndFryingTime.materials.ContainsKey(SelectMaterialName))
-                    {
-                        materialAndFryingTime.materials.Remove(SelectMaterialName);
-                    }
-                }
-            });
-            RenameMaterial = new RelayCommand(() =>
-            {
-                //尝试是否能找到
-                if (MaterialNames.FirstOrDefault(o => o == SelectMaterialName) == SelectMaterialName)
-                {
-                    MaterialNames.Remove(SelectMaterialName);
-                    MaterialNames.Add(MaterialName);
-                    if (materialAndFryingTime.materials.ContainsKey(SelectMaterialName))
-                    {
-                        materialAndFryingTime.materials.Add(MaterialName, materialAndFryingTime.materials[SelectMaterialName]);
-                        materialAndFryingTime.materials.Remove(SelectMaterialName);
-                    }
+                    materialAndFryingTime.materials.Remove(SelectMaterialName);
                 }
+                MaterialNames.Remove(SelectMaterialName);
+                PotActionStep.Clear();
             });
+            //RenameMaterial = new RelayCommand(() =>
+            //{
+            //    //尝试是否能找到
+            //    if (MaterialNames.FirstOrDefault(o => o == SelectMaterialName) == SelectMaterialName)
+            //    {
+            //        MaterialNames.Remove(SelectMaterialName);
+            //        MaterialNames.Add(MaterialName);
+            //        if (materialAndFryingTime.materials.ContainsKey(SelectMaterialName))
+            //        {
+            //            materialAndFryingTime.materials.Add(MaterialName, materialAndFryingTime.materials[SelectMaterialName]);
+            //            materialAndFryingTime.materials.Remove(SelectMaterialName);
+
+            //        }
+            //    }
+            //});
             Save = new RelayCommand(new Action(() =>
             {
                 if(PotActionStep.Count > 0)
@@ -155,8 +170,9 @@ namespace BPASmartClient.MorkF.ViewModel
                 //Json<LocalPotStep>.Data.LocalstirFryGoods.GoodsKey = 11;
                 //Json<LocalPotStep>.Data.LocalstirFryGoods.StirPotActions = new List<PotActions>(PotActionStep);
                 //Json<LocalPotStep>.Save();
-                Json<MaterialAndFryingTime>.Data.materials = materialAndFryingTime.materials;
+                //Json<MaterialAndFryingTime>.Data.materials = materialAndFryingTime.materials;
                 Json<MaterialAndFryingTime>.Save();
+               
                 //ActionManage.GetInstance.Send("LocalMenuClose");
             }));
 
@@ -209,8 +225,5 @@ namespace BPASmartClient.MorkF.ViewModel
         }
     }
 
-    partial class MaterialAndFryingTime
-    {
-        public Dictionary<string, ObservableCollection<PotActions>> materials { get; set; } = new Dictionary<string, ObservableCollection<PotActions>>();
-    }
+   
 }

BPASmartClient.MorkF/ViewModel/MaterialCalibrationViewModel.cs

@@ -280,6 +280,30 @@ namespace BPASmartClient.MorkF.ViewModel
         private int _Distance_2;
         public int Distance_3 { get { return _Distance_3; } set { _Distance_3 = value; OnPropertyChanged(); } }
         private int _Distance_3;
+        #endregion
+
+        #region 控制
+        public int SettingX { get { return _settingX; } set { _settingX = value; OnPropertyChanged(); } }
+        private int _settingX = 0;
+        public int SettingY { get { return _settingY; } set { _settingY = value; OnPropertyChanged(); } }
+        private int _settingY = 0;
+        public int MoveSpeed { get { return _moveSpeed; } set { _moveSpeed = value; OnPropertyChanged(); } }
+        private int _moveSpeed;
+
+        public int SensingDistance_1 { get { return _sensingDistance_1; } set { _sensingDistance_1 = value; OnPropertyChanged(); } }
+        private int _sensingDistance_1;
+        public int SensingDistance_2 { get { return _sensingDistance_2; } set { _sensingDistance_2 = value; OnPropertyChanged(); } }
+        private int _sensingDistance_2;
+        public int SensingDistance_3 { get { return _sensingDistance_3; } set { _sensingDistance_3 = value; OnPropertyChanged(); } }
+        private int _sensingDistance_3;
+
+        public RelayCommand SetSpeed { get; set; }//速度设定
+        public RelayCommand SetArmPosition { get; set; }//机器臂位置设定
+
+        public RelayCommand GetTestDistance_1 { get; set; }//获取感应器距离1
+        public RelayCommand GetTestDistance_2 { get; set; }//获取感应器距离2
+        public RelayCommand GetTestDistance_3 { get; set; }//获取感应器距离3
+
         #endregion
         public bool Up { get { return _Up; } set { _Up = value; OnPropertyChanged(); } }
         private bool _Up;
@@ -355,9 +379,9 @@ namespace BPASmartClient.MorkF.ViewModel
         public RelayCommand StopElectromagnetism { get; set; }
         public RelayCommand PawTurnFront { get; set; }//夹爪正转
         public RelayCommand PawTurnBack { get; set; }//夹爪反转
-        public RelayCommand PawToPoint1 { get; set; }//感应测距1
-        public RelayCommand PawToPoint2 { get; set; }//感应测距2
-        public RelayCommand PawToPoint3 { get; set; }//感应测距3
+        public RelayCommand PawToPoint1 { get; set; }//夹爪位置1
+        public RelayCommand PawToPoint2 { get; set; }//夹爪位置2
+        public RelayCommand PawToPoint3 { get; set; }//夹爪位置3
         public RelayCommand GetDistance_1 { get; set; }//感应测距1
         public RelayCommand GetDistance_2 { get; set; }//感应测距2
         public RelayCommand GetDistance_3 { get; set; }//感应测距3
@@ -844,10 +868,10 @@ namespace BPASmartClient.MorkF.ViewModel
                 return;
             }
 
-            if (PositionOne)
-            {
-                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> {"1", OneX + OperationX, OneY + OperationY });//设定机械臂当前位置
-            }
+            //if (PositionOne)
+            //{
+            //    ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> {"1", OneX + OperationX, OneY + OperationY });//设定机械臂当前位置
+            //}
             if (PositionTwo)
             {
                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "2", TwoX + OperationX, TwoY + OperationY });//设定机械臂当前位置
@@ -876,14 +900,14 @@ namespace BPASmartClient.MorkF.ViewModel
             {
                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "8", EightX + OperationX, EightY + OperationY });//设定机械臂当前位置
             }
-            if (PositionNine)
-            {
-                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "9", NineX + OperationX, NineY + OperationY });//设定机械臂当前位置
-            }
-            if (PositionTen)
-            {
-                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "10", TenX + OperationX, TenY + OperationY });//设定机械臂当前位置
-            }
+            //if (PositionNine)
+            //{
+            //    ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "9", NineX + OperationX, NineY + OperationY });//设定机械臂当前位置
+            //}
+            //if (PositionTen)
+            //{
+            //    ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "10", TenX + OperationX, TenY + OperationY });//设定机械臂当前位置
+            //}
             if (PositionEleven)
             {
                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "11", ElevenX + OperationX, ElevenY + OperationY });//设定机械臂当前位置
@@ -912,14 +936,14 @@ namespace BPASmartClient.MorkF.ViewModel
             {
                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "17", SeventeenX + OperationX, SeventeenY + OperationY });//设定机械臂当前位置
             }
-            if (PositionEighteen)
-            {
-                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "18", EighteenX + OperationX, EighteenY + OperationY });//设定机械臂当前位置
-            }
-            if (PositionNineteen)
-            {
-                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "19", NineteenX + OperationX, NineteenY + OperationY });//设定机械臂当前位置
-            }
+            //if (PositionEighteen)
+            //{
+            //    ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "18", EighteenX + OperationX, EighteenY + OperationY });//设定机械臂当前位置
+            //}
+            //if (PositionNineteen)
+            //{
+            //    ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "19", NineteenX + OperationX, NineteenY + OperationY });//设定机械臂当前位置
+            //}
             if (PositionTwenty)
             {
                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "20", TwentyX + OperationX, TwentyY + OperationY });//设定机械臂当前位置
@@ -948,10 +972,10 @@ namespace BPASmartClient.MorkF.ViewModel
             {
                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "26", TwentySixX + OperationX, TwentySixY + OperationY });//设定机械臂当前位置
             }
-            if (PositionTwentySeven)
-            {
-                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "27", TwentySevenX + OperationX, TwentySevenY + OperationY });//设定机械臂当前位置
-            }
+            //if (PositionTwentySeven)
+            //{
+            //    ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "27", TwentySevenX + OperationX, TwentySevenY + OperationY });//设定机械臂当前位置
+            //}
             if (PositionMaterialHeight)
             {
                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "MaterialHeight", MaterialHeightX + OperationX, MaterialHeightY + OperationY });//设定机械臂当前位置
@@ -987,12 +1011,21 @@ namespace BPASmartClient.MorkF.ViewModel
             PawToPoint1 = new RelayCommand(() => { ActionManage.GetInstance.Send("PawToPoint1"); });//爪子去1号位
             PawToPoint2 = new RelayCommand(() => { ActionManage.GetInstance.Send("PawToPoint2"); });//爪子去2号位
             PawToPoint3 = new RelayCommand(() => { ActionManage.GetInstance.Send("PawToPoint3"); });//爪子去3号位
-            PawTurnFront = new RelayCommand(() => { ActionManage.GetInstance.Send("PawTurnFront"); });//夹爪正转
-            PawTurnBack = new RelayCommand(() => { ActionManage.GetInstance.Send("PawTurnBack"); });//夹爪反转
+            PawTurnFront = new RelayCommand(() => { 
+                ActionManage.GetInstance.Send("PawTurnFront");
+            });//夹爪伸出
+            PawTurnBack = new RelayCommand(() => { 
+                ActionManage.GetInstance.Send("PawTurnBack");
+            });//夹爪收缩
             GetDistance_1 = new RelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_1"); });//感应距离1
             GetDistance_2 = new RelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_2"); });//感应距离2
             GetDistance_3 = new RelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_3"); });//感应距离3
 
+            SetSpeed = new RelayCommand(() => { ActionManage.GetInstance.Send("SetSpeed", new List<int> { MoveSpeed }); });//速度设定
+            SetArmPosition = new RelayCommand(() => { 
+                ActionManage.GetInstance.Send("SetArmPosition", new List<int> { SettingX, SettingY });
+            });//设定移动位置
+
             PhysicalMaterialCoordinate();
             ActionManage.GetInstance.Register(new Action<object>((o) =>
             {

BPASmartClient.S7Net/SiemensHelper.cs

@@ -120,7 +120,7 @@ namespace BPASmartClient.S7Net
         }
         public void WriteInt16(int db, short txt, int startAddress = 0)
         {
-            var bytes =BitConverter.GetBytes(txt);
+            var bytes = BitConverter.GetBytes(txt);
             myPlc.WriteBytes(DataType.DataBlock, db, startAddress, bytes);
 
         }

BPASmartClient.SmallBatchingSystem/BPASmartClient.SmallBatchingSystem.csproj

@@ -22,7 +22,7 @@
 
   <ItemGroup>
     <PackageReference Include="BPA.Communication" Version="1.0.36" />
-    <PackageReference Include="BPA.Helper" Version="1.0.28" />
+    <PackageReference Include="BPA.Helper" Version="1.0.54" />
     <PackageReference Include="Microsoft.Toolkit.Mvvm" Version="7.1.2" />
   </ItemGroup>
 

BPASmartClient.Update/App.xaml

@@ -0,0 +1,8 @@
+<Application
+    x:Class="BPASmartClient.Update.App"
+    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+    xmlns:local="clr-namespace:BPASmartClient.Update"
+    StartupUri="MainWindow.xaml">
+    <Application.Resources />
+</Application>

BPASmartClient.Update/App.xaml.cs

@@ -0,0 +1,17 @@
+using System;
+using System.Collections.Generic;
+using System.Configuration;
+using System.Data;
+using System.Linq;
+using System.Threading.Tasks;
+using System.Windows;
+
+namespace BPASmartClient.Update
+{
+    /// <summary>
+    /// Interaction logic for App.xaml
+    /// </summary>
+    public partial class App : Application
+    {
+    }
+}

BPASmartClient.Update/AssemblyInfo.cs

@@ -0,0 +1,10 @@
+using System.Windows;
+
+[assembly: ThemeInfo(
+    ResourceDictionaryLocation.None, //where theme specific resource dictionaries are located
+                                     //(used if a resource is not found in the page,
+                                     // or application resource dictionaries)
+    ResourceDictionaryLocation.SourceAssembly //where the generic resource dictionary is located
+                                              //(used if a resource is not found in the page,
+                                              // app, or any theme specific resource dictionaries)
+)]

BPASmartClient.Update/BPASmartClient.Update.csproj

@@ -0,0 +1,14 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <OutputType>WinExe</OutputType>
+    <TargetFramework>net6.0-windows</TargetFramework>
+    <Nullable>enable</Nullable>
+    <UseWPF>true</UseWPF>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <PackageReference Include="BPA.Helper" Version="1.0.54" />
+  </ItemGroup>
+
+</Project>

BPASmartClient.Update/MainViewsModel.cs

@@ -0,0 +1,21 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using BPA.Helper;
+using BPASmartClient.Update.Model;
+
+namespace BPASmartClient.Update
+{
+    public class MainViewsModel : NotifyBase
+    {
+        public MainViewsModel()
+        {
+
+        }
+        public UpdateModel um { get { return _mum; } set { _mum = value; OnPropertyChanged(); } }
+        private UpdateModel _mum = new UpdateModel();
+
+    }
+}

BPASmartClient.Update/MainWindow.xaml

@@ -0,0 +1,68 @@
+<Window
+    x:Class="BPASmartClient.Update.MainWindow"
+    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+    xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+    xmlns:local="clr-namespace:BPASmartClient.Update"
+    xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+    Title="Update"
+    Width="600"
+    Height="400"
+    mc:Ignorable="d">
+
+    <Window.DataContext>
+        <local:MainViewsModel />
+    </Window.DataContext>
+
+    <Grid Margin="20">
+        <Grid.RowDefinitions>
+            <RowDefinition Height="40" />
+            <RowDefinition Height="40" />
+            <RowDefinition />
+            <RowDefinition Height="80"/>
+            <RowDefinition Height="40" />
+        </Grid.RowDefinitions>
+
+        <TextBlock Grid.Row="0" Text="{Binding um.Version, StringFormat=当前软件版本号：\{0\}}" />
+        <TextBlock Grid.Row="1" Text="{Binding um.UpgradeVersion, StringFormat=更新软件版本号：\{0\}}" />
+        <TextBlock
+            Grid.Row="2"
+            Text="{Binding um.UpdateDescription}"
+            TextWrapping="Wrap" />
+
+        <Grid Name="grProgressbar" Margin="0 0 0 20"  Grid.Row="3">
+            <Grid.RowDefinitions>
+                <RowDefinition/>
+                <RowDefinition/>
+            </Grid.RowDefinitions>
+            <TextBlock Name="tb" Text="当前更新进度：1/4" VerticalAlignment="Bottom"/>
+            <ProgressBar Name="progressbar" Grid.Row="1" Height="15" VerticalAlignment="Center" Minimum="0" Maximum="100" Value="10"/>
+        </Grid>
+
+        <Grid Grid.Row="4">
+            <Grid.ColumnDefinitions>
+                <ColumnDefinition />
+                <ColumnDefinition />
+            </Grid.ColumnDefinitions>
+            <Button
+                Name="cancel"
+                Grid.Column="0"
+                Width="100"
+                Background="DeepSkyBlue"
+                Click="cancel_Click"
+                BorderThickness="0"
+                Content="取消更新"
+                Foreground="#272727" />
+            <Button
+                Name="ok"
+                Grid.Column="1"
+                Width="100"
+                Click="ok_Click"
+                Background="DeepSkyBlue"
+                BorderThickness="0"
+                Content="开始更新"
+                Foreground="#272727" />
+        </Grid>
+
+    </Grid>
+</Window>

BPASmartClient.Update/MainWindow.xaml.cs

@@ -0,0 +1,85 @@
+using BPA.Helper;
+using BPASmartClient.Update.Model;
+using System;
+using System.Collections.Generic;
+using System.Diagnostics;
+using System.Linq;
+using System.Text;
+using System.Threading;
+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.Update
+{
+    /// <summary>
+    /// Interaction logic for MainWindow.xaml
+    /// </summary>
+    public partial class MainWindow : Window
+    {
+        public MainWindow()
+        {
+            InitializeComponent();
+            this.grProgressbar.Visibility = Visibility.Collapsed;
+        }
+
+        private void cancel_Click(object sender, RoutedEventArgs e)
+        {
+            this.Close();
+        }
+
+        private async void ok_Click(object sender, RoutedEventArgs e)
+        {
+            this.cancel.Visibility = Visibility.Collapsed;
+            this.grProgressbar.Visibility = Visibility.Visible;
+            await Task.Run(() =>
+            {
+                App.Current.Dispatcher.Invoke(() =>
+                {
+                    this.progressbar.Value = 25;
+                    this.tb.Text = "当前更新进度：1/4";
+                });
+                Thread.Sleep(2000);
+
+                App.Current.Dispatcher.Invoke(() =>
+                {
+                    this.progressbar.Value = 50;
+                    this.tb.Text = "当前更新进度：2/4";
+                });
+                Thread.Sleep(1500);
+
+                App.Current.Dispatcher.Invoke(() =>
+                {
+                    this.progressbar.Value = 75;
+                    this.tb.Text = "当前更新进度：3/4";
+                });
+                Thread.Sleep(3000);
+
+                App.Current.Dispatcher.Invoke(() =>
+                {
+                    this.progressbar.Value = 100;
+                    this.tb.Text = "当前更新进度：4/4";
+                });
+                Thread.Sleep(1500);
+
+                App.Current.Dispatcher.Invoke(() =>
+                {
+                    this.progressbar.Value = 100;
+                    this.tb.Text = "当前更新进度：更新完成";
+                });
+                Thread.Sleep(1500);
+            });
+            string directory = AppDomain.CurrentDomain.BaseDirectory;
+            Process.Start($"{directory}BPASmartClient.DosingSystem.exe");
+            Json<UpdateModel>.Save();
+            this.Close();
+        }
+    }
+}

BPASmartClient.Update/Models/UpdateModel.cs

@@ -0,0 +1,41 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using BPA.Helper;
+
+namespace BPASmartClient.Update.Model
+{
+    public class UpdateModel : NotifyBase
+    {
+        /// <summary>
+        /// 软件名称
+        /// </summary>
+        public string Name { get { return _mName; } set { _mName = value; OnPropertyChanged(); } }
+        private string _mName = "味魔方管理系统软件[简称：味魔方] ";
+
+
+        /// <summary>
+        /// 软件当前版本号
+        /// </summary>
+        public string Version { get { return _mVersion; } set { _mVersion = value; OnPropertyChanged(); } }
+        private string _mVersion = "V1.0.1";
+
+
+        /// <summary>
+        /// 软件升级版本号
+        /// </summary>
+        public string UpgradeVersion { get { return _mUpgradeVersion; } set { _mUpgradeVersion = value; OnPropertyChanged(); } }
+        private string _mUpgradeVersion = "V1.0.2";
+
+
+        /// <summary>
+        /// 软件更新说明
+        /// </summary>
+        public string UpdateDescription { get { return _mUpdateDescription; } set { _mUpdateDescription = value; OnPropertyChanged(); } }
+        private string _mUpdateDescription = "下列 Bug 问题已修复：\n1、当在某些语言环境中保存文档后重新打开时，Canvas的缩放级别与文件保存时不同。\n2、删除样本数据后执行“另存为”时，有时无法使用串行打印机打印。\n3、如果显示放大率设置为100％以外的值，有时仅部分显示最小化、最大化和关闭按钮。\n4、其他小Bug。";
+
+
+    }
+}

BPASmartClient.ViewModel/FoodMenuViewModel.cs

@@ -1,5 +1,6 @@
 using BPASmartClient.Helper;
 using BPASmartClient.Model;
+using BPASmartClient.Model.小炒机;
 using Microsoft.Toolkit.Mvvm.ComponentModel;
 using Microsoft.Toolkit.Mvvm.Input;
 using System;
@@ -13,17 +14,23 @@ namespace BPASmartClient.ViewModel
 {
     public class FoodMenuViewModel: ObservableObject
     {
-        public ObservableCollection<FoodMenuModel> FoodMenus { get; set; } = GlobalFoodMenu.LocalFoodMenus;
+        /// <summary>
+        /// 菜单
+        /// </summary>
+        public ObservableCollection<FoodMenuModel> FoodMenus { get; set; } = new ObservableCollection<FoodMenuModel>();
 
         public RelayCommand<object> StartOrder { get; set; }
 
         public FoodMenuViewModel()
         {
-            
+            Json<MaterialAndFryingTime>.Data.materials?.Keys?.ToList().ForEach(key => FoodMenus.Add(new FoodMenuModel { GoodName = key }));
+
             StartOrder = new RelayCommand<object>((o) =>
             {
                 ActionManage.GetInstance.Send("开始下单", o);
             });
         }
+
+      
     }
 }

BPASmartClient/Control/FoodMenu.xaml

@@ -0,0 +1,45 @@
+<UserControl
+    x:Class="Control.FoodMenu"
+    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+    xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+    xmlns:local="clr-namespace:Control"
+    xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+    Name="FoodMenu1"
+    d:DesignHeight="450"
+    d:DesignWidth="800"
+    mc:Ignorable="d">
+    <UserControl.Resources>
+        <ResourceDictionary>
+            <ResourceDictionary.MergedDictionaries>
+                <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/GenricStyle.xaml" />
+                <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/MyStyle.xaml" />
+            </ResourceDictionary.MergedDictionaries>
+            <Style TargetType="ListBoxItem">
+                <Setter Property="Margin" Value="2" />
+                <Setter Property="FontSize" Value="22" />
+                <Setter Property="FontWeight" Value="Black" />
+                <Setter Property="Background" Value="Transparent" />
+                <Setter Property="FontFamily" Value="楷体" />
+                <Setter Property="Template">
+                    <Setter.Value>
+                        <ControlTemplate TargetType="ListBoxItem">
+                            <Border
+                                Background="Transparent"
+                                BorderBrush="Black"
+                                BorderThickness="0">
+                                <Grid>
+                                    <Grid.ColumnDefinitions>
+                                        <ColumnDefinition Width="80*" />
+                                        <ColumnDefinition Width="20*" />
+                                    </Grid.ColumnDefinitions>
+                                </Grid>
+                            </Border>
+                        </ControlTemplate>
+                    </Setter.Value>
+                </Setter>
+            </Style>
+        </ResourceDictionary>
+    </UserControl.Resources>
+    <Grid />
+</UserControl>

BPASmartClient/Control/FoodMenu.xaml.cs

@@ -0,0 +1,26 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+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 Control
+{
+    /// <summary>
+    /// FoodMenu.xaml 的交互逻辑
+    /// </summary>
+    public partial class FoodMenu : UserControl
+    {
+        public FoodMenu()
+        {
+            InitializeComponent();
+        }
+    }
+}

BPASmartClient/Control/FoodMenuView.xaml

@@ -6,10 +6,8 @@
              xmlns:local="clr-namespace:Control"
              xmlns:vm="clr-namespace:BPASmartClient.ViewModel;assembly=BPASmartClient.ViewModel"
              mc:Ignorable="d" 
-             d:DesignHeight="450" d:DesignWidth="800">
-    <UserControl.DataContext>
-        <vm:FoodMenuViewModel/>
-    </UserControl.DataContext>
+             d:DesignHeight="850" d:DesignWidth="800">
+   
     <UserControl.Resources>
         <ResourceDictionary>
             <ResourceDictionary.MergedDictionaries>
@@ -23,6 +21,7 @@
             <Grid.RowDefinitions>
                 <RowDefinition Height="50"/>
                 <RowDefinition Height="*"/>
+                <RowDefinition Height="0.6*"/>
             </Grid.RowDefinitions>
             <Grid HorizontalAlignment="Center">
                 <Grid.ColumnDefinitions>
@@ -47,11 +46,12 @@
                             <TextBlock Grid.Column="1"  FontSize="18" Text="{Binding GoodName}" VerticalAlignment="Center" HorizontalAlignment="Center"/>
                             <Button Grid.Column="2" Width="120" Content="下单" HorizontalAlignment="Center" VerticalAlignment="Center" Height="30"
                                 Command="{Binding DataContext.StartOrder, RelativeSource={RelativeSource AncestorType=UserControl,Mode=FindAncestor}}"
-                                    CommandParameter="{Binding GoodKey}"/>
+                                    CommandParameter="{Binding .}"/>
                         </Grid>
                     </DataTemplate>
                 </ListBox.ItemTemplate>
             </ListBox>
+            
         </Grid>
       
        

BPASmartClient/Control/FoodMenuView.xaml.cs

@@ -1,4 +1,5 @@
-using System;
+using BPASmartClient.ViewModel;
+using System;
 using System.Collections.Generic;
 using System.Text;
 using System.Windows;
@@ -21,6 +22,7 @@ namespace BPASmartClient.Control
         public FoodMenuView()
         {
             InitializeComponent();
+            this.DataContext = new FoodMenuViewModel();
         }
     }
 }

BPASmartClient/MainWindow.xaml

@@ -80,6 +80,14 @@
                             Content="订单监视"
                             Cursor="Hand"
                             Tag="OrderStatusView" />
+                        <Button
+                            Width="120"
+                            Height="40"
+                            Margin="20,0"
+                            Click="MenuItem_Click"
+                            Content="本地菜单"
+                            Cursor="Hand"
+                            Tag="OrderStatusView" />
                     </StackPanel>
                     <!--#endregion-->
                     <Menu x:Name="myMenu" Visibility="Visible">

BPASmartClient/MainWindow.xaml.cs

@@ -66,6 +66,7 @@ namespace BPASmartClient
                 if(res == MessageBoxResult.OK)
                 {
                     this.Close();
+                    Application.Current.Shutdown();
                 }
                 
             };

ComputerTestDemo/ComputerTestDemo.csproj

@@ -10,7 +10,7 @@
 
   <ItemGroup>
     <PackageReference Include="BPA.Communication" Version="1.0.36" />
-    <PackageReference Include="BPA.Helper" Version="1.0.28" />
+    <PackageReference Include="BPA.Helper" Version="1.0.54" />
   </ItemGroup>
 
   <ItemGroup>

DosingSystem/App.xaml.cs

@@ -13,6 +13,13 @@ using BPASmartClient.CustomResource.Pages.View;
 using BPASmartClient.CustomResource.Pages.ViewModel;
 using BPASmartClient.DosingSystem.View;
 using BPA.Helper;
+using BPASmartClient.DosingSystem.Model;
+using System.Diagnostics;
+using System.IO;
+using BPASmartClient.Update.Model;
+using BPASmartClient.DosingSystem.ViewModel;
+using System.Drawing;
+using System.Windows.Media;
 
 namespace BPASmartClient.DosingSystem
 {
@@ -27,6 +34,22 @@ namespace BPASmartClient.DosingSystem
         protected override void OnStartup(StartupEventArgs e)
         {
             bool createNew;
+            MessageLog.GetInstance.NotifyShow = new Action<string>(o =>
+            {
+                DebugLogViewModel.MessageModels.Add(new MessageModel()
+                {
+                    LogInfo = o,
+                    Forground = System.Windows.Media.Brushes.DeepSkyBlue
+                });
+            });
+            MessageLog.GetInstance.NotifyShowEx = new Action<string>(o =>
+            {
+                DebugLogViewModel.MessageModels.Add(new MessageModel()
+                {
+                    LogInfo = o,
+                    Forground = System.Windows.Media.Brushes.Red
+                });
+            });
             ProgramStarted = new EventWaitHandle(false, EventResetMode.AutoReset, "DosingSystem", out createNew);
             if (!createNew)
             {
@@ -38,13 +61,35 @@ namespace BPASmartClient.DosingSystem
             BPASmartClient.Helper.SystemHelper.GetInstance.CreateDesktopShortcut();
             MenuInit();
             DataInit();
+            SiemensTest.GetInstance.Init();
             DeviceInquire.GetInstance.Init();//配料机设备上线监听，设备列表初始化
             MainView mv = new MainView();
-            mv.TitleName = "味魔方管理系统软件[简称：味魔方] 1.0.1";
+            mv.TitleName = $"味魔方管理系统软件[简称：味魔方] V1.0.1";
             LoginView lv = new LoginView();
             var res = lv.ShowDialog();
             if (res != null && res == true)
             {
+                #region 更新测试
+                //string directory = $"{AppDomain.CurrentDomain.BaseDirectory}AccessFile\\JSON\\UpdateModel.json";
+                //if (File.Exists(directory))
+                //    mv.TitleName = $"味魔方管理系统软件[简称：味魔方] {Json<UpdateModel>.Data.UpgradeVersion}";
+                //else
+                //{
+                //    mv.TitleName = $"味魔方管理系统软件[简称：味魔方] V1.0.1";
+                //    Task.Run(() =>
+                //    {
+                //        Thread.Sleep(3000);
+                //        var tt = MessageNotify.GetInstance.ShowDialog("检测到新版本，请问是否现在更新？", DialogType.Information);
+                //        if (tt)
+                //        {
+                //            string directory = AppDomain.CurrentDomain.BaseDirectory;
+                //            Process.Start($"{directory}BPASmartClient.Update.exe");
+                //            App.Current.Dispatcher.Invoke(() => { mv.Close(); });
+                //        }
+                //    });
+                //}
+                #endregion
+
                 BPASmartClient.CustomResource.Pages.Model.MessageNotify.GetInstance.ShowUserLog("用户登录");
                 mv.Show();
             }
@@ -148,6 +193,15 @@ namespace BPASmartClient.DosingSystem
                 AssemblyName = "BPASmartClient.DosingSystem",
                 ToggleWindowPath = "View.ConveyerBeltManualView"
             });
+
+            ManualControl.Add(new SubMenumodel()
+            {
+                SubMenuName = "配料输送带控制",
+                SubMenuPermission = new Permission[] { Permission.管理员, Permission.操作员, Permission.观察员, Permission.技术员 },
+                AssemblyName = "BPASmartClient.DosingSystem",
+                ToggleWindowPath = "View.TempManageControlView"
+            });
+
             //ManualControl.Add(new SubMenumodel()
             //{
             //    SubMenuName = "料仓控制",

DosingSystem/BPASmartClient.DosingSystem.csproj

@@ -21,7 +21,7 @@
   </ItemGroup>
 
   <ItemGroup>
-    <PackageReference Include="BPA.Helper" Version="1.0.28" />
+    <PackageReference Include="BPA.Helper" Version="1.0.54" />
     <PackageReference Include="BPA.Message" Version="1.0.86" />
     <PackageReference Include="Newtonsoft.Json" Version="13.0.1" />
   </ItemGroup>
@@ -30,6 +30,7 @@
     <ProjectReference Include="..\BPASmartClient.CustomResource\BPASmartClient.CustomResource.csproj" />
     <ProjectReference Include="..\BPASmartClient.Modbus\BPASmartClient.Modbus.csproj" />
     <ProjectReference Include="..\BPASmartClient.S7Net\BPASmartClient.S7Net.csproj" />
+    <ProjectReference Include="..\BPASmartClient.Update\BPASmartClient.Update.csproj" />
   </ItemGroup>
 
   <ItemGroup>

DosingSystem/Model/DeviceInquire.cs

@@ -87,14 +87,13 @@ namespace BPASmartClient.DosingSystem
         private void TestData()
         {
 
-            //aa(1, "盐");
-            //aa(2, "郫县豆瓣");
-            //aa(3, "芥菜");
-            //aa(4, "调味剂");
-            //aa(5, "香料");
-            //aa(6, "鸡精");
-            //aa(7, "味精");
-
+            aa(1, "盐");
+            aa(2, "郫县豆瓣");
+            aa(3, "芥菜");
+            aa(4, "调味剂");
+            aa(5, "香料");
+            aa(6, "鸡精");
+            aa(7, "味精");
             for (int i = 0; i < 8; i++)
             {
                 DeviceLists.TryAdd($"192.168.1.{i + 1}", new DeviceStatus() { DeviceName = $"测试设备{i + 1}" });
@@ -144,7 +143,7 @@ namespace BPASmartClient.DosingSystem
         {
             if (!string.IsNullOrEmpty(Json<DevicePar>.Data.BaseParModel.NetworkSegAddress)) IPSegment = Json<DevicePar>.Data.BaseParModel.NetworkSegAddress;
             else Json<DevicePar>.Data.BaseParModel.NetworkSegAddress = IPSegment;
-            //TestData();
+            TestData();
             IpAddressLines();
             SiemensDevice.GetInstance.Connect(Json<DevicePar>.Data.BaseParModel.DeviceAddress);
             DeviceDataInit();

DosingSystem/View/DeviceMaterialParView.xaml

@@ -62,8 +62,7 @@
         <Style x:Key="InputTextboxStyle" TargetType="TextBox">
             <Setter Property="Margin" Value="5,0,0,0" />
             <Setter Property="BorderThickness" Value="0" />
-            <Setter Property="HorizontalAlignment" Value="Left" />
-            <Setter Property="Width" Value="150" />
+            <Setter Property="HorizontalContentAlignment" Value="Left" />
             <Setter Property="Height" Value="40" />
             <Setter Property="CaretBrush" Value="{StaticResource TitleBorderColor}" />
             <Setter Property="Foreground" Value="{StaticResource TitleBorderColor}" />

DosingSystem/View/TempManageControlView.xaml

@@ -0,0 +1,99 @@
+<UserControl
+    x:Class="BPASmartClient.DosingSystem.View.TempManageControlView"
+    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+    xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+    xmlns:local="clr-namespace:BPASmartClient.DosingSystem.View"
+    xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+    xmlns:pry="clr-namespace:BPASmartClient.CustomResource.UserControls;assembly=BPASmartClient.CustomResource"
+    xmlns:vm="clr-namespace:BPASmartClient.DosingSystem.ViewModel"
+    d:DesignHeight="450"
+    d:DesignWidth="800"
+    mc:Ignorable="d">
+
+    <UserControl.DataContext>
+        <vm:TempManageControlViewModel />
+    </UserControl.DataContext>
+
+    <Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition />
+            <RowDefinition />
+            <RowDefinition />
+        </Grid.RowDefinitions>
+
+        <Grid Margin="8">
+            <Grid
+                Name="cy"
+                Grid.Row="0"
+                Margin="5">
+                <pry:ImageBorder
+                    Grid.RowSpan="2"
+                    Width="{Binding ElementName=cy, Path=ActualWidth}"
+                    Height="{Binding ElementName=cy, Path=ActualHeight}" />
+
+                <StackPanel Background="Transparent">
+                    <Grid Height="40">
+                        <Image
+                            Margin="2,3,0,0"
+                            HorizontalAlignment="Left"
+                            VerticalAlignment="Top"
+                            Source="/BPASmartClient.CustomResource;component/Image/标签.png" />
+                        <TextBlock
+                            Margin="10,10,0,0"
+                            VerticalAlignment="Top"
+                            FontSize="16"
+                            Foreground="Aqua"
+                            Text="{Binding Name}" />
+                        <StackPanel
+                            Margin="0,0,20,0"
+                            HorizontalAlignment="Right"
+                            Orientation="Horizontal">
+                            <TextBlock
+                                Margin="0,0,2,0"
+                                Style="{StaticResource TextBlockStyle}"
+                                Text="输送带反转控制" />
+                            <ToggleButton
+                                Width="80"
+                                Height="30"
+                                Margin="5,0,5,0"
+                                Background="Transparent"
+                                FontSize="20"
+                                IsChecked="{Binding Reversal}"
+                                Style="{StaticResource SwitchToggleButtonStyle}" />
+
+                            <TextBlock
+                                Margin="20,0,5,0"
+                                VerticalAlignment="Center"
+                                FontSize="20"
+                                Foreground="#00c2f4"
+                                Text="输送带正转控制" />
+
+                            <ToggleButton
+                                Width="80"
+                                Height="30"
+                                Margin="5,0,5,0"
+                                Background="Transparent"
+                                FontSize="20"
+                                IsChecked="{Binding Foreward}"
+                                Style="{StaticResource SwitchToggleButtonStyle}" />
+
+                        </StackPanel>
+
+                    </Grid>
+                    <Grid Name="gr" Height="200">
+                        <pry:ConveyBelt2
+                            Grid.RowSpan="4"
+                            Margin="-12,0,10,0"
+                            BeltDashThickess="50"
+                            BeltDirection="{Binding BeltDirection}"
+                            BeltHeight="{Binding ElementName=gr, Path=ActualHeight}"
+                            BeltWidth="{Binding ElementName=gr, Path=ActualWidth}"
+                            IsRun="{Binding IsRun}" />
+                    </Grid>
+                </StackPanel>
+            </Grid>
+        </Grid>
+
+    </Grid>
+</UserControl>

DosingSystem/View/TempManageControlView.xaml.cs

@@ -0,0 +1,28 @@
+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.DosingSystem.View
+{
+    /// <summary>
+    /// TempManageControlView.xaml 的交互逻辑
+    /// </summary>
+    public partial class TempManageControlView : UserControl
+    {
+        public TempManageControlView()
+        {
+            InitializeComponent();
+        }
+    }
+}

DosingSystem/ViewModel/TempManageControlViewModel.cs

@@ -0,0 +1,115 @@
+using BPA.Helper;
+using BPASmartClient.S7Net;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.DosingSystem.ViewModel
+{
+    public class TempManageControlViewModel : NotifyBase
+    {
+        public TempManageControlViewModel()
+        {
+
+        }
+
+        /// <summary>
+        /// 正转
+        /// </summary>
+        public bool Foreward
+        {
+            get { return _mForeward; }
+            set
+            {
+                _mForeward = value;
+                BeltDirection = 0;
+                IsRun = _mForeward;
+                OnPropertyChanged();
+                Task.Factory.StartNew(() =>
+                {
+                    if (Reversal || !_mForeward)
+                    {
+                        SiemensTest.GetInstance.sh.Write("M1000.1", true);
+                        Thread.Sleep(2000);
+                        SiemensTest.GetInstance.sh.Write("M1000.1", false);
+                    }
+                    if (_mForeward)
+                    {
+                        SiemensTest.GetInstance.sh.Write("M1000.0", true);
+                        Thread.Sleep(2000);
+                        SiemensTest.GetInstance.sh.Write("M1000.0", false);
+                    }
+                });
+            }
+        }
+        private bool _mForeward;
+
+        /// <summary>
+        /// 反转
+        /// </summary>
+        public bool Reversal
+        {
+            get { return _mReversal; }
+            set
+            {
+                _mReversal = value;
+                BeltDirection = 1;
+                IsRun = _mReversal;
+                OnPropertyChanged();
+                Task.Factory.StartNew(() =>
+                {
+                    if (Foreward || !_mReversal)
+                    {
+                        SiemensTest.GetInstance.sh.Write("M1000.1", true);
+                        Thread.Sleep(2000);
+                        SiemensTest.GetInstance.sh.Write("M1000.1", false);
+                    }
+                    if (_mReversal)
+                    {
+                        SiemensTest.GetInstance.sh.Write("M1000.3", true);
+                        Thread.Sleep(2000);
+                        SiemensTest.GetInstance.sh.Write("M1000.3", false);
+                    }
+                });
+            }
+        }
+        private bool _mReversal;
+
+        public bool IsRun { get { return _mIsRun; } set { _mIsRun = value; OnPropertyChanged(); } }
+        private bool _mIsRun;
+
+
+        public int BeltDirection { get { return _mBeltDirection; } set { _mBeltDirection = value; OnPropertyChanged(); } }
+        private int _mBeltDirection;
+
+    }
+
+    public class SiemensTest
+    {
+
+        private volatile static SiemensTest _Instance;
+        public static SiemensTest GetInstance => _Instance ?? (_Instance = new SiemensTest());
+        private SiemensTest() { }
+
+        public SiemensHelper sh { get; set; } = new SiemensHelper();
+
+        public void Init()
+        {
+            Task.Run(() =>
+            {
+                //sh.Connect(S7.Net.CpuType.S71500, "192.168.1.12");
+                sh.Connect(S7.Net.CpuType.S71200, "192.168.0.15");
+                if (sh.IsConnected)
+                    MessageLog.GetInstance.Show("西门子PLC连接成功");
+                else
+                    MessageLog.GetInstance.Show("西门子PLC连接失败");
+            });
+            //sh.Connect(S7.Net.CpuType.S71500, "192.168.1.12");
+            //sh.Connect(S7.Net.CpuType.S71200, "192.168.0.15");
+        }
+
+    }
+}

SmartClient.sln

@@ -212,6 +212,8 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.RobotGripper
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MilkTeaCube", "BPASmartClient.MilkTeaCube\BPASmartClient.MilkTeaCube.csproj", "{915F0718-B7AC-428D-ACD5-7DAACC28539F}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.Update", "BPASmartClient.Update\BPASmartClient.Update.csproj", "{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -1986,6 +1988,26 @@ Global
 		{915F0718-B7AC-428D-ACD5-7DAACC28539F}.Release|x64.Build.0 = Release|Any CPU
 		{915F0718-B7AC-428D-ACD5-7DAACC28539F}.Release|x86.ActiveCfg = Release|Any CPU
 		{915F0718-B7AC-428D-ACD5-7DAACC28539F}.Release|x86.Build.0 = Release|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Debug|ARM.ActiveCfg = Debug|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Debug|ARM.Build.0 = Debug|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Debug|ARM64.ActiveCfg = Debug|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Debug|ARM64.Build.0 = Debug|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Debug|x64.Build.0 = Debug|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Debug|x86.Build.0 = Debug|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Release|Any CPU.Build.0 = Release|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Release|ARM.ActiveCfg = Release|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Release|ARM.Build.0 = Release|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Release|ARM64.ActiveCfg = Release|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Release|ARM64.Build.0 = Release|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Release|x64.ActiveCfg = Release|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Release|x64.Build.0 = Release|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Release|x86.ActiveCfg = Release|Any CPU
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7}.Release|x86.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -2084,6 +2106,7 @@ Global
 		{B38F72AE-3C15-4C4E-A47E-DB2B9B318F02} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F}
 		{5EBC34EB-4EE8-4C70-BAAA-C7F637D5E10F} = {666CB1A9-562E-453A-A2C7-FD9D77CFDFDD}
 		{915F0718-B7AC-428D-ACD5-7DAACC28539F} = {666CB1A9-562E-453A-A2C7-FD9D77CFDFDD}
+		{CB3E9835-2FF2-4A76-A0EE-0819EEC8CAE7} = {8712125E-14CD-4E1B-A1CE-4BDE03805942}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {9AEC9B81-0222-4DE9-B642-D915C29222AC}

WpfApp1/App.xaml

@@ -1,9 +1,8 @@
-<Application x:Class="WpfApp1.App"
-             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
-             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
-             xmlns:local="clr-namespace:WpfApp1"
-             StartupUri="MainWindow.xaml">
-    <Application.Resources>
-         
-    </Application.Resources>
+<Application
+    x:Class="WpfApp1.App"
+    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+    xmlns:local="clr-namespace:WpfApp1"
+    StartupUri="MainWindow.xaml">
+    <Application.Resources />
 </Application>

WpfApp1/MainWindow.xaml

@@ -1,12 +1,29 @@
-<Window x:Class="WpfApp1.MainWindow"
-        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
-        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
-        xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
-        xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
-        xmlns:local="clr-namespace:WpfApp1"
-        mc:Ignorable="d"
-        Title="MainWindow" Height="450" Width="800">
+<Window
+    x:Class="WpfApp1.MainWindow"
+    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+    xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+    xmlns:local="clr-namespace:WpfApp1"
+    xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+    Title="MainWindow"
+    Width="800"
+    Height="450"
+    mc:Ignorable="d">
     <Grid>
-
+        <Button
+            Width="100"
+            Height="30"
+            Margin="36,24,664,381"
+            Content="连接" Click="Button_Click" />
+        <Button
+            Width="100"
+            Height="30"
+            Margin="167,24,533,381"
+            Content="上电" Click="Button_Click_1" />
+        <Button
+            Width="100"
+            Height="30"
+            Margin="300,24,400,381"
+            Content="使能" Click="Button_Click_2" />
     </Grid>
 </Window>

WpfApp1/MainWindow.xaml.cs

@@ -12,6 +12,7 @@ using System.Windows.Media;
 using System.Windows.Media.Imaging;
 using System.Windows.Navigation;
 using System.Windows.Shapes;
+using BPASmartClient.JakaRobot;
 using BPASmartClient.S7Net;
 
 namespace WpfApp1
@@ -24,67 +25,87 @@ namespace WpfApp1
         public MainWindow()
         {
             InitializeComponent();
-            SiemensHelper siemensHelper = new SiemensHelper();
-            siemensHelper.Connect(S7.Net.CpuType.S71200, "192.168.101.16");
-            if (siemensHelper.IsConnected)
-            {
-                siemensHelper.WriteString(S7.Net.DataType.DataBlock, 1, 0, "cccc");
-                var res = siemensHelper.ReadClass<XL_Start_DB>(1);
+            //SiemensHelper siemensHelper = new SiemensHelper();
+            //siemensHelper.Connect(S7.Net.CpuType.S71200, "192.168.101.16");
+            //if (siemensHelper.IsConnected)
+            //{
+            //    siemensHelper.WriteString(S7.Net.DataType.DataBlock, 1, 0, "cccc");
+            //    var res = siemensHelper.ReadClass<XL_Start_DB>(1);
 
-                //XL_Start_DB xL_Start_DB = new XL_Start_DB();
-                //xL_Start_DB.RecipeCode = "编码";
-                //xL_Start_DB.RecipeName = "名称";
-                //xL_Start_DB.StockCode = 1;
-                //xL_Start_DB.TrayCode = 2;
-                //for (int i = 0; i < xL_Start_DB.Powder.Length; i++)
-                //{
-                //    xL_Start_DB.Powder[i].Powder_Name = $"料{i}";
-                //    xL_Start_DB.Powder[i].Powder_Weight = (float)(5.0 + i);
-                //}
-                //for (int i = 0; i < xL_Start_DB.Material.Length; i++)
-                //{
-                //    xL_Start_DB.Material[i].Material_Name = $"原料{i}";
-                //    xL_Start_DB.Material[i].Material_Weight = (float)(50.0 + i);
-                //    xL_Start_DB.Material[i].Material_BarrelNum = (short)(i + 1);
-                //}
-                //xL_Start_DB.Order_Request_ACK = true;
-                //xL_Start_DB.Order_Request = true;
+            //    //XL_Start_DB xL_Start_DB = new XL_Start_DB();
+            //    //xL_Start_DB.RecipeCode = "编码";
+            //    //xL_Start_DB.RecipeName = "名称";
+            //    //xL_Start_DB.StockCode = 1;
+            //    //xL_Start_DB.TrayCode = 2;
+            //    //for (int i = 0; i < xL_Start_DB.Powder.Length; i++)
+            //    //{
+            //    //    xL_Start_DB.Powder[i].Powder_Name = $"料{i}";
+            //    //    xL_Start_DB.Powder[i].Powder_Weight = (float)(5.0 + i);
+            //    //}
+            //    //for (int i = 0; i < xL_Start_DB.Material.Length; i++)
+            //    //{
+            //    //    xL_Start_DB.Material[i].Material_Name = $"原料{i}";
+            //    //    xL_Start_DB.Material[i].Material_Weight = (float)(50.0 + i);
+            //    //    xL_Start_DB.Material[i].Material_BarrelNum = (short)(i + 1);
+            //    //}
+            //    //xL_Start_DB.Order_Request_ACK = true;
+            //    //xL_Start_DB.Order_Request = true;
 
-                //for (int i = 0; i < xL_Start_DB.Standby.Length; i++)
-                //{
-                //    xL_Start_DB.Standby[i] = (short)(i + 100);
-                //    xL_Start_DB.Standby1[i] = (short)(i + 300);
-                //}
+            //    //for (int i = 0; i < xL_Start_DB.Standby.Length; i++)
+            //    //{
+            //    //    xL_Start_DB.Standby[i] = (short)(i + 100);
+            //    //    xL_Start_DB.Standby1[i] = (short)(i + 300);
+            //    //}
 
-                res.RecipeCode = "";
-                res.RecipeName = "";
-                res.StockCode = 0;
-                res.TrayCode = 0;
-                for (int i = 0; i < res.Powder.Length; i++)
-                {
-                    res.Powder[i].Powder_Name = "";
-                    res.Powder[i].Powder_Weight = 0;
-                }
-                for (int i = 0; i < res.Material.Length; i++)
-                {
-                    res.Material[i].Material_Name = "";
-                    res.Material[i].Material_Weight = 0;
-                    res.Material[i].Material_BarrelNum = 0;
-                }
-                res.Order_Request_ACK = false;
-                res.Order_Request = false;
+            //    res.RecipeCode = "";
+            //    res.RecipeName = "";
+            //    res.StockCode = 0;
+            //    res.TrayCode = 0;
+            //    for (int i = 0; i < res.Powder.Length; i++)
+            //    {
+            //        res.Powder[i].Powder_Name = "";
+            //        res.Powder[i].Powder_Weight = 0;
+            //    }
+            //    for (int i = 0; i < res.Material.Length; i++)
+            //    {
+            //        res.Material[i].Material_Name = "";
+            //        res.Material[i].Material_Weight = 0;
+            //        res.Material[i].Material_BarrelNum = 0;
+            //    }
+            //    res.Order_Request_ACK = false;
+            //    res.Order_Request = false;
 
-                for (int i = 0; i < res.Standby.Length; i++)
-                {
-                    res.Standby[i] = 0;
-                    res.Standby1[i] = 0;
-                }
+            //    for (int i = 0; i < res.Standby.Length; i++)
+            //    {
+            //        res.Standby[i] = 0;
+            //        res.Standby1[i] = 0;
+            //    }
 
-                siemensHelper.WriteClass<XL_Start_DB>(res, 1);
+            //    siemensHelper.WriteClass<XL_Start_DB>(res, 1);
 
-                var res1 = siemensHelper.ReadClass<XL_Start_DB>(1);
-            }
+            //    var res1 = siemensHelper.ReadClass<XL_Start_DB>(1);
+            //}
 
         }
+
+        JaKaHelper jaKaHelper = new JaKaHelper();
+
+        private void Button_Click(object sender, RoutedEventArgs e)
+        {
+            jaKaHelper.Conn("192.168.0.12");
+            MessageBox.Show($"连接成功,{jaKaHelper.rshd}");
+        }
+
+        private void Button_Click_1(object sender, RoutedEventArgs e)
+        {
+            jaKaHelper.Power_On();
+            MessageBox.Show($"上电成功,{jaKaHelper.rshd}");
+        }
+
+        private void Button_Click_2(object sender, RoutedEventArgs e)
+        {
+            jaKaHelper.Enable_robot();
+            MessageBox.Show($"使能成功,{jaKaHelper.rshd}");
+        }
     }
 }

WpfApp1/WpfApp1.csproj

@@ -8,6 +8,7 @@
   </PropertyGroup>
 
   <ItemGroup>
+    <ProjectReference Include="..\BPASmartClient.JakaRobot\BPASmartClient.JakaRobot.csproj" />
     <ProjectReference Include="..\BPASmartClient.S7Net\BPASmartClient.S7Net.csproj" />
   </ItemGroup>