morkBF

BPASmartClient.Model/大炒/FryPotMessages.cs

@@ -1,4 +1,5 @@
-using System;
+using Microsoft.Toolkit.Mvvm.ComponentModel;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
@@ -11,15 +12,23 @@ namespace BPASmartClient.Model.大炒
         public string GoodName { get; set; }
         public string GoodKey { get; set; }
         public List<FryPotProcess> fryPotProcesses { get; set; } = new List<FryPotProcess>();
-        public int FryOffStirTime;//关火翻炒时间;
+        /// <summary>
+        /// 翻转速度0到800
+        /// </summary>
+        public int TurnSpeed { get; set; } = 0;
+        /// <summary>
+        /// 关火翻炒时间;
+        /// </summary>
+        public int FryOffStirTime;
     }
 
-    public class FryPotProcess
+    public class FryPotProcess:ObservableObject
     {
         /// <summary>
         /// 步骤
         /// </summary>
-        public int FryTime { get; set; }
+        public int FryTime { get { return _fryTime; } set { _fryTime = value; OnPropertyChanged(); } }
+        private int _fryTime;
         /// <summary>
         /// 动作
         /// </summary>
@@ -36,10 +45,7 @@ namespace BPASmartClient.Model.大炒
         /// 搅拌挡位 小炒1-10 大炒1-5
         /// </summary>
         public int StirGear { get; set; } = 0;
-        /// <summary>
-        /// 翻转速度0到800
-        /// </summary>
-        public int TurnSpeed { get; set; }= 0;
+       
         /// <summary>
         /// 炒制位置1到4
         /// </summary>
@@ -67,8 +73,8 @@ namespace BPASmartClient.Model.大炒
     {
         冷锅加热,
         热油,
-        加调料,
-        加辅料,
+        机器人加调料,
+        通道出调料,
         炒制菜品,
         
     }

BPASmartClient.Model/大炒/RobotActionModel.cs

@@ -9,24 +9,67 @@ namespace BPASmartClient.Model.大炒
     public class RobotAction_Pot
     {
         public int Pot { get; set; }
-        public RobotActionModel robotActionModel { get; set; }
+        public MainTask MainTask { get; set; }
+        public SubTask1 subTask1 { get; set; } = 0;
+        public SubTask2 subTask2 { get; set; } = 0;
+        public SubTask3 subTask3 { get; set; } = 0;
+        public SubTask4 subTask4 { get; set; } = 0;
     }
 
-    public enum RobotActionModel
+
+    public enum MainTask
+    {
+        无任务,
+        机器人炒制任务,
+        机器人补料任务,
+    }
+    public enum SubTask1
     {
         无任务,
-        取1号炒锅荤菜盆倒1号炒锅,
-        取1号炒锅素菜盆1倒1号炒锅,
-        取1号炒锅素菜盆2倒1号炒锅,
-        取1号炒锅调料盆倒入1号炒锅,
-        取1号炒锅辅料盆1倒入1号炒锅,
-        取1号空盆出餐,
+        机器人取1号菜盆,
+        机器人取2号菜盆,
+        机器人取3号菜盆,
+        机器人取4号菜盆,
+        机器人取5号菜盆,
+        机器人取6号菜盆,
+        机器人取7号菜盆,
+        机器人取8号菜盆,
+        机器人取9号菜盆,
+        机器人取1号调料,
+        机器人取2号调料,
+        机器人取3号调料,
+        机器人取4号调料,
+        机器人取5号调料,
+        机器人取6号调料,
+        机器人取1号空盆,
+        机器人取2号空盆,
+        机器人取3号空盆,
+        机器人取4号空盆,
 
-        取2号炒锅荤菜盆1倒2号炒锅 = 20,
-        取2号炒锅素菜盆1倒2号炒锅 = 21,
-        取2号炒锅素菜盆2倒2号炒锅 =22,
-        取2号炒锅调料盆倒入2号炒锅 =23,
-        取2号炒锅辅料盆1倒入2号炒锅 =24,
-        取2号空盆出餐 =25,
     }
+    public enum SubTask2
+    {
+        无任务,
+        倒料至1号锅,
+        倒料至2号锅,
+    }
+
+    public enum SubTask3
+    {
+        无任务,
+        机器人上料口取料
+    }
+    public enum SubTask4
+    {
+        无任务,
+        放盆至1号库位,
+        放盆至2号库位,
+        放盆至3号库位,
+        放盆至4号库位,
+        放盆至5号库位,
+        放盆至6号库位,
+        放盆至7号库位,
+        放盆至8号库位,
+    }
+
 }

BPASmartClient.MorkBF/Control_MorkBF.cs

@@ -51,6 +51,7 @@ namespace BPASmartClient.MorkBF
             DataParse();//数据解析
             ScreenDataServer();//大屏数据上报
             ActionManage.GetInstance.Send("更新菜单");
+            ThreadManage.GetInstance().Start(FirePot1_Process, "炒锅1流程");
             DeviceProcessLogShow("MORKF 设备初始化完成");
         }
 
@@ -64,9 +65,7 @@ namespace BPASmartClient.MorkBF
                     if (order.MorkOrder.GoodBatchings == null) return;
                     OrderCount++;
                     DeviceProcessLogShow($"接收到{OrderCount}次订单");
-                    
                 }
-
             });
         }
 
@@ -122,17 +121,8 @@ namespace BPASmartClient.MorkBF
             ActionManage.GetInstance.Register(FirePot_PotReversal, "FirePot_PotReversal");//翻转反转
             #endregion
             #region 机器人
-            ActionManage.GetInstance.Register(RobotStart, "RobotStart");//机器人启动
-            ActionManage.GetInstance.Register(RobotStop, "RobotStop");//机器人停止
-            ActionManage.GetInstance.Register(RobotReset, "RobotReset");//复位
-            ActionManage.GetInstance.Register(RobotProgramStart, "RobotProgramStart");//程序启动
-            ActionManage.GetInstance.Register(Robot_Pot1AllowInMaterail, "Robot_Pot1AllowInMaterail");//1号炒锅允许机器人投料
-            ActionManage.GetInstance.Register(Robot_Pot1OutFoodInSlowDown, "Robot_Pot1OutFoodInSlowDown");//1号炒锅出餐倒料到减速位
-            ActionManage.GetInstance.Register(Robot_Pot1OutFood, "Robot_Pot1OutFoodInSlowDown");//1号炒锅出餐倒料完成
-            ActionManage.GetInstance.Register(Robot_Pot2AllowInMaterail, "Robot_Pot2AllowInMaterail");//2号炒锅允许机器人投料
-            ActionManage.GetInstance.Register(Robot_Pot2OutFoodInSlowDown, "Robot_Pot2OutFoodInSlowDown");//2号炒锅出餐倒料到减速位
-            ActionManage.GetInstance.Register(Robot_Pot2OutFood, "Robot_Pot2OutFood");//2号炒锅出餐倒料完成
-            ActionManage.GetInstance.Register(RobotActionStart, "Robot_Pot2OutFood");//2号炒锅出餐倒料完成
+            
+            ActionManage.GetInstance.Register(RobotAction, "RobotAction");//上使能
 
 
             #endregion
@@ -141,12 +131,8 @@ namespace BPASmartClient.MorkBF
 
         public override void MainTask()
         {
-            if(morkBF.FirePan1_Order.Count>0&& morkBF.FirePot1_InitCompleted&&morkBF.FirePot2_IsAuto&&!morkBF.FirePan1_Busy)
-            {
-                ThreadManage.GetInstance().Start(FirePot1_Process, "炒锅1流程");
-            }
-
-            if(morkBF.RobotActinQueue.Count>0&&! morkBF.Robot_Origin)//机器人在原点为
+            
+            if(morkBF.RobotActinQueue.Count>0&&! morkBF.Robot_Start)//机器人启动
             {
                if( morkBF.RobotActinQueue.TryDequeue(out RobotAction_Pot robotAction))
                {
@@ -158,44 +144,48 @@ namespace BPASmartClient.MorkBF
 
         private void FirePot1_Process()
         {
-            
-            if(morkBF.FirePan1_Order.TryDequeue(out FryPotMessages result))
+            if (morkBF.FirePan1_Order.Count > 0 && morkBF.FirePot1_InitCompleted && morkBF.FirePot2_IsAuto && !morkBF.FirePan1_Busy)
             {
-
-                morkBF.FirePan1_Busy = true;
-                morkBF.FryPot1_CurrentProcess = result.fryPotProcesses;
-                foreach (var item in result.fryPotProcesses)
+                if (morkBF.FirePan1_Order.TryDequeue(out FryPotMessages result))
                 {
-                    switch (item.fryActions)
+
+                    morkBF.FirePan1_Busy = true;
+                    morkBF.FryPot1_CurrentProcess = result.fryPotProcesses;
+                    foreach (var item in result.fryPotProcesses)
                     {
-                        case FryAction.冷锅加热:
-                            FirePot_PotPerHeat(item, 1);
-                            MessageLog.GetInstance.Show("炒锅1---冷锅加热完成");
-                            break;
-
-                        case FryAction.热油:
-                            FirePot_HeatOil(item,1);
-                            MessageLog.GetInstance.Show("炒锅1---热油完成");
-                            break;
-                        case FryAction.加调料:
-                            FirePot_AddSeasoning(item, 1);
-                            MessageLog.GetInstance.Show("炒锅1---加调料完成");
-                            break;
-                        case FryAction.加辅料:
-                            FirePot_AddAccessories(item,1);
-                            MessageLog.GetInstance.Show("炒锅1---加辅料完成");
-                            break;
-                        case FryAction.炒制菜品:
-                            FirePot_FryFood(item,1);
-                            MessageLog.GetInstance.Show("炒锅1---炒制菜品完成");
-                            break;
-
-                        default:
-                            break;
+                        switch (item.fryActions)
+                        {
+                            case FryAction.冷锅加热:
+                                FirePot_PotPerHeat(item, 1);
+                                MessageLog.GetInstance.Show("炒锅1---冷锅加热完成");
+                                break;
+                            case FryAction.热油:
+                                FirePot_HeatOil(item, 1);
+                                MessageLog.GetInstance.Show("炒锅1---热油完成");
+                                break;
+                            case FryAction.机器人加调料:
+                                FirePot_RobotGetSeasoning(item, 1);
+                                MessageLog.GetInstance.Show("炒锅1---机器人加调料完成");
+                                break;
+                            case FryAction.通道出调料:
+                                FirePot_PasswayOutSeasoning(item, 1);
+                                MessageLog.GetInstance.Show("炒锅1---通道出调料完成");
+                                break;
+                            case FryAction.炒制菜品:
+                                FirePot_FryFood(item, 1);
+                                MessageLog.GetInstance.Show("炒锅1---炒制菜品完成");
+                                break;
+                            default:
+                                break;
+                        }
                     }
+                    FirePot_StartFire(new object[] { 1, false });//关火
+                    Thread.Sleep(result.FryOffStirTime*1000);//关火翻炒时间
+                    FirePot_StartStir(new object[] { 1, false });//关闭搅拌
+                    Message.MessageLog.GetInstance.Show($"炒锅1炒制{result.GoodName}完成");
+
                 }
-                
-            }
+            } 
         }
 
         private void FirePot2_Process()
@@ -206,13 +196,21 @@ namespace BPASmartClient.MorkBF
 
         #region 炒锅流程功能
 
-        private bool IsRobotNextWork(List<FryPotProcess> currentProcess, int currentFryTime)
+        /// <summary>
+        /// 判断下个动作是否需要机器人
+        /// </summary>
+        /// <param name="i"></param>
+        /// <param name="currentFryTime"></param>
+        /// <returns></returns>
+        private bool IsRobotNextWork(int i, int currentFryTime)
         {
             bool res = false;
-            if(currentProcess.Count> currentFryTime)
+            List<FryPotProcess> currentProcess = new List<FryPotProcess>();
+            currentProcess = i == 1 ? morkBF.FryPot1_CurrentProcess: morkBF.FryPot2_CurrentProcess;
+            
+            if (currentProcess.Count> currentFryTime)
             {
-                if (currentProcess[currentFryTime + 1].fryActions == FryAction.加调料 ||
-                    currentProcess[currentFryTime + 1].fryActions == FryAction.加辅料 ||
+                if (currentProcess[currentFryTime + 1].fryActions == FryAction.机器人加调料 ||
                     currentProcess[currentFryTime + 1].fryActions == FryAction.炒制菜品)
                 {
                     res =  true;
@@ -227,19 +225,11 @@ namespace BPASmartClient.MorkBF
         private void FirePot_PotPerHeat(FryPotProcess item,int i)
         {
             bool isRobotWork = false;
-            if(i == 1)//炒锅1
-            {
-                //FirePot1_SetFireGear(item.FryGear);
-                Thread.Sleep(200);
-                //FirePot1_StartFire(true);
-                isRobotWork = IsRobotNextWork(morkBF.FryPot1_CurrentProcess,item.FryTime);
-            }
-            else if(i == 2)//炒锅2
-            {
-                //FirePot2_SetFireGear(item.FryGear);
-                //FirePot2_StartFire(true);
-                isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
-            }
+           
+            FirePot_SetFireGear(new object[]{ i, item.FryGear});//设定加热挡位
+            FirePot_StartFire(new object[] { i, true });
+            isRobotWork = IsRobotNextWork(i,item.FryTime);//下个流程动作是否需要机器人
+
             if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
             else Thread.Sleep(item.FryDuration * 1000);
 
@@ -254,91 +244,66 @@ namespace BPASmartClient.MorkBF
             bool isRobotWork = false;
             if (item.FryGear != 0)
             {
-               /* FirePot1_SetFireGear(item.FryGear);*///设定加热挡位
-                //FirePot1_StartFire(true);//开启加热
-                //isRobotWork = IsRobotNextWork(morkBF.FryPot1_CurrentProcess, item.FryTime);
+                FirePot_SetFireGear(new object[] { i, item.FryGear });//设定加热挡位
+                FirePot_StartFire(new object[] { i, true });
             }
             if (item.StirGear != 0) 
             {
-                //FirePot1_SetStirGear(item.StirGear);//设定搅拌挡位
-                //FirePot1_StartFire(true);//开启搅拌
-                isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
+                FirePot_SetStirGear(new object[] { i, item.StirGear });//设定搅拌挡位
+                FirePot_StartStir(new object[] { i, true });
+
             }
+            isRobotWork = IsRobotNextWork(i, item.FryTime);
             if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
             else Thread.Sleep(item.FryDuration * 1000);//加热时间;
         }
 
         /// <summary>
-        /// 加调料
+        /// 通道出调料
         /// </summary>
-        private void FirePot_AddSeasoning(FryPotProcess item,int i)
+        private void FirePot_PasswayOutSeasoning(FryPotProcess item,int i)
         {
-
-            if(i == 1)
-            {
-                    
-                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot =1,robotActionModel = RobotActionModel.取1号炒锅调料盆倒入1号炒锅});
-                Thread.Sleep(item.FryDuration);
-
-            }
-
-            else if(i == 2)
+            foreach(var acc in item.accessories)
             {
-                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = RobotActionModel.取2号炒锅调料盆倒入2号炒锅 });
-                Thread.Sleep(item.FryDuration);
+                FirePot_StartPassWay(new object[] { i, acc.Loc, acc.Qry });
             }
-           
         }
 
         /// <summary>
-        /// 加辅料
+        /// 机器人取调料
         /// </summary>
-        private void FirePot_AddAccessories(FryPotProcess item, int i)
+        private void FirePot_RobotGetSeasoning(FryPotProcess item, int i)
         {
-            if (i == 1)
-            {
-                
-                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 1, robotActionModel = RobotActionModel.取1号炒锅辅料盆1倒入1号炒锅 });
-                Thread.Sleep(item.FryDuration);
-
-            }
 
-            else if (i == 2)
+            morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot
             {
-                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = RobotActionModel.取2号炒锅辅料盆1倒入2号炒锅 });
-                Thread.Sleep(item.FryDuration);
-            }
-
+                Pot = i,
+                MainTask = BPASmartClient.Model.大炒.MainTask.机器人炒制任务,
+                subTask1 = (SubTask1)item.accessories[0].Loc + 9,
+                subTask2 = (SubTask2)i
+            });
         }
 
+
+
         /// <summary>
         /// 炒制菜品
         /// </summary>
         private void FirePot_FryFood(FryPotProcess item, int i)
         {
             bool isRobotWork = false;
-            if (i == 1)
+            morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot 
             {
-                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 1, robotActionModel = (RobotActionModel)item.accessories[0].Loc });
-                while (!morkBF.FirePot1_CompleteSingle[item.accessories[0].Loc])//取菜信号是否完成
-                {
-                    Thread.Sleep(100);
-                }
-                isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
-               
-
-            }
-
-            else if (i == 2)
+                Pot = i,
+                MainTask = BPASmartClient.Model.大炒.MainTask.机器人炒制任务,
+                subTask1 = (SubTask1)item.accessories[1].Loc,
+                subTask2 =(SubTask2)i
+            });
+            while (!morkBF.FirePot1_CompleteSingle[item.accessories[0].Loc])//取菜信号是否完成
             {
-                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = (RobotActionModel)(item.accessories[0].Loc+19) });//炒制菜品位置
-                while (!morkBF.FirePot2_CompleteSingle[item.accessories[0].Loc])//取菜信号是否完成
-                {
-                    Thread.Sleep(100);
-                }
-                isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
-               
+                Thread.Sleep(100);
             }
+            isRobotWork = IsRobotNextWork(i, item.FryTime);
             if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
             else Thread.Sleep(item.FryDuration * 1000);//加热时间;
         }
@@ -350,76 +315,50 @@ namespace BPASmartClient.MorkBF
         /// <param name="robotAction"></param>
         private void RobotProcess(RobotAction_Pot robotAction)
         {
-            Robot_Write("GI0",(int)robotAction.robotActionModel);
-            while (morkBF.Robot_ActionCallback != (int)robotAction.robotActionModel)//机器人动作执行完动作反馈
+            Robot_Write("GI0", (int)robotAction.MainTask);//设定机器人主要任务
+            while(morkBF.Robot_GI0ActionCallback != (int)robotAction.MainTask)//等待主程序完成反馈
             {
-                Thread.Sleep(100);
+                Thread.Sleep(300);
             }
-            if(robotAction.Pot == 1)//炒锅1
+            if((int)robotAction.subTask1>0)//任务1
             {
-                if (robotAction.robotActionModel == RobotActionModel.取1号空盆出餐)
-                {
-                    Robot_Write("GM520", true);//机器人去出餐倒料减速位置
-                    while(!morkBF.Robot_ArriveFirePot1)//机器人到位，请求1#炒锅倒菜
-                    {
-                        Thread.Sleep(100);
-                    }
-                    FirePot_StartOutFood(1);//炒锅出餐;
-                    while (!morkBF.FirePot1_PotOnOutFoodPosition)//炒锅在出餐倒料位置反馈
-                    {
-                        Thread.Sleep(1000);
-                    }
-                    Thread.Sleep(6 * 1000);//等待6s出餐
-                    Robot_Write("GM521", true);//机器人出餐到料完成
-
-                }
-                else
+                Robot_Write("GI1", (int)robotAction.subTask1);
+                Thread.Sleep(1000);
+                while (morkBF.Robot_GI1ActionCallback != (int)robotAction.subTask1)//等待子程序1完成反馈
                 {
-                    //FirePot_Write("M11.6", true);//炒锅去投料位置
-                    while (!morkBF.FirePot1_PotOnIntoFoodPosition)//等待炒锅允许倒料
-                    {
-                        Thread.Sleep(100);
-                    }
-                    Robot_Write("GM531", true);//机器人投料
+                    Thread.Sleep(300);
                 }
-              
             }
-            else if (robotAction.Pot == 2)
+            if ((int)robotAction.subTask2 > 0)//任务2
             {
-                if (robotAction.robotActionModel == RobotActionModel.取1号空盆出餐)
+                Robot_Write("GI2", (int)robotAction.subTask2);
+                Thread.Sleep(1000);
+                while (morkBF.Robot_GI2ActionCallback != (int)robotAction.subTask2)//等待子程序2完成反馈
                 {
-                    Robot_Write("GM522", true);//炒锅去出餐倒料减速位置
-                    while (!morkBF.Robot_ArriveFirePot2)//机器人到位，请求1#炒锅倒菜
-                    {
-                        Thread.Sleep(100);
-                    }
-                    FirePot_StartOutFood(2);//炒锅去出餐倒料位置
-                    while (!morkBF.FirePot2_PotOnOutFoodPosition)//炒锅在出餐倒料位置反馈
-                    {
-                        Thread.Sleep(1000);
-                    }
-                    Thread.Sleep(6 * 1000);//等待20s出餐
-                    Robot_Write("GM523", true);//机器人出餐倒料完成
-
+                    Thread.Sleep(300);
                 }
-                else
+            }
+            if ((int)robotAction.subTask3 > 0)//任务3
+            {
+                Robot_Write("GI3", (int)robotAction.subTask3);
+                Thread.Sleep(1000);
+                while (morkBF.Robot_GI3ActionCallback != (int)robotAction.subTask3)//等待子程序3完成反馈
                 {
-                    //FirePot_Write("M16.7", true);
-                    while (!morkBF.FirePot2_PotOnIntoFoodPosition)
-                    {
-                        Thread.Sleep(100);
-                    }
-                    Robot_Write("GM531", true);
+                    Thread.Sleep(300);
                 }
-               
             }
-            
-            while(!morkBF.Robot_Origin)
+            if ((int)robotAction.subTask4 > 0)//任务4
             {
+                Robot_Write("GI4", (int)robotAction.subTask4);
                 Thread.Sleep(1000);
+                while (morkBF.Robot_GI4ActionCallback != (int)robotAction.subTask4)//等待主程序4完成反馈
+                {
+                    Thread.Sleep(300);
+                }
             }
-            morkBF.Robot_IsBusy = false;
-            MessageLog.GetInstance.Show($"机器人完成[{robotAction.robotActionModel.ToString()}]任务");
+
+
+            MessageLog.GetInstance.Show($"机器人完成[{robotAction.MainTask.ToString()}]任务");
         }
 
         public override void ReadData()
@@ -501,45 +440,7 @@ namespace BPASmartClient.MorkBF
 
                 }
             }), 0);
-            GetStatus("GM500", new Action<object>((o) =>
-            {
-                if (o == null) return;
-                if (o is bool[] values && values.Length == 7)
-                {
-
-                    morkBF.FirePot1_CompleteSingle[0] = values[0];
-                    morkBF.FirePot1_CompleteSingle[1] = values[1];
-                    morkBF.FirePot1_CompleteSingle[2] = values[2];
-                    morkBF.Robot_FirePot1OutSeasoning = values[3];
-                    morkBF.Robot_FirePot1OutAccessories = values[4];
-                    morkBF.Robot_ArriveFirePot1 = values[5];
-                    morkBF.Robot_FirePot1OutFoodComplete = values[6];
-
-                }
-            }), 1);
-            GetStatus("GM510", new Action<object>((o) =>
-            {
-                if (o == null) return;
-                if (o is bool[] values && values.Length == 7)
-                {
-                    morkBF.FirePot2_CompleteSingle[0] = values[0];
-                    morkBF.FirePot2_CompleteSingle[1] = values[1];
-                    morkBF.FirePot2_CompleteSingle[2] = values[2];
-                    morkBF.Robot_FirePot2OutSeasoning = values[3];
-                    morkBF.Robot_FirePot2OutAccessories = values[4];
-                    morkBF.Robot_ArriveFirePot2 = values[5];
-                    morkBF.Robot_FirePot2OutFoodComplete = values[6];
-
-                }
-            }), 1);
-            GetStatus("GI5", new Action<object>((o) =>
-            {
-                if (o == null) return;
-                if (o is int[] values && values.Length == 1)
-                {
-                    morkBF.Robot_ActionCallback = values[0];
-                }
-            }), 1);
+        
 
             GetStatus("VW2250", new Action<object>((o) =>
             {
@@ -836,7 +737,6 @@ namespace BPASmartClient.MorkBF
                 {
                     FirePot2_Write("M10.6", true);
                 }
-
             }
             Thread.Sleep(200);
         }
@@ -971,98 +871,33 @@ namespace BPASmartClient.MorkBF
         #endregion
 
         #region 机器人
-        /// <summary>
-        /// 机器人启动
-        /// </summary>
-        private void RobotStart()
-        {
-            Robot_Write("GM600",true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 机器人停止
-        /// </summary>
-        private void RobotStop()
+        private void RobotAction(object[] o)
         {
-            Robot_Write("GM601", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 机器人复位
-        /// </summary>
-        private void RobotReset()
-        {
-            Robot_Write("GM602", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 机器人程序重启
-        /// </summary>
-        private void RobotProgramStart()
-        {
-            Robot_Write("GM603", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 1号炒锅允许机器人投料（炒锅在投料位给出）
-        /// </summary>
-        private void Robot_Pot1AllowInMaterail()
-        {
-            Robot_Write("GM531", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 1号炒锅出餐倒料到减速位
-        /// </summary>
-        private void Robot_Pot1OutFoodInSlowDown()
-        {
-            Robot_Write("GM620", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 1号炒锅出餐倒料完成
-        /// </summary>
-        private void Robot_Pot1OutFood()
-        {
-            Robot_Write("GM521", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 2号炒锅允许机器人投料（炒锅在投料位给出）
-        /// </summary>
-        private void Robot_Pot2AllowInMaterail()
-        {
-            Robot_Write("GM530", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 2号炒锅出餐倒料到减速位。开始倒菜
-        /// </summary>
-        private void Robot_Pot2OutFoodInSlowDown()
-        {
-            Robot_Write("GM522", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 2号炒锅出餐倒料完成
-        /// </summary>
-        private void Robot_Pot2OutFood()
-        {
-            Robot_Write("GM523", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 
-        /// </summary>
-        private void RobotActionStart(object o)
-        {
-            if (o == null) return;
-            if(int.TryParse(o.ToString(), out int value))
+            if (o[0] is int value)
             {
-                Robot_Write("GI0",value);
+                switch (value)
+                {
+                    case 0:
+                        Robot_Write("GI0", (ushort)(MainTask)o[1]);
+                        break;
+                    case 1:
+                        Robot_Write("GI1", (ushort)(SubTask1)o[1]);
+                        break;
+                    case 2:
+                        Robot_Write("GI2", (ushort)(SubTask2)o[1]);
+                        break;
+                    case 3:
+                        Robot_Write("GI3", (ushort)(SubTask3)o[1]);
+                        break;
+                    case 4:
+                        Robot_Write("GI4", (ushort)(SubTask4)o[1]);
+                        break;
+                    default:
+                        break;
+                }
             }
-            Thread.Sleep(200);
         }
+
         #endregion
 
 
@@ -1082,7 +917,7 @@ namespace BPASmartClient.MorkBF
                     IsRun = IsHealth ? IsRun.运行 : IsRun.停止,
                     WorkStatus_1 = morkBF.FirePot1_Temperature > 0 ? WorkStatus.工作 : WorkStatus.待机,
                     WorkStatus_2 = morkBF.FirePot2_Temperature > 0 ? WorkStatus.工作 : WorkStatus.待机,
-                    RobotStatu = morkBF.Robot_ActionCallback == 0? WorkStatus.待机 : WorkStatus.工作,
+                    RobotStatu =  WorkStatus.工作,
                     Alarm = new List<AlarmModel>(),
                     FailuresCount = 0,
                     StatsCount = statsModels,

BPASmartClient.MorkBF/Convert/FryActionToVisibilityConverter.cs

@@ -25,10 +25,10 @@ namespace BPASmartClient.MorkBF.Convert
                     case FryAction.热油:
                         visibility = Visibility.Visible;
                         break;
-                    case FryAction.加调料:
+                    case FryAction.机器人加调料:
                         visibility = Visibility.Collapsed;
                         break;
-                    case FryAction.加辅料:
+                    case FryAction.通道出调料:
                         visibility = Visibility.Collapsed;
                         break;
                     case FryAction.炒制菜品:
@@ -63,10 +63,10 @@ namespace BPASmartClient.MorkBF.Convert
                     case FryAction.热油:
                         visibility = Visibility.Visible;
                         break;
-                    case FryAction.加调料:
+                    case FryAction.机器人加调料:
                         visibility = Visibility.Collapsed;
                         break;
-                    case FryAction.加辅料:
+                    case FryAction.通道出调料:
                         visibility = Visibility.Collapsed;
                         break;
                     case FryAction.炒制菜品:
@@ -101,10 +101,10 @@ namespace BPASmartClient.MorkBF.Convert
                     case FryAction.热油:
                         visibility = Visibility.Collapsed;
                         break;
-                    case FryAction.加调料:
+                    case FryAction.机器人加调料:
                         visibility = Visibility.Visible;
                         break;
-                    case FryAction.加辅料:
+                    case FryAction.通道出调料:
                         visibility = Visibility.Visible;
                         break;
                     case FryAction.炒制菜品:

BPASmartClient.MorkBF/GVL_MorkBF.cs

@@ -284,22 +284,22 @@ namespace BPASmartClient.MorkBF
         /// 机器人上使能
         /// </summary>
         [VariableMonitor("机器人上使能", "GM600.0", "4596")]
-        public bool Robot_FirePot1OutMeal { get; set; }
+        public bool Robot_Enable { get; set; }
         /// <summary>
         /// 机器人复位
         /// </summary>
         [VariableMonitor("机器人复位", "GM600.1", "4597")]
-        public bool Robot_FirePot1OutVegetables1 { get; set; }
+        public bool Robot_Reset { get; set; }
         /// <summary>
         /// 机器人启动
         /// </summary>
         [VariableMonitor("机器人启动", "GM600.2", "4598")]
-        public bool Robot_FirePot1OutVegetables2 { get; set; }
+        public bool Robot_Start { get; set; }
         /// <summary>
         /// 机器人停止
         /// </summary>
         [VariableMonitor("机器人停止", "GM600.3", "4599")]
-        public bool Robot_FirePot1OutSeasoning { get; set; }
+        public bool Robot_Stop { get; set; }
         /// <summary>
         /// 机器人动作反馈GI0
         /// </summary>
@@ -309,22 +309,22 @@ namespace BPASmartClient.MorkBF
         /// 机器人动作反馈GI1
         /// </summary>
         [VariableMonitor("机器人动作反馈GI1", "GI1", "1")]
-        public int Robot_GI1ActionCallback0 { get; set; }
+        public int Robot_GI1ActionCallback { get; set; }
         /// <summary>
         /// 机器人动作反馈GI2
         /// </summary>
         [VariableMonitor("机器人动作反馈GI2", "GI2", "2")]
-        public int Robot_GI2ActionCallback0 { get; set; }
+        public int Robot_GI2ActionCallback { get; set; }
         /// <summary>
         /// 机器人动作反馈GI3
         /// </summary>
         [VariableMonitor("机器人动作反馈GI3", "GI3", "3")]
-        public int Robot_GI3ActionCallback0 { get; set; }
+        public int Robot_GI3ActionCallback { get; set; }
         /// <summary>
         /// 机器人动作反馈GI4
         /// </summary>
         [VariableMonitor("机器人动作反馈GI4", "GI4", "4")]
-        public int Robot_GI4ActionCallback0 { get; set; }
+        public int Robot_GI4ActionCallback { get; set; }
 
         #endregion
 
@@ -336,18 +336,13 @@ namespace BPASmartClient.MorkBF
         public GVL_MorkBF()
         {
            
-            FirePot1_CompleteSingle = new Dictionary<int, bool>
-            {
-                {1,Robot_FirePot1OutMeal },
-                {2,Robot_FirePot1OutVegetables1 },
-                {3,Robot_FirePot1OutVegetables2 },
-            };
-            FirePot2_CompleteSingle = new Dictionary<int, bool>
-            {
-                {1,Robot_FirePot2OutMeal },
-                {2,Robot_FirePot2OutVegetables1 },
-                {3,Robot_FirePot2OutVegetables2 },
-            };
+            //FirePot1_CompleteSingle = new Dictionary<int, bool>
+            //{
+            //    {1,Robot_FirePot1OutMeal },
+            //    {2,Robot_FirePot1OutVegetables1 },
+            //    {3,Robot_FirePot1OutVegetables2 },
+            //};
+           
 
             //炒锅1通道完成信号
             Fire1_PasswayCompleteSingle = new Dictionary<int, bool>

BPASmartClient.MorkBF/VIew/DebugView.xaml

@@ -129,16 +129,23 @@
                 <Button Content="机器人启动" Width="110" Margin="10,5"  Command="{Binding RobotStartCommand}"/>
                 <Button Content="复位" Width="110" Margin="10,5"  Command="{Binding RobotResetCommand}"/>
                 <Button Content="程序启动" Width="110" Margin="10,5"  Command="{Binding RobotProgramStartCommand}"/>
-                <Button Content="机器人停止" Width="110" Margin="10,5"  Command="{Binding RobotStopCommand}"/>
-                <Button Content="1号炒锅允许机器人投料" Width="160" Margin="10,5"  Command="{Binding Robot_Pot1AllowInMaterailCommand}" Cursor="Hand"/>
-                <Button Content="1号炒锅出餐倒料到减速位" Width="160" Margin="10,5"  Command="{Binding Robot_Pot1OutFoodInSlowDownCommand}" Cursor="Hand"/>
-                <Button Content="1号炒锅出餐倒料完成" Width="160" Margin="10,5"  Command="{Binding Robot_Pot1OutFoodCommand}"/>
-                <Button Content="2号炒锅允许机器人投料" Width="160" Margin="10,5"  Command="{Binding Robot_Pot2AllowInMaterailCommand}"/>
-                <Button Content="2号炒锅出餐倒料到减速位" Width="160" Margin="10,5"  Command="{Binding Robot_Pot2OutFoodInSlowDownCommand}"/>
-                <Button Content="2号炒锅出餐倒料完成" Width="160" Margin="10,5"  Command="{Binding Robot_Pot2OutFoodCommand}"/>
-                <TextBlock Text="机器人取菜出餐动作" Margin="10,5"/>
-                <ComboBox ItemsSource="{Binding RobotActions}"  DisplayMemberPath="Value" SelectedValuePath="Key" SelectedValue="{Binding RobotAction}" Height="30" Width="200" Margin="10,0"/>
-                <Button Content="动作启动" Width="100" Margin="10,5"  Command="{Binding RobotActionStartCommand}"/>
+                <Button Content="机器人上使能" Width="110" Margin="10,5"  Command="{Binding RobotEnableCommand}"/>
+            
+                <TextBlock Text="主程序任务" Margin="10,5"/>
+                <ComboBox ItemsSource="{Binding RobotMainTask}"   SelectedValue="{Binding MainTask}" Height="30" Width="200" Margin="10,0"/>
+                <Button Content="任务设定" Width="100" Margin="10,5"  Command="{Binding RobotActionCommand}" CommandParameter="0"/>
+                <TextBlock Text="主程序炒制任务1" Margin="30,5,10,0"/>
+                <ComboBox ItemsSource="{Binding RobotSubTask1}"   SelectedValue="{Binding SubTask1}" Height="30" Width="200" Margin="10,0"/>
+                <Button Content="任务设定" Width="100" Margin="10,5"  Command="{Binding RobotActionCommand}" CommandParameter="1"/>
+                <TextBlock Text="主程序炒制任务2" Margin="30,5,10,0"/>
+                <ComboBox ItemsSource="{Binding RobotSubTask2}"   SelectedValue="{Binding SubTask2}" Height="30" Width="200" Margin="10,0"/>
+                <Button Content="任务设定" Width="100" Margin="10,5"  Command="{Binding RobotActionCommand}" CommandParameter="2"/>
+                <TextBlock Text="子程序补料任务1" Margin="30,5,10,0"/>
+                <ComboBox ItemsSource="{Binding RobotSubTask3}"   SelectedValue="{Binding SubTask3}" Height="30" Width="200" Margin="10,0"/>
+                <Button Content="任务设定" Width="100" Margin="10,5"  Command="{Binding RobotActionCommand}" CommandParameter="3"/>
+                <TextBlock Text="子程序补料任务2" Margin="30,5,10,0"/>
+                <ComboBox ItemsSource="{Binding RobotSubTask4}"   SelectedValue="{Binding SubTask4}" Height="30" Width="200" Margin="10,0"/>
+                <Button Content="任务设定" Width="100" Margin="10,5"  Command="{Binding RobotActionCommand}" CommandParameter="4"/>
             </WrapPanel>
         </GroupBox>
     </Grid>

BPASmartClient.MorkBF/VIew/FoodManagerView.xaml

@@ -23,7 +23,7 @@
         </ResourceDictionary>
     </Window.Resources>
     <Border CornerRadius="1,60,00,70" Background="#1E1E1E"  >
-        <Grid MouseLeftButtonDown="Grid_MouseLeftButtonDown">
+        <Grid MouseLeftButtonDown="Grid_MouseLeftButtonDown" Margin="0,-4,0,4">
             <Grid.Background>
                 <ImageBrush ImageSource="/BPASmartClient.CustomResource;component/Image/不规则矩形.png"/>
             </Grid.Background>
@@ -40,12 +40,12 @@
                 <Button Content="退出" Margin="10,0"  Style="{StaticResource ButtonStyle}" Height="36" Width="80" Click="Button_Click"/>
             </StackPanel>
             <Grid Grid.Row="1">
-                <ListBox ItemsSource="{Binding FryPotProcesses}" FontSize="15">
+                <ListBox ItemsSource="{Binding FryPotProcesses}" FontSize="15" x:Name="mylist">
                     <ListBox.ItemTemplate>
                         <DataTemplate>
                             <StackPanel Orientation="Horizontal" Margin="0,10">
                                 <TextBlock Text="步骤--" Margin="10,0,2,0" VerticalAlignment="Center"/>
-                                <TextBlock Text="{Binding FryTime}"   VerticalAlignment="Center"/>
+                                <TextBlock Text="{Binding FryTime,Mode=TwoWay}"   VerticalAlignment="Center"/>
                                 <TextBlock Text="加热时间--" Margin="10,0,2,0" VerticalAlignment="Center"/>
                                 <TextBox Text="{Binding FryDuration}" Margin="10,0" Width="40"  VerticalAlignment="Center"/>
                                 <TextBlock Text="动作--" Margin="10,0,2,0" VerticalAlignment="Center"/>
@@ -66,6 +66,8 @@
                                        Visibility="{Binding fryActions,Converter={StaticResource AccessoriesToVisibilityConverter}}"/>
                                 <TextBox Text="{Binding accessories[0].Loc}"   VerticalAlignment="Center" Width="50"
                                      Visibility="{Binding fryActions,Converter={StaticResource AccessoriesToVisibilityConverter}}"/>
+                                <Button Content="删除" Margin="10,0" Command="{Binding DataContext.DeleteCommand, RelativeSource={RelativeSource AncestorType=Window,Mode=FindAncestor}}"
+                                        CommandParameter="{Binding DataContext,RelativeSource={RelativeSource AncestorType=ListBoxItem,Mode=FindAncestor}}"/>
                             </StackPanel>
                         </DataTemplate>
                     </ListBox.ItemTemplate>

BPASmartClient.MorkBF/VIew/FoodManagerView.xaml.cs

@@ -29,6 +29,7 @@ namespace BPASmartClient.MorkBF.VIew
             { 
                 this.Close(); 
             }), "FoodManagerViewClose");
+  
         }
 
         private void Button_Click(object sender, RoutedEventArgs e)

BPASmartClient.MorkBF/ViewModel/DebugViewModel.cs

@@ -322,25 +322,23 @@ namespace BPASmartClient.MorkBF.ViewModel
 
 
         #region 机器人
-        public Dictionary<int,string> RobotActions { get; set; } = new Dictionary<int, string>()
-        {
-            {0, "无任务"},
-            {1, "取1号炒锅荤菜盆倒1号炒锅"},
-            {2, "取1号炒锅素菜盆1倒1号炒锅"},
-            {3, "取1号炒锅素菜盆2倒1号炒锅"},
-            {4, "取1号炒锅调料盆倒入1号炒锅"},
-            {5, "取1号炒锅辅料盆1倒入1号炒锅"},
-            {6, "取1号空盆出餐"},
-            {20, "取2号炒锅荤菜盆1倒1号炒锅"},
-            {21, "取2号炒锅素菜盆1倒1号炒锅"},
-            {22, "取2号炒锅素菜盆2倒1号炒锅"},
-            {23, "取2号炒锅调料盆倒入1号炒锅"},
-            {24, "取2号炒锅辅料盆1倒入1号炒锅"},
-            {25, "取2号空盆出餐"},
-        };
+        public ObservableCollection<MainTask> RobotMainTask { get; set; } = new ObservableCollection<MainTask>(Enum.GetValues<MainTask>());
+        public ObservableCollection<SubTask1> RobotSubTask1 { get; set; } = new ObservableCollection<SubTask1>(Enum.GetValues<SubTask1>());
+        public ObservableCollection<SubTask2> RobotSubTask2 { get; set; } = new ObservableCollection<SubTask2>(Enum.GetValues<SubTask2>());
+        public ObservableCollection<SubTask3> RobotSubTask3 { get; set; } = new ObservableCollection<SubTask3>(Enum.GetValues<SubTask3>());
+        public ObservableCollection<SubTask4> RobotSubTask4 { get; set; } = new ObservableCollection<SubTask4>(Enum.GetValues<SubTask4>());
 
         [ObservableProperty]
-        private int _robotAction; 
+        private MainTask _mainTask;
+        [ObservableProperty]
+        private SubTask1 _subTask1;
+        [ObservableProperty]
+        private SubTask2 _subTask2;
+        [ObservableProperty]
+        private SubTask3 _subTask3;
+        [ObservableProperty]
+        private SubTask4 _subTask4;
+
         /// <summary>
         /// 机器人启动
         /// </summary>
@@ -366,74 +364,52 @@ namespace BPASmartClient.MorkBF.ViewModel
             ActionManage.GetInstance.Send("RobotReset");
         }
         /// <summary>
-        /// 程序启动
-        /// </summary>
-        [RelayCommand]
-        private void RobotProgramStart()
-        {
-            ActionManage.GetInstance.Send("RobotProgramStart");
-        }
-        /// <summary>
-        /// 1号炒锅允许机器人投料
+        /// 机器人上使能
         /// </summary>
         [RelayCommand]
-        private void Robot_Pot1AllowInMaterail()
+        private void RobotEnable()
         {
-            ActionManage.GetInstance.Send("Robot_Pot1AllowInMaterail");
-        }
-        /// <summary>
-        /// 1号炒锅出餐倒料到减速位
-        /// </summary>
-        [RelayCommand]
-        private void Robot_Pot1OutFoodInSlowDown()
-        {
-            ActionManage.GetInstance.Send("Robot_Pot1OutFoodInSlowDown");
-        }
-        /// <summary>
-        /// 1号炒锅出餐倒料完成
-        /// </summary>
-        [RelayCommand]
-        private void Robot_Pot1OutFood()
-        {
-            ActionManage.GetInstance.Send("Robot_Pot1OutFood");
-        }
-        /// <summary>
-        /// 2号炒锅允许机器人投料
-        /// </summary>
-        [RelayCommand]
-        private void Robot_Pot2AllowInMaterail()
-        {
-            ActionManage.GetInstance.Send("Robot_Pot2AllowInMaterail");
-        }
-        /// <summary>
-        /// 2号炒锅出餐倒料到减速位
-        /// </summary>
-        [RelayCommand]
-        private void Robot_Pot2OutFoodInSlowDown()
-        {
-            ActionManage.GetInstance.Send("Robot_Pot2OutFoodInSlowDown");
-        }
-        /// <summary>
-        /// 2号炒锅出餐倒料完成
-        /// </summary>
-        [RelayCommand]
-        private void Robot_Pot2OutFood()
-        {
-            ActionManage.GetInstance.Send("Robot_Pot2OutFood");
+            ActionManage.GetInstance.Send("RobotEnable");
         }
 
         /// <summary>
-        /// 机器人动作启动
+        /// 机器人动作
         /// </summary>
         [RelayCommand]
-        private void RobotActionStart()
+        private void RobotAction(object o)
         {
-            ActionManage.GetInstance.Send("RobotProgramStart",RobotAction );
+            if(int.TryParse(o.ToString(), out int value))
+            {
+                object item = new object();
+                switch (value)
+                {
+                    case 0:
+                        item = MainTask;
+                        break;
+                    case 1:
+                        item = SubTask1;
+                        break;
+                    case 2:
+                        item = SubTask2;
+                        break;
+                    case 3:
+                        item = SubTask3;
+                        break;
+                    case 4:
+                        item = SubTask4;
+                        break;
+                    default:
+                        break;
+                }
+                ActionManage.GetInstance.Send("RobotAction", new object[] { value, item });
+            }
         }
 
+
         #endregion
 
 
-      
+
+
     }
 }

BPASmartClient.MorkBF/ViewModel/FoodManagerViewModel.cs

@@ -7,6 +7,7 @@ using System.Collections.ObjectModel;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using System.Windows;
 
 namespace BPASmartClient.MorkBF.ViewModel
 {
@@ -69,10 +70,19 @@ namespace BPASmartClient.MorkBF.ViewModel
             if (o == null) return;
             if (o is FryPotProcess value)
             {
+
+                foreach (var item in FryPotProcesses)
+                {
+                    if (item.FryTime > value.FryTime)
+                    {
+                        Application.Current?.Dispatcher.Invoke(new Action(() =>
+                        {
+                            item.FryTime -= 1;
+                        }));
+                    }
+                }
                 FryPotProcesses.Remove(value);
             }
-            ActionManage.GetInstance.Send("更新菜单");
-
         }