菜品库流程优化，改为通过校准获取各参数。

BPASmartClient.MorkF/Control_MorkF.cs

@@ -57,14 +57,19 @@ namespace BPASmartClient.MorkF
         //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;
+
         //传感器1到菜品库的高度（厘米）
-        private const int materialLaserHighCM_1 = 29;
+        private const int materialLaserHighCM_1 = 22;
 
         //传感器2到菜品库的高度（厘米）
-        private const int materialLaserHighCM_2 = 29;
+        private const int materialLaserHighCM_2 = 27;
 
         //传感器3到菜品库的高度（厘米）
-        private const int materialLaserHighCM_3 = 29;
+        private const int materialLaserHighCM_3 = 31;
 
         /// <summary>
         /// 传感器到隔板的距离（坐标系）
@@ -164,6 +169,12 @@ namespace BPASmartClient.MorkF
             {
                 MaterialCoordinate.GetInstance().dicNoMaterialCoordinate = materialCoordinate.dicNoMaterialCoordinate;
                 MaterialCoordinate.GetInstance().MLCoordinateList = materialCoordinate.MLCoordinateList;
+                MaterialCoordinate.GetInstance().distance_1 = materialCoordinate.distance_1;
+                MaterialCoordinate.GetInstance().distance_2 = materialCoordinate.distance_2;
+                MaterialCoordinate.GetInstance().distance_3 = materialCoordinate.distance_3;
+                MaterialCoordinate.GetInstance().frying1 = materialCoordinate.frying1;
+                MaterialCoordinate.GetInstance().frying2 = materialCoordinate.frying2;
+                MaterialCoordinate.GetInstance().materialHeight = materialCoordinate.materialHeight;
             }
             ////菜品库编号与坐标系对象存储
             //SaveMaterialCoordinate();
@@ -555,6 +566,22 @@ namespace BPASmartClient.MorkF
                 }), "StopStir");
             }), "StopStir");
 
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                ThreadManage.GetInstance().Start(new Action(() =>
+                {
+                    MagnetOn(fryIndex);
+                }), "MagnetOn");
+            }), "MagnetOn");
+
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                ThreadManage.GetInstance().Start(new Action(() =>
+                {
+                    MagnetOff(fryIndex);
+                }), "MagnetOff");
+            }), "MagnetOff");
+
             ActionManage.GetInstance.Register(new Action(() =>
             {
                 ThreadManage.GetInstance().Start(new Action(() =>
@@ -855,15 +882,15 @@ namespace BPASmartClient.MorkF
         /// <param name="o">电磁阀启停：true：启动。false：停止。</param>
         public void PawExtend()
         {
-            //if (!ml_morkf.InitialComplete)
-            //{
-            //    MessageLog.GetInstance.ShowEx("爪子伸出错误，菜品库未初始化");
-            //    return;
-            //}
+            if (!ml_morkf.InitialComplete)
+            {
+                MessageLog.GetInstance.ShowEx("爪子伸出错误，菜品库未初始化");
+                return;
+            }
 
             MaterailLibrary_Write("M0.6", true);
             //等待爪子伸出延时4s
-            Thread.Sleep(4200);
+            Thread.Sleep(6000);
         }
         /// <summary>
         /// 爪子收缩
@@ -871,15 +898,15 @@ namespace BPASmartClient.MorkF
         /// <param name="o">电磁阀启停：true：启动。false：停止。</param>
         public void PawShrink()
         {
-            //if (!ml_morkf.InitialComplete)
-            //{
-            //    MessageLog.GetInstance.ShowEx("爪子伸出错误，菜品库未初始化");
-            //    return;
-            //}
+            if (!ml_morkf.InitialComplete)
+            {
+                MessageLog.GetInstance.ShowEx("爪子伸出错误，菜品库未初始化");
+                return;
+            }
 
             MaterailLibrary_Write("M0.7", true);
             //等待爪子收缩延时4s
-            Thread.Sleep(4200);
+            Thread.Sleep(6000);
         }
         /// <summary>
         /// 电磁阀启停
@@ -910,6 +937,9 @@ namespace BPASmartClient.MorkF
 
             MessageLog.GetInstance.Show("爪子去到1号位");
             MaterailLibrary_Write("M1.0", true);
+
+            Thread.Sleep(500);
+
             for (int i = 0; i < materialSleepCount && !ml_morkf.PawArrivePortOne; i++)
             {
                 Thread.Sleep(materialSleepTime);
@@ -936,6 +966,9 @@ namespace BPASmartClient.MorkF
 
             MessageLog.GetInstance.Show("爪子去到2号位");
             MaterailLibrary_Write("M1.1", true);
+
+            Thread.Sleep(500);
+
             for (int i = 0; i < materialSleepCount && !ml_morkf.PawArrivePortTwo; i++)
             {
                 Thread.Sleep(materialSleepTime);
@@ -962,6 +995,9 @@ namespace BPASmartClient.MorkF
 
             MessageLog.GetInstance.Show("爪子去到3号位");
             MaterailLibrary_Write("M1.2", true);
+
+            Thread.Sleep(500);
+
             for (int i = 0; i < materialSleepCount && !ml_morkf.PawArrivePortThree; i++)
             {
                 Thread.Sleep(materialSleepTime);
@@ -993,6 +1029,8 @@ namespace BPASmartClient.MorkF
             MessageLog.GetInstance.Show("1号测距开启完成");
             MessageLog.GetInstance.Show($"传感器的距离{ml_morkf.LaserDistance}");
 
+            ActionManage.GetInstance.Send("GetDistanceCallBack", new List<string> { "1",ml_morkf.LaserDistance.ToString() });//通知获取测距界面
+
             return true;
         }
         public bool GetDistance_2()
@@ -1009,6 +1047,9 @@ namespace BPASmartClient.MorkF
 
             MessageLog.GetInstance.Show("2号测距开启完成");
             MessageLog.GetInstance.Show($"传感器的距离{ml_morkf.LaserDistance}");
+
+            ActionManage.GetInstance.Send("GetDistanceCallBack", new List<string> { "2", ml_morkf.LaserDistance.ToString() });//通知获取测距界面
+
             return true;
         }
         public bool GetDistance_3()
@@ -1025,9 +1066,21 @@ namespace BPASmartClient.MorkF
 
             MessageLog.GetInstance.Show("3号测距开启完成");
             MessageLog.GetInstance.Show($"传感器的距离{ml_morkf.LaserDistance}");
+
+            ActionManage.GetInstance.Send("GetDistanceCallBack", new List<string> { "3", ml_morkf.LaserDistance.ToString() });//通知获取测距界面
+
             return true;
         }
 
+        /// <summary>
+        /// 写入传感器距离
+        /// </summary>
+        /// <param name="distance"></param>
+        public void WriteDistance(int distance)
+        {
+            MaterailLibrary_Write("VW270", distance);
+        }
+
         /// <summary>
         /// 根据x坐标获取传感器距离
         /// </summary>
@@ -1220,24 +1273,27 @@ namespace BPASmartClient.MorkF
             //获取传感器的距离，转换成坐标系的点
             int laserHigh = ml_morkf.LaserDistance;
 
+            //秦工要求读取后置0
+            WriteDistance(0);
+
             MessageLog.GetInstance.Show($"传感器的距离{laserHigh}");
 
-            if (laserHigh > 29)
-            {
-                MessageLog.GetInstance.Show("错误：传感器获取数据大于隔板与传感器之间的距离");
-                return false;
-            }
+            //if (laserHigh > 29)
+            //{
+            //    MessageLog.GetInstance.Show("错误：传感器获取数据大于隔板与传感器之间的距离");
+            //    return false;
+            //}
 
             int moveX = 0;
             if (LaserDistance2Coordinate(laserHigh, x, out moveX) != Laser2CoordinateState.MaterialNormal)
             {
-                MessageLog.GetInstance.Show("错误：传感器距离转坐标值失败");
+                MessageLog.GetInstance.ShowEx("错误：传感器距离转坐标值失败");
                 return false;
             }
 
             if(x < moveX)
             {
-                MessageLog.GetInstance.Show("错误：传感器距离转坐标值大于当前x轴坐标");
+                MessageLog.GetInstance.ShowEx("错误：传感器距离转坐标值大于当前x轴坐标");
                 return false;
             }
 
@@ -1260,15 +1316,15 @@ namespace BPASmartClient.MorkF
 
 #endif
 
+            //伸出爪子
+            PawExtend();
+
             //移动前开启电磁阀
             Electromagnetism(new List<bool> { false });
             Thread.Sleep(500);
 
-            //伸出爪子
-            PawExtend();
-
-            //设置到该层菜品库最高处
-            if (!SetArmPosition(x - materialHigh, y))
+            //菜品盒子出菜品库，往上移动一个盒子的距离
+            if (!SetArmPosition(x - moveX - materialBoxHeight, y))
             {
                 return false;
             }
@@ -1300,13 +1356,13 @@ namespace BPASmartClient.MorkF
             //根据炒锅不同设置不同的出菜处
             if (fryNum % 2 == 0)
             {
-                x = materialPutPositionXFry1;
-                y = materialPutPositionYFry1;
+                x = MaterialCoordinate.GetInstance().frying1.X;
+                y = MaterialCoordinate.GetInstance().frying1.Y;
             }
             else
             {
-                x = materialPutPositionXFry2;
-                y = materialPutPositionYFry2;
+                x = MaterialCoordinate.GetInstance().frying2.X;
+                y = MaterialCoordinate.GetInstance().frying2.Y;
             }
 
             //设置到炒锅1出菜处
@@ -1332,15 +1388,15 @@ namespace BPASmartClient.MorkF
             Electromagnetism(new List<bool> { true });
             Thread.Sleep(300);
 
-            //收缩爪子
-            PawShrink();
-
             //设置到炒锅i出菜处
             if (!SetArmPosition(x + materialToFryDistance, y))
             {
                 return false;
             }
 
+            //收缩爪子
+            PawShrink();
+
 #if true
             //爪子回到2号位
             if (!PawToPoint2())
@@ -1396,6 +1452,10 @@ namespace BPASmartClient.MorkF
 
                     //获取传感器的距离
                     int laserHigh = ml_morkf.LaserDistance;
+
+                    //秦工要求读取后置0
+                    WriteDistance(0);
+
                     int surplus = 0;
                     //根据距离算出菜品余量
                     Laser2CoordinateState state = LaserDistance2MaterialCount(laserHigh, out surplus);
@@ -1425,117 +1485,139 @@ namespace BPASmartClient.MorkF
         /// <param name="distance"></param>
         /// <param name="x_high"></param>
         /// <returns></returns>
-        public Laser2CoordinateState LaserDistance2Coordinate(int distance,int x,out int x_high)
+        public Laser2CoordinateState LaserDistance2Coordinate(int distance, int x, out int x_high)
         {
             x_high = 0;
+            int heightDifferent = 0;
+            int boxCount = 0;
+            //传感器高度小于6，无法移出，菜品库满
+            if (distance < 60)
+            {
+                MessageLog.GetInstance.ShowEx("错误：传感器距离不满足出菜高度");
+                return Laser2CoordinateState.MaterialOverdo;
+            }
             try
             {
                 if (x > 0 && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X)
                 {
-                    //菜盒放多了
-                    if (distance < 10)
-                    {
-                        return Laser2CoordinateState.MaterialOverdo;
-                    }
-                    else if (distance >= 10 && distance < 15)
-                    {
-                        x_high = 11441;
-                        return Laser2CoordinateState.MaterialNormal;
-                    }
-                    else if (distance >= 15 && distance < 19)
-                    {
-                        x_high = 5720;
-                        return Laser2CoordinateState.MaterialNormal;
-                    }
-                    else if (distance >= 19 && distance < 23)
-                    {
-                        x_high = 0;
-                        return Laser2CoordinateState.MaterialNormal;
-                    }
-                    else
-                    {
-                        return Laser2CoordinateState.MaterialEmpty;
-                    }
+                    heightDifferent = MaterialCoordinate.GetInstance().distance_1 - distance;
+                    ////菜盒放多了
+                    //if (heightDifferent < 10)
+                    //{
+                    //    return Laser2CoordinateState.MaterialOverdo;
+                    //}
+                    //else if (distance >= 10 && distance < 15)
+                    //{
+                    //    x_high = 11441;
+                    //    return Laser2CoordinateState.MaterialNormal;
+                    //}
+                    //else if (distance >= 15 && distance < 19)
+                    //{
+                    //    x_high = 5720;
+                    //    return Laser2CoordinateState.MaterialNormal;
+                    //}
+                    //else if (distance >= 19 && distance < 23)
+                    //{
+                    //    x_high = 0;
+                    //    return Laser2CoordinateState.MaterialNormal;
+                    //}
+                    //else
+                    //{
+                    //    return Laser2CoordinateState.MaterialEmpty;
+                    //}
                 }
                 else if (x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X && x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["1"].X)
                 {
-                    //菜盒放多了
-                    if (distance < 6)
-                    {
-                        return Laser2CoordinateState.MaterialOverdo;
-                    }
-                    else if (distance >= 6 && distance < 10)
-                    {
-                        x_high = 24882;
-                        return Laser2CoordinateState.MaterialNormal;
-                    }
-                    else if (distance >= 10 && distance < 15)
-                    {
-                        x_high = 18661;
-                        return Laser2CoordinateState.MaterialNormal;
-                    }
-                    else if (distance >= 15 && distance < 19)
-                    {
-                        x_high = 12441;
-                        return Laser2CoordinateState.MaterialNormal;
-                    }
-                    else if (distance >= 19 && distance < 23)
-                    {
-                        x_high = 6220;
-                        return Laser2CoordinateState.MaterialNormal;
-                    }
-                    else if (distance >= 23 && distance < 28)
-                    {
-                        x_high = 0;
-                        return Laser2CoordinateState.MaterialNormal;
-                    }
-                    else
-                    {
-                        return Laser2CoordinateState.MaterialEmpty;
-                    }
+                    heightDifferent = MaterialCoordinate.GetInstance().distance_2 - distance;
+                    ////菜盒放多了
+                    //if (distance < 6)
+                    //{
+                    //    return Laser2CoordinateState.MaterialOverdo;
+                    //}
+                    //else if (distance >= 6 && distance < 10)
+                    //{
+                    //    x_high = 24882;
+                    //    return Laser2CoordinateState.MaterialNormal;
+                    //}
+                    //else if (distance >= 10 && distance < 15)
+                    //{
+                    //    x_high = 18661;
+                    //    return Laser2CoordinateState.MaterialNormal;
+                    //}
+                    //else if (distance >= 15 && distance < 19)
+                    //{
+                    //    x_high = 12441;
+                    //    return Laser2CoordinateState.MaterialNormal;
+                    //}
+                    //else if (distance >= 19 && distance < 23)
+                    //{
+                    //    x_high = 6220;
+                    //    return Laser2CoordinateState.MaterialNormal;
+                    //}
+                    //else if (distance >= 23 && distance < 28)
+                    //{
+                    //    x_high = 0;
+                    //    return Laser2CoordinateState.MaterialNormal;
+                    //}
+                    //else
+                    //{
+                    //    return Laser2CoordinateState.MaterialEmpty;
+                    //}
                 }
                 else if (x > MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["10"].X && x <= MaterialCoordinate.GetInstance().dicNoMaterialCoordinate["20"].X)
                 {
-                    //菜盒放多了
-                    if (distance < 7)
-                    {
-                        return Laser2CoordinateState.MaterialOverdo;
-                    }
-                    else if (distance >= 7 && distance < 12)
-                    {
-                        x_high = 24882;
-                        return Laser2CoordinateState.MaterialNormal;
-                    }
-                    else if (distance >= 12 && distance < 17)
-                    {
-                        x_high = 18661;
-                        return Laser2CoordinateState.MaterialNormal;
-                    }
-                    else if (distance >= 17 && distance < 21)
-                    {
-                        x_high = 12441;
-                        return Laser2CoordinateState.MaterialNormal;
-                    }
-                    else if (distance >= 21 && distance < 26)
-                    {
-                        x_high = 6220;
-                        return Laser2CoordinateState.MaterialNormal;
-                    }
-                    else if (distance >= 26 && distance < 30)
-                    {
-                        x_high = 0;
-                        return Laser2CoordinateState.MaterialNormal;
-                    }
-                    else
-                    {
-                        return Laser2CoordinateState.MaterialEmpty;
-                    }
+                    heightDifferent = MaterialCoordinate.GetInstance().distance_3 - distance;
+                    ////菜盒放多了
+                    //if (distance < 7)
+                    //{
+                    //    return Laser2CoordinateState.MaterialOverdo;
+                    //}
+                    //else if (distance >= 7 && distance < 12)
+                    //{
+                    //    x_high = 24882;
+                    //    return Laser2CoordinateState.MaterialNormal;
+                    //}
+                    //else if (distance >= 12 && distance < 17)
+                    //{
+                    //    x_high = 18661;
+                    //    return Laser2CoordinateState.MaterialNormal;
+                    //}
+                    //else if (distance >= 17 && distance < 21)
+                    //{
+                    //    x_high = 12441;
+                    //    return Laser2CoordinateState.MaterialNormal;
+                    //}
+                    //else if (distance >= 21 && distance < 26)
+                    //{
+                    //    x_high = 6220;
+                    //    return Laser2CoordinateState.MaterialNormal;
+                    //}
+                    //else if (distance >= 26 && distance < 30)
+                    //{
+                    //    x_high = 0;
+                    //    return Laser2CoordinateState.MaterialNormal;
+                    //}
+                    //else
+                    //{
+                    //    return Laser2CoordinateState.MaterialEmpty;
+                    //}
                 }
                 else
                 {
 
                     return Laser2CoordinateState.MaterialOverdo;
                 }
+                //盒子高度为45，但是需要考虑到误差，因此除以50
+                boxCount = heightDifferent / 50;
+                if (heightDifferent <= 20)
+                {
+                    MessageLog.GetInstance.ShowEx("错误：菜品量为空");
+                    return Laser2CoordinateState.MaterialEmpty;
+                }
+
+                //盒子高度计算除去起始位置的那个盒子
+                x_high = boxCount * materialBoxHeight;
+                return Laser2CoordinateState.MaterialNormal;
 
             }
             catch(Exception ex)
@@ -1977,12 +2059,20 @@ namespace BPASmartClient.MorkF
             }
         }
 
+        /// <summary>
+        /// 开启磁吸
+        /// </summary>
+        /// <param name="num"></param>
         public void MagnetOn(int num)
         {
             FirePot_Write("LB8", false, num);
             Thread.Sleep(200);
         }
 
+        /// <summary>
+        /// 关闭磁吸
+        /// </summary>
+        /// <param name="num"></param>
         public void MagnetOff(int num)
         {
             FirePot_Write("LB8", true, num);
@@ -2374,45 +2464,45 @@ namespace BPASmartClient.MorkF
                                                     //炒锅取菜状态置为未取到
                                                     morkFs[i].GetMaterialComplete = false;
 
-                                                    if(testi % 2==0)
-                                                    {
-                                                        MaterialInfo materialInfo = new MaterialInfo();
-                                                        materialInfo.Loc = "5";
-                                                        materialInfo.Qty = 10;
-                                                        materialInfo.Name = "肉片";
-                                                        materialInfo.Id = "1232131";
-                                                        materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
-                                                    }
-                                                    else
-                                                    {
-                                                        MaterialInfo materialInfo = new MaterialInfo();
-                                                        materialInfo.Loc = "15";
-                                                        materialInfo.Qty = 10;
-                                                        materialInfo.Name = "青椒";
-                                                        materialInfo.Id = "1232131";
-                                                        materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
-                                                    }
-                                                    testi++;
-
-                                                    //if (potActions.MaterialLists != null)
+                                                    //if(testi % 2==0)
                                                     //{
-                                                    //    foreach (var item in potActions.MaterialLists)
-                                                    //    {
-                                                    //        //通过ID获取有效的菜品对象
-                                                    //        MaterialInfo materialInfo = MaterialSurplusOperation.GetInstance().GetVailedMaterial(item.MaterialId);
-                                                    //        if (materialInfo == null)
-                                                    //        {
-                                                    //            MessageLog.GetInstance.ShowEx($"炒锅{i}获取菜品[{item.MaterialId}]失败，库存不足");
-                                                    //            continue;
-                                                    //        }
-
-                                                    //        materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
-                                                    //    }
+                                                    //    MaterialInfo materialInfo = new MaterialInfo();
+                                                    //    materialInfo.Loc = "5";
+                                                    //    materialInfo.Qty = 10;
+                                                    //    materialInfo.Name = "肉片";
+                                                    //    materialInfo.Id = "1232131";
+                                                    //    materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
                                                     //}
                                                     //else
                                                     //{
-                                                    //    MessageLog.GetInstance.ShowEx($"炒锅{i}获取菜品失败，菜品列表为空");
+                                                    //    MaterialInfo materialInfo = new MaterialInfo();
+                                                    //    materialInfo.Loc = "24";
+                                                    //    materialInfo.Qty = 10;
+                                                    //    materialInfo.Name = "青椒";
+                                                    //    materialInfo.Id = "1232131";
+                                                    //    materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
                                                     //}
+                                                    //testi++;
+
+                                                    if (potActions.MaterialLists != null)
+                                                    {
+                                                        foreach (var item in potActions.MaterialLists)
+                                                        {
+                                                            //通过ID获取有效的菜品对象
+                                                            MaterialInfo materialInfo = MaterialSurplusOperation.GetInstance().GetVailedMaterial(item.MaterialId);
+                                                            if (materialInfo == null)
+                                                            {
+                                                                MessageLog.GetInstance.ShowEx($"炒锅{i}获取菜品[{item.MaterialId}]失败，库存不足");
+                                                                continue;
+                                                            }
+
+                                                            materialOperationQuenes.Enqueue(new MaterialOperation { materialInfo = materialInfo, fryNum = i });
+                                                        }
+                                                    }
+                                                    else
+                                                    {
+                                                        MessageLog.GetInstance.ShowEx($"炒锅{i}获取菜品失败，菜品列表为空");
+                                                    }
                                                     MessageLog.GetInstance.Show(potActions.Actions);
                                                     break;
                                                 case nameof(StirFryPotActionEnum.开启搅拌):

BPASmartClient.MorkF/Model/MaterialCoordinate.cs

@@ -38,8 +38,21 @@ namespace BPASmartClient.MorkF.Model
                     }
                 }
             }
+            //dicSpecificMaterialCoordinate.Add("MaterialHeight",new Coordinate() { X = 0,Y=0});
+            //dicSpecificMaterialCoordinate.Add("Fry1", new Coordinate() { X = 0, Y = 0 });
+            //dicSpecificMaterialCoordinate.Add("Fry2", new Coordinate() { X = 0, Y = 0 });
         }
 
+        public Coordinate frying1 { get; set; } = new Coordinate() { X = 0, Y = 0 };
+
+        public Coordinate frying2 { get; set; } = new Coordinate() { X = 0, Y = 0 };
+
+        public Coordinate materialHeight { get; set; } = new Coordinate() { X = 0, Y = 0 };
+
+        public int distance_1 { get; set; } = 0;
+        public int distance_2 { get; set; } = 0;
+        public int distance_3 { get; set; } = 0;
+
         /// <summary>
         /// 更新键值对
         /// </summary>
@@ -63,6 +76,10 @@ namespace BPASmartClient.MorkF.Model
         /// 每个取菜点的编号与坐标字典
         /// </summary>
         public Dictionary<string, Coordinate> dicNoMaterialCoordinate { get; set; } = new Dictionary<string, Coordinate>();
+        /// <summary>
+        /// 每个取菜点的编号与坐标字典
+        /// </summary>
+        //public Dictionary<string, Coordinate> dicSpecificMaterialCoordinate { get; set; } = new Dictionary<string, Coordinate>();
         //{
         //    {"A1",new Coordinate(){ X = 34500,Y=0} },
         //    {"A2",new Coordinate(){ X = 34500,Y=9000} },

BPASmartClient.MorkF/View/DebugView.xaml

@@ -140,57 +140,45 @@
                 </WrapPanel>
             </GroupBox>
 
-            <GroupBox Header="炒锅" FontSize="15" Foreground="Aqua" VerticalAlignment="Center" Height="140">
-                <Grid>
-                    <Grid.RowDefinitions>
-                        <RowDefinition Height="*"/>
-                        <RowDefinition Height="*"/>
-                    </Grid.RowDefinitions>
-                    <WrapPanel VerticalAlignment="Top" Margin="0,5,0,0">
-                        <Button Content="注油" Command="{Binding AddOil}"  Margin="10,0,10,0"></Button>
-                        <Button Content="加热启动" Command="{Binding StartFire}"   Margin="10,0,10,0"></Button>
-                        <Button Content="加热停止" Command="{Binding StopFire}"   Margin="10,0,10,0"></Button>
-                        <Button Content="搅拌启动" Command="{Binding StartStir}"  Margin="10,0,10,0" Cursor="Hand"></Button>
-                        <Button Content="搅拌停止" Command="{Binding StopStir}"  Margin="10,0,15,0" Cursor="Hand"></Button>
-                        <Button Content="倒菜启动" Command="{Binding OutFood}"  Margin="10,0,15,0" Cursor="Hand"/>
-                        <Button Content="搅拌臂去原点位" Command="{Binding StirArmGoOrigin}"  Margin="10,0,10,0"></Button>
-                        <Button Content="搅拌臂去炒制位" Command="{Binding StirArmGoWork}"  Margin="10,0,10,0"></Button>
-                        <Button Content="HBOT放盒子到位" Command="{Binding HBOTGoWork}"   Margin="10,0,10,0"></Button>
-                        <Button Content="出餐启动" Command="{Binding OutMeal}"   Margin="10,0,10,0"></Button>
-                    </WrapPanel>
+                    <GroupBox Header="炒锅" FontSize="15" Foreground="Aqua" VerticalAlignment="Center" Height="140">
+                        <Grid>
+                            <Grid.RowDefinitions>
+                                <RowDefinition Height="*"/>
+                                <RowDefinition Height="*"/>
+                                <RowDefinition Height="*"/>
+                            </Grid.RowDefinitions>
+                            <WrapPanel VerticalAlignment="Top" Margin="0,5,0,0">
+                                <Button Content="注油" Command="{Binding AddOil}"  Margin="10,0,10,0"></Button>
+                                <Button Content="倒菜启动" Command="{Binding OutFood}"  Margin="10,0,15,0" Cursor="Hand"/>
+                                <Button Content="搅拌臂去原点位" Command="{Binding StirArmGoOrigin}"  Margin="10,0,10,0"></Button>
+                                <Button Content="搅拌臂去炒制位" Command="{Binding StirArmGoWork}"  Margin="10,0,10,0"></Button>
+                                <Button Content="HBOT放盒子到位" Command="{Binding HBOTGoWork}"   Margin="10,0,10,0"></Button>
+                                <Button Content="出餐启动" Command="{Binding OutMeal}"   Margin="10,0,10,0"></Button>
+                            </WrapPanel>
+                            <WrapPanel Grid.Row="1" VerticalAlignment="Top" Margin="0,5,0,0">
+                                <Button Content="加热启动" Command="{Binding StartFire}"   Margin="10,0,10,0"></Button>
+                                <Button Content="加热停止" Command="{Binding StopFire}"   Margin="10,0,10,0"></Button>
+                                <Button Content="搅拌启动" Command="{Binding StartStir}"  Margin="10,0,10,0" Cursor="Hand"></Button>
+                                <Button Content="搅拌停止" Command="{Binding StopStir}"  Margin="10,0,15,0" Cursor="Hand"></Button>
+                                <Button Content="开启磁吸" Command="{Binding MagnetOn}"  Margin="10,0,15,0" Cursor="Hand"></Button>
+                                <Button Content="关闭磁吸" Command="{Binding MagnetOff}"  Margin="10,0,15,0" Cursor="Hand"></Button>
+                            </WrapPanel>
 
-                    <WrapPanel Grid.Row="2">
-                        <TextBlock Text="加热挡位:"  Margin="10,0,0,0" />
-                        <ComboBox ItemsSource="{Binding lstFire}" Width="80" Margin="10,0,10,0" HorizontalAlignment="Center" VerticalAlignment="Center"
+                            <WrapPanel Grid.Row="2">
+                                <TextBlock Text="加热挡位:"  Margin="10,0,0,0" />
+                                <ComboBox ItemsSource="{Binding lstFire}" Width="80" Margin="10,0,10,0" HorizontalAlignment="Center" VerticalAlignment="Center"
                                   SelectedValue="{Binding FireGear}"/>
-                        <Button Content="设定" Margin="0,0,30,0" Command="{Binding SetFire}"/>
-                        <TextBlock Text="搅拌挡位:"  Margin="10,0,0,0" />
-                        <ComboBox ItemsSource="{Binding lstStir}" Width="80" Margin="10,0,10,0" HorizontalAlignment="Center" VerticalAlignment="Center"
+                                <Button Content="设定" Margin="0,0,30,0" Command="{Binding SetFire}"/>
+                                <TextBlock Text="搅拌挡位:"  Margin="10,0,0,0" />
+                                <ComboBox ItemsSource="{Binding lstStir}" Width="80" Margin="10,0,10,0" HorizontalAlignment="Center" VerticalAlignment="Center"
                                   SelectedValue="{Binding StirGear}"/>
-                        <Button Content="设定" Margin="0,0,30,0" Command="{Binding SetStir}"/>
-                    </WrapPanel>
-                </Grid>
+                                <Button Content="设定" Margin="0,0,30,0" Command="{Binding SetStir}"/>
+                            </WrapPanel>
+                        </Grid>
 
-            </GroupBox>
-            <GroupBox Header="炒锅" FontSize="15" Foreground="Aqua"  VerticalAlignment="Center" Height="140">
-                <WrapPanel VerticalAlignment="Top" Margin="0,5,0,0">
-                    <Button Content="注油" Command="{Binding SecAddOil}"   Margin="10,0,10,0"></Button>
-                    <Button Content="加热关闭" Command="{Binding SecTempTurnOff}"   Margin="10,0,10,0"></Button>
-                    <Button Content="加热1挡" Command="{Binding SecOneBlock}"   Margin="10,0,10,0"></Button>
-                    <Button Content="加热2挡" Command="{Binding SecTwoBlock}"  Margin="10,0,10,0"></Button>
-                    <Button Content="加热3挡" Command="{Binding SecThreeBlock}"   Margin="10,0,10,0"></Button>
-                    <Button Content="翻炒机关闭" Command="{Binding SecOverTurnOff}"  Margin="10,0,10,0" Cursor="Hand"></Button>
-                    <Button Content="翻炒机上升" Command="{Binding SecOverGoOn}"   Margin="10,0,15,0" Cursor="Hand"></Button>
-                    <Button Content="翻炒机下降" Command="{Binding SecOverGoDown}"   Margin="10,0,10,0"></Button>
-                    <Button Content="翻炒机1挡" Command="{Binding SecOverOneBlock}"   Margin="10,0,10,0"></Button>
-                    <Button Content="翻炒机2挡" Command="{Binding SecOverTwoBlock}"   Margin="10,0,10,0"></Button>
-                    <Button Content="翻炒机3挡" Command="{Binding SecOverThreeBlock}"   Margin="10,0,10,0"></Button>
-
-                </WrapPanel>
-
-            </GroupBox>
+                    </GroupBox>
 
-        </StackPanel>
+                </StackPanel>
 
             </Grid>
         </ScrollViewer>

BPASmartClient.MorkF/ViewModel/DebugViewModel.cs

@@ -136,6 +136,8 @@ namespace BPASmartClient.MorkF.ViewModel
         public RelayCommand StopFire { get; set; }
         public RelayCommand StartStir { get; set; }
         public RelayCommand StopStir { get; set; }
+        public RelayCommand MagnetOn { get; set; }
+        public RelayCommand MagnetOff { get; set; }
         public RelayCommand OutFood { get; set; }
         public RelayCommand StirArmGoOrigin { get; set; }
         public RelayCommand StirArmGoWork { get; set; }
@@ -269,6 +271,8 @@ namespace BPASmartClient.MorkF.ViewModel
             StopFire = new RelayCommand(() => { ActionManage.GetInstance.Send("StopFire"); });//加热停止
             StartStir = new RelayCommand(() => { ActionManage.GetInstance.Send("StartStir"); });//搅拌启动
             StopStir = new RelayCommand(() => { ActionManage.GetInstance.Send("StopStir"); });//搅拌停止
+            MagnetOn = new RelayCommand(() => { ActionManage.GetInstance.Send("MagnetOn"); });//磁吸开启
+            MagnetOff = new RelayCommand(() => { ActionManage.GetInstance.Send("MagnetOff"); });//磁吸开启
             OutFood = new RelayCommand(() => { ActionManage.GetInstance.Send("OutFood"); });//倒菜启动
             StirArmGoOrigin = new RelayCommand(() => { ActionManage.GetInstance.Send("StirArmGoOrigin"); });//搅拌臂去原点位
             StirArmGoWork = new RelayCommand(() => { ActionManage.GetInstance.Send("StirArmGoWork"); });//搅拌臂去炒制位

BPASmartClient.MorkF/ViewModel/MaterialCalibrationViewModel.cs

@@ -231,7 +231,38 @@ namespace BPASmartClient.MorkF.ViewModel
         public int TwentySevenY { get { return _TwentySevenY; } set { _TwentySevenY = value; OnPropertyChanged(); } }
         private int _TwentySevenY;
         #endregion
-
+        #region 菜品库高度测距点位
+        public bool PositionMaterialHeight { get { return _PositionMaterialHeight; } set { _PositionMaterialHeight = value; OnPropertyChanged(); } }
+        private bool _PositionMaterialHeight;
+        public int MaterialHeightX { get { return _MaterialHeightX; } set { _MaterialHeightX = value; OnPropertyChanged(); } }
+        private int _MaterialHeightX;
+        public int MaterialHeightY { get { return _MaterialHeightY; } set { _MaterialHeightY = value; OnPropertyChanged(); } }
+        private int _MaterialHeightY;
+        #endregion
+        #region 炒锅1菜品交互位置
+        public bool PositionFrying1 { get { return _PositionFrying1; } set { _PositionFrying1 = value; OnPropertyChanged(); } }
+        private bool _PositionFrying1;
+        public int Frying1X { get { return _Frying1X; } set { _Frying1X = value; OnPropertyChanged(); } }
+        private int _Frying1X;
+        public int Frying1Y { get { return _Frying1Y; } set { _Frying1Y = value; OnPropertyChanged(); } }
+        private int _Frying1Y;
+        #endregion
+        #region 炒锅2菜品交互位置
+        public bool PositionFrying2 { get { return _PositionFrying2; } set { _PositionFrying2 = value; OnPropertyChanged(); } }
+        private bool _PositionFrying2;
+        public int Frying2X { get { return _Frying2X; } set { _Frying2X = value; OnPropertyChanged(); } }
+        private int _Frying2X;
+        public int Frying2Y { get { return _Frying2Y; } set { _Frying2Y = value; OnPropertyChanged(); } }
+        private int _Frying2Y;
+        #endregion
+        #region 菜品库各传感器高度临时值
+        public int Distance_1 { get { return _Distance_1; } set { _Distance_1 = value; OnPropertyChanged(); } }
+        private int _Distance_1;
+        public int Distance_2 { get { return _Distance_2; } set { _Distance_2 = value; OnPropertyChanged(); } }
+        private int _Distance_2;
+        public int Distance_3 { get { return _Distance_3; } set { _Distance_3 = value; OnPropertyChanged(); } }
+        private int _Distance_3;
+        #endregion
         public bool Up { get { return _Up; } set { _Up = value; OnPropertyChanged(); } }
         private bool _Up;
 
@@ -251,14 +282,6 @@ namespace BPASmartClient.MorkF.ViewModel
 
         private string _str;
 
-        public RelayCommand FoodLibInit { get; set; }//初始化
-        public RelayCommand StartElectromagnetism { get; set; }//电磁阀启动
-        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
         /// <summary>
         /// 操作时，x轴移动的距离
         /// </summary>
@@ -309,6 +332,18 @@ namespace BPASmartClient.MorkF.ViewModel
 
         public RelayCommand SetNowDownPosition { get; set; }//设置机械臂基于当前坐标往下移动
 
+        public RelayCommand FoodLibInit { get; set; }//初始化
+        public RelayCommand StartElectromagnetism { get; set; }//电磁阀启动
+        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 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
+
         private static object saveMaterialCoordinateLock = new object();
         /// <summary>
         /// 保存当前的坐标系
@@ -434,8 +469,23 @@ namespace BPASmartClient.MorkF.ViewModel
                 }
             }
 
+            materialCoordinate.frying1.X = Frying1X;
+            materialCoordinate.frying1.Y = Frying1Y;
+            materialCoordinate.frying2.X = Frying2X;
+            materialCoordinate.frying2.Y = Frying2Y;
+            materialCoordinate.materialHeight.X = MaterialHeightX;
+            materialCoordinate.materialHeight.Y = MaterialHeightY;
+            materialCoordinate.distance_1 = Distance_1;
+            materialCoordinate.distance_2 = Distance_2;
+            materialCoordinate.distance_3 = Distance_3;
+
             Json<MaterialCoordinate>.Data = materialCoordinate;
             Json<MaterialCoordinate>.Save();
+            //更新当前的菜品库数据
+            MaterialCoordinate.GetInstance().frying1 = materialCoordinate.frying1;
+            MaterialCoordinate.GetInstance().frying2 = materialCoordinate.frying2;
+            MaterialCoordinate.GetInstance().materialHeight = materialCoordinate.materialHeight;
+            MaterialCoordinate.GetInstance().dicNoMaterialCoordinate = materialCoordinate.dicNoMaterialCoordinate;
         }
 
         /// <summary>
@@ -463,6 +513,11 @@ namespace BPASmartClient.MorkF.ViewModel
         {
             MaterialCoordinate materialCoordinate = ReadMaterialCoordinate();
 
+            if(materialCoordinate == null)
+            {
+                return;
+            }
+
             if (materialCoordinate.dicNoMaterialCoordinate.Count == 27)
             {
                 foreach (var dicNoMaterialCoordinate in materialCoordinate.dicNoMaterialCoordinate)
@@ -577,12 +632,33 @@ namespace BPASmartClient.MorkF.ViewModel
                             TwentySevenX = dicNoMaterialCoordinate.Value.X;
                             TwentySevenY = dicNoMaterialCoordinate.Value.Y;
                             break;
+                        case "MaterialHeight":
+                            MaterialHeightX = materialCoordinate.materialHeight.X;
+                            MaterialHeightY = materialCoordinate.materialHeight.Y;
+                            break;
+                        case "Frying1":
+                            Frying1X = materialCoordinate.frying1.X;
+                            Frying1Y = materialCoordinate.frying1.Y;
+                            break;
+                        case "Frying2":
+                            Frying2X = materialCoordinate.frying2.X;
+                            Frying2Y = materialCoordinate.frying2.Y;
+                            break;
                         default:
                             break;
                     }
                 }
             }
 
+            MaterialHeightX = materialCoordinate.materialHeight.X;
+            MaterialHeightY = materialCoordinate.materialHeight.Y;
+            Frying1X = materialCoordinate.frying1.X;
+            Frying1Y = materialCoordinate.frying1.Y;
+            Frying2X = materialCoordinate.frying2.X;
+            Frying2Y = materialCoordinate.frying2.Y;
+            Distance_1 = materialCoordinate.distance_1;
+            Distance_2 = materialCoordinate.distance_2;
+            Distance_3 = materialCoordinate.distance_3;
         }
 
         /// <summary>
@@ -701,6 +777,18 @@ namespace BPASmartClient.MorkF.ViewModel
                     TwentySevenX = TwentySevenX + OperationX;
                     TwentySevenY = TwentySevenY + OperationY;
                     break;
+                case "MaterialHeight":
+                    MaterialHeightX = MaterialHeightX + OperationX;
+                    MaterialHeightY = MaterialHeightY + OperationY;
+                    break;
+                case "Frying1":
+                    Frying1X = Frying1X + OperationX;
+                    Frying1Y = Frying1Y + OperationY;
+                    break;
+                case "Frying2":
+                    Frying2X = Frying1X + OperationX;
+                    Frying2Y = Frying2Y + OperationY;
+                    break;
                 default:
                     break;
             }
@@ -713,7 +801,8 @@ namespace BPASmartClient.MorkF.ViewModel
             //判断是否有选择下发的设备
             if (!PositionOne && !PositionTwo && !PositionThree && !PositionFour && !PositionFive && !PositionSix && !PositionSeven && !PositionEight && !PositionNine
             && !PositionTen && !PositionEleven && !PositionTwelve && !PositionThirteen && !PositionFourteen && !PositionFifteen && !PositionSixteen && !PositionSeventeen && !PositionEighteen
-            && !PositionNineteen && !PositionTwenty && !PositionTwentyOne && !PositionTwentyTwo && !PositionTwentyThree && !PositionTwentyFour && !PositionTwentyFive && !PositionTwentySix && !PositionTwentySeven)
+            && !PositionNineteen && !PositionTwenty && !PositionTwentyOne && !PositionTwentyTwo && !PositionTwentyThree && !PositionTwentyFour && !PositionTwentyFive && !PositionTwentySix && !PositionTwentySeven
+            && !PositionMaterialHeight && !PositionFrying1 && !PositionFrying2)
             {
                 MessageBox.Show("未选择点位");
                 return;
@@ -827,6 +916,18 @@ namespace BPASmartClient.MorkF.ViewModel
             {
                 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
+            }
+            if (PositionFrying1)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "Frying1", Frying1X + OperationX, Frying1Y + OperationY });//设定机械臂当前位置
+            }
+            if (PositionFrying2)
+            {
+                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "Frying2", Frying2X + OperationX, Frying2Y + OperationY });//设定机械臂当前位置
+            }
         }
 
         public MaterialCalibrationViewModel()
@@ -840,6 +941,9 @@ namespace BPASmartClient.MorkF.ViewModel
             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
+            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
 
             PhysicalMaterialCoordinate();
             ActionManage.GetInstance.Register(new Action<object>((o) =>
@@ -852,6 +956,31 @@ namespace BPASmartClient.MorkF.ViewModel
                     }
                 }), "CalibrationCallBack");
             }), "CalibrationCallBack");
+            ActionManage.GetInstance.Register(new Action<object>((o) =>
+            {
+                ThreadManage.GetInstance().Start(new Action(() =>
+                {
+                    if (o is List<string> nums)
+                    {
+                        int distance = 0;
+                        bool ret = false;
+                        ret = int.TryParse(nums[1], out distance);
+                        if (ret == false) { return; }
+                        if (nums[0] == "1")
+                        { 
+                            Distance_1= distance;
+                        }
+                        else if (nums[0] == "2")
+                        {
+                            Distance_2 = distance;
+                        }
+                        else if (nums[0] == "3")
+                        {
+                            Distance_3 = distance;
+                        }
+                    }
+                }), "GetDistanceCallBack");
+            }), "GetDistanceCallBack");
             SetNowPosition = new RelayCommand(() =>
             {
                 if(!Point && !Left && !Right && !Down && !Up)