MorkT

BPASmartClient.CustomResource/BPASmartClient.CustomResource.csproj

@@ -12,6 +12,7 @@
   </ItemGroup>
 
   <ItemGroup>
+    <None Remove="Fonts\Debug\iconfont.ttf" />
     <None Remove="Fonts\iconfont.ttf" />
     <None Remove="Image\bg.png" />
     <None Remove="Image\btn_close.png" />
@@ -172,6 +173,7 @@
   </ItemGroup>
 
   <ItemGroup>
+    <Resource Include="Fonts\Debug\iconfont.ttf" />
     <Resource Include="Image\btn_close.png" />
     <Resource Include="Image\ComboBoxPopSelect.png" />
     <Resource Include="Image\ComboBoxSelect.png" />

BPASmartClient.DRCoffee/CoffeeMachine.cs

@@ -141,14 +141,13 @@ namespace BPASmartClient.DRCoffee
         /// <param name="package"></param>
         public void ProcessPackage(DrCoffeePackage package)
         {
-            
+            lastRefreshTime = DateTime.Now;
+            IsConnected = OnLine;
+            status["CoffeeIsConnected"] = OnLine;
             if (((DrCoffeeStatus)status["CoffeeStatus"]) == DrCoffeeStatus.Running && package.Status != DrCoffeeStatus.Running)
             {
                 status["CoffeeStatus"] = package.Status;
-                lastRefreshTime = DateTime.Now;
-                IsConnected = OnLine;
-                status["CoffeConnected"] = OnLine;
-                new DRCoffee_CoffeEndCookEvent() { DeviceId = DeviceId }.Publish();
+                EventBus.EventBus.GetInstance().Publish(new DRCoffee_CoffeEndCookEvent() { DeviceId = DeviceId });
             }
             else status["CoffeeStatus"] = package.Status;
             status["CoffeeAppStatus"] = package.ApplicationStatus;

BPASmartClient.Device/BaseDevice.cs

@@ -325,7 +325,7 @@ namespace BPASmartClient.Device
             {
                 MainTask();
                 Thread.Sleep(10);
-            }), $"MainTask:{DeviceId}");
+            }) ,$"MainTask:{DeviceId}",true);
             #endregion
 
             #region 设备状态监控

BPASmartClient.IoT/DataVClient.cs

@@ -35,8 +35,7 @@ namespace BPASmartClient.IoT
         public DataVClient()
         {
             DataVApiAddress = InternetInfo.DataVApiAddress;
-            //ClientId = System.Configuration.ConfigurationManager.AppSettings["ClientId"].ToString();
-            ClientId = Plugin.GetInstance().GetPlugin<ConfigMgr>().ClientId.ToString();
+            ClientId = System.Configuration.ConfigurationManager.AppSettings["ClientId"].ToString();
             DeviceName = System.Configuration.ConfigurationManager.AppSettings["DeviceName"].ToString();
             ProductKey = System.Configuration.ConfigurationManager.AppSettings["ProductKey"].ToString();
             DeviceSecret = System.Configuration.ConfigurationManager.AppSettings["DeviceSecret"].ToString();

BPASmartClient.Lebai/LebaiRobot.cs

@@ -48,7 +48,7 @@ namespace BPASmartClient.Lebai
                 status["RobotIsConnected"] = LebaiHelper.GetInstance().IsConnected;
                 status["RobotOK"] = LebaiHelper.GetInstance().GetValueAsync().Ok;
                 status["RobotValue"] = LebaiHelper.GetInstance().GetValueAsync().Value;
-                if (LebaiHelper.GetInstance().robotData != null) status["RobotMode"] = LebaiHelper.GetInstance().robotData.RobotMode.Mode;
+                if (LebaiHelper.GetInstance().robotData != null) status["RobotMode"] =(ELebaiRModel)LebaiHelper.GetInstance().robotData.RobotMode.Mode;
                 LebaiHelper.GetInstance().GetRobotModeStatus();
                 Thread.Sleep(10);
             },"获取乐白机器人数据");

BPASmartClient.MorkT/BPASmartClient.MorkT.csproj

@@ -9,6 +9,7 @@
 
   <ItemGroup>
     <ProjectReference Include="..\BPASmartClient.Business\BPASmartClient.Business.csproj" />
+    <ProjectReference Include="..\BPASmartClient.CustomResource\BPASmartClient.CustomResource.csproj" />
     <ProjectReference Include="..\BPASmartClient.Device\BPASmartClient.Device.csproj" />
     <ProjectReference Include="..\BPASmartClient.DRCoffee\BPASmartClient.DRCoffee.csproj" />
     <ProjectReference Include="..\BPASmartClient.GSIceCream\BPASmartClient.GSIceCream.csproj" />

BPASmartClient.MorkT/Control_MorkT.cs

@@ -45,7 +45,7 @@ namespace BPASmartClient.MorkT
                     morkT.MakeCoffeeOrder.OrderStatus = 1;
             });
             int i = 0;
-            
+            EventBus.EventBus.GetInstance().Publish(new GSIceCream_ModeSetEvent { DeviceId = DeviceId, Mode = MORKI_MODE.制冷模式 });
 
             MessageLog.GetInstance.Show("MORKT 设备初始化完成");
 
@@ -71,7 +71,21 @@ namespace BPASmartClient.MorkT
 
         public override void MainTask()
         {
-
+            if (morkT.waitMorkOrder != null)//更新订单取走状态
+            {
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent() { DeviceId = DeviceId, Pin = 0 }, (o) =>
+                {
+                    if (o != null && o.Length > 0 && o[0] is bool res)
+                    {
+                        if (!res)
+                        {
+                            OrderChange(morkT.waitMorkOrder.SuborderId, ORDER_STATUS.COMPLETED_TAKE);
+                            DeviceProcessLogShow("订单取餐完成");
+                            morkT.waitMorkOrder = null;
+                        }
+                    }
+                });
+            }
             MakeCoffeeProcess();
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 0 },(o)=>
             {
@@ -84,7 +98,8 @@ namespace BPASmartClient.MorkT
                     }
                 }
             });
-            
+ 
+
         }
 
         public override void ReadData()
@@ -371,6 +386,7 @@ namespace BPASmartClient.MorkT
                 {
                     DeviceProcessLogShow($"开始制作 [咖啡] 订单[{orderLoc.SortNum}]");
                     GetAndCheeckCoffe(orderLoc);//取咖啡杯
+                    if (!morkT.GetCoffeeCup) return;
                     EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10051}); //接咖啡后回原点
                     Wait();
                     EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
@@ -380,6 +396,7 @@ namespace BPASmartClient.MorkT
                 }
 
             }
+            
 
 
         }
@@ -411,6 +428,7 @@ namespace BPASmartClient.MorkT
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
             //订单状态改变：完成
             OrderChange(order.SuborderId, ORDER_STATUS.COMPLETED_COOK);
+            morkT.waitMorkOrder = order;
             DeviceProcessLogShow($"{order.GoodsName}等待取餐");
             //WaitTakeMealOrder.Enqueue(order);
 
@@ -454,6 +472,7 @@ namespace BPASmartClient.MorkT
                     EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10050 }); //SENCE_咖啡杯回原点
                     Wait();
                     EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+                    morkT.GetCoffeeCup = false;
                     return;
                 }
                 DeviceProcessLogShow("执行二次取咖啡杯");
@@ -464,6 +483,7 @@ namespace BPASmartClient.MorkT
                 count++;
                 goto p;
             }
+            morkT.GetCoffeeCup = true;
             DeviceProcessLogShow("取咖啡杯完成");
         }
 
@@ -482,40 +502,45 @@ namespace BPASmartClient.MorkT
         /// </summary>
         private void MakeIceCreamProcess()
         {
-            if (IceCreamCanMake())
-            {
-                if(peripheralStatus.ContainsKey("IceCreamCurrentMode"))
-                {
-                    if ((MORKI_MODE)peripheralStatus["IceCreamCurrentMode"] != MORKI_MODE.制冷模式) new GSIceCream_ModeSetEvent() { Mode = MORKI_MODE.制冷模式 }.Publish();
-                }
-
-                if(peripheralStatus.ContainsKey("IceCreamCXB"))
-                {
-                    if ((byte)peripheralStatus["IceCreamCXB"] >= 86 && morkT.morkOrderPushesIceCream.Count > 0)//成型比大于86才可以制作
-                    {
-                        bool result = true;
-                        EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 3 }, (res) =>
-                        {
-                            if (res[0] is bool resultValue)
-                            {
-                                result = resultValue;
-                            }
-                        });
-                        if (result)
-                        {
-                            if (morkT.IceIsOK) DeviceProcessLogShow("请检查冰淇淋出料口有无遮挡");
-                            morkT.IceIsOK = false;
-                        }
-                        else if (morkT.morkOrderPushesIceCream.TryDequeue(out OrderLocInfo order))
-                        {
-                            morkT.IceIsOK = true;
-                            DeviceProcessLogShow($"开始制作 [冰淇淋] 订单[{order.SortNum}]");
-                            DoIceCream(order);
-                        }
-                    }
-                }
-                
-            }
+            //if (IceCreamCanMake())
+            //{
+                if (morkT.morkOrderPushesIceCream.TryDequeue(out OrderLocInfo order))
+                {
+                    DoIceCream(order);
+                }
+                   
+                //if(peripheralStatus.ContainsKey("IceCreamCurrentMode"))
+                //{
+                //    if ((MORKI_MODE)peripheralStatus["IceCreamCurrentMode"] != MORKI_MODE.制冷模式) EventBus.EventBus.GetInstance().Publish(new GSIceCream_ModeSetEvent { DeviceId = DeviceId, Mode = MORKI_MODE.制冷模式 });
+                //}
+
+                //if(peripheralStatus.ContainsKey("IceCreamCXB"))
+                //{
+                //    if ((byte)peripheralStatus["IceCreamCXB"] >= 86 && morkT.morkOrderPushesIceCream.Count > 0)//成型比大于86才可以制作
+                //    {
+                //        bool result = true;
+                //        EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 3 }, (res) =>
+                //        {
+                //            if (res[0] is bool resultValue)
+                //            {
+                //                result = resultValue;
+                //            }
+                //        });
+                //        if (result)
+                //        {
+                //            if (morkT.IceIsOK) DeviceProcessLogShow("请检查冰淇淋出料口有无遮挡");
+                //            morkT.IceIsOK = false;
+                //        }
+                //        else if (morkT.morkOrderPushesIceCream.TryDequeue(out OrderLocInfo order))
+                //        {
+                //            morkT.IceIsOK = true;
+                //            DeviceProcessLogShow($"开始制作 [冰淇淋] 订单[{order.SortNum}]");
+                //            DoIceCream(order);
+                //        }
+                //    }
+                //}
+
+            //}
         }
 
 
@@ -526,8 +551,12 @@ namespace BPASmartClient.MorkT
         {
             GetIceCreamCup();
             CheckICeCreaCup();
-            GetIceCream(order);
-            PutIceCream(order);
+            if(morkT.GetIceCreamCup)
+            {
+                GetIceCream(order);
+                PutIceCream(order);
+            }
+           
         }
 
         /// <summary>
@@ -572,6 +601,7 @@ namespace BPASmartClient.MorkT
                     EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10049 }); //SENCE_冰淇淋杯回原点
                     Wait();
                     EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+                    morkT.GetIceCreamCup = false;
                     return;
                 }
                 DeviceProcessLogShow($"执行{count}次取冰淇淋杯!");
@@ -582,6 +612,7 @@ namespace BPASmartClient.MorkT
                 count++;
                 goto p;
             }
+            morkT.GetIceCreamCup = true;
             DeviceProcessLogShow("冰淇淋杯检测完成");
         }
 
@@ -592,34 +623,43 @@ namespace BPASmartClient.MorkT
         private void GetIceCream(OrderLocInfo order)
         {
             //制冷模式
-            EventBus.EventBus.GetInstance().Publish(new GSIceCream_ModeSetEvent {DeviceId = DeviceId, Mode = MORKI_MODE.制冷模式 });
+            //EventBus.EventBus.GetInstance().Publish(new GSIceCream_ModeSetEvent {DeviceId = DeviceId, Mode = MORKI_MODE.制冷模式 });
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 });
             OrderChange(order.SuborderId, ORDER_STATUS.COOKING);
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10039 }); //SENCE_接1号冰淇淋
             Wait();
             bool doItResult = true;
+
             //出料
-            EventBus.EventBus.GetInstance().Publish(new GSIceCream_DischargeEvent { DeviceId = DeviceId },(o)=>
-            {
-                doItResult = (bool)o[0];
-            });            
-            if (doItResult)
-            {
-                IceCreamCookCheck();
-            }
-            else
-            {
-                int count_1 = 0;
+            EventBus.EventBus.GetInstance().Publish(new SCChip_RotorSwitchEvent { DeviceId = DeviceId, TurnOn = true });
+            Thread.Sleep(500);
+            EventBus.EventBus.GetInstance().Publish(new SCChip_RotorSwitchEvent { DeviceId = DeviceId, TurnOn = false });
+            EventBus.EventBus.GetInstance().Publish(new SCChip_MakeIceCreamEvent { DeviceId = DeviceId ,SteeringEngine  = IC_SE.SE_2 });//冰淇淋出料
+            DeviceProcessLogShow("开始等待6s");
+            Thread.Sleep(6000);
 
-                while ((byte)peripheralStatus["IceCreamCXB"] <= 86)
-                {
-                    Thread.Sleep(5);
-                    count_1++;
-                    if (count_1 >= 2000)
-                        break;
-                }
-                IceCreamCookCheck();
-            }
+            //出料
+            //EventBus.EventBus.GetInstance().Publish(new GSIceCream_DischargeEvent { DeviceId = DeviceId },(o)=>
+            //{
+            //    doItResult = (bool)o[0];
+            //});            
+            //if (doItResult)
+            //{
+            //    IceCreamCookCheck();
+            //}
+            //else
+            //{
+            //    int count_1 = 0;
+
+            //    while ((byte)peripheralStatus["IceCreamCXB"] <= 86)
+            //    {
+            //        Thread.Sleep(5);
+            //        count_1++;
+            //        if (count_1 >= 2000)
+            //            break;
+            //    }
+            //    IceCreamCookCheck();
+            //}
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
         }
 
@@ -629,21 +669,25 @@ namespace BPASmartClient.MorkT
         /// <param name="order"></param>
         private void PutIceCream(OrderLocInfo order)
         {
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 0 }, (res) =>
+            bool resultValue = true;
+            while (resultValue)
             {
-                if (res[0] is bool resultValue)
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 0 }, (res) =>
                 {
-                    while (resultValue)
+                    if (res[0] is bool b)
                     {
-                        Thread.Sleep(500);
+                        resultValue = b;
                     }
-                }
-            });
+                });
+                Thread.Sleep(500);
+            }
+          
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10043 }); //SENCE_放冰淇淋位置
             Wait();
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
             //订单状态改变：完成
             OrderChange(order.SuborderId, ORDER_STATUS.COMPLETED_COOK);
+            morkT.waitMorkOrder = order;
             DeviceProcessLogShow($"{order.GoodsName}等待取餐");
             //WaitTakeMealOrder.Enqueue(order);
 

BPASmartClient.MorkT/GLV_MorkT.cs

@@ -25,6 +25,10 @@ namespace BPASmartClient.MorkT
         /// </summary>
         public ConcurrentQueue<OrderLocInfo> morkOrderPushesIceCream = new ConcurrentQueue<OrderLocInfo>();
         /// <summary>
+        /// 等待取餐订单
+        /// </summary>
+        public OrderLocInfo waitMorkOrder = null;
+        /// <summary>
         /// 物料存放位置
         /// </summary>
         public Dictionary<string, PolymerBatching> batchings = new Dictionary<string, PolymerBatching>();
@@ -44,6 +48,14 @@ namespace BPASmartClient.MorkT
         /// 冰淇淋机器出料口传感器检测
         /// </summary>
         public bool IceIsOK = true;
+        /// <summary>
+        /// 去咖啡杯成功
+        /// </summary>
+        public bool GetCoffeeCup;
+        /// <summary>
+        /// 取冰淇淋杯成功
+        /// </summary>
+        public bool GetIceCreamCup;
 
         #region
 

BPASmartClient.MorkT/View/DebugView.xaml

@@ -6,7 +6,7 @@
              xmlns:vm ="clr-namespace:BPASmartClient.MorkT.ViewModel"
              mc:Ignorable="d" 
              Name="调试界面"
-             d:DesignHeight="450" d:DesignWidth="1000" >
+             d:DesignHeight="500" d:DesignWidth="1000" Unloaded="Dubug_Unloaded">
     <UserControl.DataContext>
         <vm:DebugViewModel/>
     </UserControl.DataContext>
@@ -20,12 +20,13 @@
     </UserControl.Resources>
     <Grid>
         <Grid.ColumnDefinitions>
-            <ColumnDefinition Width="*"/>
-            <ColumnDefinition Width="*"/>
+            <ColumnDefinition Width="10*"/>
+            <ColumnDefinition Width="10*"/>
         </Grid.ColumnDefinitions>
         <Grid.RowDefinitions>
-            <RowDefinition Height="9*"/>
-            <RowDefinition Height="10*"/>
+            <RowDefinition Height="14*"/>
+            <RowDefinition Height="6*"/>
+            <RowDefinition Height="20*"/>
         </Grid.RowDefinitions>
 
         <GroupBox Grid.ColumnSpan="2"
@@ -81,7 +82,7 @@
                 </ListBox>
             </Grid>
         </GroupBox>
-        <GroupBox  Grid.Row="1"
+        <GroupBox  Grid.Row="2"
             FontFamily="楷体"
             FontSize="20"
             Header=" 冰淇淋机器 ">
@@ -172,7 +173,7 @@
                 </StackPanel>
             </Grid>
         </GroupBox>
-        <GroupBox  Grid.Row="1" Grid.Column="1"
+        <GroupBox  Grid.Row="2" Grid.Column="1"
             FontFamily="楷体"
             FontSize="20"
             Header=" 咖啡机">
@@ -203,13 +204,13 @@
                         <ColumnDefinition Width="171" />
                     </Grid.ColumnDefinitions>
                     <TextBlock Height="23" Width="100" FontSize="18" HorizontalAlignment="Center">咖啡机状态</TextBlock>
-                    <TextBlock FontSize="18"
+                    <TextBlock FontSize="18" 
                             Grid.Column="1"
-                            Text="{Binding CoffeeStatus}" Height="23" Width="0" />
+                            Text="{Binding CoffeeStatus}" Height="23" />
                     <TextBlock Grid.Column="2" Height="23" Width="80" FontSize="18">应用状态</TextBlock>
                     <TextBlock FontSize="18"
                             Grid.Column="3" 
-                            Text="{Binding AppStatus}" Height="23" Width="100" />
+                            Text="{Binding AppStatus}" Height="23"/>
                     <TextBlock Grid.Row="1" Grid.Column="0" Height="22" Width="80" FontSize="18">告警信息</TextBlock>
                     <TextBlock FontSize="15"
                             Grid.Row="1"
@@ -248,5 +249,32 @@
                 </StackPanel>
             </Grid>
         </GroupBox>
+        <GroupBox Header="单片机控制"
+                   FontSize="18"
+                  Grid.Row="1" Grid.ColumnSpan="2"
+                  Margin="0,0,0,10">
+            <StackPanel Orientation="Horizontal"
+                     VerticalAlignment="Center" >
+
+                <Button Content="咖啡杯落杯" 
+                    Command="{Binding Button_CupControlCommand}" 
+                    CommandParameter="CUP_COFFEE"
+                     Margin="0,0,50,0"/>
+                <Button Content="冰淇淋杯落杯" 
+                    Command="{Binding Button_CupControlCommand}" 
+                    CommandParameter="CUP_ICECREAM"
+                   />
+                <Button Content="单片机冰淇淋制冷" 
+                    Command="{Binding Button_SCChipRefrigerationCommand}"  Cursor="Hand"
+                        Margin="50,0"
+                   />
+                <Button Content="单片机冰淇淋打料" 
+                    Command="{Binding Button_SCChipDischargeCommand}" Cursor="Hand" />
+                <Button Content="单片机冰淇淋模拟" 
+                    Command="{Binding Button_SCChipTestCommand}" Cursor="Hand" 
+                        Margin="50,0"/>
+            </StackPanel>
+        </GroupBox>
+
     </Grid>
 </UserControl>

BPASmartClient.MorkT/View/DebugView.xaml.cs

@@ -1,4 +1,5 @@
-using System;
+using BPASmartClient.Helper;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
@@ -24,5 +25,11 @@ namespace BPASmartClient.MorkT.View
         {
             InitializeComponent();
         }
+
+        private void Dubug_Unloaded(object sender, RoutedEventArgs e)
+        {
+            ThreadManage.GetInstance().StopTask("MorkT-状态刷新");
+            ThreadManage.GetInstance().StopTask("MorkT-传感器监视");
+        }
     }
 }

BPASmartClient.MorkT/View/Monitor.xaml

@@ -0,0 +1,75 @@
+<UserControl x:Class="BPASmartClient.MorkT.View.Monitor"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:local="clr-namespace:BPASmartClient.MorkT.View"
+             xmlns:vm="clr-namespace:BPASmartClient.MorkT.ViewModel"
+             mc:Ignorable="d" 
+             Name="监控画面"
+             d:DesignHeight="450" d:DesignWidth="800" Unloaded="Monitor_Unloaded">
+    <UserControl.DataContext>
+        <vm:MonitorViewModel/>
+    </UserControl.DataContext>
+    <UserControl.Resources>
+        <ResourceDictionary >
+            <vm:BoolToColorConvert x:Key="BoolToColorConvert"/>
+            <Style x:Key="tx_Status" TargetType="TextBlock">
+                <Setter Property="FontFamily" Value="/BPASmartClient.CustomResource;component/Fonts/Debug/#iconfont"/>
+                <Setter Property="FontSize" Value="26"/>
+                <Setter Property="Text" Value="&#xea6b;"/>
+                <Setter Property="VerticalAlignment" Value="Center"/>
+                <Setter Property="HorizontalAlignment" Value="Left"/>
+            </Style>
+        </ResourceDictionary>
+        
+        
+    </UserControl.Resources>
+    <Grid Margin="10,0">
+        <Grid.ColumnDefinitions>
+
+        </Grid.ColumnDefinitions>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="*"/>
+            <RowDefinition Height="*"/>
+            <RowDefinition Height="*"/>
+        </Grid.RowDefinitions>
+        <GroupBox Header="传感器状态"
+                  FontSize="20" Foreground="#40e8ff"
+                  BorderThickness="0">
+            <Grid Margin="20,0">
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition Width="3*"/>
+                    <ColumnDefinition Width="*"/>
+                    <ColumnDefinition Width="3*"/>
+                    <ColumnDefinition Width="*"/>
+                </Grid.ColumnDefinitions>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
+                </Grid.RowDefinitions>
+                <TextBlock Text="机器人夹爪处检测传感器" 
+                           FontSize="18"
+                           VerticalAlignment="Center"/>
+                <TextBlock Text="冰淇淋出料口传感器" 
+                           Grid.Row="1"
+                           FontSize="18"
+                           VerticalAlignment="Center"/>
+                <TextBlock Text="取餐口传感器" 
+                           Grid.Row="2"
+                           FontSize="18"
+                           VerticalAlignment="Center"/>
+                <TextBlock Grid.Row="0" Grid.Column="1"
+                    Style="{StaticResource tx_Status}" 
+                           Foreground="{Binding RobotSenser,Converter={StaticResource BoolToColorConvert }}"/>
+                <TextBlock Grid.Row="1" Grid.Column="1"
+                    Style="{StaticResource tx_Status}"
+                           Foreground="{Binding IceCreamSenser,Converter={StaticResource BoolToColorConvert }}"/>
+                <TextBlock Grid.Row="2" Grid.Column="1"
+                    Style="{StaticResource tx_Status}"
+                           Foreground="{Binding TakeMealSenser,Converter={StaticResource BoolToColorConvert}}"/>
+            </Grid>
+        </GroupBox>
+    </Grid>
+</UserControl>

BPASmartClient.MorkT/View/Monitor.xaml.cs

@@ -0,0 +1,34 @@
+using BPASmartClient.Helper;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace BPASmartClient.MorkT.View
+{
+    /// <summary>
+    /// Monitor.xaml 的交互逻辑
+    /// </summary>
+    public partial class Monitor : UserControl
+    {
+        public Monitor()
+        {
+            InitializeComponent();
+        }
+
+
+        private void Monitor_Unloaded(object sender, RoutedEventArgs e)
+        {
+        }
+    }
+}

BPASmartClient.MorkT/View/ParSer.xaml

@@ -0,0 +1,13 @@
+<UserControl x:Class="BPASmartClient.MorkT.View.ParSer"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:local="clr-namespace:BPASmartClient.MorkT.View"
+             mc:Ignorable="d"
+             Name="参数设置界面"
+             d:DesignHeight="450" d:DesignWidth="800">
+    <Grid>
+            
+    </Grid>
+</UserControl>

BPASmartClient.MorkT/View/ParSer.xaml.cs

@@ -0,0 +1,28 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows;
+using System.Windows.Controls;
+using System.Windows.Data;
+using System.Windows.Documents;
+using System.Windows.Input;
+using System.Windows.Media;
+using System.Windows.Media.Imaging;
+using System.Windows.Navigation;
+using System.Windows.Shapes;
+
+namespace BPASmartClient.MorkT.View
+{
+    /// <summary>
+    /// ParSer.xaml 的交互逻辑
+    /// </summary>
+    public partial class ParSer : UserControl
+    {
+        public ParSer()
+        {
+            InitializeComponent();
+        }
+    }
+}

BPASmartClient.MorkT/ViewModel/DebugViewModel.cs

@@ -9,6 +9,8 @@ using BPASmartClient.Message;
 using BPASmartClient.Model;
 using BPASmartClient.Model.乐白机器人;
 using BPASmartClient.Model.冰淇淋.Enum;
+using BPASmartClient.Model.单片机;
+using BPASmartClient.Model.单片机.Enum;
 using BPASmartClient.Model.咖啡机.Enum;
 using Microsoft.Toolkit.Mvvm.ComponentModel;
 using Microsoft.Toolkit.Mvvm.Input;
@@ -156,21 +158,100 @@ namespace BPASmartClient.MorkT.ViewModel
 
         public List<string> CoffeeCmds { get; set; } = new List<string>();
         public string SelectedCoffeeCmd { get; set; }
+        /// <summary>
+        /// 制作咖啡
+        /// </summary>
+        public RelayCommand Button_MakeCoffeeCommand { get; set; }
+        /// <summary>
+        /// 停止制作咖啡
+        /// </summary>
+        public RelayCommand Button_StopMakeCoffeCommand { get; set; }
+        /// <summary>
+        /// 咖啡模式设置
+        /// </summary>
+        public RelayCommand Button_CoffeeModeSetCommand { get; set; }
+
+        private void Button_MakeCoffee()
+        {
+            EventBus.EventBus.GetInstance().Publish(new DRCoffee_MakeCoffeeEvent() { DeviceId = DeviceId, DrinkCode = (DrCoffeeDrinksCode)Enum.Parse(typeof(DrCoffeeDrinksCode), SelectedCoffee)});
+        }
+        private void Button_StopMakeCoffe()
+        {
+            EventBus.EventBus.GetInstance().Publish(new DRCoffee_CancelMakeCoffeeEvent() { DeviceId = DeviceId });
+        }
+        private void Button_CoffeeModeSet()
+        {
+            EventBus.EventBus.GetInstance().Publish(new DRCoffee_CoffeeCommCmdEvent() { DeviceId = DeviceId, CommCmd = (DrCoffeeCommCmd)Enum.Parse(typeof(DrCoffeeCommCmd), SelectedCoffeeCmd)});
+        }
         #endregion
 
+        #region 单片机
         /// <summary>
-        /// 设备ID
+        /// 咖啡杯或冰淇淋杯落杯
         /// </summary>
-        public  int DeviceId { get; set; }
+        public RelayCommand<object> Button_CupControlCommand { get; set; }
+        /// <summary>
+        /// 单片机冰淇淋机器制冷
+        /// </summary>
+        public RelayCommand Button_SCChipRefrigerationCommand { get; set; }
+        /// <summary>
+        /// 单片机冰淇淋机器打料
+        /// </summary>
+        public RelayCommand Button_SCChipDischargeCommand { get; set; }
+        /// <summary>
+        /// 模拟测试
+        /// </summary>
+        public RelayCommand Button_SCChipTestCommand { get; set; }
 
-        public ObservableCollection<VariableMonitor> variableMonitors { get; set; }
+        private void Button_CupControl(object CupType)
+        {
+            EventBus.EventBus.GetInstance().Publish(new SCChip_TakeCupEvent() { DeviceId = DeviceId, Cup = (IC_CUP)Enum.Parse(typeof(IC_CUP), CupType.ToString()) });
+        }
+
+        private void Button_SCChipRefrigeration()
+        {
+            EventBus.EventBus.GetInstance().Publish(new SCChip_RotorSwitchEvent { DeviceId = DeviceId, TurnOn = true });
+            Thread.Sleep(500);
+            EventBus.EventBus.GetInstance().Publish(new SCChip_RotorSwitchEvent { DeviceId = DeviceId, TurnOn = false });
+            
+        }
 
+        private void Button_SCChipDischarge()
+        {
+            EventBus.EventBus.GetInstance().Publish(new SCChip_MakeIceCreamEvent { DeviceId = DeviceId, SteeringEngine = IC_SE.SE_2 });
+        }
+
+        #endregion
+
+        /// <summary>
+        /// 设备ID
+        /// </summary>
+        public int DeviceId { get; set; }
+        /// <summary>
+        /// 设备数据
+        /// </summary>
+        public ObservableCollection<VariableMonitor> variableMonitors { get; set; }
+        
         public DebugViewModel()
         {
             Button_RobotControlCommand = new RelayCommand<object>(Button_RobotControl);
             Button_MakeIceCreamCommand = new RelayCommand(Button_MakeIceCream);
             Button_SetIceCreamModelCommand = new RelayCommand(Button_SetIceCreamModel);
 
+            Button_MakeCoffeeCommand = new RelayCommand(Button_MakeCoffee);
+            Button_StopMakeCoffeCommand = new RelayCommand(Button_StopMakeCoffe);
+            Button_CoffeeModeSetCommand = new RelayCommand(Button_CoffeeModeSet);
+
+            Button_CupControlCommand = new RelayCommand<object>(Button_CupControl);
+            Button_SCChipRefrigerationCommand = new RelayCommand(Button_SCChipRefrigeration);
+            Button_SCChipDischargeCommand = new RelayCommand(Button_SCChipDischarge);
+            Button_SCChipTestCommand = new RelayCommand(() =>
+            {
+                Button_SCChipRefrigeration();
+                Thread.Sleep(50);
+                Button_SCChipDischarge();
+            });
+
             foreach (DrCoffeeDrinksCode code in Enum.GetValues(typeof(DrCoffeeDrinksCode)))
             {
                 Coffees.Add(code.ToString());

BPASmartClient.MorkT/ViewModel/MonitorViewModel.cs

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

BPASmartClient.SCChip/ICChipMachine.cs

@@ -33,6 +33,43 @@ namespace BPASmartClient.SCChip
         /// </summary>
         public bool OnLine { get { return DateTime.Now.Subtract(lastRefreshTime).TotalSeconds <= 3; } }
 
+        #region 无需上传的数据
+        /// <summary>
+        /// 1号舵机打开完成
+        /// </summary>
+        public bool CompletedOpen_SE_1 { get; set; }
+        /// <summary>
+        /// 2号舵机打开完成
+        /// </summary>
+        public bool CompletedOpen_SE_2 { get; set; }
+        /// <summary>
+        /// 3号舵机打开完成
+        /// </summary>
+        public bool CompletedOpen_SE_3 { get; set; }
+        /// <summary>
+        /// 1号舵机关闭完成
+        /// </summary>
+        public bool CompletedClose_SE_1 { get; set; }
+        /// <summary>
+        /// 2号舵机关闭完成
+        /// </summary>
+        public bool CompletedClose_SE_2 { get; set; }
+        /// <summary>
+        /// 3号舵机关闭完成
+        /// </summary>
+        public bool CompletedClose_SE_3 { get; set; }
+        /// <summary>
+        /// 是否存在物品
+        /// </summary>
+        public bool ArticleExits { get; set; }
+        /// <summary>
+        /// 物品距离
+        /// </summary>
+        public byte ArticleDist { get; set; }
+        #endregion
+
+
+
         public ICChipMachine()
         {
 
@@ -176,13 +213,13 @@ namespace BPASmartClient.SCChip
                         switch ((IC_SE)data.Value)
                         {
                             case IC_SE.SE_1:
-                                status["CompletedOpen_SE_1"] = true;
-                                break;
+                                CompletedOpen_SE_1 = true;
+                                break; 
                             case IC_SE.SE_2:
-                                status["CompletedOpen_SE_2"] = true;
-                                break;
+                                CompletedOpen_SE_2 = true;
+                                break; 
                             case IC_SE.SE_3:
-                                status["CompletedOpen_SE_3"] = true;
+                                CompletedOpen_SE_3 = true;
                                 break;
                         }
                         break;
@@ -190,13 +227,13 @@ namespace BPASmartClient.SCChip
                         switch ((IC_SE)data.Value)
                         {
                             case IC_SE.SE_1:
-                                status["CompletedClose_SE_1"] = true;
+                                CompletedClose_SE_1 = true;
                                 break;
                             case IC_SE.SE_2:
-                                status["CompletedClose_SE_2"] = true;
+                                CompletedClose_SE_2= true;
                                 break;
                             case IC_SE.SE_3:
-                                status["CompletedClose_SE_3"] = true;
+                                CompletedClose_SE_3 = true;
                                 break;
                         }
                         break;
@@ -214,12 +251,12 @@ namespace BPASmartClient.SCChip
         {
             status["CompletedTake_CPU_CUP_ICECREAM"] = false;
             status["CompletedTake_CPU_CUP_COFFEE"] = false;
-            status["CompletedOpen_SE_1"] = false;
-            status["CompletedOpen_SE_2"] = false;
-            status["CompletedOpen_SE_3"] = false;
-            status["CompletedClose_SE_1"] = false;
-            status["CompletedClose_SE_2"] = false;
-            status["CompletedClose_SE_3"] = false;
+            //status["CompletedOpen_SE_1"] = false;
+            //status["CompletedOpen_SE_2"] = false;
+            //status["CompletedOpen_SE_3"] = false;
+            //status["CompletedClose_SE_1"] = false;
+            //status["CompletedClose_SE_2"] = false;
+            //status["CompletedClose_SE_3"] = false;
         }
 
         public override void Init()
@@ -279,13 +316,13 @@ namespace BPASmartClient.SCChip
                     switch ((IC_SE)(@event as SCChip_MakeIceCreamEvent).SteeringEngine)
                     {
                         case IC_SE.SE_1:
-                            status["CompletedOpen_SE_1"] = false;
+                            CompletedOpen_SE_1 = false;
                             break;
                         case IC_SE.SE_2:
-                            status["CompletedOpen_SE_2"] = false;
+                            CompletedOpen_SE_2 = false;
                             break;
                         case IC_SE.SE_3:
-                            status["CompletedOpen_SE_3"] = false;
+                            CompletedOpen_SE_3 = false;
                             break;
                     }
                     package.Cmd = IC_CMD.OPEN_SE;
@@ -302,19 +339,31 @@ namespace BPASmartClient.SCChip
                             switch ((IC_SE)(@event as SCChip_MakeIceCreamEvent).SteeringEngine)
                             {
                                 case IC_SE.SE_1:
-                                    wait = !(bool)status["CompletedOpen_SE_1"];
+                                    wait = !CompletedOpen_SE_1;
                                     break;
                                 case IC_SE.SE_2:
-                                    wait = !(bool)status["CompletedOpen_SE_2"];
+                                    wait = !CompletedOpen_SE_2;
                                     break;
                                 case IC_SE.SE_3:
-                                    wait = !(bool)status["CompletedOpen_SE_3"];
+                                    wait = !CompletedOpen_SE_3;
                                     break;
                             }
                         }
                         Thread.Sleep(10);
                     }
                     Thread.Sleep(2000);
+                    switch ((IC_SE)(@event as SCChip_MakeIceCreamEvent).SteeringEngine)
+                    {
+                        case IC_SE.SE_1:
+                            CompletedClose_SE_1 = false;
+                            break;
+                        case IC_SE.SE_2:
+                            CompletedClose_SE_2 = false;
+                            break;
+                        case IC_SE.SE_3:
+                            CompletedClose_SE_3 = false;
+                            break;
+                    }
                     package.Cmd = IC_CMD.CLOSE_SE;
                     package.Value = (byte)(@event as SCChip_MakeIceCreamEvent).SteeringEngine;
                     commProxy.SendData(StructureToByte(package));
@@ -329,13 +378,13 @@ namespace BPASmartClient.SCChip
                             switch ((IC_SE)(@event as SCChip_MakeIceCreamEvent).SteeringEngine)
                             {
                                 case IC_SE.SE_1:
-                                    wait = !(bool)status["CompletedClose_SE_1"];
+                                    wait = !CompletedClose_SE_1;
                                     break;
                                 case IC_SE.SE_2:
-                                    wait = !(bool)status["CompletedClose_SE_2"];
+                                    wait = !CompletedClose_SE_2;
                                     break;
                                 case IC_SE.SE_3:
-                                    wait = !(bool)status["CompletedClose_SE_3"];
+                                    wait = !CompletedClose_SE_3;
                                     break;
                             }
                         }