且时且多MorkT

BPASmartClient.Lebai/LebaiRobot.cs

@@ -90,7 +90,7 @@ namespace BPASmartClient.Lebai
                 if (@event == null) return;
                 if (@event is LebaiRobot_SetValueEvent SetValueEvent)
                 {
-                    LebaiHelper.GetInstance().SetValue(SetValueEvent.RobotSetValue);
+                    callBack?.Invoke(LebaiHelper.GetInstance().SetValue(SetValueEvent.RobotSetValue));
                 }
             });
             //控制机器人

BPASmartClient.LebaiRobot/LebaiHelper.cs

@@ -43,7 +43,7 @@ namespace BPASmartClient.LebaiRobot
                 }
             }
             StartRobot();
-
+            Thread.Sleep(500);
             MessageLog.GetInstance.Show("乐百机器人连接成功！");
         }
         /// <summary>
@@ -70,12 +70,14 @@ namespace BPASmartClient.LebaiRobot
 
                 try
                 {
-                    robotData = client.GetRobotData().Result;                }
+                    robotData = client.GetRobotData().Result;
+                }
                 catch (Exception)
                 {
                     robotData = null;
                     // throw;
                 }
+                Thread.Sleep(10);
             }
             MessageLog.GetInstance.Show("乐白机器人断开连接，准备重连");
             int num = 0;
@@ -246,6 +248,7 @@ namespace BPASmartClient.LebaiRobot
             signalValue.Index = index;
             signalValue.Value = value;
             return client.SetSignal(signalValue).Result;
+
         }
 
         /// <summary>

BPASmartClient.Model/乐白机器人/Enum/Lebai_qsqdCode.cs

@@ -28,6 +28,10 @@ namespace BPASmartClient.Model.乐白机器人.Enum
         public const int SENCE_咖啡杯回原点 = 10050;
         public const int SENCE_冰淇淋杯回原点 = 10049;
         public const int SENCE_取咖啡出餐 = 10052;
+
+        // 单片机冰淇淋机器场景
+        public const int SENCE_单片机接冰淇淋 = 10055;
+        public const int SENCE_单片机放冰淇淋位置 = 10056;
         #endregion
     }
 }

BPASmartClient.MorkT/Control_MorkT.cs

@@ -13,6 +13,7 @@ using BPASmartClient.Model.冰淇淋.Enum;
 using BPASmartClient.Model.单片机;
 using BPASmartClient.Model.单片机.Enum;
 using BPASmartClient.Peripheral;
+using Robotc;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -231,6 +232,13 @@ namespace BPASmartClient.MorkT
                     morkT.CaffeeFault = coffeeFault;
                 }
             }));
+            GetStatus("SCChipIsConnect", new Action<object>((o) =>
+            {
+                if (o is bool b)
+                {
+                    morkT.SCChipIsConnect = b;
+                }
+            }));
         }
 
 
@@ -389,7 +397,7 @@ namespace BPASmartClient.MorkT
                     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 });
+                    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
                     EventBus.EventBus.GetInstance().Publish(new  DRCoffee_MakeCoffeeEvent() {DeviceId = DeviceId, DrinkCode = (Model.咖啡机.Enum.DrCoffeeDrinksCode)int.Parse(orderLoc.Loc) });//接咖啡控制
                     DeviceProcessLogShow($"发送咖啡机制作{orderLoc.Loc}!");
                     morkT.IsCoffeeMake = true; morkT.MakeCoffeeOrder = orderLoc;
@@ -425,7 +433,7 @@ namespace BPASmartClient.MorkT
         {
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10052 }); //SENCE_取咖啡出餐
             Wait();
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
             //订单状态改变：完成
             OrderChange(order.SuborderId, ORDER_STATUS.COMPLETED_COOK);
             morkT.waitMorkOrder = order;
@@ -440,7 +448,7 @@ namespace BPASmartClient.MorkT
         /// <param name="order"></param>
         private void GetAndCheeckCoffe(OrderLocInfo order)
         {
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 });
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 },(o)=>{ });
             OrderChange(order.SuborderId, ORDER_STATUS.COOKING);
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10031 }); //SENCE_取咖啡杯
 
@@ -448,13 +456,13 @@ namespace BPASmartClient.MorkT
             EventBus.EventBus.GetInstance().Publish(new SCChip_TakeCupEvent { DeviceId= DeviceId ,Cup = IC_CUP.CUP_COFFEE});//落碗控制
             Thread.Sleep(500);
             DeviceProcessLogShow("尝试取咖啡杯!");
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
             int count = 1;
             bool result = true;
         p:
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10033 }); //SENCE_咖啡杯检测
             Wait();
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetTCPInputEvent { DeviceId = DeviceId, Pin = 1 }, (o)=>
             {
                 if(o != null && o.Length > 0 && o[0] is bool resultValue)
@@ -471,7 +479,7 @@ namespace BPASmartClient.MorkT
                     DeviceProcessLogShow($"执行{count}次取咖啡杯,仍为成功,订单默认废弃,机器人回到初始位置!");
                     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 });
+                    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
                     morkT.GetCoffeeCup = false;
                     return;
                 }
@@ -479,7 +487,7 @@ namespace BPASmartClient.MorkT
                 EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10035 }); //SENCE_二次取咖啡杯
                 Wait();
                 EventBus.EventBus.GetInstance().Equals(new SCChip_TakeCupEvent { DeviceId = DeviceId, Cup = IC_CUP.CUP_COFFEE });//落碗控制
-                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
                 count++;
                 goto p;
             }
@@ -564,7 +572,8 @@ namespace BPASmartClient.MorkT
         /// </summary>
         private void GetIceCreamCup()
         {
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 });
+            MessageLog.GetInstance.Show("准备开始制作冰淇淋");
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }, (o) => { });
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10032 }); //SENCE_取冰淇淋杯
             Wait();
             EventBus.EventBus.GetInstance().Publish(new SCChip_TakeCupEvent { DeviceId = DeviceId, Cup = IC_CUP.CUP_ICECREAM });//落碗控制
@@ -580,11 +589,30 @@ namespace BPASmartClient.MorkT
         {
             int count = 2;
             bool result = true;
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
         p:
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10034 }); //SENCE_冰淇淋杯检测
             Wait();
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+            Thread.Sleep(500);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => 
+            {
+                if (o != null && o.Length > 0 && o[0] is SignalResult res)
+                {
+                    MessageLog.GetInstance.Show(res.ToString());
+                }
+            });
+            while((int)peripheralStatus["RobotValue"] != 0)
+            {
+                Thread.Sleep(10);
+            }
+            MessageLog.GetInstance.Show($"乐白机器人信号值{peripheralStatus["RobotValue"].ToString()}");
+            
+            //while ((ELebaiRModel)peripheralStatus["RobotMode"] !=ELebaiRModel.空闲状态)
+            //{
+            //    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+            //    Thread.Sleep(500);
+            //}
+
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetTCPInputEvent { DeviceId = DeviceId, Pin = 1 }, (o) =>
             {
                 if (o != null && o.Length > 0 && o[0] is bool resultValue)
@@ -600,7 +628,7 @@ namespace BPASmartClient.MorkT
                     DeviceProcessLogShow($"执行{count}次取冰淇淋杯,仍未成功,订单默认废弃,机器人回到初始位置!");
                     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 });
+                    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 },(o) => { });
                     morkT.GetIceCreamCup = false;
                     return;
                 }
@@ -608,7 +636,7 @@ namespace BPASmartClient.MorkT
                 EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10036 }); //SENCE_二次取冰淇淋杯
                 EventBus.EventBus.GetInstance().Equals(new SCChip_TakeCupEvent { DeviceId = DeviceId, Cup = IC_CUP.CUP_ICECREAM });//落碗控制
                 Wait();
-                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
                 count++;
                 goto p;
             }
@@ -624,9 +652,9 @@ namespace BPASmartClient.MorkT
         {
             //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 });
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }, (o) => { });
             OrderChange(order.SuborderId, ORDER_STATUS.COOKING);
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10039 }); //SENCE_接1号冰淇淋
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10055 }); //SENCE_接1号冰淇淋
             Wait();
             bool doItResult = true;
 
@@ -634,9 +662,10 @@ namespace BPASmartClient.MorkT
             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
+            Thread.Sleep(500);
+            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);
+            Thread.Sleep(5000);
 
             //出料
             //EventBus.EventBus.GetInstance().Publish(new GSIceCream_DischargeEvent { DeviceId = DeviceId },(o)=>
@@ -660,7 +689,7 @@ namespace BPASmartClient.MorkT
             //    }
             //    IceCreamCookCheck();
             //}
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
         }
 
         /// <summary>
@@ -682,9 +711,9 @@ namespace BPASmartClient.MorkT
                 Thread.Sleep(500);
             }
           
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10043 }); //SENCE_放冰淇淋位置
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10056 }); //SENCE_放冰淇淋位置
             Wait();
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
             //订单状态改变：完成
             OrderChange(order.SuborderId, ORDER_STATUS.COMPLETED_COOK);
             morkT.waitMorkOrder = order;

BPASmartClient.MorkT/GLV_MorkT.cs

@@ -110,6 +110,9 @@ namespace BPASmartClient.MorkT
         [VariableMonitor("咖啡机故障")]
         public DrCoffeeFault CaffeeFault { get; set; }
 
+        [VariableMonitor("单片机连接状态")]
+        public bool SCChipIsConnect { get; set; }
+
         #endregion
     }
 }

BPASmartClient.MorkT/View/DebugView.xaml

@@ -25,7 +25,7 @@
         </Grid.ColumnDefinitions>
         <Grid.RowDefinitions>
             <RowDefinition Height="14*"/>
-            <RowDefinition Height="6*"/>
+            <RowDefinition Height="*"/>
             <RowDefinition Height="20*"/>
         </Grid.RowDefinitions>
 
@@ -82,7 +82,7 @@
                 </ListBox>
             </Grid>
         </GroupBox>
-        <GroupBox  Grid.Row="2"
+        <!--<GroupBox  Grid.Row="2"
             FontFamily="楷体"
             FontSize="20"
             Header=" 冰淇淋机器 ">
@@ -172,7 +172,50 @@
                     </StackPanel>
                 </StackPanel>
             </Grid>
+        </GroupBox>-->
+        <GroupBox Grid.Row="2" Grid.Column="0"
+                  FontSize="20" FontFamily="楷体"
+                  Header="单片机冰淇淋" >
+            <Grid>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="5*"/>
+                </Grid.RowDefinitions>
+                <TextBlock Text="连接状态" />
+                <TextBlock Text="{Binding SCChipIsConnect}"
+                           Margin="120,0,0,0"/>
+                <TextBlock Grid.Row="1" Text="单片机控制"  VerticalAlignment="Center" HorizontalAlignment="Center"/>
+                <ListBox Grid.Row="2" Background="Transparent">
+                    <ListBox.Template>
+                        <ControlTemplate TargetType="{x:Type ListBox}">
+                            <ScrollViewer  HorizontalScrollBarVisibility="Disabled" VerticalScrollBarVisibility="Auto">
+                                <WrapPanel Orientation="Horizontal" IsItemsHost="True" ScrollViewer.CanContentScroll="True"/>
+                            </ScrollViewer>
+                        </ControlTemplate>
+                    </ListBox.Template>
+                    <Button Content="咖啡杯落杯"  Height="40" Width="120"
+                    Command="{Binding Button_CupControlCommand}" 
+                    CommandParameter="CUP_COFFEE"
+                     Margin="10,10,50,10"/>
+                    <Button Content="冰淇淋杯落杯" Height="40" Width="120"
+                    Command="{Binding Button_CupControlCommand}" 
+                    CommandParameter="CUP_ICECREAM" Margin="10,10,50,10"
+                   />
+                    <Button Content="单片机冰淇淋制冷" Height="40" Width="120"
+                    Command="{Binding Button_SCChipRefrigerationCommand}"  Cursor="Hand"
+                        Margin="10,10,50,10"
+                   />
+                    <Button Content="单片机冰淇淋打料" Height="40" Width="120"  Margin="10,10,50,10"
+                    Command="{Binding Button_SCChipDischargeCommand}" Cursor="Hand" />
+                    <Button Content="单片机冰淇淋模拟" Height="40" Width="120"
+                    Command="{Binding Button_SCChipTestCommand}" Cursor="Hand" 
+                         Margin="10,10,50,10"/>
+
+                </ListBox>
+            </Grid>   
         </GroupBox>
+                  
         <GroupBox  Grid.Row="2" Grid.Column="1"
             FontFamily="楷体"
             FontSize="20"
@@ -252,27 +295,11 @@
         <GroupBox Header="单片机控制"
                    FontSize="18"
                   Grid.Row="1" Grid.ColumnSpan="2"
-                  Margin="0,0,0,10">
+                  Margin="0,0,0,10" HorizontalAlignment="Right" Width="1000">
             <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>
 

BPASmartClient.MorkT/View/DebugView.xaml.cs

@@ -28,8 +28,8 @@ namespace BPASmartClient.MorkT.View
 
         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");
+            //ThreadManage.GetInstance().StopTask("MorkT-状态刷新");
+            //ThreadManage.GetInstance().StopTask("MorkT-传感器监视");
         }
     }
 }

BPASmartClient.MorkT/ViewModel/DebugViewModel.cs

@@ -44,6 +44,13 @@ namespace BPASmartClient.MorkT.ViewModel
         /// 机器人控制
         /// </summary>
         /// <param name="o"></param>
+        
+        public RelayCommand Button_SetValueCommand { get; set; }
+
+        private void Button_SetValue()
+        {
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+        }
         private void Button_RobotControl(object o)
         {
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiControlEvent { DeviceId = DeviceId, LebaiControl = o.ToString() });
@@ -187,6 +194,11 @@ namespace BPASmartClient.MorkT.ViewModel
 
         #region 单片机
         /// <summary>
+        /// 单片机连接状态
+        /// </summary>
+        public string SCChipIsConnect { get { return _sCChipIsConnect; } set { _sCChipIsConnect = value; OnPropertyChanged(); } }
+        private string _sCChipIsConnect { get; set; }
+        /// <summary>
         /// 咖啡杯或冰淇淋杯落杯
         /// </summary>
         public RelayCommand<object> Button_CupControlCommand { get; set; }
@@ -235,6 +247,8 @@ namespace BPASmartClient.MorkT.ViewModel
         public DebugViewModel()
         {
             Button_RobotControlCommand = new RelayCommand<object>(Button_RobotControl);
+            Button_SetValueCommand = new RelayCommand(Button_SetValue);
+
             Button_MakeIceCreamCommand = new RelayCommand(Button_MakeIceCream);
             Button_SetIceCreamModelCommand = new RelayCommand(Button_SetIceCreamModel);
 
@@ -274,9 +288,6 @@ namespace BPASmartClient.MorkT.ViewModel
                 if (device.Name == "MorkT") DeviceId = device.DeviceId
                 ;
             });
-
-
-
             ThreadManage.GetInstance().StartLong(new Action(() =>
             {
 
@@ -287,6 +298,7 @@ namespace BPASmartClient.MorkT.ViewModel
                     RobotConnected = variableMonitors.FirstOrDefault(p=>p.Notes == "机器人连接状态").CurrentValue == "True" ? "已连接" : "未连接";
                     IceCreamConnected = variableMonitors.FirstOrDefault(p => p.Notes == "冰淇淋连接状态").CurrentValue == "True" ? "已连接" : "未连接";
                     CoffeeConnected = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机连接状态").CurrentValue == "True" ? "已连接" : "未连接";
+                    SCChipIsConnect = variableMonitors.FirstOrDefault(p => p.Notes == "单片机连接状态").CurrentValue == "True" ? "已连接" : "未连接";
 
                     RobotMode = variableMonitors.FirstOrDefault(p => p.Notes == "机器人状态").CurrentValue;
 

BPASmartClient.MorkT_HQ/BPASmartClient.MorkT_HQ.csproj

@@ -0,0 +1,54 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+	<PropertyGroup>
+		<TargetFramework>net6.0-windows</TargetFramework>
+		<Nullable>enable</Nullable>
+		<UseWPF>true</UseWPF>
+		<BaseOutputPath>bin\</BaseOutputPath>
+		<DebugType>portable</DebugType>
+	</PropertyGroup>
+
+	<ItemGroup>
+		<PackageReference Include="BPA.Models" Version="1.0.10" />
+		<PackageReference Include="Microsoft.Toolkit.Mvvm" Version="7.1.2" />
+	</ItemGroup>
+
+	<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" />
+		<ProjectReference Include="..\BPASmartClient.Lebai\BPASmartClient.Lebai.csproj" />
+		<ProjectReference Include="..\BPASmartClient.Model\BPASmartClient.Model.csproj" />
+		<ProjectReference Include="..\BPASmartClient.MORKSM.BK.PLC\BPASmartClient.PLC.csproj" />
+	</ItemGroup>
+
+	<ItemGroup>
+	  <Compile Update="View\DebugView.xaml.cs">
+	    <SubType>Code</SubType>
+	  </Compile>
+	  <Compile Update="View\Monitor.xaml.cs">
+	    <SubType>Code</SubType>
+	  </Compile>
+	  <Compile Update="View\ParSer.xaml.cs">
+	    <SubType>Code</SubType>
+	  </Compile>
+	</ItemGroup>
+
+	<ItemGroup>
+	  <Page Update="View\DebugView.xaml">
+	    <XamlRuntime>$(DefaultXamlRuntime)</XamlRuntime>
+	    <SubType>Designer</SubType>
+	  </Page>
+	  <Page Update="View\Monitor.xaml">
+	    <XamlRuntime>$(DefaultXamlRuntime)</XamlRuntime>
+	    <SubType>Designer</SubType>
+	  </Page>
+	  <Page Update="View\ParSer.xaml">
+	    <XamlRuntime>$(DefaultXamlRuntime)</XamlRuntime>
+	    <SubType>Designer</SubType>
+	  </Page>
+	</ItemGroup>
+
+</Project>

BPASmartClient.MorkT_HQ/Control_MorkT.cs

@@ -0,0 +1,762 @@
+using BPA.Message.Enum;
+using BPASmartClient.Device;
+using BPASmartClient.DRCoffee;
+using BPASmartClient.EventBus;
+using BPASmartClient.GSIceCream;
+using BPASmartClient.Helper;
+using BPASmartClient.Lebai;
+using BPASmartClient.LebaiRobot;
+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.Peripheral;
+using Robotc;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using static BPASmartClient.EventBus.EventBus;
+
+namespace BPASmartClient.MorkT
+{
+    public class Control_MorkT : BaseDevice
+    {
+        public override global::BPA.Message.Enum.DeviceClientType DeviceType { get { return BPA.Message.Enum.DeviceClientType.MORKT; } }
+
+        GLV_MorkT morkT = new GLV_MorkT();
+
+
+        public override void DoMain()
+        {
+            if(Json<KeepDataBase>.Data.IsVerify)
+            {
+                IsHealth = true;
+            }
+            IsHealth = true;
+            ServerInit();
+            DataParse();
+            EventBus.EventBus.GetInstance().Subscribe<DRCoffee_CoffeEndCookEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+            {
+                if (morkT.MakeCoffeeOrder != null)
+                    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");
+
+        }
+
+        public override void ResetProgram()
+        {
+            morkT = null;
+            morkT = new GLV_MorkT();
+        }
+
+
+        private void GetStatus(string key, Action<object> action)
+        {
+            if (peripheralStatus.ContainsKey(key))
+            {
+                if (peripheralStatus[key] != null)
+                {
+                    action?.Invoke(peripheralStatus[key]);
+                }
+            }
+        }
+
+        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)=>
+            {
+                if(o != null && o.Length > 0 && o[0] is bool resultValue)
+                {
+                    if(!resultValue)//取餐口有空余位置
+                    {
+                        MakeIceCreamProcess();
+                        MakeCoffeeComplete();
+                    }
+                }
+            });
+ 
+
+        }
+
+        public override void ReadData()
+        {
+            GetStatus("RobotIsConnected", new Action<object>((o) =>
+            {
+                if (o is bool b)
+                {
+                    morkT.RobotIsConnected = b;
+                }
+            }));
+
+            GetStatus("RobotMode", new Action<object>((o) =>
+            {
+                if (o is ELebaiRModel  eLebaiRModel)
+                {
+                    morkT.RobotMode = eLebaiRModel;
+                }
+            }));
+
+
+            GetStatus("IceCreamIsConnected", new Action<object>((o) =>
+            {
+                if (o is bool b)
+                {
+                    morkT.IceCreamIsConnected = b;
+                }
+            }));
+
+            GetStatus("IceCreamYLWD", new Action<object>((o) =>
+            {
+                if (o is short s)
+                {
+                    morkT.YLWD = s;
+                }
+            }));
+
+            GetStatus("IceCreamHQWD", new Action<object>((o) =>
+            {
+                if (o is short s)
+                {
+                    morkT.HQWD = s;
+                }
+            }));
+
+            GetStatus("IceCreamDL", new Action<object>((o) =>
+            {
+                if (o is short s)
+                {
+                    morkT.DL = s;
+                }
+            }));
+
+            GetStatus("IceCreamDY", new Action<object>((o) =>
+            {
+                if (o is short s)
+                {
+                    morkT.DY = s;
+                }
+            }));
+
+            GetStatus("IceCreamCXB", new Action<object>((o) =>
+            {
+                if (o is byte bt)
+                {
+                    morkT.CBX = bt;
+                }
+            }));
+
+            GetStatus("IceCreamCurrentMode", new Action<object>((o) =>
+            {
+                if (o is MORKI_MODE mORKI_MODE)
+                {
+                    morkT.IceCreamMode = mORKI_MODE;
+                }
+            }));
+
+            GetStatus("IceCreamFault", new Action<object>((o) =>
+            {
+                if (o is MORKI_FAULT mORKI_FAULT)
+                {
+                    morkT.IceCreamFault = mORKI_FAULT;
+                }
+            }));
+
+            GetStatus("IceCreamDLCompleted", new Action<object>((o) =>
+            {
+                if (o is bool b)
+                {
+                    morkT.DLCompleted = b;
+                }
+            }));
+
+            GetStatus("CoffeeIsConnected", new Action<object>((o) =>
+            {
+                if (o is bool b)
+                {
+                    morkT.CoffeeIsConnected = b;
+                }
+            }));
+
+            GetStatus("CoffeeStatus", new Action<object>((o) =>
+            {
+                if (o is DrCoffeeStatus coffeeStatus)
+                {
+                    morkT.DrCoffeeStatus = coffeeStatus;
+                }
+            }));
+
+            GetStatus("CoffeeAppStatus", new Action<object>((o) =>
+            {
+                if (o is DrCoffeeAppStatus appStatus)
+                {
+                    morkT.CoffeeAppStatus = appStatus;
+                }
+            }));
+
+            GetStatus("CoffeeWarning", new Action<object>((o) =>
+            {
+                if (o is DrCoffeeWarning coffeeWarning)
+                {
+                    morkT.CoffeeWarning = coffeeWarning;
+                }
+            }));
+            GetStatus("CoffeeFault", new Action<object>((o) =>
+            {
+                if (o is DrCoffeeFault coffeeFault)
+                {
+                    morkT.CaffeeFault = coffeeFault;
+                }
+            }));
+            GetStatus("SCChipIsConnect", new Action<object>((o) =>
+            {
+                if (o is bool b)
+                {
+                    morkT.SCChipIsConnect = b;
+                }
+            }));
+        }
+
+
+
+        public override void Stop()
+        {
+        }
+
+
+        private void ServerInit()
+        {
+            //物料信息
+            EventBus.EventBus.GetInstance().Subscribe<MaterialDeliveryEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+            {
+                if (@event == null) return;
+                if (@event is MaterialDeliveryEvent material)
+                {
+                    orderMaterialDelivery = material.orderMaterialDelivery;
+                }
+            });
+
+            //配方数据信息
+            EventBus.EventBus.GetInstance().Subscribe<RecipeBomEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
+            {
+                if (@event == null) return;
+                if (@event is RecipeBomEvent recipe)
+                {
+                    recipeBoms = recipe.recipeBoms;
+                }
+            });
+        }
+
+        /// <summary>
+        /// 数据解析
+        /// </summary>
+        private void DataParse()
+        {
+            EventBus.EventBus.GetInstance().Subscribe<DoOrderEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBackHandle)
+            {
+                if (@event == null) return;
+                if (@event is DoOrderEvent order)
+                {
+                    if (order.MorkOrder.GoodBatchings == null) return;
+                    OrderCount++;
+                    DeviceProcessLogShow($"接收到{OrderCount}次订单");
+                    //构建所有商品物料信息
+                    morkT.batchings = PolymerBatching.BuildAll();
+                    //商品类型
+                    GOODS_TYPE currentGoodsType = GOODS_TYPE.NEITHER;
+                    
+                    foreach (var item in order.MorkOrder.GoodBatchings)
+                    {
+                        var res = orderMaterialDelivery?.BatchingInfo?.FirstOrDefault(p => p.BatchingId == item.BatchingId);
+                        if (res != null)
+                        {
+                            //验证商品是咖啡还是冰淇淋
+                            if (ValidateGoodsByBatching(res.BatchingLoc) != GOODS_TYPE.NEITHER)
+                            {
+                                //获取当前物料所属商品类型
+                                currentGoodsType = ValidateGoodsByBatching(res.BatchingLoc);
+                            }
+                            string loc_Goods = string.Empty;
+                            //获取主料和容器位置
+                            if (morkT.batchings[res.BatchingLoc].BatchingClass == BATCHING_CLASS.MAIN_MATERIAL) loc_Goods = res.BatchingLoc;
+                            if (!string.IsNullOrEmpty(loc_Goods))
+                            {
+                                switch (currentGoodsType)
+                                {
+                                    case GOODS_TYPE.COFFEE:
+                                        if (morkT.morkOrderPushesCoffee.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
+                                        {
+                                            morkT.morkOrderPushesCoffee.Enqueue(new OrderLocInfo()
+                                            {
+                                                SuborderId = order.MorkOrder.SuborderId,
+                                                BatchingId = res.BatchingId,
+                                                Loc = loc_Goods,
+                                                GoodsName = order.MorkOrder.GoodsName,
+                                                SortNum = order.MorkOrder.SortNum
+                                            });
+                                        }
+                                        break;
+                                    case GOODS_TYPE.ICECREAM:
+                                        if (morkT.morkOrderPushesIceCream.FirstOrDefault(p => p.SuborderId == order.MorkOrder.SuborderId) == null)
+                                        {
+                                            morkT.morkOrderPushesIceCream.Enqueue(new OrderLocInfo()
+                                            {
+                                                SuborderId = order.MorkOrder.SuborderId,
+                                                BatchingId = res.BatchingId,
+                                                Loc = loc_Goods,
+                                                GoodsName = order.MorkOrder.GoodsName,
+                                                SortNum = order.MorkOrder.SortNum
+                                            });
+                                        }
+                                        break;
+                                    case GOODS_TYPE.NEITHER:
+                                        DeviceProcessLogShow("未知的商品类型");
+                                        break;
+                                }
+                            }
+                           
+                        }
+                    }
+
+                }
+            });
+        }
+        /// <summary>
+        /// 验证当前是做咖啡还是做冰淇淋
+        /// </summary>
+        /// <param name="batchingLoc">物料位置</param>
+        private GOODS_TYPE ValidateGoodsByBatching(string batchingLoc)
+        {
+            if (morkT.batchings.ContainsKey(batchingLoc))
+                return morkT.batchings[batchingLoc].GoodsType;
+            return GOODS_TYPE.NEITHER;
+        }
+      
+
+       
+
+        private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
+        {
+            EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType });
+        }
+
+        private void Wait(int value = 101)
+        {
+            while (!((bool)peripheralStatus["RobotOK"] && (int)peripheralStatus["RobotValue"] == value))
+            {
+                Thread.Sleep(5);
+            }
+        }
+
+        /// <summary>
+        /// 是否可以开始制作咖啡
+        /// </summary>
+        /// <returns></returns>
+        private bool CoffeeCanMake()
+        {
+            bool canMake = (IsHealth && morkT.morkOrderPushesCoffee.Count > 0 && !morkT.IsCoffeeMake) ? true : false;
+            return canMake;
+
+        }
+
+        /// <summary>
+        /// 制作咖啡流程
+        /// </summary>
+        private void MakeCoffeeProcess()
+        {
+            if (CoffeeCanMake())
+            {
+                if (morkT.morkOrderPushesCoffee.TryDequeue(out OrderLocInfo orderLoc))
+                {
+                    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 }, (o) => { });
+                    EventBus.EventBus.GetInstance().Publish(new  DRCoffee_MakeCoffeeEvent() {DeviceId = DeviceId, DrinkCode = (Model.咖啡机.Enum.DrCoffeeDrinksCode)int.Parse(orderLoc.Loc) });//接咖啡控制
+                    DeviceProcessLogShow($"发送咖啡机制作{orderLoc.Loc}!");
+                    morkT.IsCoffeeMake = true; morkT.MakeCoffeeOrder = orderLoc;
+                }
+
+            }
+            
+
+
+        }
+        /// <summary>
+        /// 咖啡机制作完咖啡，取走并放到取餐口，最后回原点
+        /// </summary>
+        private void MakeCoffeeComplete()
+        {
+            if (morkT.IsCoffeeMake && IsHealth)
+            {
+                if (morkT.MakeCoffeeOrder != null && morkT.MakeCoffeeOrder.OrderStatus == 1)
+                {
+                    DeviceProcessLogShow($"将咖啡移动到取餐位 [咖啡] 订单[{morkT.MakeCoffeeOrder.SortNum}]");
+                    DoCoffeeQC(morkT.MakeCoffeeOrder);
+                    morkT.MakeCoffeeOrder = null;
+                    morkT.IsCoffeeMake = false;
+                }
+            }
+        }
+
+
+        /// <summary>
+        /// 将咖啡杯从咖啡机 取走到 取餐口
+        /// </summary>
+        private void DoCoffeeQC(OrderLocInfo order)
+        {
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10052 }); //SENCE_取咖啡出餐
+            Wait();
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
+            //订单状态改变：完成
+            OrderChange(order.SuborderId, ORDER_STATUS.COMPLETED_COOK);
+            morkT.waitMorkOrder = order;
+            DeviceProcessLogShow($"{order.GoodsName}等待取餐");
+            //WaitTakeMealOrder.Enqueue(order);
+
+        }
+
+        /// <summary>
+        /// 取咖啡杯&&咖啡杯检测 若检测失败机器人回原点
+        /// </summary>
+        /// <param name="order"></param>
+        private void GetAndCheeckCoffe(OrderLocInfo order)
+        {
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 },(o)=>{ });
+            OrderChange(order.SuborderId, ORDER_STATUS.COOKING);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10031 }); //SENCE_取咖啡杯
+
+            Wait();
+            EventBus.EventBus.GetInstance().Publish(new SCChip_TakeCupEvent { DeviceId= DeviceId ,Cup = IC_CUP.CUP_COFFEE});//落碗控制
+            Thread.Sleep(500);
+            DeviceProcessLogShow("尝试取咖啡杯!");
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
+            int count = 1;
+            bool result = true;
+        p:
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10033 }); //SENCE_咖啡杯检测
+            Wait();
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetTCPInputEvent { DeviceId = DeviceId, Pin = 1 }, (o)=>
+            {
+                if(o != null && o.Length > 0 && o[0] is bool resultValue)
+                {
+                    result = resultValue;
+                }
+            });
+
+            if (!result)
+            {
+                if (count >= 3)
+                {
+                    //退出循环回到初始位置
+                    DeviceProcessLogShow($"执行{count}次取咖啡杯,仍为成功,订单默认废弃,机器人回到初始位置!");
+                    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 }, (o) => { });
+                    morkT.GetCoffeeCup = false;
+                    return;
+                }
+                DeviceProcessLogShow("执行二次取咖啡杯");
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10035 }); //SENCE_二次取咖啡杯
+                Wait();
+                EventBus.EventBus.GetInstance().Equals(new SCChip_TakeCupEvent { DeviceId = DeviceId, Cup = IC_CUP.CUP_COFFEE });//落碗控制
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
+                count++;
+                goto p;
+            }
+            morkT.GetCoffeeCup = true;
+            DeviceProcessLogShow("取咖啡杯完成");
+        }
+
+        /// <summary>
+        /// 冰淇淋是否可以开始制作
+        /// </summary>
+        /// <returns></returns>
+        private bool IceCreamCanMake()
+        {
+            bool canMake = (IsHealth && morkT.morkOrderPushesIceCream.Count > 0) ? true : false;
+            return canMake;
+        }
+
+        /// <summary>
+        /// 制作冰淇淋流程
+        /// </summary>
+        private void MakeIceCreamProcess()
+        {
+            //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);
+                //        }
+                //    }
+                //}
+
+            //}
+        }
+
+
+        /// <summary>
+        /// 做冰淇淋
+        /// </summary>
+        private void DoIceCream(OrderLocInfo order)
+        {
+            GetIceCreamCup();
+            CheckICeCreaCup();
+            if(morkT.GetIceCreamCup)
+            {
+                GetIceCream(order);
+                PutIceCream(order);
+            }
+           
+        }
+
+        /// <summary>
+        /// 取冰淇淋杯
+        /// </summary>
+        private void GetIceCreamCup()
+        {
+            MessageLog.GetInstance.Show("准备开始制作冰淇淋");
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }, (o) => { });
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10032 }); //SENCE_取冰淇淋杯
+            Wait();
+            EventBus.EventBus.GetInstance().Publish(new SCChip_TakeCupEvent { DeviceId = DeviceId, Cup = IC_CUP.CUP_ICECREAM });//落碗控制
+            Thread.Sleep(500);
+            DeviceProcessLogShow("尝试取冰淇淋杯!");
+
+        }
+
+        /// <summary>
+        /// 冰淇淋杯检测，失败后机器人回到原点
+        /// </summary>
+        private void CheckICeCreaCup()
+        {
+            int count = 2;
+            bool result = true;
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
+        p:
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10034 }); //SENCE_冰淇淋杯检测
+            Wait();
+            Thread.Sleep(500);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => 
+            {
+                if (o != null && o.Length > 0 && o[0] is SignalResult res)
+                {
+                    MessageLog.GetInstance.Show(res.ToString());
+                }
+            });
+            while((int)peripheralStatus["RobotValue"] != 0)
+            {
+                Thread.Sleep(10);
+            }
+            MessageLog.GetInstance.Show($"乐白机器人信号值{peripheralStatus["RobotValue"].ToString()}");
+            
+            //while ((ELebaiRModel)peripheralStatus["RobotMode"] !=ELebaiRModel.空闲状态)
+            //{
+            //    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+            //    Thread.Sleep(500);
+            //}
+
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetTCPInputEvent { DeviceId = DeviceId, Pin = 1 }, (o) =>
+            {
+                if (o != null && o.Length > 0 && o[0] is bool resultValue)
+                {
+                    result = resultValue;
+                }
+            });
+            if (!result)
+            {
+                if (count >= 3)
+                {
+                    //退出循环回到初始位置
+                    DeviceProcessLogShow($"执行{count}次取冰淇淋杯,仍未成功,订单默认废弃,机器人回到初始位置!");
+                    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10049 }); //SENCE_冰淇淋杯回原点
+                    Wait();
+                    EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 },(o) => { });
+                    morkT.GetIceCreamCup = false;
+                    return;
+                }
+                DeviceProcessLogShow($"执行{count}次取冰淇淋杯!");
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10036 }); //SENCE_二次取冰淇淋杯
+                EventBus.EventBus.GetInstance().Equals(new SCChip_TakeCupEvent { DeviceId = DeviceId, Cup = IC_CUP.CUP_ICECREAM });//落碗控制
+                Wait();
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
+                count++;
+                goto p;
+            }
+            morkT.GetIceCreamCup = true;
+            DeviceProcessLogShow("冰淇淋杯检测完成");
+        }
+
+        /// <summary>
+        /// 机器人取接冰淇淋
+        /// </summary>
+        /// <param name="order"></param>
+        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 LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }, (o) => { });
+            OrderChange(order.SuborderId, ORDER_STATUS.COOKING);
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10055 }); //SENCE_接1号冰淇淋
+            Wait();
+            bool doItResult = true;
+
+            //出料
+            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 });
+            Thread.Sleep(500);
+            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(5000);
+
+            //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 }, (o) => { });
+        }
+
+        /// <summary>
+        /// 把冰淇淋放到取餐位后回原点
+        /// </summary>
+        /// <param name="order"></param>
+        private void PutIceCream(OrderLocInfo order)
+        {
+            bool resultValue = true;
+            while (resultValue)
+            {
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 0 }, (res) =>
+                {
+                    if (res[0] is bool b)
+                    {
+                        resultValue = b;
+                    }
+                });
+                Thread.Sleep(500);
+            }
+          
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = 10056 }); //SENCE_放冰淇淋位置
+            Wait();
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
+            //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);
+
+        }
+
+        /// <summary>
+        /// 冰淇淋机器制作冰淇淋
+        /// </summary>
+        public void IceCreamCookCheck()
+        {
+            bool result = false;
+            int retry = 3;
+            DateTime beginTime = DateTime.Now;
+           
+            while (!result)
+            {
+                EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 3 }, (res) =>
+                {
+                    if (res[0] is bool resultValue)
+                    {
+                        result = resultValue;
+                    }
+                });
+                if (retry <= 0 || DateTime.Now.Subtract(beginTime).TotalSeconds >= 10)
+                {
+                    DeviceProcessLogShow("超时未出料，重试次数用尽");
+                    break;
+                }
+                if (DateTime.Now.Subtract(beginTime).TotalSeconds > 5)
+                {
+                    DeviceProcessLogShow("超时未出料，重新发送打料指令");
+                    EventBus.EventBus.GetInstance().Publish( new GSIceCream_ModeSetEvent() { DeviceId =DeviceId, Mode = MORKI_MODE.打料 });
+                    beginTime = DateTime.Now;
+                    retry--;
+                }
+                Thread.Sleep(10);
+            }
+            DeviceProcessLogShow("开始等待6s");
+            Thread.Sleep(5000);
+
+        }
+    }
+}

BPASmartClient.MorkT_HQ/GLV_MorkT.cs

@@ -0,0 +1,118 @@
+using BPASmartClient.Device;
+using BPASmartClient.DRCoffee;
+using BPASmartClient.GSIceCream;
+using BPASmartClient.LebaiRobot;
+using BPASmartClient.Model.冰淇淋.Enum;
+using Robotc;
+using System;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkT
+{
+    public class GLV_MorkT:IStatus
+    {
+        /// <summary>
+        /// 咖啡订单队列
+        /// </summary>
+        public ConcurrentQueue<OrderLocInfo> morkOrderPushesCoffee = new ConcurrentQueue<OrderLocInfo>();
+
+        /// <summary>
+        /// 冰淇淋订单队列
+        /// </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>();
+
+        /// <summary>
+        /// 当前正在制作咖啡
+        /// </summary>
+        public OrderLocInfo MakeCoffeeOrder = new OrderLocInfo();
+
+
+
+        /// <summary>
+        /// 咖啡机位置是否有咖啡在制作中
+        /// </summary>
+        public bool IsCoffeeMake = false;
+        /// <summary>
+        /// 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
+
+        [VariableMonitor("机器人连接状态")]
+        public bool RobotIsConnected { get; set; }
+
+        [VariableMonitor("机器人状态")]
+        public ELebaiRModel RobotMode { get; set; }
+
+        [VariableMonitor("冰淇淋连接状态")]
+        public bool IceCreamIsConnected { get; set; }
+
+        [VariableMonitor("冰淇淋机器预冷温度")]
+        public short YLWD { get; set; }
+
+        [VariableMonitor("冰淇淋机器回气温度")]
+        public short HQWD { get; set; }
+
+        [VariableMonitor("冰淇淋机器环境温度")]
+        public short HJWD { get; set; }
+
+        [VariableMonitor("冰淇淋机器电流")]
+        public short DL { get; set; }
+
+        [VariableMonitor("冰淇淋机器电压")]
+        public short DY { get; set; }
+
+        [VariableMonitor("冰淇淋机器成型比")]
+        public byte CBX { get; set; }
+
+        [VariableMonitor("冰淇淋机器模式")]
+        public MORKI_MODE IceCreamMode { get; set; }
+
+        [VariableMonitor("冰淇淋机器故障")]
+        public MORKI_FAULT IceCreamFault { get; set; }
+
+        [VariableMonitor("冰淇淋机器打料完成")]
+        public bool DLCompleted { get; set; }
+
+        [VariableMonitor("咖啡机连接状态")]
+        public bool CoffeeIsConnected { get; set; }
+
+        [VariableMonitor("咖啡机状态")]
+        public DrCoffeeStatus DrCoffeeStatus { get; set; }
+
+        [VariableMonitor("咖啡机应用状态")]
+        public DrCoffeeAppStatus CoffeeAppStatus { get; set; }
+
+        [VariableMonitor("咖啡机告警")]
+        public DrCoffeeWarning CoffeeWarning { get; set; }
+
+        [VariableMonitor("咖啡机故障")]
+        public DrCoffeeFault CaffeeFault { get; set; }
+
+        [VariableMonitor("单片机连接状态")]
+        public bool SCChipIsConnect { get; set; }
+
+        #endregion
+    }
+}

BPASmartClient.MorkT_HQ/OrderLocInfo.cs

@@ -0,0 +1,25 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkT
+{
+    public class OrderLocInfo
+    {
+        public string SuborderId { get; set; }
+        public string GoodsName { get; set; }
+        public string Loc { get; set; }
+        public int SortNum { get; set; }
+        public int BatchingId { get; set; }
+
+        public int OrderStatus { get; set; }
+
+        
+        public OrderLocInfo()
+        {
+            OrderStatus = 0;
+        }
+    }
+}

BPASmartClient.MorkT_HQ/PolymerBatching.cs

@@ -0,0 +1,123 @@
+
+using BPASmartClient.Lebai;
+using BPASmartClient.LebaiRobot;
+using BPASmartClient.Model.单片机.Enum;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkT
+{
+    public enum GOODS_TYPE
+    {
+        NEITHER,
+        COFFEE,
+        ICECREAM,
+    }
+
+    public enum BATCHING_CLASS
+    {
+        HOLDER,
+        MAIN_MATERIAL,
+    }
+
+    public class PolymerBatching
+    {
+        internal const string ICE_MAIN_BATCHIN1_LOC = "52";
+        internal const string ICE_MAIN_BATCHIN2_LOC = "53";
+        internal const string ICE_MAIN_BATCHIN3_LOC = "54";
+        internal const string COFFEE_HOLDER_LOC = "30";
+        internal const string ICE_HOLDER_LOC = "51";
+        public static Dictionary<string, GOODS_TYPE> GOODS_TYPES = new Dictionary<string, GOODS_TYPE>() {
+            {"1", GOODS_TYPE.COFFEE},
+            {"2", GOODS_TYPE.COFFEE},
+            {"3", GOODS_TYPE.COFFEE},
+            {"4", GOODS_TYPE.COFFEE},
+            {"5", GOODS_TYPE.COFFEE},
+            {"6", GOODS_TYPE.COFFEE},
+            {"7", GOODS_TYPE.COFFEE},
+            {"8", GOODS_TYPE.COFFEE},
+            {"9", GOODS_TYPE.COFFEE},
+            {"10",GOODS_TYPE.COFFEE},
+            {"11",GOODS_TYPE.COFFEE},
+            {"12",GOODS_TYPE.COFFEE},
+            {"13",GOODS_TYPE.COFFEE},
+            {"14",GOODS_TYPE.COFFEE},
+            {"15",GOODS_TYPE.COFFEE},
+            {"16",GOODS_TYPE.COFFEE},
+            {"17",GOODS_TYPE.COFFEE},
+            {"18",GOODS_TYPE.COFFEE},
+            {"19",GOODS_TYPE.COFFEE},
+            {"20",GOODS_TYPE.COFFEE},
+            {"21",GOODS_TYPE.COFFEE},
+            {"22",GOODS_TYPE.COFFEE},
+            {"23",GOODS_TYPE.COFFEE},
+            {"24",GOODS_TYPE.COFFEE},
+            {"25",GOODS_TYPE.COFFEE},
+            {"30",GOODS_TYPE.COFFEE},
+            {"51",GOODS_TYPE.ICECREAM},
+            {ICE_MAIN_BATCHIN1_LOC,GOODS_TYPE.ICECREAM},
+            {ICE_MAIN_BATCHIN2_LOC,GOODS_TYPE.ICECREAM},
+            {ICE_MAIN_BATCHIN3_LOC,GOODS_TYPE.ICECREAM},
+        };
+
+        public GOODS_TYPE GoodsType { get; set; }
+        public BATCHING_CLASS BatchingClass { get; set; }
+        private string loc;
+
+        public string Loc
+        {
+            get { return loc; }
+            set
+            {
+                loc = value;
+                if (GOODS_TYPES.ContainsKey(loc))
+                    GoodsType = GOODS_TYPES[loc];
+                switch (loc)
+                {
+                    case COFFEE_HOLDER_LOC:
+                    case ICE_HOLDER_LOC:
+                        BatchingClass = BATCHING_CLASS.HOLDER;
+                        break;
+                    default:
+                        BatchingClass = BATCHING_CLASS.MAIN_MATERIAL;
+                        break;
+                }
+            }
+        }
+
+        internal static Dictionary<string, PolymerBatching> BuildAll()
+        {
+            Dictionary<string, PolymerBatching> temp = new Dictionary<string, PolymerBatching>();
+            foreach (var item in GOODS_TYPES)
+            {
+                temp.Add(item.Key, new PolymerBatching() { Loc = item.Key });
+            }
+            return temp;
+        }
+
+        //internal static IC_SE GetIceCreamSE(string loc, out int sence)
+        //{
+        //    switch (loc)
+        //    {
+        //        case ICE_MAIN_BATCHIN1_LOC:
+        //            sence = LebaiHelper.SENCE_接1号冰淇淋;
+        //            return IC_SE.SE_1;
+
+        //        case ICE_MAIN_BATCHIN2_LOC:
+        //            sence = LebaiHelper.SENCE_接2号冰淇淋;
+        //            return IC_SE.SE_2;
+
+        //        case ICE_MAIN_BATCHIN3_LOC:
+        //            sence = LebaiHelper.SENCE_接3号冰淇淋;
+        //            return IC_SE.SE_3;
+
+        //        default:
+        //            sence = LebaiHelper.SENCE_接1号冰淇淋;
+        //            return IC_SE.SE_1;
+        //    }
+        //}
+    }
+}

BPASmartClient.MorkT_HQ/View/DebugView.xaml

@@ -0,0 +1,307 @@
+<UserControl x:Class="BPASmartClient.MorkT.View.DebugView"
+             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:vm ="clr-namespace:BPASmartClient.MorkT.ViewModel"
+             mc:Ignorable="d" 
+             Name="调试界面"
+             d:DesignHeight="500" d:DesignWidth="1000" Unloaded="Dubug_Unloaded">
+    <UserControl.DataContext>
+        <vm:DebugViewModel/>
+    </UserControl.DataContext>
+    <UserControl.Resources>
+        <ResourceDictionary>
+            <ResourceDictionary.MergedDictionaries>
+                <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/GenricStyle.xaml" />
+                <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/MyStyle.xaml" />
+            </ResourceDictionary.MergedDictionaries>
+        </ResourceDictionary>
+    </UserControl.Resources>
+    <Grid>
+        <Grid.ColumnDefinitions>
+            <ColumnDefinition Width="10*"/>
+            <ColumnDefinition Width="10*"/>
+        </Grid.ColumnDefinitions>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="14*"/>
+            <RowDefinition Height="*"/>
+            <RowDefinition Height="20*"/>
+        </Grid.RowDefinitions>
+
+        <GroupBox Grid.ColumnSpan="2"
+            FontFamily="楷体"
+            FontSize="20"
+            Header=" 乐白机器人 ">
+            <Grid Margin="10">
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="3*"/>
+                </Grid.RowDefinitions>
+                <StackPanel Orientation="Horizontal">
+                    <TextBlock Text="连接状态" />
+                    <TextBlock Text="{Binding RobotConnected}"
+                           Margin="40,0"/>
+                    <TextBlock Text="机器人模式："/>
+                    <TextBlock Text="{Binding RobotMode}"
+                               Margin="40,0"/>
+                </StackPanel>
+                <TextBlock Text="连接状态" />
+                <TextBlock Text="{Binding RobotConnected}"
+                           Margin="120,0,0,0"/>
+                <TextBlock Text="乐白机器人控制" 
+                           Grid.Row="1"
+                           VerticalAlignment="Center" HorizontalAlignment="Center"/>
+                <ListBox Grid.Row="2" Background="Transparent">
+                    <ListBox.Template>
+                        <ControlTemplate TargetType="{x:Type ListBox}">
+                            <ScrollViewer  HorizontalScrollBarVisibility="Disabled" VerticalScrollBarVisibility="Auto">
+                                <WrapPanel Orientation="Horizontal" IsItemsHost="True" ScrollViewer.CanContentScroll="True"/>
+                            </ScrollViewer>
+                        </ControlTemplate>
+                    </ListBox.Template>
+                    <Button Content="机器人启动"
+                            Margin="20,5" Width="150" Height="40"
+                            Command="{Binding Button_RobotControlCommand}"
+                            CommandParameter="机器人启动">
+                    </Button>
+                    <Button Content="启动示教"
+                            Margin="20,5" Width="150" Height="40"
+                            Command="{Binding Button_RobotControlCommand}"
+                            CommandParameter="启动示教"/>
+                    <Button Content="停止示教" 
+                            Margin="20,5" Width="150" Height="40"
+                            Command="{Binding Button_RobotControlCommand}"
+                            CommandParameter="停止示教"/>
+                    <Button Content="机器人急停"
+                            Margin="20,5"  Width="110" Height="40"
+                            Command="{Binding Button_RobotControlCommand}"
+                            CommandParameter="机器人急停"/>
+
+                </ListBox>
+            </Grid>
+        </GroupBox>
+        <!--<GroupBox  Grid.Row="2"
+            FontFamily="楷体"
+            FontSize="20"
+            Header=" 冰淇淋机器 ">
+            <Grid>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="30"/>
+                    <RowDefinition />
+                    <RowDefinition />
+                </Grid.RowDefinitions>
+                <TextBlock Text="连接状态" />
+                <TextBlock Text="{Binding IceCreamConnected}"
+                           Margin="120,0,0,0"/>
+                <Grid Grid.Row="1">
+                    <Grid.RowDefinitions>
+                        <RowDefinition />
+                        <RowDefinition />
+                        <RowDefinition />
+                        <RowDefinition />
+                    </Grid.RowDefinitions>
+                    <Grid.ColumnDefinitions>
+                        <ColumnDefinition Width="100" />
+                        <ColumnDefinition Width="80" />
+                        <ColumnDefinition Width="120" />
+                        <ColumnDefinition Width="100" />
+                    </Grid.ColumnDefinitions>
+
+                    <TextBlock Grid.Row="0" Grid.Column="0">预冷温度</TextBlock>
+                    <TextBlock
+                            Grid.Row="0"
+                            Grid.Column="1"
+                            Text="{Binding YLWD}" />
+                    <TextBlock Grid.Row="0" Grid.Column="2">回气温度</TextBlock>
+                    <TextBlock
+                            Grid.Row="0"
+                            Grid.Column="3"
+                            Text="{Binding HQWD}" />
+
+                    <TextBlock Grid.Row="1" Grid.Column="0">环境温度</TextBlock>
+                    <TextBlock
+                            Grid.Row="1"
+                            Grid.Column="1"
+                            Text="{Binding HJWD}" />
+                    <TextBlock Grid.Row="1" Grid.Column="2">当前模式</TextBlock>
+                    <TextBlock
+                            Grid.Row="1"
+                            Grid.Column="3"
+                            Text="{Binding CurrentMode}" />
+
+                    <TextBlock Grid.Row="2" Grid.Column="0">电流</TextBlock>
+                    <TextBlock
+                            Grid.Row="2"
+                            Grid.Column="1"
+                            Text="{Binding DL}" />
+                    <TextBlock Grid.Row="2" Grid.Column="2">电压</TextBlock>
+                    <TextBlock
+                            Grid.Row="2"
+                            Grid.Column="3"
+                            Text="{Binding DY}" />
+
+                    <TextBlock Grid.Row="3" Grid.Column="0">成型比</TextBlock>
+                    <TextBlock
+                            Grid.Row="3"
+                            Grid.Column="1"
+                            Text="{Binding CXB}" />
+                    <TextBlock Grid.Row="3" Grid.Column="2">故障</TextBlock>
+                    <TextBlock
+                            Grid.Row="3"
+                            Grid.Column="3"
+                            Text="{Binding IceCreamFault}" />
+                </Grid>
+                <StackPanel Grid.Row="2" Orientation="Vertical">
+                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal">
+                        <TextBlock>冰淇淋</TextBlock>
+                        <Button Command="{Binding Button_MakeIceCreamCommand}"
+                                Margin="20,0"
+                                Content="制作" />
+                    </StackPanel>
+                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal">
+                        <TextBlock>模式</TextBlock>
+                        <ComboBox Width="100"
+                                Margin="20,0"
+                                ItemsSource="{Binding IceCreamModes}"
+                                SelectedItem="{Binding SelecteIceCreamdMode}" />
+                        <Button Command="{Binding Button_SetIceCreamModelCommand}"
+                                Margin="20,0"
+                                Content="设置" />
+                    </StackPanel>
+                </StackPanel>
+            </Grid>
+        </GroupBox>-->
+        <GroupBox Grid.Row="2" Grid.Column="0"
+                  FontSize="20" FontFamily="楷体"
+                  Header="单片机冰淇淋" >
+            <Grid>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="5*"/>
+                </Grid.RowDefinitions>
+                <TextBlock Text="连接状态" />
+                <TextBlock Text="{Binding SCChipIsConnect}"
+                           Margin="120,0,0,0"/>
+                <TextBlock Grid.Row="1" Text="单片机控制"  VerticalAlignment="Center" HorizontalAlignment="Center"/>
+                <ListBox Grid.Row="2" Background="Transparent">
+                    <ListBox.Template>
+                        <ControlTemplate TargetType="{x:Type ListBox}">
+                            <ScrollViewer  HorizontalScrollBarVisibility="Disabled" VerticalScrollBarVisibility="Auto">
+                                <WrapPanel Orientation="Horizontal" IsItemsHost="True" ScrollViewer.CanContentScroll="True"/>
+                            </ScrollViewer>
+                        </ControlTemplate>
+                    </ListBox.Template>
+                    <Button Content="咖啡杯落杯"  Height="40" Width="120"
+                    Command="{Binding Button_CupControlCommand}" 
+                    CommandParameter="CUP_COFFEE"
+                     Margin="10,10,50,10"/>
+                    <Button Content="冰淇淋杯落杯" Height="40" Width="120"
+                    Command="{Binding Button_CupControlCommand}" 
+                    CommandParameter="CUP_ICECREAM" Margin="10,10,50,10"
+                   />
+                    <Button Content="单片机冰淇淋制冷" Height="40" Width="120"
+                    Command="{Binding Button_SCChipRefrigerationCommand}"  Cursor="Hand"
+                        Margin="10,10,50,10"
+                   />
+                    <Button Content="单片机冰淇淋打料" Height="40" Width="120"  Margin="10,10,50,10"
+                    Command="{Binding Button_SCChipDischargeCommand}" Cursor="Hand" />
+                    <Button Content="单片机冰淇淋模拟" Height="40" Width="120"
+                    Command="{Binding Button_SCChipTestCommand}" Cursor="Hand" 
+                         Margin="10,10,50,10"/>
+
+                </ListBox>
+            </Grid>   
+        </GroupBox>
+                  
+        <GroupBox  Grid.Row="2" Grid.Column="1"
+            FontFamily="楷体"
+            FontSize="20"
+            Header=" 咖啡机">
+            <Grid>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="30"/>
+                    <RowDefinition />
+                    <RowDefinition />
+                </Grid.RowDefinitions>
+                <TextBlock Text="连接状态" />
+                <TextBlock Text="{Binding CoffeeConnected}"
+                           Margin="120,0,0,0"/>
+                <Grid Grid.Row="1">
+                    <Grid.Resources>
+                        <Style TargetType="TextBlock">
+                            <Setter Property="HorizontalAlignment" Value="Left" />
+                            <Setter Property="VerticalAlignment" Value="Center" />
+                        </Style>
+                    </Grid.Resources>
+                    <Grid.RowDefinitions>
+                        <RowDefinition />
+                        <RowDefinition />
+                    </Grid.RowDefinitions>
+                    <Grid.ColumnDefinitions>
+                        <ColumnDefinition Width="99" />
+                        <ColumnDefinition Width="140" />
+                        <ColumnDefinition Width="100" />
+                        <ColumnDefinition Width="171" />
+                    </Grid.ColumnDefinitions>
+                    <TextBlock Height="23" Width="100" FontSize="18" HorizontalAlignment="Center">咖啡机状态</TextBlock>
+                    <TextBlock FontSize="18" 
+                            Grid.Column="1"
+                            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"/>
+                    <TextBlock Grid.Row="1" Grid.Column="0" Height="22" Width="80" FontSize="18">告警信息</TextBlock>
+                    <TextBlock FontSize="15"
+                            Grid.Row="1"
+                            Grid.Column="1"
+                            Text="{Binding Warning}"  />
+                    <TextBlock Grid.Row="1" Grid.Column="2" Height="22" Width="80" FontSize="18">故障信息</TextBlock>
+                    <TextBlock FontSize="18"
+                            Grid.Row="1"
+                            Grid.Column="3"
+                            Text="{Binding CaffeeFault}" Height="22" Width="60" />
+                </Grid>
+                <StackPanel Grid.Row="2" Orientation="Vertical">
+                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal">
+                        <TextBlock>饮品</TextBlock>
+                        <ComboBox Margin="10,0"
+                                Width="100"
+                                ItemsSource="{Binding Coffees}"
+                                SelectedItem="{Binding SelectedCoffee}" />
+                        <Button Margin="10,0"
+                            Command="{}"
+                                Content="制作"/>
+                        <Button Margin="10,0"
+                            Command="{}"
+                                Content="停止制作"/>
+                    </StackPanel>
+                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal">
+                        <TextBlock>模式</TextBlock>
+                        <ComboBox Margin="10,0"
+                                Width="100"
+                                ItemsSource="{Binding CoffeeCmds}"
+                                SelectedItem="{Binding SelectedCoffeeCmd}"/>
+                        <Button Margin="10,0"
+                                Command="{}"
+                                Content="设置" Cursor="Hand"/>
+                    </StackPanel>
+                </StackPanel>
+            </Grid>
+        </GroupBox>
+        <GroupBox Header="单片机控制"
+                   FontSize="18"
+                  Grid.Row="1" Grid.ColumnSpan="2"
+                  Margin="0,0,0,10" HorizontalAlignment="Right" Width="1000">
+            <StackPanel Orientation="Horizontal"
+                     VerticalAlignment="Center" >
+
+                
+            </StackPanel>
+        </GroupBox>
+
+    </Grid>
+</UserControl>

BPASmartClient.MorkT_HQ/View/DebugView.xaml.cs

@@ -0,0 +1,35 @@
+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>
+    /// MorkT_DebugView.xaml 的交互逻辑
+    /// </summary>
+    public partial class DebugView : UserControl
+    {
+        public DebugView()
+        {
+            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_HQ/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_HQ/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_HQ/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_HQ/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_HQ/ViewModel/DebugViewModel.cs

@@ -0,0 +1,326 @@
+using BPASmartClient.Business;
+using BPASmartClient.Device;
+using BPASmartClient.DRCoffee;
+using BPASmartClient.EventBus;
+using BPASmartClient.GSIceCream;
+using BPASmartClient.Helper;
+using BPASmartClient.LebaiRobot;
+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;
+using System;
+using System.Collections.Generic;
+using System.Collections.ObjectModel;
+using System.Linq;
+using System.Threading;
+
+namespace BPASmartClient.MorkT.ViewModel
+{
+    public class DebugViewModel : ObservableObject
+    {
+        
+        #region 乐白机器人
+        /// <summary>
+        /// 乐白机器人连接状态
+        /// </summary>
+        public string RobotConnected { get { return _robotConnected; } set { _robotConnected = value; OnPropertyChanged(); } }
+        private string _robotConnected { get; set; }
+        /// <summary>
+        /// 乐白机器人的模式状态
+        /// </summary>
+        public string RobotMode { get { return _robotMode; } set { _robotMode = value; OnPropertyChanged(); } }
+        private string _robotMode { get; set; }
+        /// <summary>
+        /// 机器人控制指令
+        /// </summary>
+        public RelayCommand<object> Button_RobotControlCommand { get; set; }
+        /// <summary>
+        /// 机器人控制
+        /// </summary>
+        /// <param name="o"></param>
+        
+        public RelayCommand Button_SetValueCommand { get; set; }
+
+        private void Button_SetValue()
+        {
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 });
+        }
+        private void Button_RobotControl(object o)
+        {
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiControlEvent { DeviceId = DeviceId, LebaiControl = o.ToString() });
+        }
+
+        #endregion
+
+        #region 冰淇淋机器
+        /// <summary>
+        /// 制作冰淇淋
+        /// </summary>
+        public RelayCommand Button_MakeIceCreamCommand { get; set; }
+        /// <summary>
+        /// 选择冰淇淋模式
+        /// </summary>
+        public RelayCommand Button_SetIceCreamModelCommand { get; set; }
+
+        /// <summary>
+        /// 冰淇淋连接状态
+        /// </summary>
+        public string IceCreamConnected { get { return _iceCreamConnected; } set { _iceCreamConnected = value; OnPropertyChanged(); } }
+        private string _iceCreamConnected { get; set; }
+        /// <summary>
+        /// 预冷温度
+        /// </summary>
+        public string YLWD { get { return _yLWD; } set { _yLWD = value; OnPropertyChanged(); } }
+        private string _yLWD { get; set; }
+        /// <summary>
+        /// 回气温度
+        /// </summary>
+        public string HQWD { get { return _hQWD; } set { _hQWD = value; OnPropertyChanged(); } }
+        private string _hQWD { get; set; }
+        /// <summary>
+        /// 环境温度
+        /// </summary>
+        public string HJWD { get { return _hJWD; } set { _hJWD = value; OnPropertyChanged(); } }
+        private string _hJWD { get; set; }
+        /// <summary>
+        /// 电流
+        /// </summary>
+        public string DL { get { return _DL; } set { _DL = value; OnPropertyChanged(); } }
+        private string _DL { get; set; }
+        /// <summary>
+        /// 电压
+        /// </summary>
+        public string DY { get { return _dy; } set { _dy = value; OnPropertyChanged(); } }
+        private string _dy { get; set; }
+        /// <summary>
+        /// 当前模式
+        /// </summary>
+        public string CurrentMode { get { return _CurrentMode; } set { _CurrentMode = value; OnPropertyChanged(); } }
+        private string _CurrentMode;
+        /// <summary>
+        /// 故障
+        /// </summary>
+        public string IceCreamFault { get { return _IceCreamFault; } set { _IceCreamFault = value; OnPropertyChanged(); } }
+        private string _IceCreamFault { get; set; }
+        /// <summary>
+        /// 成型比
+        /// </summary>  
+        public string CXB { get { return _cXB; } set { _cXB = value; OnPropertyChanged(); } }
+        private string _cXB { get; set; }
+        /// <summary>
+        /// 打料完成状态
+        /// </summary>
+        public string DLCompleted { get { return _dLCompleted; } set { _dLCompleted = value; OnPropertyChanged(); } }
+        private string _dLCompleted { get; set; }
+
+        public List<string> IceCreamModes { get; set; } = new List<string>();
+        public string SelecteIceCreamdMode { get; set; }
+
+        private void Button_MakeIceCream()
+        {
+            
+        }
+        private void Button_SetIceCreamModel()
+        {
+            MORKI_MODE mORKI_MODE = (MORKI_MODE)Enum.Parse(typeof(MORKI_MODE), SelecteIceCreamdMode);
+            new GSIceCream_ModeSetEvent() { DeviceId = DeviceId, Mode = mORKI_MODE }.Publish();
+        }
+        #endregion
+
+        #region 咖啡机
+        /// <summary>
+        /// 咖啡机连接状态
+        /// </summary>
+        public string CoffeeConnected { get { return _coffeeConnected; } set { _coffeeConnected = value; OnPropertyChanged(); } }
+        private string _coffeeConnected { get; set; }
+        /// <summary>
+        /// 咖啡机状态
+        /// </summary>
+        public string CoffeeStatus { get { return _coffeeStatus; } set { _coffeeStatus = value; OnPropertyChanged(); } }
+        private string _coffeeStatus { get; set; }
+        /// <summary>
+        /// 应用状态
+        /// </summary>
+        public string AppStatus { get { return _appStatus; } set { _appStatus = value; OnPropertyChanged(); } }
+        private string _appStatus { get; set; }
+        /// <summary>
+        /// 告警
+        /// </summary>
+        public string Warning { get { return _warning; } set { _warning = value; OnPropertyChanged(); } }
+        public string _warning { get; set; }
+        /// <summary>
+        /// 故障信息
+        /// </summary>
+        public string CaffeeFault { get { return _caffeeFault; } set { _caffeeFault = value; OnPropertyChanged(); } }
+        public string _caffeeFault { get; set; }
+
+        public List<string> Coffees { get; set; } = new List<string>();
+        public string SelectedCoffee { get; set; }
+
+        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>
+        /// 单片机连接状态
+        /// </summary>
+        public string SCChipIsConnect { get { return _sCChipIsConnect; } set { _sCChipIsConnect = value; OnPropertyChanged(); } }
+        private string _sCChipIsConnect { get; set; }
+        /// <summary>
+        /// 咖啡杯或冰淇淋杯落杯
+        /// </summary>
+        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; }
+
+        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_SetValueCommand = new RelayCommand(Button_SetValue);
+
+            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());
+            }
+            SelectedCoffee = Coffees[0];
+            foreach (DrCoffeeCommCmd code in Enum.GetValues(typeof(DrCoffeeCommCmd)))
+            {
+                CoffeeCmds.Add(code.ToString());
+            }
+            SelectedCoffeeCmd = CoffeeCmds[0];
+
+            foreach (MORKI_MODE code in Enum.GetValues(typeof(MORKI_MODE)))
+            {
+                IceCreamModes.Add(code.ToString());
+            }
+            SelecteIceCreamdMode = IceCreamModes[0];
+
+            Plugin.GetInstance()?.GetPlugin<DeviceMgr>()?.GetDevices().ForEach(device =>
+            {
+                if (device.Name == "MorkT") DeviceId = device.DeviceId
+                ;
+            });
+            ThreadManage.GetInstance().StartLong(new Action(() =>
+            {
+
+                variableMonitors = Plugin.GetInstance()?.GetPlugin<DeviceMgr>()?.GetDevices()?.FirstOrDefault(p => p.DeviceId == DeviceId)?.variableMonitors;
+
+                if (variableMonitors != null && variableMonitors.Count > 0)
+                {
+                    RobotConnected = variableMonitors.FirstOrDefault(p=>p.Notes == "机器人连接状态").CurrentValue == "True" ? "已连接" : "未连接";
+                    IceCreamConnected = variableMonitors.FirstOrDefault(p => p.Notes == "冰淇淋连接状态").CurrentValue == "True" ? "已连接" : "未连接";
+                    CoffeeConnected = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机连接状态").CurrentValue == "True" ? "已连接" : "未连接";
+                    SCChipIsConnect = variableMonitors.FirstOrDefault(p => p.Notes == "单片机连接状态").CurrentValue == "True" ? "已连接" : "未连接";
+
+                    RobotMode = variableMonitors.FirstOrDefault(p => p.Notes == "机器人状态").CurrentValue;
+
+                    CoffeeStatus = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机状态").CurrentValue;
+                    AppStatus = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机应用状态").CurrentValue;
+                    Warning = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机告警").CurrentValue;
+                    CaffeeFault = variableMonitors.FirstOrDefault(p => p.Notes == "咖啡机故障").CurrentValue;
+
+                    YLWD = variableMonitors.FirstOrDefault(p => p.Notes == "冰淇淋机器预冷温度").CurrentValue;
+                    HQWD = variableMonitors.FirstOrDefault(p => p.Notes == "冰淇淋机器回气温度").CurrentValue;
+                    HJWD = variableMonitors.FirstOrDefault(p => p.Notes == "冰淇淋机器环境温度").CurrentValue;
+                    DL = variableMonitors.FirstOrDefault(p => p.Notes == "冰淇淋机器电流").CurrentValue;
+                    DY = variableMonitors.FirstOrDefault(p => p.Notes == "冰淇淋机器电压").CurrentValue;
+                    CurrentMode = variableMonitors.FirstOrDefault(p => p.Notes == "冰淇淋机器模式").CurrentValue;
+                    IceCreamFault = variableMonitors.FirstOrDefault(p => p.Notes == "冰淇淋机器故障").CurrentValue;
+                    CXB = variableMonitors.FirstOrDefault(p => p.Notes == "冰淇淋机器成型比").CurrentValue;
+                    DLCompleted = variableMonitors.FirstOrDefault(p => p.Notes == "冰淇淋机器打料完成")?.CurrentValue == "True" ? "打料完成" : "打料中";
+                }
+                
+                Thread.Sleep(500);
+            }), "MorkT-状态刷新");
+        }
+
+    }
+}

BPASmartClient.MorkT_HQ/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

@@ -196,7 +196,7 @@ namespace BPASmartClient.SCChip
                 {
                     case IC_CMD.HEART_BEAT:
                         lastRefreshTime = DateTime.Now;
-                        status["OnLine"] = OnLine;
+                        status["SCChipIsConnect"] = OnLine;
                         break;
                     case IC_CMD.TAKE_CUP:
                         switch ((IC_CUP)data.Value)
@@ -351,7 +351,7 @@ namespace BPASmartClient.SCChip
                         }
                         Thread.Sleep(10);
                     }
-                    Thread.Sleep(2000);
+                    Thread.Sleep(1700);
                     switch ((IC_SE)(@event as SCChip_MakeIceCreamEvent).SteeringEngine)
                     {
                         case IC_SE.SE_1:

BPASmartClient/App.config

@@ -11,8 +11,8 @@
     <add key="AppId" value="dev1_common"/>
     <add key ="Namespaces" value="DEV.Config"/>
 
-    <!--正式环境-->
-    <!--<add key="apollouri" value="http://47.108.65.220:28080/"/>
+    <!--正式环境--><!--
+    <add key="apollouri" value="http://47.108.65.220:28080/"/>
     <add key="AppId" value="order"/>
     <add key ="Namespaces" value="TEST1.Config"/>-->
 

BPASmartClient/MainWindow.xaml

@@ -50,7 +50,28 @@
                     VerticalAlignment="Center"
                     Style="{DynamicResource imagetop_Title}" />
                 <Grid Grid.Column="1">
-                    <Menu x:Name="myMenu">
+                    <!--#region 用户菜单界面-->
+                    <StackPanel x:Name="myPanel" Orientation="Horizontal" Visibility="Visible" >
+                        <Button Height="40" Width="120"
+                                Content="日志监视" 
+                                Margin="50,0,20,0"
+                                Click="MenuItem_Click"
+                                Tag ="LogView"
+                                
+                               />
+                        <Button Height="40" Width="120"
+                                Content="设备监控"
+                                Margin="20,0" Cursor="Hand"
+                                Click="DeviceMonitor_Click"
+                                Tag =""/>
+                        <Button Height="40" Width="120"
+                                 Margin="20,0"
+                                Content="订单监视"
+                                Click="MenuItem_Click"
+                                Tag ="OrderStatusView" Cursor="Hand"/>
+                    </StackPanel>
+                    <!--#endregion-->
+                    <Menu x:Name="myMenu" Visibility="Collapsed">
                         <MenuItem Header="功能列表">
                             <MenuItem
                                 Click="MenuItem_Click"

BPASmartClient/MainWindow.xaml.cs

@@ -48,6 +48,7 @@ namespace BPASmartClient
             ActionManage.GetInstance.Register(new Action(() =>
             {
                 myMenu.Visibility = Visibility.Visible;
+                myPanel.Visibility = Visibility.Collapsed;
                 MenuItem_Click(new MenuItem() { Tag = "LogView", Header = "日志监视" }, null);
             }), "LoginSuccess");
             Initialize();
@@ -238,6 +239,13 @@ namespace BPASmartClient
                     contentRegion.Content = (FrameworkElement)cti.Invoke(null);
                     Title.Text = (sender as MenuItem).Header?.ToString() + "界面";
                 }
+                else if(sender is Button)
+                {
+                    Type type = Type.GetType($"BPASmartClient.Control.{(sender as Button).Tag?.ToString()}");
+                    ConstructorInfo cti = type.GetConstructor(System.Type.EmptyTypes);
+                    contentRegion.Content = (FrameworkElement)cti.Invoke(null);
+                    Title.Text = (sender as Button).Content?.ToString() + "界面";
+                }
             }
             catch (Exception ex)
             {
@@ -347,8 +355,32 @@ namespace BPASmartClient
         private void Button_LogOut(object sender, RoutedEventArgs e)
         {
             myMenu.Visibility = Visibility.Hidden;
+            myPanel.Visibility = Visibility.Visible;
         }
         #endregion
 
+        private void DeviceMonitor_Click(object sender, RoutedEventArgs e)
+        {
+            string deviceName = string.Empty;
+            var result = Plugin.GetInstance().GetPlugin<ConfigMgr>()?.deviceConfigModelJsons;
+            if (result != null)
+            {
+                foreach (var shop  in result)//店铺集合
+                {
+                    deviceName = shop.deviceModels[0].DeviceName;
+                }
+            }
+            if(deviceName != null)
+            {
+                Type type = Assembly.Load($"BPASmartClient.{deviceName}").GetType($"BPASmartClient.{deviceName}.View.DebugView");
+                if (type == null) return;
+                ConstructorInfo cti = type.GetConstructor(System.Type.EmptyTypes);
+                contentRegion.Content = (FrameworkElement)cti.Invoke(null);
+                Title.Text = "设备监控界面";
+            }
+
+
+
+        }
     }
 }

SmartClient.sln

@@ -78,11 +78,13 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MorkF", "BPA
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.LebaiRobot", "BPASmartClient.LebaiRobot\BPASmartClient.LebaiRobot.csproj", "{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.MorkM", "BPASmartClient.MorkM\BPASmartClient.MorkM.csproj", "{74DB1F85-9B73-4113-8FE4-A63754BC7DF9}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MorkM", "BPASmartClient.MorkM\BPASmartClient.MorkM.csproj", "{74DB1F85-9B73-4113-8FE4-A63754BC7DF9}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.MorkTLebaiJC", "BPASmartClient.MorkT.Lebai.JC\BPASmartClient.MorkTLebaiJC.csproj", "{0A06C9E5-5C42-4BCE-B6E6-D8054C72255D}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MorkTLebaiJC", "BPASmartClient.MorkT.Lebai.JC\BPASmartClient.MorkTLebaiJC.csproj", "{0A06C9E5-5C42-4BCE-B6E6-D8054C72255D}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.MorkTJAKAJC", "BPASmartClient.Morkt.JAKA.JC\BPASmartClient.MorkTJAKAJC.csproj", "{6B0FD858-A60D-41B9-A923-358B0CE2A254}"
+Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MorkTJAKAJC", "BPASmartClient.Morkt.JAKA.JC\BPASmartClient.MorkTJAKAJC.csproj", "{6B0FD858-A60D-41B9-A923-358B0CE2A254}"
+EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.MorkT_HQ", "BPASmartClient.MorkT_HQ\BPASmartClient.MorkT_HQ.csproj", "{81527A58-D337-400F-92A9-C4A2906EAF59}"
 EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
@@ -738,6 +740,26 @@ Global
 		{6B0FD858-A60D-41B9-A923-358B0CE2A254}.Release|x64.Build.0 = Release|Any CPU
 		{6B0FD858-A60D-41B9-A923-358B0CE2A254}.Release|x86.ActiveCfg = Release|Any CPU
 		{6B0FD858-A60D-41B9-A923-358B0CE2A254}.Release|x86.Build.0 = Release|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Debug|ARM.ActiveCfg = Debug|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Debug|ARM.Build.0 = Debug|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Debug|ARM64.ActiveCfg = Debug|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Debug|ARM64.Build.0 = Debug|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Debug|x64.Build.0 = Debug|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Debug|x86.Build.0 = Debug|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Release|Any CPU.Build.0 = Release|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Release|ARM.ActiveCfg = Release|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Release|ARM.Build.0 = Release|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Release|ARM64.ActiveCfg = Release|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Release|ARM64.Build.0 = Release|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Release|x64.ActiveCfg = Release|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Release|x64.Build.0 = Release|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Release|x86.ActiveCfg = Release|Any CPU
+		{81527A58-D337-400F-92A9-C4A2906EAF59}.Release|x86.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -775,6 +797,7 @@ Global
 		{74DB1F85-9B73-4113-8FE4-A63754BC7DF9} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F}
 		{0A06C9E5-5C42-4BCE-B6E6-D8054C72255D} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F}
 		{6B0FD858-A60D-41B9-A923-358B0CE2A254} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F}
+		{81527A58-D337-400F-92A9-C4A2906EAF59} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {9AEC9B81-0222-4DE9-B642-D915C29222AC}