合并小炒大屏

BPASmartClient.Business/LocalMqtt.cs

@@ -24,6 +24,11 @@ namespace BPASmartClient.Business
 
         ScreenDeviceType LocDeviceType;
 
+        string MQTT_IP;
+        string MQTT_PORT;
+        string MQTT_USERNAME;
+        string MQTT_PASSWORD;
+
         public void Init(ScreenDeviceType DeviceType)
         {
             MqttPushs.Name = DeviceType;
@@ -32,9 +37,13 @@ namespace BPASmartClient.Business
             {
                 mQTTProxy.Subscrib(ScreenTOPIC.GetInstance.GetTopic(DeviceType)) ;
                
-            }); 
-            //mQTTProxy.Connect("emqx_u_block", "emqx_p_admin3658765490789", "47.108.65.220", 1883, $"{DeviceType}_设备监听数据{DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")}");//"10.2.1.254""admin", "public"
-            mQTTProxy.Connect("admin", "public1", "171.221.208.23", 11883, $"{DeviceType}_设备监听数据{DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")}");//"10.2.1.254""admin", "public"
+            });
+            MQTT_IP = System.Configuration.ConfigurationManager.AppSettings["MQTT_DevieScreem_IP"].ToString();
+            MQTT_PORT = System.Configuration.ConfigurationManager.AppSettings["MQTT_DevieScreem_Port"].ToString();
+            MQTT_USERNAME = System.Configuration.ConfigurationManager.AppSettings["MQTT_DevieScreem_User"].ToString();
+            MQTT_PASSWORD = System.Configuration.ConfigurationManager.AppSettings["MQTT_DevieScreem_Password"].ToString();
+
+            mQTTProxy.Connect(MQTT_USERNAME, MQTT_PASSWORD, MQTT_IP, int.Parse(MQTT_PORT), $"{DeviceType}_设备监听数据{DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")}");//"10.2.1.254""admin", "public"
         }
 
         public void Start()

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

@@ -8,6 +8,17 @@ namespace BPASmartClient.Model.乐白机器人.Enum
 {
     public class Lebai_qsqdCode
     {
+        //取餐口 0 号输入 光电传感器
+        
+        //Tcp 1号输入 手臂传感器
+
+        //落杯器 输出 1号
+        //落杯器 输入 1号
+        #region 咖啡流程
+
+        #endregion
+
+
         #region 且时且多设备
         public const int SENCE_自嗨 = 10008;
         public const int SENCE_取咖啡杯 = 10031;

BPASmartClient.Model/大炒/FryPotMessages.cs

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

BPASmartClient.Model/大炒/RobotActionModel.cs

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

BPASmartClient.MorkBF/Control_MorkBF.cs

@@ -51,6 +51,7 @@ namespace BPASmartClient.MorkBF
             DataParse();//数据解析
             ScreenDataServer();//大屏数据上报
             ActionManage.GetInstance.Send("更新菜单");
+            //ThreadManage.GetInstance().Start(FirePot1_Process, "炒锅1流程");
             DeviceProcessLogShow("MORKF 设备初始化完成");
         }
 
@@ -64,9 +65,7 @@ namespace BPASmartClient.MorkBF
                     if (order.MorkOrder.GoodBatchings == null) return;
                     OrderCount++;
                     DeviceProcessLogShow($"接收到{OrderCount}次订单");
-                    
                 }
-
             });
         }
 
@@ -122,17 +121,8 @@ namespace BPASmartClient.MorkBF
             ActionManage.GetInstance.Register(FirePot_PotReversal, "FirePot_PotReversal");//翻转反转
             #endregion
             #region 机器人
-            ActionManage.GetInstance.Register(RobotStart, "RobotStart");//机器人启动
-            ActionManage.GetInstance.Register(RobotStop, "RobotStop");//机器人停止
-            ActionManage.GetInstance.Register(RobotReset, "RobotReset");//复位
-            ActionManage.GetInstance.Register(RobotProgramStart, "RobotProgramStart");//程序启动
-            ActionManage.GetInstance.Register(Robot_Pot1AllowInMaterail, "Robot_Pot1AllowInMaterail");//1号炒锅允许机器人投料
-            ActionManage.GetInstance.Register(Robot_Pot1OutFoodInSlowDown, "Robot_Pot1OutFoodInSlowDown");//1号炒锅出餐倒料到减速位
-            ActionManage.GetInstance.Register(Robot_Pot1OutFood, "Robot_Pot1OutFoodInSlowDown");//1号炒锅出餐倒料完成
-            ActionManage.GetInstance.Register(Robot_Pot2AllowInMaterail, "Robot_Pot2AllowInMaterail");//2号炒锅允许机器人投料
-            ActionManage.GetInstance.Register(Robot_Pot2OutFoodInSlowDown, "Robot_Pot2OutFoodInSlowDown");//2号炒锅出餐倒料到减速位
-            ActionManage.GetInstance.Register(Robot_Pot2OutFood, "Robot_Pot2OutFood");//2号炒锅出餐倒料完成
-            ActionManage.GetInstance.Register(RobotActionStart, "Robot_Pot2OutFood");//2号炒锅出餐倒料完成
+            
+            ActionManage.GetInstance.Register(RobotAction, "RobotAction");//上使能
 
 
             #endregion
@@ -141,12 +131,8 @@ namespace BPASmartClient.MorkBF
 
         public override void MainTask()
         {
-            if(morkBF.FirePan1_Order.Count>0&& morkBF.FirePot1_InitCompleted&&morkBF.FirePot2_IsAuto&&!morkBF.FirePan1_Busy)
-            {
-                ThreadManage.GetInstance().Start(FirePot1_Process, "炒锅1流程");
-            }
-
-            if(morkBF.RobotActinQueue.Count>0&&! morkBF.Robot_Origin)//机器人在原点为
+            
+            if(morkBF.RobotActinQueue.Count>0&&! morkBF.Robot_Start)//机器人启动
             {
                if( morkBF.RobotActinQueue.TryDequeue(out RobotAction_Pot robotAction))
                {
@@ -158,44 +144,48 @@ namespace BPASmartClient.MorkBF
 
         private void FirePot1_Process()
         {
-            
-            if(morkBF.FirePan1_Order.TryDequeue(out FryPotMessages result))
+            if (morkBF.FirePan1_Order.Count > 0 && morkBF.FirePot1_InitCompleted && morkBF.FirePot2_IsAuto && !morkBF.FirePan1_Busy)
             {
-
-                morkBF.FirePan1_Busy = true;
-                morkBF.FryPot1_CurrentProcess = result.fryPotProcesses;
-                foreach (var item in result.fryPotProcesses)
+                if (morkBF.FirePan1_Order.TryDequeue(out FryPotMessages result))
                 {
-                    switch (item.fryActions)
+
+                    morkBF.FirePan1_Busy = true;
+                    morkBF.FryPot1_CurrentProcess = result.fryPotProcesses;
+                    foreach (var item in result.fryPotProcesses)
                     {
-                        case FryAction.冷锅加热:
-                            FirePot_PotPerHeat(item, 1);
-                            MessageLog.GetInstance.Show("炒锅1---冷锅加热完成");
-                            break;
-
-                        case FryAction.热油:
-                            FirePot_HeatOil(item,1);
-                            MessageLog.GetInstance.Show("炒锅1---热油完成");
-                            break;
-                        case FryAction.加调料:
-                            FirePot_AddSeasoning(item, 1);
-                            MessageLog.GetInstance.Show("炒锅1---加调料完成");
-                            break;
-                        case FryAction.加辅料:
-                            FirePot_AddAccessories(item,1);
-                            MessageLog.GetInstance.Show("炒锅1---加辅料完成");
-                            break;
-                        case FryAction.炒制菜品:
-                            FirePot_FryFood(item,1);
-                            MessageLog.GetInstance.Show("炒锅1---炒制菜品完成");
-                            break;
-
-                        default:
-                            break;
+                        switch (item.fryActions)
+                        {
+                            case FryAction.冷锅加热:
+                                FirePot_PotPerHeat(item, 1);
+                                MessageLog.GetInstance.Show("炒锅1---冷锅加热完成");
+                                break;
+                            case FryAction.热油:
+                                FirePot_HeatOil(item, 1);
+                                MessageLog.GetInstance.Show("炒锅1---热油完成");
+                                break;
+                            case FryAction.机器人加调料:
+                                FirePot_RobotGetSeasoning(item, 1);
+                                MessageLog.GetInstance.Show("炒锅1---机器人加调料完成");
+                                break;
+                            case FryAction.通道出调料:
+                                FirePot_PasswayOutSeasoning(item, 1);
+                                MessageLog.GetInstance.Show("炒锅1---通道出调料完成");
+                                break;
+                            case FryAction.炒制菜品:
+                                FirePot_FryFood(item, 1);
+                                MessageLog.GetInstance.Show("炒锅1---炒制菜品完成");
+                                break;
+                            default:
+                                break;
+                        }
                     }
+                    FirePot_StartFire(new object[] { 1, false });//关火
+                    Thread.Sleep(result.FryOffStirTime*1000);//关火翻炒时间
+                    FirePot_StartStir(new object[] { 1, false });//关闭搅拌
+                    Message.MessageLog.GetInstance.Show($"炒锅1炒制{result.GoodName}完成");
+
                 }
-                
-            }
+            } 
         }
 
         private void FirePot2_Process()
@@ -206,13 +196,21 @@ namespace BPASmartClient.MorkBF
 
         #region 炒锅流程功能
 
-        private bool IsRobotNextWork(List<FryPotProcess> currentProcess, int currentFryTime)
+        /// <summary>
+        /// 判断下个动作是否需要机器人
+        /// </summary>
+        /// <param name="i"></param>
+        /// <param name="currentFryTime"></param>
+        /// <returns></returns>
+        private bool IsRobotNextWork(int i, int currentFryTime)
         {
             bool res = false;
-            if(currentProcess.Count> currentFryTime)
+            List<FryPotProcess> currentProcess = new List<FryPotProcess>();
+            currentProcess = i == 1 ? morkBF.FryPot1_CurrentProcess: morkBF.FryPot2_CurrentProcess;
+            
+            if (currentProcess.Count> currentFryTime)
             {
-                if (currentProcess[currentFryTime + 1].fryActions == FryAction.加调料 ||
-                    currentProcess[currentFryTime + 1].fryActions == FryAction.加辅料 ||
+                if (currentProcess[currentFryTime + 1].fryActions == FryAction.机器人加调料 ||
                     currentProcess[currentFryTime + 1].fryActions == FryAction.炒制菜品)
                 {
                     res =  true;
@@ -227,19 +225,11 @@ namespace BPASmartClient.MorkBF
         private void FirePot_PotPerHeat(FryPotProcess item,int i)
         {
             bool isRobotWork = false;
-            if(i == 1)//炒锅1
-            {
-                //FirePot1_SetFireGear(item.FryGear);
-                Thread.Sleep(200);
-                //FirePot1_StartFire(true);
-                isRobotWork = IsRobotNextWork(morkBF.FryPot1_CurrentProcess,item.FryTime);
-            }
-            else if(i == 2)//炒锅2
-            {
-                //FirePot2_SetFireGear(item.FryGear);
-                //FirePot2_StartFire(true);
-                isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
-            }
+           
+            FirePot_SetFireGear(new object[]{ i, item.FryGear});//设定加热挡位
+            FirePot_StartFire(new object[] { i, true });
+            isRobotWork = IsRobotNextWork(i,item.FryTime);//下个流程动作是否需要机器人
+
             if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
             else Thread.Sleep(item.FryDuration * 1000);
 
@@ -254,91 +244,66 @@ namespace BPASmartClient.MorkBF
             bool isRobotWork = false;
             if (item.FryGear != 0)
             {
-               /* FirePot1_SetFireGear(item.FryGear);*///设定加热挡位
-                //FirePot1_StartFire(true);//开启加热
-                //isRobotWork = IsRobotNextWork(morkBF.FryPot1_CurrentProcess, item.FryTime);
+                FirePot_SetFireGear(new object[] { i, item.FryGear });//设定加热挡位
+                FirePot_StartFire(new object[] { i, true });
             }
             if (item.StirGear != 0) 
             {
-                //FirePot1_SetStirGear(item.StirGear);//设定搅拌挡位
-                //FirePot1_StartFire(true);//开启搅拌
-                isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
+                FirePot_SetStirGear(new object[] { i, item.StirGear });//设定搅拌挡位
+                FirePot_StartStir(new object[] { i, true });
+
             }
+            isRobotWork = IsRobotNextWork(i, item.FryTime);
             if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
             else Thread.Sleep(item.FryDuration * 1000);//加热时间;
         }
 
         /// <summary>
-        /// 加调料
+        /// 通道出调料
         /// </summary>
-        private void FirePot_AddSeasoning(FryPotProcess item,int i)
+        private void FirePot_PasswayOutSeasoning(FryPotProcess item,int i)
         {
-
-            if(i == 1)
-            {
-                    
-                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot =1,robotActionModel = RobotActionModel.取1号炒锅调料盆倒入1号炒锅});
-                Thread.Sleep(item.FryDuration);
-
-            }
-
-            else if(i == 2)
+            foreach(var acc in item.accessories)
             {
-                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = RobotActionModel.取2号炒锅调料盆倒入2号炒锅 });
-                Thread.Sleep(item.FryDuration);
+                FirePot_StartPassWay(new object[] { i, acc.Loc, acc.Qry });
             }
-           
         }
 
         /// <summary>
-        /// 加辅料
+        /// 机器人取调料
         /// </summary>
-        private void FirePot_AddAccessories(FryPotProcess item, int i)
+        private void FirePot_RobotGetSeasoning(FryPotProcess item, int i)
         {
-            if (i == 1)
-            {
-                
-                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 1, robotActionModel = RobotActionModel.取1号炒锅辅料盆1倒入1号炒锅 });
-                Thread.Sleep(item.FryDuration);
 
-            }
-
-            else if (i == 2)
+            morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot
             {
-                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = RobotActionModel.取2号炒锅辅料盆1倒入2号炒锅 });
-                Thread.Sleep(item.FryDuration);
-            }
-
+                Pot = i,
+                MainTask = BPASmartClient.Model.大炒.MainTask.机器人炒制任务,
+                subTask1 = (SubTask1)item.accessories[0].Loc + 9,
+                subTask2 = (SubTask2)i
+            });
         }
 
+
+
         /// <summary>
         /// 炒制菜品
         /// </summary>
         private void FirePot_FryFood(FryPotProcess item, int i)
         {
             bool isRobotWork = false;
-            if (i == 1)
+            morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot 
             {
-                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 1, robotActionModel = (RobotActionModel)item.accessories[0].Loc });
-                while (!morkBF.FirePot1_CompleteSingle[item.accessories[0].Loc])//取菜信号是否完成
-                {
-                    Thread.Sleep(100);
-                }
-                isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
-               
-
-            }
-
-            else if (i == 2)
+                Pot = i,
+                MainTask = BPASmartClient.Model.大炒.MainTask.机器人炒制任务,
+                subTask1 = (SubTask1)item.accessories[1].Loc,
+                subTask2 =(SubTask2)i
+            });
+            while (!morkBF.FirePot1_CompleteSingle[item.accessories[0].Loc])//取菜信号是否完成
             {
-                morkBF.RobotActinQueue.Enqueue(new RobotAction_Pot { Pot = 2, robotActionModel = (RobotActionModel)(item.accessories[0].Loc+19) });//炒制菜品位置
-                while (!morkBF.FirePot2_CompleteSingle[item.accessories[0].Loc])//取菜信号是否完成
-                {
-                    Thread.Sleep(100);
-                }
-                isRobotWork = IsRobotNextWork(morkBF.FryPot2_CurrentProcess, item.FryTime);
-               
+                Thread.Sleep(100);
             }
+            isRobotWork = IsRobotNextWork(i, item.FryTime);
             if (isRobotWork && item.FryDuration > RobotLeadTime) Thread.Sleep((item.FryDuration - RobotLeadTime) * 1000);//提前10秒机器人去取物料
             else Thread.Sleep(item.FryDuration * 1000);//加热时间;
         }
@@ -350,76 +315,59 @@ namespace BPASmartClient.MorkBF
         /// <param name="robotAction"></param>
         private void RobotProcess(RobotAction_Pot robotAction)
         {
-            Robot_Write("GI0",(int)robotAction.robotActionModel);
-            while (morkBF.Robot_ActionCallback != (int)robotAction.robotActionModel)//机器人动作执行完动作反馈
+            Robot_Write("GI0", (int)robotAction.MainTask);//设定机器人主要任务
+            while(morkBF.Robot_GI0ActionCallback != (int)robotAction.MainTask)//等待主程序完成反馈
             {
-                Thread.Sleep(100);
+                Thread.Sleep(300);
             }
-            if(robotAction.Pot == 1)//炒锅1
+            if((int)robotAction.subTask1>0&& (int)robotAction.subTask1<16)//任务1
             {
-                if (robotAction.robotActionModel == RobotActionModel.取1号空盆出餐)
+                Robot_Write("GI1", (int)robotAction.subTask1);
+                Thread.Sleep(1000);
+                while (morkBF.Robot_GI1ActionCallback != (int)robotAction.subTask1)//等待子程序1完成反馈
                 {
-                    Robot_Write("GM520", true);//机器人去出餐倒料减速位置
-                    while(!morkBF.Robot_ArriveFirePot1)//机器人到位，请求1#炒锅倒菜
-                    {
-                        Thread.Sleep(100);
-                    }
-                    FirePot_StartOutFood(1);//炒锅出餐;
-                    while (!morkBF.FirePot1_PotOnOutFoodPosition)//炒锅在出餐倒料位置反馈
-                    {
-                        Thread.Sleep(1000);
-                    }
-                    Thread.Sleep(6 * 1000);//等待6s出餐
-                    Robot_Write("GM521", true);//机器人出餐到料完成
+                    Thread.Sleep(300);
+                }
+            }
+            if((int)robotAction.subTask1>15) //出餐
+            {
+
+            }
 
+            if ((int)robotAction.subTask2 > 0)//任务2
+            {
+                Robot_Write("GI2", (int)robotAction.subTask2);
+                Thread.Sleep(1000);
+                while (morkBF.Robot_GI2ActionCallback != (int)robotAction.subTask2)//等待子程序2完成反馈
+                {
+                    Thread.Sleep(300);
                 }
-                else
+                while (morkBF.Robot_OutMaterialCompleted)//等待子程序2完成反馈
                 {
-                    //FirePot_Write("M11.6", true);//炒锅去投料位置
-                    while (!morkBF.FirePot1_PotOnIntoFoodPosition)//等待炒锅允许倒料
-                    {
-                        Thread.Sleep(100);
-                    }
-                    Robot_Write("GM531", true);//机器人投料
+                    Thread.Sleep(300);
                 }
-              
             }
-            else if (robotAction.Pot == 2)
+            if ((int)robotAction.subTask3 > 0)//任务3
             {
-                if (robotAction.robotActionModel == RobotActionModel.取1号空盆出餐)
-                {
-                    Robot_Write("GM522", true);//炒锅去出餐倒料减速位置
-                    while (!morkBF.Robot_ArriveFirePot2)//机器人到位，请求1#炒锅倒菜
-                    {
-                        Thread.Sleep(100);
-                    }
-                    FirePot_StartOutFood(2);//炒锅去出餐倒料位置
-                    while (!morkBF.FirePot2_PotOnOutFoodPosition)//炒锅在出餐倒料位置反馈
-                    {
-                        Thread.Sleep(1000);
-                    }
-                    Thread.Sleep(6 * 1000);//等待20s出餐
-                    Robot_Write("GM523", true);//机器人出餐倒料完成
-
-                }
-                else
+                Robot_Write("GI3", (int)robotAction.subTask3);
+                Thread.Sleep(1000);
+                while (morkBF.Robot_GI3ActionCallback != (int)robotAction.subTask3)//等待子程序3完成反馈
                 {
-                    //FirePot_Write("M16.7", true);
-                    while (!morkBF.FirePot2_PotOnIntoFoodPosition)
-                    {
-                        Thread.Sleep(100);
-                    }
-                    Robot_Write("GM531", true);
+                    Thread.Sleep(300);
                 }
-               
             }
-            
-            while(!morkBF.Robot_Origin)
+            if ((int)robotAction.subTask4 > 0)//任务4
             {
+                Robot_Write("GI4", (int)robotAction.subTask4);
                 Thread.Sleep(1000);
+                while (morkBF.Robot_GI4ActionCallback != (int)robotAction.subTask4)//等待主程序4完成反馈
+                {
+                    Thread.Sleep(300);
+                }
             }
-            morkBF.Robot_IsBusy = false;
-            MessageLog.GetInstance.Show($"机器人完成[{robotAction.robotActionModel.ToString()}]任务");
+
+
+            MessageLog.GetInstance.Show($"机器人完成[{robotAction.MainTask.ToString()}]任务");
         }
 
         public override void ReadData()
@@ -501,45 +449,7 @@ namespace BPASmartClient.MorkBF
 
                 }
             }), 0);
-            GetStatus("GM500", new Action<object>((o) =>
-            {
-                if (o == null) return;
-                if (o is bool[] values && values.Length == 7)
-                {
-
-                    morkBF.FirePot1_CompleteSingle[0] = values[0];
-                    morkBF.FirePot1_CompleteSingle[1] = values[1];
-                    morkBF.FirePot1_CompleteSingle[2] = values[2];
-                    morkBF.Robot_FirePot1OutSeasoning = values[3];
-                    morkBF.Robot_FirePot1OutAccessories = values[4];
-                    morkBF.Robot_ArriveFirePot1 = values[5];
-                    morkBF.Robot_FirePot1OutFoodComplete = values[6];
-
-                }
-            }), 1);
-            GetStatus("GM510", new Action<object>((o) =>
-            {
-                if (o == null) return;
-                if (o is bool[] values && values.Length == 7)
-                {
-                    morkBF.FirePot2_CompleteSingle[0] = values[0];
-                    morkBF.FirePot2_CompleteSingle[1] = values[1];
-                    morkBF.FirePot2_CompleteSingle[2] = values[2];
-                    morkBF.Robot_FirePot2OutSeasoning = values[3];
-                    morkBF.Robot_FirePot2OutAccessories = values[4];
-                    morkBF.Robot_ArriveFirePot2 = values[5];
-                    morkBF.Robot_FirePot2OutFoodComplete = values[6];
-
-                }
-            }), 1);
-            GetStatus("GI5", new Action<object>((o) =>
-            {
-                if (o == null) return;
-                if (o is int[] values && values.Length == 1)
-                {
-                    morkBF.Robot_ActionCallback = values[0];
-                }
-            }), 1);
+        
 
             GetStatus("VW2250", new Action<object>((o) =>
             {
@@ -836,7 +746,6 @@ namespace BPASmartClient.MorkBF
                 {
                     FirePot2_Write("M10.6", true);
                 }
-
             }
             Thread.Sleep(200);
         }
@@ -971,98 +880,33 @@ namespace BPASmartClient.MorkBF
         #endregion
 
         #region 机器人
-        /// <summary>
-        /// 机器人启动
-        /// </summary>
-        private void RobotStart()
-        {
-            Robot_Write("GM600",true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 机器人停止
-        /// </summary>
-        private void RobotStop()
+        private void RobotAction(object[] o)
         {
-            Robot_Write("GM601", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 机器人复位
-        /// </summary>
-        private void RobotReset()
-        {
-            Robot_Write("GM602", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 机器人程序重启
-        /// </summary>
-        private void RobotProgramStart()
-        {
-            Robot_Write("GM603", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 1号炒锅允许机器人投料（炒锅在投料位给出）
-        /// </summary>
-        private void Robot_Pot1AllowInMaterail()
-        {
-            Robot_Write("GM531", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 1号炒锅出餐倒料到减速位
-        /// </summary>
-        private void Robot_Pot1OutFoodInSlowDown()
-        {
-            Robot_Write("GM620", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 1号炒锅出餐倒料完成
-        /// </summary>
-        private void Robot_Pot1OutFood()
-        {
-            Robot_Write("GM521", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 2号炒锅允许机器人投料（炒锅在投料位给出）
-        /// </summary>
-        private void Robot_Pot2AllowInMaterail()
-        {
-            Robot_Write("GM530", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 2号炒锅出餐倒料到减速位。开始倒菜
-        /// </summary>
-        private void Robot_Pot2OutFoodInSlowDown()
-        {
-            Robot_Write("GM522", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 2号炒锅出餐倒料完成
-        /// </summary>
-        private void Robot_Pot2OutFood()
-        {
-            Robot_Write("GM523", true);
-            Thread.Sleep(200);
-        }
-        /// <summary>
-        /// 
-        /// </summary>
-        private void RobotActionStart(object o)
-        {
-            if (o == null) return;
-            if(int.TryParse(o.ToString(), out int value))
+            if (o[0] is int value)
             {
-                Robot_Write("GI0",value);
+                switch (value)
+                {
+                    case 0:
+                        Robot_Write("GI0", (ushort)(MainTask)o[1]);
+                        break;
+                    case 1:
+                        Robot_Write("GI1", (ushort)(SubTask1)o[1]);
+                        break;
+                    case 2:
+                        Robot_Write("GI2", (ushort)(SubTask2)o[1]);
+                        break;
+                    case 3:
+                        Robot_Write("GI3", (ushort)(SubTask3)o[1]);
+                        break;
+                    case 4:
+                        Robot_Write("GI4", (ushort)(SubTask4)o[1]);
+                        break;
+                    default:
+                        break;
+                }
             }
-            Thread.Sleep(200);
         }
+
         #endregion
 
 
@@ -1082,7 +926,7 @@ namespace BPASmartClient.MorkBF
                     IsRun = IsHealth ? IsRun.运行 : IsRun.停止,
                     WorkStatus_1 = morkBF.FirePot1_Temperature > 0 ? WorkStatus.工作 : WorkStatus.待机,
                     WorkStatus_2 = morkBF.FirePot2_Temperature > 0 ? WorkStatus.工作 : WorkStatus.待机,
-                    RobotStatu = morkBF.Robot_ActionCallback == 0? WorkStatus.待机 : WorkStatus.工作,
+                    RobotStatu =  WorkStatus.工作,
                     Alarm = new List<AlarmModel>(),
                     FailuresCount = 0,
                     StatsCount = statsModels,

BPASmartClient.MorkBF/Convert/FryActionToVisibilityConverter.cs

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

BPASmartClient.MorkBF/GVL_MorkBF.cs

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

BPASmartClient.MorkBF/VIew/DebugView.xaml

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

BPASmartClient.MorkBF/VIew/FoodManagerView.xaml

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

BPASmartClient.MorkBF/VIew/FoodManagerView.xaml.cs

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

BPASmartClient.MorkBF/ViewModel/DebugViewModel.cs

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

BPASmartClient.MorkBF/ViewModel/FoodManagerViewModel.cs

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

BPASmartClient.MorkT/BPASmartClient.MorkT.csproj

@@ -17,16 +17,9 @@
     <ProjectReference Include="..\BPASmartClient.Model\BPASmartClient.Model.csproj" />
   </ItemGroup>
 
-  <ItemGroup>
-    <Compile Update="View\DebugView.xaml.cs">
-      <SubType>Code</SubType>
-    </Compile>
-  </ItemGroup>
-
   <ItemGroup>
     <Page Update="View\DebugView.xaml">
       <XamlRuntime>$(DefaultXamlRuntime)</XamlRuntime>
-      <SubType>Designer</SubType>
     </Page>
   </ItemGroup>
 

BPASmartClient.MorkT/Control_MorkT.cs

@@ -34,7 +34,6 @@ namespace BPASmartClient.MorkT
 
         DateTime morkTime = DateTime.Now;
 
-
         public override void DoMain()
         {
             if (Json<KeepDataBase>.Data.IsVerify)
@@ -52,7 +51,6 @@ namespace BPASmartClient.MorkT
             int i = 0;
             EventBus.EventBus.GetInstance().Publish(new GSIceCream_ModeSetEvent { DeviceId = DeviceId, Mode = MORKI_MODE.制冷模式 });
             PreventSleep.SleepControl(true);//防止电脑休眠
-
             MessageLog.GetInstance.Show("MORKT 设备初始化完成");
         }
 
@@ -62,7 +60,6 @@ namespace BPASmartClient.MorkT
             morkT = new GLV_MorkT();
         }
 
-
         private void GetStatus(string key, Action<object> action)
         {
             if (peripheralStatus.ContainsKey(key))
@@ -88,39 +85,37 @@ namespace BPASmartClient.MorkT
             //        EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
             //        Thread.Sleep(50);
             //    }
-
             //}
             //else if (morkTime.AddMinutes(Global.TimeInterval) < DateTime.Now) morkTime = DateTime.Now;
             #region morkt流程
-            //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();
-            //         }
-            //     }
-            // });
-
-#endregion
+            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();
+                     }
+                 }
+             });
+            #endregion
         }
 
         public override void ReadData()
@@ -269,13 +264,10 @@ namespace BPASmartClient.MorkT
             }));
         }
 
-
-
         public override void Stop()
         {
         }
 
-
         private void ServerInit()
         {
             //物料信息
@@ -384,9 +376,11 @@ namespace BPASmartClient.MorkT
             return GOODS_TYPE.NEITHER;
         }
 
-
-
-
+        /// <summary>
+        /// 订单状态改变
+        /// </summary>
+        /// <param name="subid"></param>
+        /// <param name="oRDER_STATUS"></param>
         private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
         {
             EventBus.EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType });
@@ -453,7 +447,6 @@ namespace BPASmartClient.MorkT
             }
         }
 
-
         /// <summary>
         /// 将咖啡杯从咖啡机 取走到 取餐口
         /// </summary>
@@ -481,7 +474,15 @@ namespace BPASmartClient.MorkT
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_qsqdCode.SENCE_取咖啡杯  }); //SENCE_取咖啡杯
 
             Wait();
-            EventBus.EventBus.GetInstance().Publish(new SCChip_TakeCupEvent { DeviceId = DeviceId, Cup = IC_CUP.CUP_COFFEE });//落碗控制
+            // EventBus.EventBus.GetInstance().Publish(new SCChip_TakeCupEvent { DeviceId = DeviceId, Cup = IC_CUP.CUP_COFFEE });//落碗控制
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetOutPutEvent { DeviceId = DeviceId, Value = true, Pin = 1 });
+            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_GetInputEvent { DeviceId = DeviceId, Pin = 1 }, (o) =>
+            {
+                //if (o != null && o.Length > 0 && o[0] is bool resultValue)
+                //{
+                //    result = resultValue;
+                //}
+            });
             Thread.Sleep(500);
             DeviceProcessLogShow("尝试取咖啡杯!");
             EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 1 }, (o) => { });
@@ -579,7 +580,6 @@ namespace BPASmartClient.MorkT
             }
         }
 
-
         /// <summary>
         /// 做冰淇淋
         /// </summary>

BPASmartClient.MorkT/View/DebugView.xaml

@@ -3,7 +3,7 @@
              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"
+             xmlns:vm="clr-namespace:BPASmartClient.MorkT.ViewModel"
              mc:Ignorable="d" 
              Name="调试界面"
              d:DesignHeight="500" d:DesignWidth="1000" Unloaded="Dubug_Unloaded">
@@ -24,12 +24,12 @@
             <ColumnDefinition Width="10*"/>
         </Grid.ColumnDefinitions>
         <Grid.RowDefinitions>
-            <RowDefinition Height="384*"/>
-            <RowDefinition Height="111*"/>
-            <RowDefinition Height="5*"/>
+            <RowDefinition Height="10*"/>
+            <RowDefinition Height="10*"/>
+            <RowDefinition Height="20*"/>
         </Grid.RowDefinitions>
 
-        <GroupBox Grid.ColumnSpan="2" Visibility="Collapsed"
+        <GroupBox Grid.ColumnSpan="2"
             FontFamily="楷体"
             FontSize="20"
             Header=" 乐白机器人 ">
@@ -46,17 +46,12 @@
                     <TextBlock Text="机器人模式："/>
                     <TextBlock Text="{Binding RobotMode}"
                                Margin="40,0"/>
-                    <TextBlock Text="机器人自嗨时间间隔："/>
-                    <TextBox Text="{Binding TimeInterval}" Width="40" Margin="10,0,5,0"/>
-                    <TextBlock Text="分"/>
                 </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 Grid.Row="2" Background="Transparent" Margin="0,0,0,-9">
                     <ListBox.Template>
                         <ControlTemplate TargetType="{x:Type ListBox}">
                             <ScrollViewer  HorizontalScrollBarVisibility="Disabled" VerticalScrollBarVisibility="Auto">
@@ -65,167 +60,128 @@
                         </ControlTemplate>
                     </ListBox.Template>
                     <Button Content="机器人启动"
-                            Margin="20,5" Width="150" Height="60"
+                            Margin="20,5" Width="80" Height="40"
                             Command="{Binding Button_RobotControlCommand}"
-                            CommandParameter="机器人启动" Cursor="Hand">
+                            CommandParameter="机器人启动">
                     </Button>
                     <Button Content="启动示教"
-                            Margin="20,5" Width="150" Height="60"
+                            Margin="20,5" Width="80" Height="40"
                             Command="{Binding Button_RobotControlCommand}"
                             CommandParameter="启动示教"/>
                     <Button Content="停止示教" 
-                            Margin="20,5" Width="150" Height="60"
+                            Margin="20,5" Width="80" Height="40"
                             Command="{Binding Button_RobotControlCommand}"
                             CommandParameter="停止示教"/>
                     <Button Content="机器人急停"
-                            Margin="20,5"  Width="110" Height="60"
+                            Margin="20,5"  Width="80" Height="40"
                             Command="{Binding Button_RobotControlCommand}"
                             CommandParameter="机器人急停"/>
-
-                    <!--<Button Content="机器人回原点"
-                            Margin="20,5"  Width="110" Height="60"
-                            Command="{Binding Button_GoToHomeCommand}"
-                            CommandParameter="机器人急停">-->
-                    <!--</Button>-->
-
+                    <Button Content="暂停"
+                            Margin="10,5"  Width="40" Height="40"
+                            Command="{Binding Button_RobotControlCommand}"
+                            CommandParameter="暂停"/>
+                    <Button Content="恢复"
+                            Margin="10,5"  Width="40" Height="40"
+                            Command="{Binding Button_RobotControlCommand}"
+                            CommandParameter="恢复"/>
                 </ListBox>
+                <Grid Margin="629,-24,19,0" Grid.RowSpan="3">
+                    <Grid.RowDefinitions>
+                        <RowDefinition></RowDefinition>
+                        <RowDefinition></RowDefinition>
+                    </Grid.RowDefinitions>
+                    <Grid Grid.Row="0">
+                        <TextBlock>DI</TextBlock>
+                        <CheckBox Margin="50,0,0,0" IsEnabled="false" Name="Robot_DI0">DI0</CheckBox>
+                        <CheckBox Margin="120,0,0,0" IsEnabled="false" Name="Robot_DI1">DI1</CheckBox>
+                        <CheckBox Margin="190,0,0,0" IsEnabled="false" Name="Robot_DI2">DI2</CheckBox>
+                        <CheckBox Margin="260,0,0,0" IsEnabled="false" Name="Robot_DI3">DI3</CheckBox>
+                    </Grid>
+                    <Grid Grid.Row="1">
+                        <TextBlock Width="50">DO</TextBlock>
+                        <ComboBox  Width="70" Margin="50,12,268,10" SelectedIndex="{Binding Lebai_DO_CH}">
+                            <ComboBoxItem IsSelected="true">DO0</ComboBoxItem>
+                            <ComboBoxItem>DO1</ComboBoxItem>
+                            <ComboBoxItem>DO2</ComboBoxItem>
+                            <ComboBoxItem>DO3</ComboBoxItem>
+                        </ComboBox>
+                        <ComboBox Margin="142,12,108,10" Width="70" SelectedIndex="{Binding Lebai_DO_Value}">
+                            <ComboBoxItem IsSelected="true">true</ComboBoxItem>
+                            <ComboBoxItem>false</ComboBoxItem>
+                        </ComboBox>
+                        <Button Width="50" Margin="260,12,10,10" Command="{Binding Button_LebaiDOuputCommand}" >输出</Button>
+                    </Grid>
+                </Grid>
             </Grid>
         </GroupBox>
-        <GroupBox  Grid.Row="0" 
+        <GroupBox  Grid.Row="2"
             FontFamily="楷体"
             FontSize="20"
-            Header=" 冰淇淋机器 ">
+            Header=" 果汁机 ">
             <Grid>
                 <Grid.RowDefinitions>
-                    <RowDefinition Height="30"/>
-                    <RowDefinition Height="10*" />
-                    <RowDefinition Height="10*"/>
+                    <RowDefinition Height="3*"/>
+                    <RowDefinition Height="3*"/>
+                    <RowDefinition Height="3*"/>
                 </Grid.RowDefinitions>
                 <TextBlock Text="连接状态" />
-                <TextBlock Text="{Binding IceCreamConnected}"
+                <TextBlock Text="{Binding JuicerConnected}"
                            Margin="120,0,0,0"/>
                 <Grid Grid.Row="1">
                     <Grid.RowDefinitions>
-                        <RowDefinition />
-                        <RowDefinition />
-                        <RowDefinition />
-                        <RowDefinition />
+                        <RowDefinition></RowDefinition>
                     </Grid.RowDefinitions>
                     <Grid.ColumnDefinitions>
-                        <ColumnDefinition Width="100" />
-                        <ColumnDefinition Width="80" />
-                        <ColumnDefinition Width="120" />
-                        <ColumnDefinition Width="100" />
+                        <ColumnDefinition Width="120"/>
+                        <ColumnDefinition></ColumnDefinition>
                     </Grid.ColumnDefinitions>
+                    <TextBlock Text="设备状态" />
+                    <Grid Grid.Column="1">
+                        <Grid.RowDefinitions>
+                            <RowDefinition></RowDefinition>
+                        </Grid.RowDefinitions>
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition></ColumnDefinition>
+                            <ColumnDefinition></ColumnDefinition>
+                            <ColumnDefinition></ColumnDefinition>
+                            <ColumnDefinition></ColumnDefinition>
+                            <ColumnDefinition></ColumnDefinition>
+                        </Grid.ColumnDefinitions>
+                        <TextBlock Grid.Column="0" Name="Heating" HorizontalAlignment="Center">制热</TextBlock>
+                        <TextBlock Grid.Column="1" Name="cooling"  HorizontalAlignment="Center">制冷</TextBlock>
+                        <TextBlock Grid.Column="2" Name="LackOfWater"  HorizontalAlignment="Center">缺水</TextBlock>
+                        <TextBlock Grid.Column="3" Name="ChildLocks"  HorizontalAlignment="Center">童锁</TextBlock>
+                        <TextBlock Grid.Column="4" Name="Use"  HorizontalAlignment="Center">使用</TextBlock>
+                    </Grid>
 
-                    <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}" />
+                </Grid>
 
-                    <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>
+                        <TextBlock>果汁</TextBlock>
+                        <ComboBox Margin="100,0,0,0"
+                                Width="100" >
+                            <ComboBoxItem IsSelected="true">饮品1</ComboBoxItem>
+                            <ComboBoxItem>饮品2</ComboBoxItem>
+                            <ComboBoxItem>饮品3</ComboBoxItem>
+                            <ComboBoxItem>饮品4</ComboBoxItem>
+                        </ComboBox>
+                        <ComboBox Margin="20,0,0,0" Width="100">
+                            <ComboBoxItem IsSelected="true">冷饮</ComboBoxItem>
+                            <ComboBoxItem>热饮</ComboBoxItem>
+                        </ComboBox>
                         <Button Command="{Binding Button_MakeIceCreamCommand}"
-                                Margin="40,5" Height="50" Width="170"
+                                Margin="20,0"
                                 Content="制作" />
                     </StackPanel>
-                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal" Height="70">
-                        <TextBlock >模式</TextBlock>
-                        <ComboBox Width="100" Height="40" FontSize="22"
-                                Margin="20,0"
-                                ItemsSource="{Binding IceCreamModes}"
-                                SelectedItem="{Binding SelecteIceCreamdMode}" />
-                        <Button Command="{Binding Button_SetIceCreamModelCommand}"
-                                Margin="20,0" Height="50" Width="150"
-                                Content="设置" />
+                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal">
+
                     </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" Cursor="Hand"/>
-                    <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="0" Grid.Column="1"
+        <GroupBox  Grid.Row="2" Grid.Column="1"
             FontFamily="楷体"
             FontSize="20"
             Header=" 咖啡机">
@@ -275,25 +231,26 @@
                             Text="{Binding CaffeeFault}" Height="22" Width="60" />
                 </Grid>
                 <StackPanel Grid.Row="2" Orientation="Vertical">
-                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal" Height="60">
+                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal">
                         <TextBlock>饮品</TextBlock>
-                        <ComboBox Margin="10,0" Height="40" FontSize="20"
-                                Width="120"
+                        <ComboBox Margin="10,0"
+                                Width="100"
                                 ItemsSource="{Binding Coffees}"
                                 SelectedItem="{Binding SelectedCoffee}" />
-                        <Button Margin="10,0" Height="40" Width="120"
+                        <Button Margin="10,0"
                             Command="{}"
                                 Content="制作"/>
-                        <Button Margin="10,0" Height="40" Width="120"
+                        <Button Margin="10,0"
                             Command="{}"
-                                Content="停止制作" Cursor="Hand"/>
+                                Content="停止制作"/>
                     </StackPanel>
-                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal" Height="60">
+                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal">
                         <TextBlock>模式</TextBlock>
-                        <ComboBox Margin="10,0" Height="40" Width="120" FontSize="20"
+                        <ComboBox Margin="10,0"
+                                Width="100"
                                 ItemsSource="{Binding CoffeeCmds}"
                                 SelectedItem="{Binding SelectedCoffeeCmd}"/>
-                        <Button Margin="10,0" Height="40" Width="120"
+                        <Button Margin="10,0"
                                 Command="{}"
                                 Content="设置" Cursor="Hand"/>
                     </StackPanel>
@@ -303,20 +260,140 @@
         <GroupBox Header="单片机控制"
                    FontSize="18"
                   Grid.Row="1" Grid.ColumnSpan="2"
-                  Margin="0,0,0,10" HorizontalAlignment="Left" Width="1000">
-            <StackPanel Orientation="Horizontal"
-                     VerticalAlignment="Center" >
-                <Button Content="咖啡杯落杯"  Height="40" Width="170"
-                    Command="{Binding Button_CupControlCommand}" 
-                    CommandParameter="CUP_COFFEE"
-                     Margin="10,10,50,10" Cursor="Hand"/>
-                <Button Content="冰淇淋杯落杯" Height="40" Width="170"
-                    Command="{Binding Button_CupControlCommand}" 
-                    CommandParameter="CUP_ICECREAM" Margin="10,10,50,10"
-                   />
+                  Margin="0,0,0,10">
+            <Grid>
+                <Grid.RowDefinitions>
+                    <RowDefinition></RowDefinition>
+                </Grid.RowDefinitions>
+                <Grid.ColumnDefinitions>
+                    <ColumnDefinition Width="5*"/>
+                    <ColumnDefinition Width="5*"/>
+                    <ColumnDefinition Width="13*"/>
+                    <ColumnDefinition Width="7*"/>
+                </Grid.ColumnDefinitions>
+                <Grid Grid.Column="0" >
+                    <TextBlock FontSize="12">连接状态</TextBlock>
+                    <TextBlock Text="{Binding MCUConnected}"
+                           Margin="70,0,0,0"/>
+                    <TextBlock FontSize="12"></TextBlock>
+                </Grid>
+                <Grid Grid.Column="1" >
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition></RowDefinition>
+                            <RowDefinition></RowDefinition>
+                        </Grid.RowDefinitions>
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition></ColumnDefinition>
+                            <ColumnDefinition></ColumnDefinition>
+                        </Grid.ColumnDefinitions>
+                        <Grid Grid.Row="0" Grid.Column="0" >
+                            <TextBlock  FontSize="12"  HorizontalAlignment="Center">舵机控制</TextBlock>
 
-            </StackPanel>
-        </GroupBox>
+                        </Grid>
+                        <Grid Grid.Row="0" Grid.Column="1">
+                            <ComboBox Margin="0,0,0,0" FontSize="12" Width="60" SelectedIndex="{Binding MCU_PWM_CH}">
+                                <ComboBoxItem IsSelected="true">舵机1</ComboBoxItem>
+                                <ComboBoxItem>舵机2</ComboBoxItem>
+                                <ComboBoxItem>舵机3</ComboBoxItem>
+                                <ComboBoxItem>舵机4</ComboBoxItem>
+                            </ComboBox>
+                        </Grid>
+                        <Grid Grid.Row="1" Grid.Column="0">
+                            <Button FontSize="15"  HorizontalAlignment="Center"  Command="{Binding Button_MCUOuputCommand}">输出</Button>
+                        </Grid>
+                        <Grid Grid.Row="1" Grid.Column="1" Width="60" >
+                            <TextBox  Text="{Binding PWMInputNumber}"></TextBox>
+                        </Grid>
+                    </Grid>
+                </Grid>
+                <Grid Grid.Column="2" >
+                    <Grid>
+                        <Grid.RowDefinitions>
+                            <RowDefinition></RowDefinition>
+                            <RowDefinition></RowDefinition>
+                        </Grid.RowDefinitions>
+                        <Grid.ColumnDefinitions>
+                            <ColumnDefinition></ColumnDefinition>
+                        </Grid.ColumnDefinitions>
+                        <Grid Grid.Row="0" Grid.Column="0" >
+                            <TextBlock  FontSize="12"  HorizontalAlignment="Center">DI输入</TextBlock>
+                        </Grid>
+                        <Grid Grid.Row="1" Grid.Column="0" Width="400">
+                            <Grid>
+                                <Grid.ColumnDefinitions>
+                                    <ColumnDefinition></ColumnDefinition>
+                                    <ColumnDefinition></ColumnDefinition>
+                                    <ColumnDefinition></ColumnDefinition>
+                                    <ColumnDefinition></ColumnDefinition>
+                                    <ColumnDefinition></ColumnDefinition>
+                                    <ColumnDefinition></ColumnDefinition>
+                                    <ColumnDefinition></ColumnDefinition>
+                                    <ColumnDefinition></ColumnDefinition>
+                                </Grid.ColumnDefinitions>
+                                <Grid Grid.Column="0">
+                                    <CheckBox FontSize="12" IsEnabled="false" IsChecked="{Binding CH0}">DI0</CheckBox>
+                                </Grid>
+                                <Grid Grid.Column="1">
+                                    <CheckBox FontSize="12" IsEnabled="false" Name="CH1">DI1</CheckBox>
+                                </Grid>
+                                <Grid Grid.Column="2">
+                                    <CheckBox FontSize="12" IsEnabled="false" Name="CH2">DI2</CheckBox>
+                                </Grid>
+                                <Grid Grid.Column="3">
+                                    <CheckBox FontSize="12" IsEnabled="false" Name="CH3">DI3</CheckBox>
+                                </Grid>
+                                <Grid Grid.Column="4">
+                                    <CheckBox FontSize="12" IsEnabled="false" Name="CH4">DI4</CheckBox>
+                                </Grid>
+                                <Grid Grid.Column="5">
+                                    <CheckBox FontSize="12" IsEnabled="false" Name="CH5">DI5</CheckBox>
+                                </Grid>
+                                <Grid Grid.Column="6">
+                                    <CheckBox FontSize="12" IsEnabled="false" Name="CH6">DI6</CheckBox>
+                                </Grid>
+                                <Grid Grid.Column="7">
+                                    <CheckBox FontSize="12" IsEnabled="false" Name="CH7">DI7</CheckBox>
+                                </Grid>
+                            </Grid>
 
+                        </Grid>
+                    </Grid>
+                </Grid>
+
+                <Grid Grid.Column="3" >
+                    <Grid.RowDefinitions>
+                        <RowDefinition></RowDefinition>
+                        <RowDefinition></RowDefinition>
+                    </Grid.RowDefinitions>
+                    <Grid.ColumnDefinitions>
+                        <ColumnDefinition></ColumnDefinition>
+                        <ColumnDefinition></ColumnDefinition>
+                    </Grid.ColumnDefinitions>
+                    <Grid Grid.Column="0">
+                        <TextBlock FontSize="12" HorizontalAlignment="Center">DO输出</TextBlock>
+                    </Grid>
+                    <Grid Grid.Column="1" Grid.Row="0">
+                        <ComboBox Width="50" FontSize="12" HorizontalAlignment="Center" SelectedIndex="{Binding MCU_DO_CH}">
+                            <ComboBoxItem IsSelected="true">DO0</ComboBoxItem>
+                            <ComboBoxItem>DO1</ComboBoxItem>
+                            <ComboBoxItem>DO2</ComboBoxItem>
+                            <ComboBoxItem>DO3</ComboBoxItem>
+                            <ComboBoxItem>DO4</ComboBoxItem>
+                            <ComboBoxItem>DO5</ComboBoxItem>
+                            <ComboBoxItem>DO6</ComboBoxItem>
+                            <ComboBoxItem>DO7</ComboBoxItem>
+                        </ComboBox>
+                    </Grid>
+                    <Grid Grid.Column="0" Grid.Row="1">
+                        <Button Width="50" Command="{Binding Button_MCUDOuputCommand}">输出</Button>
+                    </Grid>
+                    <Grid Grid.Column="1" Grid.Row="1">
+                        <RadioButton FontSize="12"  IsChecked="{Binding MCU_DO_Value}">True</RadioButton>
+                        <RadioButton Margin="50,0,0,0" FontSize="12">false</RadioButton>
+                    </Grid>
+                </Grid>
+            </Grid>
+        </GroupBox>
     </Grid>
 </UserControl>

BPASmartClient.MorkT/View/DebugView.xaml.cs

@@ -17,7 +17,7 @@ using System.Windows.Shapes;
 namespace BPASmartClient.MorkT.View
 {
     /// <summary>
-    /// MorkT_DebugView.xaml 的交互逻辑
+    /// DebugView.xaml 的交互逻辑
     /// </summary>
     public partial class DebugView : UserControl
     {
@@ -28,8 +28,10 @@ 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

@@ -8,12 +8,10 @@ using BPASmartClient.LebaiRobot;
 using BPASmartClient.Message;
 using BPASmartClient.Model;
 using BPASmartClient.Model.乐白机器人;
-using BPASmartClient.Model.乐白机器人.Enum;
 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 BPASmartClient.MorkT.Model;
 using Microsoft.Toolkit.Mvvm.ComponentModel;
 using Microsoft.Toolkit.Mvvm.Input;
 using System;
@@ -21,9 +19,7 @@ using System.Collections.Generic;
 using System.Collections.ObjectModel;
 using System.Linq;
 using System.Threading;
-
-namespace BPASmartClient.MorkT.ViewModel
-{
+namespace BPASmartClient.MorkT.ViewModel;
     public class DebugViewModel : ObservableObject
     {
         
@@ -38,12 +34,6 @@ namespace BPASmartClient.MorkT.ViewModel
         /// </summary>
         public string RobotMode { get { return _robotMode; } set { _robotMode = value; OnPropertyChanged(); } }
         private string _robotMode { get; set; }
-        /// <summary>
-        /// 乐白机器人自嗨时间间隔
-        /// </summary>
-        public int TimeInterval { get { return Global.TimeInterval; } set { Global.TimeInterval = value; OnPropertyChanged(); } }
-        //private int _timeInterval { get; set; } = Global.TimeInterval;
-
         /// <summary>
         /// 机器人控制指令
         /// </summary>
@@ -52,110 +42,32 @@ namespace BPASmartClient.MorkT.ViewModel
         /// 机器人控制
         /// </summary>
         /// <param name="o"></param>
-  
-        
-        public RelayCommand Button_SetValueCommand { get; set; }
-
-        public RelayCommand Button_GoToHomeCommand { 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() });
         }
 
-        private void Button_GoToHome()
-        {
-            //EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetValueEvent { DeviceId = DeviceId, RobotSetValue = 0 }, (o) => { });
-            //MessageLog.GetInstance.Show("开始执行乐白机器人回原点");
-            //EventBus.EventBus.GetInstance().Publish(new LebaiRobot_LebaiSenceEvent { DeviceId = DeviceId, LebaiSence = Lebai_qsqdCode.SENCE_机器人回原点 });
-            //MessageLog.GetInstance.Show("开始执行乐白机器人回原点-----");
-        }
-
         #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; }
-
+        #region 果汁机
         /// <summary>
-        /// 冰淇淋连接状态
+        /// 果汁机的连接状态
         /// </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; }
+        public string JuicerConnected { get { return _JuicerConnected; } set { _JuicerConnected = value; OnPropertyChanged(); } }
+        private string _JuicerConnected { get; set; }
+        
         /// <summary>
-        /// 打料完成状态
+        /// 果汁机的状态
         /// </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()
-        {
-            EventBus.EventBus.GetInstance().Publish(new GSIceCream_DischargeEvent { DeviceId = DeviceId });
-        }
-        private void Button_SetIceCreamModel()
-        {
-            MORKI_MODE mORKI_MODE = (MORKI_MODE)Enum.Parse(typeof(MORKI_MODE), SelecteIceCreamdMode);
-            EventBus.EventBus.GetInstance().Publish(new GSIceCream_ModeSetEvent { DeviceId = DeviceId, Mode = mORKI_MODE });
-        }
+        public string JuicerState { get { return _JuicerState; } set { _JuicerState = value; OnPropertyChanged(); } }
+        private string _JuicerState { get; set; }
+        
         #endregion
 
         #region 咖啡机
         /// <summary>
         /// 咖啡机连接状态
-        /// </summary>
+            /// </summary>
         public string CoffeeConnected { get { return _coffeeConnected; } set { _coffeeConnected = value; OnPropertyChanged(); } }
         private string _coffeeConnected { get; set; }
         /// <summary>
@@ -212,55 +124,81 @@ namespace BPASmartClient.MorkT.ViewModel
         #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)
+        public string MCUConnected { get { return _mcuConnected; } set { _mcuConnected = value; OnPropertyChanged(); } }
+        private string _mcuConnected { get; set; }
+
+        public RelayCommand Button_MCUOuputCommand { get; set; }
+        public RelayCommand Button_MCUDOuputCommand { get; set; }
+        public RelayCommand Button_LebaiDOuputCommand { get; set; }
+    
+        public int PWMInputNumber { get { return _pwmInputNumber; } set { _pwmInputNumber = value; OnPropertyChanged(); } }
+        private int _pwmInputNumber = 1;
+
+        public int MCU_PWM_CH { get { return _choosePWM; } set { _choosePWM = value; OnPropertyChanged(); } }
+        private int _choosePWM = 1;
+
+        public int MCU_DO_CH { get { return _mcuDO_CH; } set { _mcuDO_CH = value; OnPropertyChanged(); } }
+        private int _mcuDO_CH = 1;
+
+        public int Lebai_DO_CH { get { return _lebaiDO_CH; } set { _lebaiDO_CH = value; OnPropertyChanged(); } }
+        private int _lebaiDO_CH = 1;
+
+        public int Lebai_DO_Value { get { return _lebaiDO_Value; } set { _lebaiDO_Value = value; OnPropertyChanged(); } }
+        private int _lebaiDO_Value = 1;
+
+        private int[] DICH  { get { return _diCH; } set { _diCH = value; OnPropertyChanged(); } }
+        private int[] _diCH = new int[8];
+
+        public bool MCU_DO_Value { get { return _mcu_DO_Valuer; } set { _mcu_DO_Valuer = value; OnPropertyChanged(); } }
+        private bool _mcu_DO_Valuer = true;
+
+        public bool MCU_DI0 { get { return _mcu_DI0; }set { _mcu_DI0 = value;OnPropertyChanged(); } }
+        private bool _mcu_DI0 = true;
+        public bool MCU_DI1 { get { return _mcu_DI1; } set { _mcu_DI1 = value; OnPropertyChanged(); } }
+        private bool _mcu_DI1 = true;
+        public bool MCU_DI2 { get { return _mcu_DI2; } set { _mcu_DI2 = value; OnPropertyChanged(); } }
+        private bool _mcu_DI2 = true;
+        public bool MCU_DI3 { get { return _mcu_DI3; } set { _mcu_DI3 = value; OnPropertyChanged(); } }
+        private bool _mcu_DI3 = true;
+        public bool MCU_DI4 { get { return _mcu_DI4; } set { _mcu_DI4 = value; OnPropertyChanged(); } }
+        private bool _mcu_DI4 = true;
+        public bool MCU_DI5 { get { return _mcu_DI5; } set { _mcu_DI5 = value; OnPropertyChanged(); } }
+        private bool _mcu_DI5 = true;
+        public bool MCU_DI6 { get { return _mcu_DI6; } set { _mcu_DI6 = value; OnPropertyChanged(); } }
+        private bool _mcu_DI6 = true;
+        public bool MCU_DI7 { get { return _mcu_DI7; } set { _mcu_DI7 = value; OnPropertyChanged(); } }
+        private bool _mcu_DI7 = true;
+    /// <summary>
+    /// 单片机舵机输出
+    /// </summary>
+    private void Button_McuOutput() 
         {
-            EventBus.EventBus.GetInstance().Publish(new SCChip_TakeCupEvent() { DeviceId = DeviceId, Cup = (IC_CUP)Enum.Parse(typeof(IC_CUP), CupType.ToString()) });
+            string sChoosePWM =Convert.ToString(MCU_PWM_CH+1);
+            new WriteMcu() { TagName = "ServoControl", Address = sChoosePWM, Value = PWMInputNumber }.Publish();
         }
-
-        private void Button_SCChipRefrigeration()
+        /// <summary>
+        /// 单片机DO输出
+        /// </summary>
+        private void Button_McuDOutput()
         {
-            //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 LebaiRobot_SetOutPutEvent { DeviceId = DeviceId, Value = true, Pin = 1 });
-            Thread.Sleep(500);
-            EventBus.EventBus.GetInstance().Publish(new LebaiRobot_SetOutPutEvent { DeviceId = DeviceId, Value = false, Pin = 1 });
-
+            string sChooseDO = Convert.ToString(MCU_DO_CH + 1);
+            new WriteMcu() { TagName = "OutputControl", Address = sChooseDO, Value = MCU_DO_Value }.Publish();
         }
-
-        private void Button_SCChipDischarge()
+        /// <summary>
+        /// 乐白的DO输出
+        /// </summary>
+        private void Button_LebaiDOutput() 
         {
-            EventBus.EventBus.GetInstance().Publish(new SCChip_MakeIceCreamEvent { DeviceId = DeviceId, SteeringEngine = IC_SE.SE_2 });
+            int sChooseDO = Convert.ToInt16(Lebai_DO_CH);
+            bool lebai_DO_Value = Convert.ToInt16(Lebai_DO_Value) == 0;
+            new LebaiRobot_SetOutPutEvent { DeviceId = DeviceId, Pin = sChooseDO, Value = lebai_DO_Value }.Publish();
         }
+    #endregion
 
-        #endregion
-
-        /// <summary>
-        /// 设备ID
-        /// </summary>
-        public int DeviceId { get; set; }
+    /// <summary>
+    /// 设备ID
+    /// </summary>
+    public int DeviceId { get; set; }
         /// <summary>
         /// 设备数据
         /// </summary>
@@ -269,27 +207,14 @@ namespace BPASmartClient.MorkT.ViewModel
         public DebugViewModel()
         {
             Button_RobotControlCommand = new RelayCommand<object>(Button_RobotControl);
-            Button_SetValueCommand = new RelayCommand(Button_SetValue);
-            Button_GoToHomeCommand = new RelayCommand(Button_GoToHome);
-
-            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)))
+            Button_MCUOuputCommand = new RelayCommand(Button_McuOutput);
+            Button_MCUDOuputCommand = new RelayCommand(Button_McuDOutput);
+            Button_LebaiDOuputCommand = new RelayCommand(Button_LebaiDOutput);
+        foreach (DrCoffeeDrinksCode code in Enum.GetValues(typeof(DrCoffeeDrinksCode)))
             {
                 Coffees.Add(code.ToString());
             }
@@ -300,17 +225,14 @@ namespace BPASmartClient.MorkT.ViewModel
             }
             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(() =>
             {
 
@@ -318,10 +240,10 @@ namespace BPASmartClient.MorkT.ViewModel
 
                 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";
+                    RobotConnected  = variableMonitors.FirstOrDefault(p=>p.Notes == "机器人连接状态").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";
+                    JuicerConnected = variableMonitors.FirstOrDefault(p => p.Notes == "果汁机连接状态").CurrentValue == "True" ? "已连接" : "未连接";
+                    MCUConnected    = 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;
 
@@ -330,19 +252,11 @@ namespace BPASmartClient.MorkT.ViewModel
                     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 == "冰淇淋机器异常").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.MorkTM/Control_MorkTM.cs

@@ -435,7 +435,6 @@ namespace BPASmartClient.MorkTM
                 }
             }
         }
-        
 
         public override void SimOrder()
         {

BPASmartClient.ScreenLib/AppMain.cs

@@ -18,6 +18,7 @@ namespace BPASmartClient.ScreenLib
             Main.GetInstance.Start();
             AppDomain.CurrentDomain.UnhandledException += CurrentDomain_UnhandledException;
             FSystemHelper.GetInstance.CreateDesktopShortcut();
+            //FSystemHelper.GetInstance.AutoStart(true);
             WindowLargeScreen windowLarge = new WindowLargeScreen();
             #region 设置显示页面与标题
             string TitleName = $"{type.Assembly.ManifestModule.Name.Replace(".dll", "")}";

BPASmartClient.ScreenLib/Helper/Main.cs

@@ -78,6 +78,11 @@ namespace BPASmartClient.ScreenLib
                 MQTTConnection = PZdic["MQTTConnection"];
             if (PZdic.ContainsKey("DeviceMC"))
                 Name = PZdic["DeviceMC"];
+            mqttDatasDic[ScreenDeviceType.大炒] = new ScreenModelMaxWok();
+            mqttDatasDic[ScreenDeviceType.小炒] = new ScreenModelMinWok();
+            mqttDatasDic[ScreenDeviceType.分餐机] = new ScreenModelSplitMeals();
+            mqttDatasDic[ScreenDeviceType.煮面机] = new ScreenModelMorkS();
+
         }
         /// <summary>
         /// 设备数据
@@ -259,6 +264,25 @@ namespace BPASmartClient.ScreenLib
                 {
                 }
             }
+            else
+            {
+                string text = System.IO.File.ReadAllText(name);
+                if (text.Replace("\r\n", "") != html)
+                {
+                    try
+                    {
+                        using (StreamWriter sw = new StreamWriter(name, false, System.Text.Encoding.GetEncoding("UTF-8"))) //保存地址
+                        {
+                            sw.WriteLine(html);
+                            sw.Flush();
+                            sw.Close();
+                        }
+                    }
+                    catch
+                    {
+                    }
+                }
+            }
             view2.Source = new Uri(name);
         }
         /// <summary>

BPASmartClient.ScreenLib/总监视大屏/ScreenALLControl.xaml

@@ -204,6 +204,9 @@
                                             <Trigger Property="Text" Value="故障">
                                                 <Setter Property="Foreground" Value="Red"/>
                                             </Trigger>
+                                            <Trigger Property="Text" Value="停止">
+                                                <Setter Property="Foreground" Value="Red"/>
+                                            </Trigger>
                                         </Style.Triggers>
                                     </Style>
                                 </TextBlock.Style>
@@ -222,6 +225,9 @@
                                             <Trigger Property="Text" Value="故障">
                                                 <Setter Property="Foreground" Value="Red"/>
                                             </Trigger>
+                                            <Trigger Property="Text" Value="停止">
+                                                <Setter Property="Foreground" Value="Red"/>
+                                            </Trigger>
                                         </Style.Triggers>
                                     </Style>
                                 </TextBlock.Style>
@@ -283,6 +289,9 @@
                                             <Trigger Property="Text" Value="故障">
                                                 <Setter Property="Foreground" Value="Red"/>
                                             </Trigger>
+                                            <Trigger Property="Text" Value="停止">
+                                                <Setter Property="Foreground" Value="Red"/>
+                                            </Trigger>
                                         </Style.Triggers>
                                     </Style>
                                 </TextBlock.Style>
@@ -301,6 +310,9 @@
                                             <Trigger Property="Text" Value="故障">
                                                 <Setter Property="Foreground" Value="Red"/>
                                             </Trigger>
+                                            <Trigger Property="Text" Value="停止">
+                                                <Setter Property="Foreground" Value="Red"/>
+                                            </Trigger>
                                         </Style.Triggers>
                                     </Style>
                                 </TextBlock.Style>
@@ -346,6 +358,9 @@
                                             <Trigger Property="Text" Value="故障">
                                                 <Setter Property="Foreground" Value="Red"/>
                                             </Trigger>
+                                            <Trigger Property="Text" Value="停止">
+                                                <Setter Property="Foreground" Value="Red"/>
+                                            </Trigger>
                                         </Style.Triggers>
                                     </Style>
                                 </TextBlock.Style>
@@ -372,6 +387,7 @@
                 </StackPanel>
             </GroupBox>
         </StackPanel>
+        
         <Grid Grid.Column="1" >
             <Grid>
                <Grid VerticalAlignment="Top" Margin="0,-30,0,0">
                    <Image Style="{DynamicResource imagezhu}"></Image>
                    <Image Style="{DynamicResource image中1}" Margin="0,400,0,0"></Image>
                    <GroupBox Margin="600,100,0,500" Header="{Binding GZallCout,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Style="{DynamicResource GroupStyle圆形}" Tag="累计故障数" Content="次" Width="100"/>
                    <GroupBox Margin="600,400,0,0" Header="{Binding SplitMealsCout,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Style="{DynamicResource GroupStyle圆形}" Tag="食堂累计刷卡次数" Content="次" Width="160"/>
                    <GroupBox Margin="-500,100,0,0" Header="{Binding UserCout,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Style="{DynamicResource GroupStyle圆形}" Tag="日总接待人数" Content="人" Width="160"/>
                </Grid>
                <GroupBox Margin="0,0,0,0" Height="340" Width="950" Header="信息通知区域" VerticalAlignment="Bottom" Style="{DynamicResource  from}">
                     <!--<ListBox Margin="10,-10,10,10" ScrollViewer.VerticalScrollBarVisibility="Disabled" ItemsSource="{Binding AlarmAll,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}">
@@ -457,6 +473,9 @@
                                             <Trigger Property="Text" Value="故障">
                                                 <Setter Property="Foreground" Value="Red"/>
                                             </Trigger>
+                                            <Trigger Property="Text" Value="停止">
+                                                <Setter Property="Foreground" Value="Red"/>
+                                            </Trigger>
                                         </Style.Triggers>
                                     </Style>
                                 </TextBlock.Style>
@@ -490,14 +509,14 @@
                         ItemsSource="{Binding StatsCountAll,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}">
                     <ListBox.ItemTemplate>
                         <DataTemplate>
-                            <StackPanel x:Name="mainPanel1"  Margin="15,5,0,0" >
+                            <StackPanel x:Name="mainPanel1"  Margin="15,0,0,0" >
                                 <StackPanel Orientation="Horizontal">
                                     <TextBlock HorizontalAlignment="Left" Style="{DynamicResource textms}" Margin="10,5,0,0" FontSize="20" Text="{Binding Name}"/>
                                     <TextBlock HorizontalAlignment="Left" Style="{DynamicResource textms}" Margin="10,5,0,0" FontSize="20" Text="/"/>
                                     <TextBlock HorizontalAlignment="Left" Style="{DynamicResource textms}" Margin="10,5,0,0" FontSize="20" Text="{Binding Count, StringFormat={}{0} 单}"/>
                                 </StackPanel>
                                 <Grid HorizontalAlignment="Left" Margin="0,5,0,0">
-                                    <ProgressBar Style="{DynamicResource bfb}" Value="{Binding bfb,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Width="360" Height="24"  Margin="10,0,0,0"></ProgressBar>
+                                    <ProgressBar Style="{DynamicResource bfb}" Value="{Binding bfb,Mode=TwoWay,UpdateSourceTrigger=PropertyChanged}" Width="360" Height="19"  Margin="10,0,0,0"></ProgressBar>
                                 </Grid>
 
                             </StackPanel>

BPASmartClient.ScreenLib/总监视大屏/ScreenALLControlViewModel.cs

@@ -152,8 +152,12 @@ namespace BPASmartClient.ScreenLib
                 System.Windows.Application.Current?.Dispatcher.Invoke((Action)(() =>
                 {
                     ViewData = Main.GetInstance.mqttDatasDic;
+
+                    //所有告警
                     List<AlarmModel> alarms = new List<AlarmModel>();
+                    //所有统计
                     List<StatsModel> Stats = new List<StatsModel>();
+
                     foreach (var item in Main.GetInstance.mqttDatasDic)
                     {
                         if (item.Value != null)
@@ -184,7 +188,6 @@ namespace BPASmartClient.ScreenLib
                         ScreenModelMaxWok min = ViewData[ScreenDeviceType.大炒] as ScreenModelMaxWok;
                         MaxCout = min.MaxWok_OrderCount_1 + min.MaxWok_OrderCount_2;
                         gz += min.FailuresCount;
-
                     }
 
                     if (ViewData.ContainsKey(ScreenDeviceType.分餐机))
@@ -194,7 +197,6 @@ namespace BPASmartClient.ScreenLib
                         + min.SplitMeals_CreditCardCount_3 + min.SplitMeals_CreditCardCount_4
                         + min.SplitMeals_CreditCardCount_5 + min.SplitMeals_CreditCardCount_6;
                         gz += min.FailuresCount;
-
                     }
 
                     int zmj_count = 0;
@@ -203,23 +205,24 @@ namespace BPASmartClient.ScreenLib
                         ScreenModelMorkS morks = ViewData[ScreenDeviceType.煮面机] as ScreenModelMorkS;
                         zmj_count = morks.MorkS_OrderCount;
                         gz += morks.FailuresCount;
-
                     }
+
                     UserCout = SplitMealsCout + MaxCout + MinCout + zmj_count;
 
                     GZallCout = gz;
-
-
                     
                     if (Stats != null && Stats.Count > 0)
                     {
                         Dictionary<string, int> _Stats = new Dictionary<string, int>();
                         foreach (StatsModel item in Stats)
                         {
-                            if(!_Stats.ContainsKey(item.Name))
-                                _Stats[item.Name]= item.Count;
-                            else
-                                _Stats[item.Name] += item.Count;
+                            if (!string.IsNullOrEmpty(item.Name))
+                            {
+                                if (!_Stats.ContainsKey(item.Name))
+                                    _Stats[item.Name] = item.Count;
+                                else
+                                    _Stats[item.Name] += item.Count;
+                            }
                         }
                         List<StatsAllModel>  _Statsall = new List<StatsAllModel>();
                         _Stats?.ToList().ForEach(par => {

BPASmartClient/App.config

@@ -29,7 +29,7 @@
     <add key="DeviceName" value="qsqdzklb"/>
     <add key="DeviceSecret" value="e2b300892c3e21469c8dc6c7c5c4430d"/>
     <add key="PasswordBox" value="6WrKhYmTIhLV7g24jIH/lg=="/>
-
+    
 
     <!--外设配置-->
     <add key="COM_Coffee" value="COM3"/>
@@ -39,6 +39,12 @@
     <add key="IceCream_CXB_Threshold" value="90"/>
     <add key="COM_ICChip" value="COM6"/>
     <add key="BAUD_IChip" value="9600"/>
+	  
+	<!--大屏MQTT-->
+	  <add key="MQTT_DevieScreem_IP" value="171.221.208.23"/>
+	  <add key="MQTT_DevieScreem_Port" value="11883"/>
+	  <add key="MQTT_DevieScreem_User" value="admin"/>
+	  <add key="MQTT_DevieScreem_Password" value="public1"/>
 
 
   </appSettings>