Merge branch 'reconfiguration' of http://111.9.47.105:10244/bpa/BPASmartClient into reconfiguration

BPASmartClient.Model/柔性味魔方/RawMaterialModel.cs

@@ -114,9 +114,9 @@ namespace BPASmartClient.Model
             set
             {
                 _mRecipeStatus = value;
-                if (value == 1 && Status != Status.配料完成) Status = Status.等待配料;
-                else if (value == 2) Status = Status.正在配料;
-                else if (value == 3) Status = Status.配料完成;
+                //if (value == 1 && Status != Status.配料完成) Status = Status.等待配料;
+                //else if (value == 2) Status = Status.正在配料;
+                //else if (value == 3) Status = Status.配料完成;
                 OnPropertyChanged();
             }
         }

BPASmartClient.MorkCL/Alarm.cs

@@ -9,10 +9,83 @@ namespace BPASmartClient.MorkCL
 {
     public class Alarm : IAlarm
     {
+        #region 1号炒锅
         /// <summary>
         /// 急停
         /// </summary>
-        [Alarm("设备急停")]
-        public bool EStop { get; set; }
+        [Alarm("1号炒锅-设备急停")]
+        public bool EStop1 { get; set; }
+
+        /// <summary>
+        /// 炒锅正限位报警。
+        /// </summary>
+        [Alarm("1号炒锅-炒锅正限位报警")]
+        public bool FryingPanFowardLimit1 { get; set; }
+
+        /// <summary>
+        /// 炒锅负限位报警。
+        /// </summary>
+        [Alarm("1号炒锅-炒锅负限位报警")]
+        public bool FryingPanReverseLimit1 { get; set; }
+
+        /// <summary>
+        /// 编码器通信异常。
+        /// </summary>
+        [Alarm("1号炒锅-编码器通信异常")]
+        public bool FryingPanEncoderCommError1 { get; set; }
+
+
+        /// <summary>
+        /// 搅拌电机通信异常。
+        /// </summary>
+        [Alarm("1号炒锅-搅拌电机通信异常")]
+        public bool StirMotorCommError1 { get; set; }
+
+        /// <summary>
+        /// 翻转电机通信异常。
+        /// </summary>
+        [Alarm("1号炒锅-翻转电机通信异常")]
+        public bool RollingMotorCommError1 { get; set; }
+        #endregion
+
+
+        #region 2号炒锅
+        /// <summary>
+        /// 急停
+        /// </summary>
+        [Alarm("2号炒锅-设备急停")]
+        public bool EStop2 { get; set; }
+
+        /// <summary>
+        /// 炒锅正限位报警。
+        /// </summary>
+        [Alarm("2号炒锅-炒锅正限位报警")]
+        public bool FryingPanFowardLimit2 { get; set; }
+
+        /// <summary>
+        /// 炒锅负限位报警。
+        /// </summary>
+        [Alarm("2号炒锅-炒锅负限位报警")]
+        public bool FryingPanReverseLimit2 { get; set; }
+
+        /// <summary>
+        /// 编码器通信异常。
+        /// </summary>
+        [Alarm("2号炒锅-编码器通信异常")]
+        public bool FryingPanEncoderCommError2 { get; set; }
+
+
+        /// <summary>
+        /// 搅拌电机通信异常。
+        /// </summary>
+        [Alarm("2号炒锅-搅拌电机通信异常")]
+        public bool StirMotorCommError2 { get; set; }
+
+        /// <summary>
+        /// 翻转电机通信异常。
+        /// </summary>
+        [Alarm("2号炒锅-翻转电机通信异常")]
+        public bool RollingMotorCommError2 { get; set; }
+        #endregion
     }
 }

BPASmartClient.MorkCL/BPASmartClient.MorkCL.csproj

@@ -6,6 +6,10 @@
     <UseWPF>true</UseWPF>
   </PropertyGroup>
 
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|AnyCPU'">
+    <DefineConstants>$(DefineConstants);FORMAL</DefineConstants>
+  </PropertyGroup>
+
   <ItemGroup>
     <Compile Remove="Model\Recipe\LocalRecipeData.cs" />
   </ItemGroup>

BPASmartClient.MorkCL/Control_MorkCL.cs

@@ -1,11 +1,15 @@
-using BPA.Message.Enum;
+
+using BPA.Message.Enum;
 using BPASmartClient.Device;
+using BPASmartClient.MorkCL.Model.DB;
 using BPASmartClient.MorkCL.Model.Json;
 using BPASmartClient.MorkCL.Server;
 using SqlSugar;
 using System;
 using System.Collections.Generic;
 using System.Linq;
+using System.Net.WebSockets;
+using System.Reflection;
 using System.Text;
 using System.Threading.Tasks;
 
@@ -27,6 +31,18 @@ namespace BPASmartClient.MorkCL
         /// </summary>
         ConcurrentDictionary<EDeviceType, TaskServer> TaskList { get; set; } = new();
 
+        /// <summary>
+        /// 炒锅1任务队列。
+        /// </summary>
+        ConcurrentQueue<TaskServer> FryingPan1TaskLsit { get;set; }=new();
+        /// <summary>
+        /// 炒锅2任务队列。
+        /// </summary>
+        ConcurrentQueue<TaskServer> FryingPan2TaskLsit { get; set; } = new();
+        /// <summary>
+        /// 高压锅任务队列。
+        /// </summary>
+        ConcurrentQueue<TaskServer> PressureCookerTaskLsit { get; set; } = new();
         public override void DoMain()
         {
             MonitorViewModel.DeviceId = DeviceId;
@@ -34,12 +50,24 @@ namespace BPASmartClient.MorkCL
             #region 读取本地文件数据
             Json<RecipesInfo>.Read();
             Json<ItemStorageInfo>.Read();
+            Json<ConnectPar>.Read();
             #endregion
 
             //注册本地配方接收
             ActionManage.GetInstance.Register(new Action<object>(o =>
             {
-                if (o != null && o is ControlData cd) morkCL.cds.Enqueue(cd);
+                DeviceProcessLogShow($"接收到一个新配方任务。");
+                if (o != null && o is ControlData cd)
+                {
+                    
+
+                    morkCL.cds.Enqueue(cd);
+                    DeviceProcessLogShow($"新配方任务{cd.Id}解析完成，已加入配方队列。");
+                }
+                else
+                {
+                    DeviceProcessLogShow($"新配方任务解析失败。");
+                }
             }), NotifyTopic.FormulaDistribution);
 
             //初始化通讯对象
@@ -49,35 +77,72 @@ namespace BPASmartClient.MorkCL
             devices.TryAdd(EDeviceType.压力锅, new PressureCookerServer());
             devices.TryAdd(EDeviceType.外部设备, new OtherServer());
 
-            devices[EDeviceType.炒锅1].Init(ConnectPar.FryingPanIP1);
-            devices[EDeviceType.炒锅2].Init(ConnectPar.FryingPanIP2);
-            devices[EDeviceType.机器人].Init(ConnectPar.RobotIP);
-            devices[EDeviceType.压力锅].Init(ConnectPar.PressureCookerIP);
-            devices[EDeviceType.外部设备].Init(ConnectPar.PPortName);
-
+#if !FORMAL
+            devices[EDeviceType.炒锅1].Init(Json<ConnectPar>.Data.FryingPanIP1);
+            //devices[EDeviceType.炒锅2].Init(Json<ConnectPar>.Data.FryingPanIP2);
+            devices[EDeviceType.机器人].Init(Json<ConnectPar>.Data.RobotIP);
+            //devices[EDeviceType.压力锅].Init(Json<ConnectPar>.Data.PressureCookerIP);
+            //devices[EDeviceType.外部设备].Init(Json<ConnectPar>.Data.PPortName);
 
+            
+            ManualActionRegiester();
+#endif
         }
 
         public override void MainTask()
         {
-            if (morkCL.cds.Count > 0 && !TaskList.ContainsKey(morkCL.cds.ElementAt(0).DeviceType))
+            //检查到有任务完成后将对已完成的任务进行清理
+            var res = TaskList.FirstOrDefault(p => p.Value.IsComplete).Key;
+            if (TaskList.ContainsKey(res))
+                TaskList.TryRemove(res, out _);
+
+            if (morkCL.cds.Count > 0)
             {
-                if (morkCL.cds.TryDequeue(out ControlData cd))
+                var dishType = morkCL.cds.ElementAt(0).DishType;
+                var devieceType = EDeviceType.无;
+                if (dishType == Model.Recipe.EDishType.炒菜)
                 {
-                    TaskList.TryAdd(cd.DeviceType, new TaskServer());
-                    TaskList[cd.DeviceType].TaskName = $"{cd.DeviceType.ToString()}-{cd.Name}";
-                    TaskList[cd.DeviceType].RunTask = new Task(new Action(() => { FryingPanControl(cd.DeviceType, cd); }));
-                    TaskList[cd.DeviceType].RunTask.Start();
+                    //如果任务队列里，炒锅1已经有任务了，就看炒锅2是否有任务，没任务就设置为炒锅2执行，如果两个锅都有任务则返回该次任务。
+                    if (TaskList.ContainsKey(EDeviceType.炒锅1))
+                    {
+                        if (TaskList.ContainsKey(EDeviceType.炒锅2))
+                        {
+                            return;
+                        }
+                        else
+                        { devieceType=EDeviceType.炒锅2; }
+                    }
+                    else
+                    {
+                        devieceType = EDeviceType.炒锅1;
+                    }
                 }
+                else
+                {
+                    devieceType = EDeviceType.压力锅;
+                }
+
+                //这里判定主要是针对压力锅。
+                if (!TaskList.ContainsKey(devieceType))
+                {
+                    if (morkCL.cds.TryDequeue(out ControlData cd))
+                    {
+                        cd.DeviceType = devieceType;
+
+                        TaskList.TryAdd(cd.DeviceType, new TaskServer());
+                        TaskList[cd.DeviceType].TaskName = $"{cd.DeviceType.ToString()}-{cd.Name}";
+                        TaskList[cd.DeviceType].RunTask = new Task(new Action(() => { FryingPanControl(cd.DeviceType, cd); }));
+                        TaskList[cd.DeviceType].RunTask.Start();
+                    }
+                }
+                
             }
-            //检查到有任务完成后将对已完成的任务进行清理
-            var res = TaskList.FirstOrDefault(p => p.Value.IsComplete).Key;
-            if (TaskList.ContainsKey(res)) TaskList.TryRemove(res, out _);
+            
         }
 
-        private void FryingPanControl(EDeviceType et, ControlData cd)
+        private async void FryingPanControl(EDeviceType et, ControlData cd)
         {
-            DeviceProcessLogShow($"开始执行-{cd.Name} 任务");
+            DeviceProcessLogShow($"【{et}】开始执行-{cd.Name} 任务");
             if (TaskList.ContainsKey(et) && TaskList[et].Cts.IsCancellationRequested) return;
             while (cd.ControlFuncs.Count > 0)
             {
@@ -86,74 +151,336 @@ namespace BPASmartClient.MorkCL
                     var device = (FryingPanServer)devices[et];
                     var robot = (RobotServer)devices[EDeviceType.机器人];
                     int index = (ushort)et - 1;
-                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-步骤");
+                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}。");
                     switch (fm.eFunc)
                     {
                         case EFunc.搅拌启动:
+                            device.StirStartOrStop = false;
+
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入搅拌频率-{fm.funcPars.ElementAt(0).ParValue.ToString()}HZ。");
                             device.MixingFrequencySet(fm.funcPars.ElementAt(0).ParValue.ToString());
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入搅拌频率-{fm.funcPars.ElementAt(0).ParValue.ToString()}HZ完成。");
+                            
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入开始搅拌。");
                             device.StirStartOrStop = true;
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入开始搅拌完成。");
+
                             break;
                         case EFunc.搅拌停止:
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入停止搅拌。");
                             device.StirStartOrStop = false;
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入停止搅拌完成。");
                             break;
                         case EFunc.加热启动:
+                            device.HeatStartOrStop = false;
+
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热挡位-【{fm.funcPars.ElementAt(0).ParValue.ToString()}】。");
                             device.HeatingGearSet(fm.funcPars.ElementAt(0).ParValue.ToString());
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热挡位完成，设置加热启动。");
+
                             device.HeatStartOrStop = true;
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热启动完成。");
                             break;
                         case EFunc.加热停止:
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热停止。");
                             device.HeatStartOrStop = false;
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热停止完成。");
                             break;
                         case EFunc.添加调料:
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找调料【{fm.funcPars.ElementAt(0).Id}】。");
                             var Seasoning = SqliteHelper.GetInstance.GetSeasoning().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id);
                             if (Seasoning != null)
                             {
                                 device.CuttingControl(Seasoning.Loc.ToString(), fm.funcPars.ElementAt(1).ParValue.ToString());
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-执行下料，下料位置：{Seasoning.Loc.ToString()}，下料重量：【{fm.funcPars.ElementAt(1).ParValue.ToString()}】。");
+                             }
+                            else
+                            {
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找调料失败，未查找到【{fm.funcPars.ElementAt(0).Id}】调料。任务取消。");
+                                TaskList[et].Cts.Cancel();
                             }
+
                             break;
                         case EFunc.添加主料:
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找主料【{fm.funcPars.ElementAt(0).Id}】。");
+
+                            if (float.TryParse(fm.funcPars.ElementAt(1).ParValue.ToString(),out float weight))
+                            {
+                                //查找主料库位符合条件的物料库位，主要根据物料ID和物料重量查找。
+                                var ingre_index = Array.FindIndex(Json<ItemStorageInfo>.Data.IngredientsStorage,
+                                item => item.MaterialID == fm.funcPars.ElementAt(0).Id && item.Weight == weight);
+                                if (ingre_index >= 0)
+                                {
+                                    //device.CuttingControl(Seasoning.Loc.ToString(), fm.funcPars.ElementAt(1).ParValue.ToString());
+                                    var ingredientes = Json<ItemStorageInfo>.Data.IngredientsStorage[ingre_index];
+                                    
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-执行下料，控制取{ingre_index+1}库物料，下料名称：{ingredientes.Name.ToString()}，下料重量：【{fm.funcPars.ElementAt(1).ParValue.ToString()}】。");
+                                    device.FryingPanFeedingLoc = false;
+
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{ingre_index+1.ToString()}】，子任务【{et}】。");
+
+                                    robot.RobotTaskControl(ingre_index+1.ToString(), et);
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{ingre_index+1.ToString()}】，子任务【{et}】完成。");
+
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置。");
+                                    device.FryingPanFeedingLoc = true;
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置完成。");
+
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置。");
+                                    device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置
+                                    device.FryingPanFeedingLoc = false;
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置完成。");
+                                    
+
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置。");
+                                    robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts);  //等待机器人到投料位置也就是发出倒料请求。
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置完成。");
+                                    
+                                    //目前程序在炒锅在投料位置时，会自动发出允许倒料信息。
+                                    //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料。");
+                                    //robot.AllowPourVegetables(et);//允许机器人开始投料
+                                    //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料完成。");
+
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-开始等待机器人投料完成。");
+                                    robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts);    //等待机器人投料完成
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人投料完成。");
+
+                                    Json<ItemStorageInfo>.Data.IngredientsStorage[ingre_index] = new ItemStorage();
+                                    Json<ItemStorageInfo>.Save();
+                                    ActionManage.GetInstance.Send("RefreshItemStorage");
+                                }
+                                else
+                                {
+                                    //TODO:暂定为直接取消任务，后期再说。
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找主料失败，未查找到【{fm.funcPars.ElementAt(0).Id}】主料。任务取消。");
+                                    TaskList[et].Cts.Cancel();
+                                }
+                            }
+                            break;
                         case EFunc.添加辅料:
-                            MaterialBase mb = new MaterialBase();
-                            if (fm.eFunc == EFunc.添加辅料)
-                                mb = SqliteHelper.GetInstance.GetAccessories().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id);
-                            else mb = SqliteHelper.GetInstance.GetIngredients().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id);
-                            robot.RobotTaskControl(mb.Loc.ToString(), et);
-                            device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置
-                            robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts);  //等待机器人到投料位置
-                            robot.AllowPourVegetables(et);//允许机器人开始投料
-                            robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts);    //等待机器人投料完成
+                            MaterialBase mb = SqliteHelper.GetInstance.GetAccessories().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id);
+                            if (mb != null)
+                            {
+                                //先复位变量。防止上一次是异常结束，设为True时，不会响应。
+                                device.FryingPanFeedingLoc = false;
+
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(mb.Loc + 12).ToString()}】，子任务【{et}】。");
+                                robot.RobotTaskControl((mb.Loc + 12).ToString(), et);
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(mb.Loc + 12).ToString()}】，子任务【{et}】完成。");
+
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置。");
+                                device.FryingPanFeedingLoc = true;
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置完成。");
+
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置。");
+                                device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置
+                                device.FryingPanFeedingLoc = false;
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置完成。");
+
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置。");
+                                robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts);  //等待机器人到投料位置
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置完成。");
+
+                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料。");
+                                //robot.AllowPourVegetables(et);//允许机器人开始投料
+                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料完成。");
+
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-开始等待机器人投料完成。");
+                                robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts);    //等待机器人投料完成
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人投料完成。");
+
+                            }
+                            else
+                            {
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找主料失败，未查找到【{fm.funcPars.ElementAt(0).Id}】辅料。任务取消。");
+                                TaskList[et].Cts.Cancel();
+                            }
                             break;
                         case EFunc.炒锅回原点位:
+
+                            device.FryingPanHome = false;
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回原点。");
                             device.FryingPanHome = true;
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回原点完成。");
+
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待回原点完成。");
+                            device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);
+                            device.FryingPanHome = false;
+
                             break;
                         case EFunc.出餐启动:
-                            robot.RobotTaskControl("1", et);//取空盆
+
+                            device.DiningOutStart = false;
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人取空盆。");
+                            //TODO：正常应该是哪个有空盆取哪个。
+                            robot.RobotTaskControl("21", et);//取空盆
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人取空盆完成，等待机器人到出菜位置。");
+                            
                             robot.DiningOutRequest[index].Wait(Cts: TaskList[et].Cts);//等待机器人到出菜位置
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人已到出餐位置，出餐启动。");
                             device.DiningOutStart = true;
+
+                            device.OutDinningSlowDownFlag.Wait(Cts: TaskList[et].Cts) ;
+                            robot.ModerateInPlace(et);
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-到达出餐减速位。");
+
+                            device.OutDinningFinsh.Wait(Cts: TaskList[et].Cts);
+                            robot.DiningOutComplete(et);
+
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-出餐完成。");
+                            //回到投料位置就复位。
+                            Thread.Sleep(50);
+                            device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);
+                            device.DiningOutStart = false;
                             break;
                         case EFunc.炒锅清洗:
+                            device.FryingPanClear = false;
+
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅清洗。");
                             device.FryingPanClear = true;
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒锅清洗已写入。");
+
+                            Thread.Sleep(500);
+                            device.CleanFinish.Wait(Cts: TaskList[et].Cts);
+                            device.FryingPanClear = false;
                             break;
-                        case EFunc.炒锅回投料位置:
-                            device.FryingPanFeedingLoc = true;
+                        case EFunc.炒锅回调料投料位置:
+                            device.FryingPanToSeasoningLoc = false;
+
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置。");
+                            device.FryingPanToSeasoningLoc = true;
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置完成。");
+
+                            //回到投料位置就复位。
+
+                            Thread.Sleep(50);
+                            device.FeedingSeasoningLocFB.Wait(Cts: TaskList[et].Cts);
+                            device.FryingPanToSeasoningLoc = false;
                             break;
                         case EFunc.去指定炒制位:
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置去指定炒制位。");
                             device.SetStirFryingLoc(fm.funcPars.ElementAt(0).ParValue.ToString());
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置去指定炒制位【{fm.funcPars.ElementAt(0).ParValue.ToString()}】完成。");
                             break;
                         case EFunc.炒制:
+                            
                             if (int.TryParse(fm.funcPars.ElementAt(0).ParValue.ToString(), out int time))
+                            {
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒制【{time}】秒。");
                                 Task.Delay(time * 1000).Wait(TaskList[et].Cts.Token);
+                            }
+                                
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒制完成。");
                             break;
                         default:
                             break;
                     }
                 }
             }
-
+            DeviceProcessLogShow($"【{et}】任务-{cd.Name} 执行完成");
         }
 
+        
+
         public override void ReadData()
         {
 
+            var propertyInfos = morkCL.GetType().GetProperties();
+
+            var fryingPan1 = (FryingPanServer)devices[EDeviceType.炒锅1];
+            var fryingPan2 = (FryingPanServer)devices[EDeviceType.炒锅2];
+            var robot = (RobotServer)devices[EDeviceType.机器人];
+            var pressureCooker = (PressureCookerServer)devices[EDeviceType.压力锅];
+            var otherDevice = (OtherServer)devices[EDeviceType.外部设备];
+
+            //这两个是字段。直接赋值
+            morkCL.FeedingLocFB1 = fryingPan1.FeedingLocFB;
+            morkCL.FeedingLocFB2=fryingPan2.FeedingLocFB;
+            morkCL.CleanFinish1 = fryingPan1.CleanFinish;
+            morkCL.CleanFinish2 = fryingPan2.CleanFinish;
+            morkCL.OutDinningFinsh1 = fryingPan1.OutDinningFinsh;
+            morkCL.OutDinningFinsh2 = fryingPan2.OutDinningFinsh;
+            morkCL.OutDinningSlowDownFlag1 = fryingPan1.OutDinningSlowDownFlag;
+            morkCL.OutDinningSlowDownFlag2 = fryingPan2.OutDinningSlowDownFlag;
+
+            morkCL.IsIdle=robot.IsIdle;
+
+#if !FORMAL
+            if (fryingPan1.FeedingLocFB)
+            {
+                robot.AllowPourVegetables(EDeviceType.炒锅1);
+            }
+            else
+            {
+                robot.DisablePourVegetables(EDeviceType.炒锅1);
+            }
+
+            if (fryingPan2.FeedingLocFB)
+            {
+                robot.AllowPourVegetables(EDeviceType.炒锅2);
+            }
+            else
+            {
+                robot.DisablePourVegetables(EDeviceType.炒锅2);
+            }
+
+
+            foreach (var property in propertyInfos)
+            {
+                var att = property.GetCustomAttribute<VariableMonitorAttribute>();
+                if (att != null)
+                {
+                    if (att.Notes.Contains("1号炒锅"))
+                    {
+                        var p = fryingPan1.GetType().GetProperty(property.Name.TrimEnd('1'));
+                        if (p != null)
+                        {
+                            property.SetValue(morkCL, p.GetValue(fryingPan1));
+                        }
+
+                    }
+                    else if (att.Notes.Contains("2号炒锅"))
+                    {
+                        var p = fryingPan2.GetType().GetProperty(property.Name.TrimEnd('2'));
+                        if (p != null)
+                        {
+                            property.SetValue(morkCL, p.GetValue(fryingPan2));
+                        }
+
+                    }
+                    else if (att.Notes.Contains("机器人"))
+                    {
+                        var p = robot.GetType().GetProperty(property.Name);
+                        if (p != null)
+                        {
+                            property.SetValue(morkCL, p.GetValue(robot));
+                        }
+                    }
+                    else if (att.Notes.Contains("电子秤"))
+                    {
+                        var p = otherDevice.GetType().GetProperty(property.Name);
+                        if (p != null)
+                        {
+                            var res = p.GetValue(otherDevice);
+                            property.SetValue(morkCL, res);
+                            if (p.Name== "CurrentWeight")
+                            {
+                                ActionManage.GetInstance.Send("SendCurrentWeight", res);
+                            }
+                        }
+                    }
+                    else if (att.Notes.Contains("高压锅"))
+                    {
+                        var p = pressureCooker.GetType().GetProperty(property.Name);
+                        if (p != null)
+                        {
+                            property.SetValue(morkCL, p.GetValue(pressureCooker));
+                        }
+                    }
+                }
+            }
+
+#endif
         }
 
         public override void ResetProgram()
@@ -169,5 +496,23 @@ namespace BPASmartClient.MorkCL
         public override void Stop()
         {
         }
+
+
+        void ManualActionRegiester()
+        {
+            ActionManage.GetInstance.Register((object location) =>
+            {
+                var loc = location.ToString();
+                if (!String.IsNullOrEmpty(loc) && loc.Length>=0)
+                {
+                    var robot = (RobotServer)devices[EDeviceType.机器人];
+                    robot.WarehousingControl(loc);
+                    //会卡死。
+                    //robot.WarehousingComplete[(Convert.ToInt32(loc)-1)].Wait();
+                }
+            },"ItemStorage",true);
+
+
+        }
     }
 }

BPASmartClient.MorkCL/GVL_MorkCL.cs

@@ -29,11 +29,17 @@ namespace BPASmartClient.MorkCL
         [VariableMonitor("1号炒锅-急停", "LB102")]
         public bool EStop1 { get; set; }
 
+        /// <summary>
+        /// 炒锅在调料投料位置反馈。
+        /// </summary>
+        [VariableMonitor("1号炒锅-在辅料投料位置反馈", "LB103")]
+        public bool FeedingSeasoningLocFB1 { get; set; }
+
         /// <summary>
         /// 炒制位置反馈（1-4）
         /// </summary>
-        [VariableMonitor("1号炒锅-炒制位置反馈（1-4）", "LB103")]
-        public bool[] StirFryingLocFB1 { get; set; } = new bool[4];
+        [VariableMonitor("1号炒锅-炒制位置反馈（1-3）", "LB104")]
+        public bool[] StirFryingLocFB1 { get; set; } = new bool[3];
 
         /// <summary>
         /// 炒锅在出餐位置反馈
@@ -59,6 +65,23 @@ namespace BPASmartClient.MorkCL
         [VariableMonitor("1号炒锅-通道出料完成反馈(1-3)", "LB110")]
         public bool[] ChannelDisCom1 { get; set; } = new bool[3];
 
+        /// <summary>
+        /// 清洗完成
+        /// </summary>
+        [VariableMonitor("1号炒锅-清洗完成", "LB113")]
+        public bool CleanFinish1 { get; set; }
+
+        /// <summary>
+        /// 倒菜出餐完成。
+        /// </summary>
+        [VariableMonitor("1号炒锅-倒菜出餐完成", "LB114")]
+        public bool OutDinningFinsh1 { get; set; }
+        /// <summary>
+        /// 炒锅倒菜减速位
+        /// </summary>
+        [VariableMonitor("1号炒锅-倒菜减速位", "LB115")]
+        public bool OutDinningSlowDownFlag1 { get; set; }
+
         /// <summary>
         /// 当前锅底温度
         /// </summary>
@@ -97,11 +120,17 @@ namespace BPASmartClient.MorkCL
         [VariableMonitor("2号炒锅-急停", "LB102")]
         public bool EStop2 { get; set; }
 
+        /// <summary>
+        /// 炒锅在调料投料位置反馈。
+        /// </summary>
+        [VariableMonitor("2号炒锅-在辅料投料位置反馈", "LB103")]
+        public bool FeedingSeasoningLocFB2 { get; set; }
+
         /// <summary>
         /// 炒制位置反馈（1-4）
         /// </summary>
-        [VariableMonitor("2号炒锅-炒制位置反馈（1-4）", "LB103")]
-        public bool[] StirFryingLocFB2 { get; set; } = new bool[4];
+        [VariableMonitor("2号炒锅-炒制位置反馈（1-3）", "LB104")]
+        public bool[] StirFryingLocFB2 { get; set; } = new bool[3];
 
         /// <summary>
         /// 炒锅在出餐位置反馈
@@ -127,6 +156,24 @@ namespace BPASmartClient.MorkCL
         [VariableMonitor("2号炒锅-通道出料完成反馈(1-3)", "LB110")]
         public bool[] ChannelDisCom2 { get; set; } = new bool[3];
 
+
+        /// <summary>
+        /// 清洗完成
+        /// </summary>
+        [VariableMonitor("2号炒锅-清洗完成", "LB113")]
+        public bool CleanFinish2 { get; set; }
+
+        /// <summary>
+        /// 倒菜出餐完成。
+        /// </summary>
+        [VariableMonitor("2号炒锅-倒菜出餐完成", "LB114")]
+        public bool OutDinningFinsh2 { get; set; }
+
+        /// <summary>
+        /// 炒锅倒菜减速位
+        /// </summary>
+        [VariableMonitor("2号炒锅-倒菜减速位", "LB115")]
+        public bool OutDinningSlowDownFlag2 { get; set; }
         /// <summary>
         /// 当前锅底温度
         /// </summary>
@@ -154,31 +201,31 @@ namespace BPASmartClient.MorkCL
         /// <summary>
         /// 倒料请求
         /// </summary>
-        [VariableMonitor("机器人-倒料请求-[1:1号炒锅，2:2号炒锅，3:高压锅]", "LW22")]
-        public bool[] MaterialPouringRequest = new bool[3];
+        [VariableMonitor("机器人-倒料请求-[1,2:炒锅，3:高压锅]", "GM600")]
+        public bool[] MaterialPouringRequest { get; set; } = new bool[3];
 
         /// <summary>
         /// 倒料完成
         /// </summary>
-        [VariableMonitor("机器人-倒料完成-[1:1号炒锅，2:2号炒锅，3:高压锅]", "LW22")]
-        public bool[] MaterialPouringComplete = new bool[3];
+        [VariableMonitor("机器人-倒料完成-[1,2:炒锅，3:高压锅]", "GM601")]
+        public bool[] MaterialPouringComplete { get; set; } = new bool[3];
 
         /// <summary>
         /// 出餐请求，机器人到位请求炒锅出餐
         /// </summary>
-        [VariableMonitor("机器人-出餐请求-[1:1号炒锅，2:2号炒锅，3:高压锅]", "LW22")]
+        [VariableMonitor("机器人-出餐请求-[1,2:炒锅，3:高压锅]", "GM602")]
         public bool[] DiningOutRequest { get; set; } = new bool[3];
 
         /// <summary>
         /// 入库完成
         /// </summary>
-        [VariableMonitor("机器人-入库完成", "LW22")]
+        [VariableMonitor("机器人-入库完成", "GM630")]
         public bool[] WarehousingComplete { get; set; } = new bool[12];
 
         /// <summary>
         /// 机器人原点状态
         /// </summary>
-        [VariableMonitor("机器人-机器人原点状态", "LW22")]
+        [VariableMonitor("机器人-机器人原点状态", "GM620")]
         public bool Home { get; set; }
 
         /// <summary>
@@ -196,13 +243,20 @@ namespace BPASmartClient.MorkCL
         /// <summary>
         /// 机器人程序运行中
         /// </summary>
-        [VariableMonitor("机器人-机器人程序运行中", "LW22")]
+        [VariableMonitor("机器人-机器人程序运行中")]
         public bool ProgramRuning { get; set; }
 
+
+        /// <summary>
+        /// 机器人空闲中
+        /// </summary>
+        [VariableMonitor("机器人-机器人空闲中")]
+        public bool IsIdle { get; set; }
+
         /// <summary>
         /// 机器人任务反馈
         /// </summary>
-        [VariableMonitor("机器人-机器人任务反馈", "LW22")]
+        [VariableMonitor("机器人-机器人任务反馈", "GI5")]
         public RobotMainTask TaskFeedback { get; set; }
         #endregion
 
@@ -212,12 +266,13 @@ namespace BPASmartClient.MorkCL
         /// </summary>
         [VariableMonitor("电子秤当前重量", "0")]
         public float CurrentWeight { get; set; }
-
+#if !FORMAL
         /// <summary>
         /// 空箱子检测
         /// </summary>
-        [VariableMonitor("出餐箱子在位检测", "0")]
-        public bool[] BoxDetection { get; set; } = new bool[4];
+        //[VariableMonitor("出餐箱子在位检测", "0")]
+        //public bool[] BoxDetection { get; set; } = new bool[4];
+#endif
         #endregion
     }
 }

BPASmartClient.MorkCL/GlobalUsing.cs

@@ -1,4 +1,6 @@
-global using System;
+#define FormalRuntime
+
+global using System;
 global using System.Collections.Generic;
 global using System.Linq;
 global using System.Text;

BPASmartClient.MorkCL/HelpClass/FuncParHelpClass.cs

@@ -33,21 +33,12 @@ namespace BPASmartClient.MorkCL.HelpClass
 		public static Dictionary<string, ObservableCollection<object>> ParOptions { get; } = new Dictionary<string, ObservableCollection<object>>()
 		{
 			//{"搅拌速度",new ObservableCollection<object>(){10,20,30,40,50 } },
-            {"加热档位",new ObservableCollection<object> {1,2,3,4,5,6,7,8} },
+            //{"加热档位",new ObservableCollection<object> {1,2,3,4,5,6,7,8} },
             {"调料名称",new ObservableCollection<object>( SqliteHelper.GetInstance.GetSeasoning()) },
             {"主料名称",new ObservableCollection<object>( SqliteHelper.GetInstance.GetIngredients()) },
             {"辅料名称",new ObservableCollection<object>( SqliteHelper.GetInstance.GetAccessories()) },
-            {"设置炒制位",new ObservableCollection<object> {1,2,3,4} },
+            //{"设置炒制位",new ObservableCollection<object> {1,2,3,4} },
 
         };
-		private ObservableCollection<object> GetAgitateSpeedOption()
-		{
-			var speed = new ObservableCollection<object>();
-			for (int i = 1; i <=50; i++)
-			{
-				speed.Add(i);
-			}
-			return speed;
-		}
 	}
 }

BPASmartClient.MorkCL/HelpClass/FuncSet.cs

@@ -1,28 +0,0 @@
-using BPASmartClient.MorkCL.Model.Func;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace BPASmartClient.MorkCL.HelpClass
-{
-    /// <summary>
-    /// 该类是对FuncPar的包装类。
-    /// </summary>
-    //public class FuncSet
-    //{
-        //public int Step { get; set; }
-
-        //private string _FuncName;
-        //public string FuncName
-        //{
-        //    get { return _FuncName; }
-        //    set { _FuncName = value;
-        //        FuncPars = InitData.FunParInit[(EFunc)Enum.Parse(typeof(EFunc),value)]?.ToList();
-        //    }
-        //}
-
-        //public List<FuncPar> FuncPars { get; set; }
-    //}
-}

BPASmartClient.MorkCL/Model/ConnectPar.cs

@@ -1,33 +0,0 @@
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace BPASmartClient.MorkCL.Model
-{
-    internal class ConnectPar
-    {
-        //1号炒锅
-        public static string FryingPanIP1 { get; set; }
-        public static string FryingPanPort1 { get; set; }
-
-        //2号炒锅
-        public static string FryingPanIP2 { get; set; }
-        public static string FryingPanPort2 { get; set; }
-
-        //压力锅
-        public static string PressureCookerIP { get; set; }
-        public static string PressureCookerPort { get; set; }
-
-        //机器人
-        public static string RobotIP { get; set; }
-        public static string RobotPort { get; set; }
-
-        //电子秤端口号
-        public static string ESPortName { get; set; }
-
-        //外设端口号
-        public static string PPortName { get; set; }
-    }
-}

BPASmartClient.MorkCL/Model/Control/FryingPanGet.cs

@@ -24,12 +24,17 @@ namespace BPASmartClient.MorkCL.Model.Control
         public bool EStop { get; set; }
 
         /// <summary>
-        /// 炒制位置反馈（1-4）
+        /// 炒锅在调料投料位置反馈。
         /// </summary>
-        public bool[] StirFryingLocFB { get; set; } = new bool[4];
+        public bool FeedingSeasoningLocFB;
 
         /// <summary>
-        /// 炒锅在出餐位置反馈
+        /// 炒制位置反馈（1-3）
+        /// </summary>
+        public bool[] StirFryingLocFB { get; set; } = new bool[3];
+
+        /// <summary>
+        /// 炒锅在出餐位置反馈。
         /// </summary>
         public bool DiningOutLocFB { get; set; }
 
@@ -47,7 +52,20 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// 通道出料完成反馈(1-3)
         /// </summary>
         public bool[] ChannelDisCom { get; set; } = new bool[3];
+        /// <summary>
+        /// 清洗完成
+        /// </summary>
+        public bool CleanFinish;
 
+        /// <summary>
+        /// 倒菜出餐完成。
+        /// </summary>
+        public bool OutDinningFinsh;
+
+        /// <summary>
+        /// 炒锅倒菜减速位
+        /// </summary>
+        public bool OutDinningSlowDownFlag;
         /// <summary>
         /// 当前锅底温度
         /// </summary>

BPASmartClient.MorkCL/Model/Control/FryingPanSet.cs

@@ -26,13 +26,19 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <param name="demandValue">通道需求值</param>
         public void CuttingControl(string Num, string demandValue)
         {
+
             if (ushort.TryParse(Num, out ushort ChannelNum) && ushort.TryParse(demandValue, out ushort value))
                 if (ChannelNum >= 1 && ChannelNum <= 3)
                 {
-                    byte[] VWOffset = new byte[3] { 6, 8, 10 };
-                    byte[] LBOffset = new byte[3] { 6, 7, 0 };
-                    MyModbus.Write($"VW10{VWOffset[ChannelNum - 1]}".ToModbusAdd(), value);
+                    byte[] VWOffset = new byte[3] { 3, 4, 5 };
+                    byte[] LBOffset = new byte[3] { 6, 7, 8 };
+                    MyModbus.Write($"LB{LBOffset[ChannelNum - 1]}".ToModbusAdd(), false);
+                    MyModbus.Write($"LW{VWOffset[ChannelNum - 1]}".ToModbusAdd(), value);
                     MyModbus.Write($"LB{LBOffset[ChannelNum - 1]}".ToModbusAdd(), true);
+                    //扫描周期较短，不等下料完成读为0，就已经过了，添加一个延时。
+                    Task.Delay(50).Wait();
+                    ChannelDisCom[ChannelNum - 1].Wait();
+                    MyModbus.Write($"LB{LBOffset[ChannelNum - 1]}".ToModbusAdd(), false);
                 }
         }
 
@@ -45,8 +51,10 @@ namespace BPASmartClient.MorkCL.Model.Control
             if (ushort.TryParse(value, out ushort Gear))
                 if (Gear >= 1 && Gear <= 8)
                 {
-                    MyModbus.Write($"VW100".ToModbusAdd(), Gear);
+                    MyModbus.Write($"LB9".ToModbusAdd(), false);
+                    MyModbus.Write($"LW0".ToModbusAdd(), Gear);
                     MyModbus.Write($"LB9".ToModbusAdd(), true);
+                    //MyModbus.Write($"LB9".ToModbusAdd(), false);
                 }
         }
 
@@ -59,8 +67,10 @@ namespace BPASmartClient.MorkCL.Model.Control
             if (ushort.TryParse(value, out ushort Frequency))
                 if (Frequency >= 0 && Frequency <= 50)
                 {
-                    MyModbus.Write($"VW102".ToModbusAdd(), Frequency);
+                    MyModbus.Write($"LB10".ToModbusAdd(), false);
+                    MyModbus.Write($"LW1".ToModbusAdd(), Frequency*100);
                     MyModbus.Write($"LB10".ToModbusAdd(), true);
+                    //MyModbus.Write($"LB10".ToModbusAdd(), false);
                 }
         }
 
@@ -73,8 +83,10 @@ namespace BPASmartClient.MorkCL.Model.Control
             if (ushort.TryParse(value, out ushort Frequency))
                 if (Frequency >= 0 && Frequency <= 50)
                 {
-                    MyModbus.Write($"VW104".ToModbusAdd(), Frequency);
+                    MyModbus.Write($"LB11".ToModbusAdd(), false);
+                    MyModbus.Write($"LW2".ToModbusAdd(), Frequency);
                     MyModbus.Write($"LB11".ToModbusAdd(), true);
+                    //MyModbus.Write($"LB11".ToModbusAdd(), false);
                 }
         }
 
@@ -94,20 +106,29 @@ namespace BPASmartClient.MorkCL.Model.Control
         public bool FryingPanClear { get { return default; } set { MyModbus.Write("LB14".ToModbusAdd(), value); } }
 
         /// <summary>
-        /// 炒锅到投料位置
+        /// 炒锅到主料辅料投料位置
         /// </summary>
         public bool FryingPanFeedingLoc { get { return default; } set { MyModbus.Write("LB15".ToModbusAdd(), value); } }
 
+        /// <summary>
+        /// 炒锅到调料投料位置
+        /// </summary>
+        public bool FryingPanToSeasoningLoc { get { return default; } set { MyModbus.Write("LB16".ToModbusAdd(), value); } }
+
         /// <summary>
         /// 去炒制位控制
         /// </summary>
-        /// <param name="value">炒锅位置，1-4</param>
+        /// <param name="value">炒锅位置，1-3</param>
         public void SetStirFryingLoc(string value)
         {
             if (ushort.TryParse(value, out ushort loc))
-                if (loc >= 1 && loc <= 4)
+                if (loc >= 1 && loc <= 3)
                 {
-                    MyModbus.Write($"LB{loc + 15}".ToModbusAdd(), true);
+                    MyModbus.Write($"LB{loc + 16}".ToModbusAdd(), false);
+                    MyModbus.Write($"LB{loc + 16}".ToModbusAdd(), true);
+                    Task.Delay(50).Wait();
+                    StirFryingLocFB[loc - 1].Wait();
+                    MyModbus.Write($"LB{loc + 16}".ToModbusAdd(), false);
                 }
         }
 

BPASmartClient.MorkCL/Model/Control/RobotGet.cs

@@ -14,12 +14,12 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <summary>
         /// 倒料请求
         /// </summary>
-        public bool[] MaterialPouringRequest = new bool[3];
+        public bool[] MaterialPouringRequest { get; set; } = new bool[3];
 
         /// <summary>
         /// 倒料完成
         /// </summary>
-        public bool[] MaterialPouringComplete = new bool[3];
+        public bool[] MaterialPouringComplete { get; set; } = new bool[3];
 
         /// <summary>
         /// 出餐请求，机器人到位请求炒锅出餐
@@ -49,7 +49,12 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <summary>
         /// 机器人程序运行中
         /// </summary>
-        public bool ProgramRuning { get; set; }
+        public bool ProgramRuning;
+
+        /// <summary>
+        /// 机器人空闲中
+        /// </summary>
+        public bool IsIdle;
 
         /// <summary>
         /// 机器人任务反馈

BPASmartClient.MorkCL/Model/Control/RobotSet.cs

@@ -18,6 +18,7 @@ namespace BPASmartClient.MorkCL.Model.Control
             if (ushort.TryParse(MainTask, out ushort mainTask))
                 if (mainTask >= 0 && mainTask <= 24)
                 {
+                    IsIdle.Wait();
                     MyModbus.Write("GI1".ToModbusAdd(), (ushort)SubTask);
                     MyModbus.Write("GI0".ToModbusAdd(), mainTask);
                 }
@@ -30,7 +31,13 @@ namespace BPASmartClient.MorkCL.Model.Control
         public void WarehousingControl(string Loc)
         {
             if (ushort.TryParse(Loc, out ushort loc))
-                if (loc >= 1 && loc <= 12) MyModbus.Write("GI0".ToModbusAdd(), (ushort)(loc + 29));
+            {
+                if (loc >= 1 && loc <= 12)
+                {
+                    IsIdle.Wait();
+                    MyModbus.Write("GI0".ToModbusAdd(), (ushort)(loc + 29));
+                }
+            }
         }
 
         /// <summary>
@@ -54,7 +61,27 @@ namespace BPASmartClient.MorkCL.Model.Control
                     break;
             }
         }
-
+        /// <summary>
+        /// 禁止机器人倒菜到炒锅。
+        /// </summary>
+        /// <param name="num">炒锅类型</param>
+        public void DisablePourVegetables(EDeviceType num)
+        {
+            switch (num)
+            {
+                case EDeviceType.炒锅1:
+                    MyModbus.Write("GM500".ToModbusAdd(), false);
+                    break;
+                case EDeviceType.炒锅2:
+                    MyModbus.Write("GM501".ToModbusAdd(), false);
+                    break;
+                case EDeviceType.压力锅:
+                    MyModbus.Write("GM502".ToModbusAdd(), false);
+                    break;
+                default:
+                    break;
+            }
+        }
         /// <summary>
         /// 出餐减速到位
         /// </summary>

BPASmartClient.MorkCL/Model/Func/EFunc.cs

@@ -21,7 +21,7 @@ namespace BPASmartClient.MorkCL.Model.Func
         炒锅回原点位,
         出餐启动,
         炒锅清洗,
-        炒锅回投料位置,
+        炒锅回调料投料位置,
         去指定炒制位,
         炒制
     }

BPASmartClient.MorkCL/Model/Func/InitData.cs

@@ -30,8 +30,8 @@ namespace BPASmartClient.MorkCL.Model.Func
             { EFunc.炒锅回原点位,new FuncPar[0]   },
             { EFunc.出餐启动,new FuncPar[0]   },
             { EFunc.炒锅清洗,new FuncPar[0]   },
-            { EFunc.炒锅回投料位置,new FuncPar[0]   },
-            { EFunc.去指定炒制位,new FuncPar[] { new FuncPar() {  ParName="设置炒制位",  ParDescribe="请输入 1--4 选择一个合适的炒制位置"} } },
+            { EFunc.炒锅回调料投料位置,new FuncPar[0]   },
+            { EFunc.去指定炒制位,new FuncPar[] { new FuncPar() {  ParName="设置炒制位",  ParDescribe="请输入 1--3 选择一个合适的炒制位置"} } },
             { EFunc.炒制,new FuncPar[] { new FuncPar() {  ParName="设置炒制时间",ParUnit="秒",  ParDescribe="请设置一个合适的炒制时间"} } },
         };
     }

BPASmartClient.MorkCL/Model/ItemStroage.cs

@@ -15,7 +15,6 @@ namespace BPASmartClient.MorkCL.Model
         private string materialID;
         private string name;
         private float weight;
-        //private object lockobj=new object();
         /// <summary>
         /// 库位位置。
         /// </summary>
@@ -37,16 +36,8 @@ namespace BPASmartClient.MorkCL.Model
             get => isEmploy;
             set
             {
-                //需要测试是否有问题。
-                //lock (lockobj)
-                //{
-                    if (value == false)
-                    {
-                        Weight = 0.0f;
-                    }
-                    isEmploy = value;
-                    OnPropertyChanged();
-                //}
+                isEmploy = value;
+                OnPropertyChanged();
             }
         }
 

BPASmartClient.MorkCL/Model/Json/ConnectPar.cs

@@ -0,0 +1,45 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkCL.Model.Json
+{
+    public class ConnectPar
+    {
+        /// <summary>
+        /// 1号炒锅
+        /// </summary>
+        public string FryingPanIP1 { get; set; } = "192.168.6.100";
+        public string FryingPanPort1 { get; set; } = "502";
+
+        /// <summary>
+        /// 2号炒锅
+        /// </summary>
+        public string FryingPanIP2 { get; set; } = "192.168.6.101";
+        public string FryingPanPort2 { get; set; } = "502";
+
+        /// <summary>
+        /// 压力锅
+        /// </summary>
+        public string PressureCookerIP { get; set; } = "192.168.6.102";
+        public string PressureCookerPort { get; set; } = "502";
+
+        /// <summary>
+        /// 机器人
+        /// </summary>
+        public string RobotIP { get; set; } = "192.168.6.103";
+        public string RobotPort { get; set; } = "502";
+
+        /// <summary>
+        /// 电子秤端口号
+        /// </summary>
+        public string ESPortName { get; set; } = "COM1";
+
+        /// <summary>
+        /// 外设端口号
+        /// </summary>
+        public string PPortName { get; set; } = "COM2";
+    }
+}

BPASmartClient.MorkCL/Server/FryingPanServer.cs

@@ -19,19 +19,23 @@ namespace BPASmartClient.MorkCL.Server
             {
                 TaskManage.GetInstance.StartLong(new Action(() =>
                 {
-                    MyModbus.Read<bool[]>("LB100".ToModbusAdd(), 13).OnSuccess(s =>
+                    MyModbus.Read<bool[]>("LB100".ToModbusAdd(), 16).OnSuccess(s =>
                     {
                         InitComplete = s[0];
                         StatusMode = s[1];
                         EStop = s[2];
-
-                        for (byte i = 0; i < 4; i++) StirFryingLocFB[i] = s[i + 3];
+                        FeedingSeasoningLocFB = s[3];
+                        for (byte i = 0; i < 3; i++) StirFryingLocFB[i] = s[i + 4];
 
                         DiningOutLocFB = s[7];
                         FeedingLocFB = s[8];
                         WashingPotLocFB = s[9];
 
                         for (byte i = 0; i < 3; i++) ChannelDisCom[i] = s[i + 10];
+
+                        CleanFinish = s[13];
+                        OutDinningFinsh = s[14];
+                        OutDinningSlowDownFlag = s[15];
                     });
 
 

BPASmartClient.MorkCL/Server/RobotServer.cs

@@ -19,23 +19,24 @@ namespace BPASmartClient.MorkCL.Server
             {
                 TaskManage.GetInstance.StartLong(new Action(() =>
                 {
-                    MyModbus.Read<bool[]>("M600".ToModbusAdd(), 9).OnSuccess(s =>
-                    {
-                        for (byte i = 0; i < 3; i++)
+                MyModbus.Read<bool[]>("GM600".ToModbusAdd(), 9).OnSuccess(s =>
+                {
+                    for (byte i = 0; i < 3; i++)
                         {
                             MaterialPouringRequest[i] = s[i * 3];
                             MaterialPouringComplete[i] = s[i * 3 + 1];
                             DiningOutRequest[i] = s[i * 3 + 2];
                         }
                     });
-
-                    MyModbus.Read<bool[]>("M630".ToModbusAdd(), 12).OnSuccess(s =>
-                     {
-                         for (byte i = 0; i < s.Length; i++) WarehousingComplete[i] = s[i];
+                    MyModbus.Read<bool>("GM620".ToModbusAdd()).OnSuccess((b)=> { Home = b; });
+                    MyModbus.Read<bool[]>("GM630".ToModbusAdd(), 12).OnSuccess(s =>
+                    {
+                        for (byte i = 0; i < s.Length; i++) WarehousingComplete[i] = s[i];
                      });
 
                     MyModbus.Read<ushort>("GI5".ToModbusAdd(), 1).OnSuccess(s => { TaskFeedback = (RobotMainTask)s; });
 
+                    IsIdle = (TaskFeedback == RobotMainTask.无任务 && Home);
                     Thread.Sleep(10);
                 }), $"机器人服务-{IP}", true);
             });

BPASmartClient.MorkCL/View/Debug.xaml

@@ -5,16 +5,88 @@
     xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
     xmlns:local="clr-namespace:BPASmartClient.MorkCL.View"
     xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
-    d:DesignHeight="450"
-    d:DesignWidth="800" Name="调试界面"
+    xmlns:vm="clr-namespace:BPASmartClient.MorkCL.ViewModel"
+    xmlns:pry="clr-namespace:BPASmartClient.CustomResource.UserControls;assembly=BPASmartClient.CustomResource"
+    d:DesignHeight="900"
+    d:DesignWidth="1200" Name="调试界面"
     mc:Ignorable="d">
+    <UserControl.DataContext>
+        <vm:DebugViewModel/>
+    </UserControl.DataContext>
     <UserControl.Resources>
         <ResourceDictionary>
             <ResourceDictionary.MergedDictionaries>
-                <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/GenricStyle.xaml" />
-                <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/MyStyle.xaml" />
+                <ResourceDictionary Source="/BPASmartClient.MorkCL;component/CustomStyle/CustomStyle.xaml" />
             </ResourceDictionary.MergedDictionaries>
         </ResourceDictionary>
     </UserControl.Resources>
-    <Grid />
+    <Grid>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="1*" />
+            <RowDefinition Height="1*" />
+            <RowDefinition Height="1*" />
+        </Grid.RowDefinitions>
+
+        <!--#region 炒锅控制 -->
+        <pry:ImageBorder Margin="10"/>
+        <StackPanel Orientation="Vertical" Margin="15">
+            <StackPanel Orientation="Horizontal" Margin="0,0,0,20">
+                <TextBlock Text="炒锅控制" />
+                <ComboBox Width="100"  FontSize="16" Margin="25,0" SelectedIndex="{Binding FryingPanSelect}">
+                    <ComboBoxItem Content="1#炒锅"/>
+                    <ComboBoxItem Content="2#炒锅"/>
+                </ComboBox>
+            </StackPanel>
+            <StackPanel Orientation="Horizontal" Margin="5">
+                <TextBlock Text="搅拌设定："/>
+                <TextBox Text="{Binding AgitaFrequency}" Width="100" Margin="5,0" FontSize="16"/>
+                <Button Content="写入参数" Margin="5,0"/>
+                <Button Content="开始搅拌" Margin="5,0"/>
+                <Button Content="停止搅拌" Margin="5,0"/>
+            </StackPanel>
+            <StackPanel Orientation="Horizontal" Margin="5">
+                <TextBlock Text="加热设定："/>
+                <TextBox Text="{Binding HeatGear}" Width="100" Margin="5,0" FontSize="16"/>
+                <Button Content="写入参数" Margin="5,0"/>
+                <Button Content="开始加热" Margin="5,0"/>
+                <Button Content="停止加热" Margin="5,0"/>
+            </StackPanel>
+            <StackPanel Orientation="Horizontal" Margin="5">
+                <TextBlock Text="通道下料："/>
+                <TextBox Text="{Binding Weight}" Width="100" Margin="5,0" FontSize="16"/>
+                <ComboBox Width="76" Margin="5,0" FontSize="16" SelectedIndex="{Binding ChannelSelect}">
+                    <ComboBoxItem Content="1#通道"/>
+                    <ComboBoxItem Content="2#通道"/>
+                    <ComboBoxItem Content="3#通道"/>
+                </ComboBox>
+                <Button Content="开始下料" Margin="5,0"/>
+            </StackPanel>
+            <StackPanel Orientation="Horizontal" Margin="5">
+                <TextBlock Text="去炒制位："/>
+                <ComboBox Width="100" Margin="5,0" FontSize="16" SelectedIndex="{Binding StirFryLocSelect}">
+                    <ComboBoxItem Content="1#炒制位"/>
+                    <ComboBoxItem Content="2#炒制位"/>
+                    <ComboBoxItem Content="3#炒制位"/>
+                </ComboBox>
+                <Button Content="写入位置" Margin="5,0"/>
+            </StackPanel>
+            <WrapPanel Margin="0,5">
+                <Button Content="炒锅回原点（投料位置）" Margin="5,0" Width="200" HorizontalAlignment="Left"/>
+                <Button Content="炒锅去调料投料位置" Margin="5,0" Width="200" HorizontalAlignment="Left"/>
+                <Button Content="出餐启动" Margin="5,0" Width="100" HorizontalAlignment="Left"/>
+                <Button Content="炒锅清洗" Margin="5,0" Width="100" HorizontalAlignment="Left"/>
+            </WrapPanel>
+        </StackPanel>
+
+
+        <!--#endregion-->
+
+        <!--#region 机器人控制 -->
+        <pry:ImageBorder Margin="10" Grid.Row="1"/>
+        <StackPanel Orientation="Vertical" Margin="15" Grid.Row="1">
+            
+        </StackPanel>
+        <!--#endregion-->
+    </Grid>
+
 </UserControl>

BPASmartClient.MorkCL/View/EditFunctionParamView.xaml

@@ -6,6 +6,7 @@
     xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
     xmlns:converter="clr-namespace:BPASmartClient.MorkCL.Converter"
     xmlns:vm="clr-namespace:BPASmartClient.MorkCL.ViewModel"
+    xmlns:Behavior="http://schemas.microsoft.com/xaml/behaviors"
     Title="EditFunctionView"
     Width="450"
     Height="350"
@@ -25,7 +26,6 @@
             </ResourceDictionary.MergedDictionaries>
             <converter:Bool2VisibilityConverter x:Key="Bool2VisibilityConverter" />
             <converter:Bool2VisibilityReverseConverter x:Key="Bool2VisibilityReverseConverter" />
-
             <DataTemplate x:Key="IntTemplate">
                 <TextBlock Text="{Binding}" />
             </DataTemplate>
@@ -99,17 +99,19 @@
                                     FontSize="18"
                                     IsEditable="False"
                                     ItemsSource="{Binding ComboBoxItemsSource}"
-                                    SelectedItem="{Binding ParValue}"
+                                    Text="{Binding ParValue}" DisplayMemberPath="Name"
                                     Visibility="{Binding IsUseComboBox, Converter={StaticResource Bool2VisibilityConverter}}">
-                                    <ComboBox.Resources>
+                                    <!--<ComboBox.Resources>
                                         <converter:MyDataTemplateSelector
                                             x:Key="TemplateSelector"
                                             ClassTemplate="{StaticResource ClassTemplate}"
                                             IntTemplate="{StaticResource IntTemplate}" />
+                                        
                                     </ComboBox.Resources>
                                     <ComboBox.ItemTemplateSelector>
                                         <StaticResource ResourceKey="TemplateSelector" />
-                                    </ComboBox.ItemTemplateSelector>
+                                    </ComboBox.ItemTemplateSelector>-->
+                                   
                                 </ComboBox>
                                 <TextBlock
                                     Margin="5,0"

BPASmartClient.MorkCL/View/EditRecipeView.xaml

@@ -1,11 +1,11 @@
 <Window
     x:Class="BPASmartClient.MorkCL.View.EditRecipeView"
     xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
-    xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
     xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
     xmlns:Behaviors="http://schemas.microsoft.com/xaml/behaviors"
-    xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
     xmlns:converter="clr-namespace:BPASmartClient.MorkCL.Converter"
+    xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+    xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
     xmlns:vm="clr-namespace:BPASmartClient.MorkCL.ViewModel"
     Title="EditRecipeView"
     Width="900"
@@ -59,7 +59,8 @@
                         DockPanel.Dock="Left"
                         Text="配方名称：" />
                     <TextBox
-                        Width="100"
+                        Width="150"
+                        Height="35"
                         DockPanel.Dock="Left"
                         FontSize="18"
                         Foreground="DeepSkyBlue"
@@ -70,6 +71,7 @@
                         Text="菜品类型：" />
                     <ComboBox
                         Width="150"
+                        Height="35"
                         FontSize="18"
                         IsReadOnly="True"
                         ItemsSource="{Binding AllDishType}"
@@ -100,7 +102,7 @@
                     <RowDefinition Height="1*" />
                 </Grid.RowDefinitions>
                 <!--#region 表格标题栏设置-->
-                <Grid Margin="0,10,0,0" Background="#ff0C255F">
+                <Grid Margin="0,10,17,0" Background="#ff0C255F">
 
                     <Grid.ColumnDefinitions>
                         <ColumnDefinition Width="50" />
@@ -144,7 +146,7 @@
 
                 <!--#region 表格数据-->
                 <Grid Grid.Row="1">
-                    <ScrollViewer HorizontalScrollBarVisibility="Hidden" VerticalScrollBarVisibility="Hidden">
+                    <ScrollViewer HorizontalScrollBarVisibility="Hidden" VerticalScrollBarVisibility="Visible">
                         <ItemsControl
                             x:Name="contentControl"
                             AlternationCount="{Binding Functions.Count}"
@@ -174,6 +176,7 @@
 
                                         <Grid Grid.Column="1">
                                             <ComboBox
+                                                Height="30"
                                                 FontSize="18"
                                                 IsReadOnly="True"
                                                 ItemsSource="{Binding DataContext.AllFunc, RelativeSource={RelativeSource AncestorType=ItemsControl, Mode=FindAncestor}}"

BPASmartClient.MorkCL/View/ItemStorageView.xaml

@@ -8,8 +8,8 @@
     xmlns:pry="clr-namespace:BPASmartClient.CustomResource.UserControls;assembly=BPASmartClient.CustomResource"
     xmlns:vm="clr-namespace:BPASmartClient.MorkCL.ViewModel"
     Name="库位状态"
-    d:DesignHeight="450"
-    d:DesignWidth="800"
+    d:DesignHeight="900"
+    d:DesignWidth="1200"
     mc:Ignorable="d">
     <UserControl.DataContext>
         <vm:ItemStorageViewModel />
@@ -138,8 +138,15 @@
                     <UniformGrid
                         HorizontalAlignment="Center"
                         VerticalAlignment="Center"
-                        Columns="4"
-                        Rows="3" />
+                        Columns="3"
+                        Rows="4">
+                        <UniformGrid.LayoutTransform>
+                            <TransformGroup>
+                                <RotateTransform Angle="90" />
+                                <ScaleTransform ScaleX="-1" />
+                            </TransformGroup>
+                        </UniformGrid.LayoutTransform>
+                    </UniformGrid>
                 </ItemsPanelTemplate>
             </ItemsControl.ItemsPanel>
 
@@ -151,6 +158,12 @@
                                 <RowDefinition />
                                 <RowDefinition />
                             </Grid.RowDefinitions>
+                            <Grid.LayoutTransform>
+                                <TransformGroup>
+                                    <RotateTransform Angle="-90" />
+                                    <ScaleTransform ScaleX="1" ScaleY="-1" />
+                                </TransformGroup>
+                            </Grid.LayoutTransform>
 
                             <TextBlock
                                 Margin="0,0,0,25"

BPASmartClient.MorkCL/View/RecipeManageView.xaml

@@ -110,7 +110,7 @@
                 </Grid.RowDefinitions>
 
                 <!--#region 标题栏设置-->
-                <Grid Margin="0,10,0,0" Background="#ff0C255F">
+                <Grid Margin="0,10,17,0" Background="#ff0C255F">
 
                     <Grid.ColumnDefinitions>
                         <ColumnDefinition Width="200" />
@@ -172,7 +172,7 @@
 
                 <!--#region 表格数据显示设置-->
                 <Grid Grid.Row="1">
-                    <ScrollViewer HorizontalScrollBarVisibility="Hidden" VerticalScrollBarVisibility="Hidden">
+                    <ScrollViewer HorizontalScrollBarVisibility="Hidden" VerticalScrollBarVisibility="Visible">
                         <ItemsControl ItemsSource="{Binding Recipes}">
                             <ItemsControl.ItemTemplate>
                                 <DataTemplate>

BPASmartClient.MorkCL/View/Test.xaml

@@ -15,11 +15,119 @@
         <vm:testViewModel />
     </UserControl.DataContext>
 
-    <Grid>
+    <UserControl.Resources>
+        <ResourceDictionary>
+            <ResourceDictionary.MergedDictionaries>
+                <ResourceDictionary Source="/BPASmartClient.MorkCL;component/CustomStyle/CustomStyle.xaml" />
+            </ResourceDictionary.MergedDictionaries>
+            <Style TargetType="DataGridCell">
+                <Setter Property="FontSize" Value="16" />
+                <Setter Property="VerticalAlignment" Value="Center" />
+                <Setter Property="Background" Value="Transparent" />
+                <Setter Property="Foreground" Value="{StaticResource FontColor}" />
+                <Setter Property="BorderBrush" Value="{StaticResource bordColor}" />
+            </Style>
+            <Style TargetType="DataGridColumnHeader">
+                <Setter Property="FontSize" Value="22" />
+                <Setter Property="FontWeight" Value="Bold" />
+                <Setter Property="VerticalAlignment" Value="Center" />
+                <Setter Property="Background" Value="Transparent" />
+                <Setter Property="Foreground" Value="{StaticResource FontColor}" />
+                <Setter Property="BorderBrush" Value="{StaticResource TitleBorderColor}" />
+                <Setter Property="BorderThickness" Value="1" />
+            </Style>
+        </ResourceDictionary>
+    </UserControl.Resources>
+
+    <StackPanel Orientation="Vertical">
         <Button
             Width="100"
             Height="30"
             Command="{Binding testCommand}"
             Content="Init" />
-    </Grid>
+        <ListView Height="100" ItemsSource="{Binding TBS}">
+
+            <ListView.View>
+                <GridView>
+                    <GridView.Columns>
+                        <GridViewColumn Width="200">
+                            <GridViewColumn.CellTemplate>
+                                <DataTemplate>
+                                    <TextBlock Text="{Binding Id}" />
+                                </DataTemplate>
+                            </GridViewColumn.CellTemplate>
+                            <GridViewColumnHeader
+                                HorizontalContentAlignment="Center"
+                                Content="ID"
+                                IsHitTestVisible="False" />
+                        </GridViewColumn>
+
+                        <GridViewColumn Width="200">
+                            <GridViewColumn.CellTemplate>
+                                <DataTemplate>
+                                    <TextBlock Text="{Binding Name}" />
+                                </DataTemplate>
+                            </GridViewColumn.CellTemplate>
+                            <GridViewColumnHeader
+                                HorizontalContentAlignment="Center"
+                                Content="Name"
+                                IsHitTestVisible="False" />
+                        </GridViewColumn>
+
+                        <GridViewColumn Width="Auto">
+                            <GridViewColumn.CellTemplate>
+                                <DataTemplate>
+                                    <TextBlock Text="{Binding Description}" />
+                                </DataTemplate>
+                            </GridViewColumn.CellTemplate>
+                            <GridViewColumnHeader
+                                HorizontalContentAlignment="Center"
+                                Content="描述"
+                                IsHitTestVisible="False" />
+                        </GridViewColumn>
+
+                        <GridViewColumn Width="200">
+                            <GridViewColumn.CellTemplate>
+                                <DataTemplate>
+                                    <TextBlock Text="{Binding Loc}" />
+                                </DataTemplate>
+                            </GridViewColumn.CellTemplate>
+                            <GridViewColumnHeader
+                                HorizontalContentAlignment="Center"
+                                Content="位置"
+                                IsHitTestVisible="False" />
+                        </GridViewColumn>
+                    </GridView.Columns>
+                </GridView>
+            </ListView.View>
+
+        </ListView>
+        <DataGrid
+            AutoGenerateColumns="False"
+            CanUserAddRows="False"
+            CanUserDeleteRows="False"
+            CanUserReorderColumns="False"
+            CanUserResizeRows="False"
+            CanUserSortColumns="False"
+            ItemsSource="{Binding TBS}" Height="500" IsReadOnly="True" IsHitTestVisible="False">
+            <DataGrid.Columns>
+                <DataGridTextColumn Header="ID" Binding="{Binding Id}" Width="350">
+                    
+                </DataGridTextColumn>
+                
+                <DataGridTextColumn Header="名称" Binding="{Binding Name}" Width="70">
+                    
+                </DataGridTextColumn>
+                
+                <DataGridTextColumn Header="描述" Binding="{Binding Description}" Width="*">
+                    
+                </DataGridTextColumn>
+                
+                <DataGridTextColumn Header="位置" Binding="{Binding Loc}" Width="100">
+                    
+                </DataGridTextColumn>
+            </DataGrid.Columns>
+        </DataGrid>
+        
+    </StackPanel>
 </UserControl>

BPASmartClient.MorkCL/ViewModel/DebugViewModel.cs

@@ -0,0 +1,95 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkCL.ViewModel
+{
+    public class DebugViewModel : NotifyBase
+    {
+        private int heatGear;
+        private int agitaFrequency;
+
+        public DebugViewModel()
+        {
+
+        }
+
+
+        private int fryingPanSelect;
+        /// <summary>
+        /// 炒锅选择。
+        /// </summary>
+        public int FryingPanSelect
+        {
+            get { return fryingPanSelect; }
+            set { fryingPanSelect = value; OnPropertyChanged(); }
+        }
+        /// <summary>
+        /// 搅拌频率
+        /// </summary>
+        public int AgitaFrequency
+        {
+            get => agitaFrequency; set
+            {
+                if (value >= 50)
+                    agitaFrequency = 50;
+                else if (value <= 1)
+                    agitaFrequency = 1;
+                else
+                    agitaFrequency = value;
+                OnPropertyChanged();
+            }
+        }
+
+        /// <summary>
+        /// 加热档位
+        /// </summary>
+        public int HeatGear { get => heatGear; set {
+                
+                if (value>=8)
+                    heatGear = 8;
+                else if (value<=1)
+                    heatGear = 1;
+                else
+                    heatGear = value;
+                OnPropertyChanged(); } }
+       
+        private float weight;
+        /// <summary>
+        /// 下料重量
+        /// </summary>
+        public float Weight
+        {
+            get { return weight; }
+            set { weight = value; }
+        }
+
+        private int channelSelect;
+        /// <summary>
+        /// 下料通道选择。
+        /// </summary>
+        public int ChannelSelect
+        {
+            get { return channelSelect; }
+            set { channelSelect = value; OnPropertyChanged(); }
+        }
+
+        private int stirFryLocSelect;
+
+        public int StirFryLocSelect
+        {
+            get { return stirFryLocSelect; }
+            set { stirFryLocSelect = value;OnPropertyChanged(); }
+        }
+
+        public BPARelayCommand WriteAgitaParamCommand { get; set; }
+        public BPARelayCommand StartAgitateCommand { get; set; }
+        public BPARelayCommand StopAgitateCommand { get; set; }
+        public BPARelayCommand WriteHeatParamCommand { get; set; }
+        public BPARelayCommand StartHeatCommand { get; set; }
+        public BPARelayCommand StopHeatCommand { get; set; }
+        public BPARelayCommand ChannelCuttingCommand { get; set; }
+    }
+}

BPASmartClient.MorkCL/ViewModel/EditFunctionParamViewModel.cs

@@ -1,5 +1,6 @@
 using BPASmartClient.CustomResource.Pages.Model;
 using BPASmartClient.MorkCL.HelpClass;
+using BPASmartClient.MorkCL.Server;
 
 namespace BPASmartClient.MorkCL.ViewModel
 {
@@ -45,10 +46,24 @@ namespace BPASmartClient.MorkCL.ViewModel
                         MessageNotify.GetInstance.ShowDialog("请输入参数后再重试！", DialogType.Error);
                         return;
                     }
-                    if (item.ParValue is MaterialBase)
+                    if (item.IsUseComboBox)
                     {
-                        item.Id = ((MaterialBase)(item.ParValue)).Id;
+                        switch (FuncName)
+                        {
+                            case EFunc.添加调料:
+                                item.Id = SqliteHelper.GetInstance.GetSeasoning().FirstOrDefault(material => material.Name == item.ParValue.ToString()).Id;
+                                break;
+                            case EFunc.添加主料:
+                                item.Id = SqliteHelper.GetInstance.GetIngredients().FirstOrDefault(material => material.Name == item.ParValue.ToString()).Id;
+                                break;
+                            case EFunc.添加辅料:
+                                item.Id = SqliteHelper.GetInstance.GetAccessories().FirstOrDefault(material => material.Name == item.ParValue.ToString()).Id;
+                                break;
+                            default:
+                                break;
+                        }
                     }
+                    
                 }
                 //关闭视图窗口。
                 ActionManage.GetInstance.Send("CloseFuncParmEditView", true);

BPASmartClient.MorkCL/ViewModel/EditRecipeViewModel.cs

@@ -99,6 +99,19 @@ namespace BPASmartClient.MorkCL.ViewModel
                             break;
 
                         case EFunc.加热启动:
+                            if (int.TryParse(item.funcPars[0].ParValue?.ToString(), out int heatGear))
+                            {
+                                if (heatGear > 8 || heatGear <= 0)
+                                {
+                                    MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的加热档位限值1--8，请修改验证后重试！", DialogType.Error);
+                                    return;
+                                }
+                            }
+                            else
+                            {
+                                MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的加热档位不是整数，请修改验证后重试！", DialogType.Error);
+                                return;
+                            }
                             break;
 
                         case EFunc.加热停止:
@@ -148,10 +161,23 @@ namespace BPASmartClient.MorkCL.ViewModel
                         case EFunc.炒锅清洗:
                             break;
 
-                        case EFunc.炒锅回投料位置:
+                        case EFunc.炒锅回调料投料位置:
                             break;
 
                         case EFunc.去指定炒制位:
+                            if (int.TryParse(item.funcPars[0].ParValue?.ToString(), out int fryingPanLoc))
+                            {
+                                if (fryingPanLoc > 4 || fryingPanLoc <= 0)
+                                {
+                                    MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的设定炒制位限值1--4，请修改验证后重试！", DialogType.Error);
+                                    return;
+                                }
+                            }
+                            else
+                            {
+                                MessageNotify.GetInstance.ShowDialog($"{item.eFunc}功能的设定炒制不是整数，请修改验证后重试！", DialogType.Error);
+                                return;
+                            }
                             break;
 
                         case EFunc.炒制:

BPASmartClient.MorkCL/ViewModel/ItemStorageViewModel.cs

@@ -12,32 +12,41 @@ namespace BPASmartClient.MorkCL.ViewModel
             //加载读取数据。
             AddTestData();
 
-            IngredientsItorage = new ObservableCollection<ItemStorage>(Json<ItemStorageInfo>.Data.IngredientsStorage);
-            AccessoriesItorage = new ObservableCollection<ItemStorage>(Json<ItemStorageInfo>.Data.AccessoriesStorage);
-
-            //IngredientsItorage = new ObservableCollection<ItemStorage>(new ItemStorage[12]);
-            //AccessoriesItorage = new ObservableCollection<ItemStorage>(new ItemStorage[8]);
+            ActionManage.GetInstance.Register(() =>
+            {
+                IngredientsItorage = new ObservableCollection<ItemStorage>(Json<ItemStorageInfo>.Data.IngredientsStorage);
+                AccessoriesItorage = new ObservableCollection<ItemStorage>(Json<ItemStorageInfo>.Data.AccessoriesStorage);
+            },"RefreshItemStorage",true);
+            
 
             ActionManage.GetInstance.Register((() =>
             {
                 Ingredients = new ObservableCollection<IngredientsTB>(SqliteHelper.GetInstance.GetIngredients());
             }), "RefreshIngredients", true);
-            Ingredients = new ObservableCollection<IngredientsTB>(SqliteHelper.GetInstance.GetIngredients());
+            
 
-            //for (int i = 0; i < IngredientsItorage.Count; i++)
-            //{
-            //    IngredientsItorage[i]=new ItemStorage();
-            //}
 
-            //for (int i = 0; i < AccessoriesItorage.Count; i++)
-            //{
-            //    AccessoriesItorage[i] = new ItemStorage();
-            //}
+            ActionManage.GetInstance.Register((object o) =>
+            {
+                if (o!=null)
+                {
+#if !FORMAL
+                   // ScaleCurrentWeight = (float)o;
+#else
+                    ScaleCurrentWeight = 1.23f;
+#endif
+                }
+            }, "SendCurrentWeight");
+
+            //实例化时调用一次，更新数据。
+            ActionManage.GetInstance.Send("RefreshItemStorage");
+            ActionManage.GetInstance.Send("RefreshIngredients");
 
             InStorageCommand = new BPARelayCommand<object>((o) =>
             {
                 if (o != null && o is IngredientsTB ingredients)
                 {
+                    
                     foreach (ItemStorage item in IngredientsItorage)
                     {
                         if (item.IsEmploy == false)
@@ -46,8 +55,10 @@ namespace BPASmartClient.MorkCL.ViewModel
                             item.Name = ingredients.Name;
                             item.IsEmploy = true;
                             item.Weight = ScaleCurrentWeight;
+                            ActionManage.GetInstance.Send("ItemStorage", IngredientsItorage.IndexOf(item)+1);
                             Json<ItemStorageInfo>.Data.IngredientsStorage = IngredientsItorage.ToArray();
                             Json<ItemStorageInfo>.Save();
+                            
                             NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, Application.Current.MainWindow, "入库成功", $"物料{ingredients.Name}入库成功。");
                             return;
                         }

BPASmartClient.MorkCL/ViewModel/RecipeManageViewModel.cs

@@ -1,6 +1,8 @@
-using BPASmartClient.CustomResource.Pages.Model;
+using BPA.Message;
+using BPASmartClient.CustomResource.Pages.Model;
 using BPASmartClient.CustomResource.UserControls.MessageShow;
 using BPASmartClient.MorkCL.Model.Json;
+using Newtonsoft.Json;
 
 namespace BPASmartClient.MorkCL.ViewModel
 {
@@ -51,9 +53,12 @@ namespace BPASmartClient.MorkCL.ViewModel
                 //参数为ControlData，可能需要转换。
                 if (MessageNotify.GetInstance.ShowDialog("请确认，是否下发订单？"))
                 {
-                    if (o != null && o is ControlData data)
+                    if (o != null && o is ControlData)
                     {
-                        ActionManage.GetInstance.Send(NotifyTopic.FormulaDistribution, o);
+                        var jsonString = o.ToJSON();
+                        var data= JsonConvert.DeserializeObject<ControlData>(jsonString);
+
+                        ActionManage.GetInstance.Send(NotifyTopic.FormulaDistribution, data);
                         NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, Application.Current.MainWindow, "提示", $"下发订单{data.Name}成功！");
                     }
                 }

BPASmartClient.MorkCL/ViewModel/testViewModel.cs

@@ -1,4 +1,6 @@
-using SqlSugar;
+using BPASmartClient.MorkCL.Model.DB;
+using BPASmartClient.MorkCL.Server;
+using SqlSugar;
 
 namespace BPASmartClient.MorkCL.ViewModel
 {
@@ -6,8 +8,14 @@ namespace BPASmartClient.MorkCL.ViewModel
     {
         public testViewModel()
         {
+
+            TBS = new(SqliteHelper.GetInstance.GetAccessories());
+
+
             testCommand = new BPARelayCommand(() =>
             {
+
+
                 ControlData cd = new ControlData();
                 cd.Name = "莲白回锅";
                 cd.DeviceType = EDeviceType.炒锅1;
@@ -160,5 +168,7 @@ namespace BPASmartClient.MorkCL.ViewModel
         }
 
         public BPARelayCommand testCommand { get; set; }
+
+        public ObservableCollection<AccessoriesTB>  TBS { get; set; }
     }
 }

DosingSystem/Model/DeviceInquire.cs

@@ -401,12 +401,11 @@ namespace BPASmartClient.DosingSystem
 
         public void StatusReset()
         {
-       // prop1:
+      //  prop1:
             this.modbusTcp.Write(DeviceAddress.FinfishStatus.ToAdd(), (ushort)1);
+            //MessageNotify.GetInstance.ShowRunLog($"料仓复位,值：{1}");
             //var value = this.modbusTcp.Read<ushort>(DeviceAddress.FinfishStatus.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
             //if (value != null && value.ToString() != 1.ToString()) goto prop1;
-            //MessageNotify.GetInstance.ShowRunLog($"料仓复位,值：{this.modbusTcp.Read<ushort>(DeviceAddress.FinfishStatus.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content}");
-            
         }
 
         public void Dispose()
@@ -421,67 +420,112 @@ namespace BPASmartClient.DosingSystem
                 var res = Json<DevicePar>.Data.deviceParModels.FirstOrDefault(p => p.MaterialName == DeviceName);
                 if (res != null)
                 {
+                    //modbusTcp.Write(DeviceAddress.SlowlyAddWeight.ToAdd(), res.SlowlyAddWeight);
+
+                    //modbusTcp.Write(DeviceAddress.PreCloseValveWeight.ToAdd(), res.PreCloseValveWeight);
+                    //modbusTcp.Write(DeviceAddress.RapidAcceleration.ToAdd(), (uint)res.RapidAcceleration);
+                    //modbusTcp.Write(DeviceAddress.SlowAcceleration.ToAdd(), (uint)res.SlowAcceleration);
+                    //modbusTcp.Write(DeviceAddress.ServoManualSpeed.ToAdd(), (uint)res.ServoManualSpeed);
+                    //modbusTcp.Write(DeviceAddress.SiloUpperLimitWeight.ToAdd(), (uint)res.SiloUpperLimitWeight);
+                    //modbusTcp.Write(DeviceAddress.LowerLimitWeightOfSilo.ToAdd(), (uint)res.LowerLimitWeightOfSilo);
+                    //modbusTcp.Write(DeviceAddress.StirringSpeed.ToAdd(), (uint)res.StirringSpeed);
+                   
+                    //MessageNotify.GetInstance.ShowRunLog($"{res.MaterialName},配料参数下发完成");
+
+                prop1:
                     modbusTcp.Write(DeviceAddress.SlowlyAddWeight.ToAdd(), res.SlowlyAddWeight);
-
+                    MessageNotify.GetInstance.ShowRunLog($"{DeviceName},设置慢加重量：{res.SlowlyAddWeight}");
+                    var value1 = modbusTcp.Read<float>(DeviceAddress.SlowlyAddWeight.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
+                    if (value1 != null && value1.ToString() != res.SlowlyAddWeight.ToString()) goto prop1;
+                    prop2:
                     modbusTcp.Write(DeviceAddress.PreCloseValveWeight.ToAdd(), res.PreCloseValveWeight);
+                    MessageNotify.GetInstance.ShowRunLog($"{DeviceName},设置提前关阀重量：{res.PreCloseValveWeight}");
+                    var value2 = modbusTcp.Read<float>(DeviceAddress.PreCloseValveWeight.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
+                    if (value2 != null && value2.ToString() != res.PreCloseValveWeight.ToString()) goto prop2;
+                    prop3:
                     modbusTcp.Write(DeviceAddress.RapidAcceleration.ToAdd(), (uint)res.RapidAcceleration);
+                    MessageNotify.GetInstance.ShowRunLog($"{DeviceName},设置快加速度：{res.RapidAcceleration}");
+                    var value3 = modbusTcp.Read<uint>(DeviceAddress.RapidAcceleration.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
+                    if (value3 != null && value3.ToString() != res.RapidAcceleration.ToString()) goto prop3;
+                    prop4:
                     modbusTcp.Write(DeviceAddress.SlowAcceleration.ToAdd(), (uint)res.SlowAcceleration);
+                    MessageNotify.GetInstance.ShowRunLog($"{DeviceName},设置慢加速度：{res.SlowAcceleration}");
+                    var value4 = modbusTcp.Read<uint>(DeviceAddress.SlowAcceleration.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
+                    if (value4 != null && value4.ToString() != res.SlowAcceleration.ToString()) goto prop4;
+                    prop5:
                     modbusTcp.Write(DeviceAddress.ServoManualSpeed.ToAdd(), (uint)res.ServoManualSpeed);
+                    MessageNotify.GetInstance.ShowRunLog($"{DeviceName},设置伺服手动速度：{res.ServoManualSpeed}");
+                    var value5 = modbusTcp.Read<uint>(DeviceAddress.ServoManualSpeed.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
+                    if (value5 != null && value5.ToString() != res.ServoManualSpeed.ToString()) goto prop5;
+
+                    prop6:
                     modbusTcp.Write(DeviceAddress.SiloUpperLimitWeight.ToAdd(), (uint)res.SiloUpperLimitWeight);
+                    MessageNotify.GetInstance.ShowRunLog($"{DeviceName},设置料仓上限重量：{res.SiloUpperLimitWeight}");
+                    var value6 = modbusTcp.Read<uint>(DeviceAddress.SiloUpperLimitWeight.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
+                    if (value6 != null && value6.ToString() != res.SiloUpperLimitWeight.ToString()) goto prop6;
+                    prop7:
                     modbusTcp.Write(DeviceAddress.LowerLimitWeightOfSilo.ToAdd(), (uint)res.LowerLimitWeightOfSilo);
+                    MessageNotify.GetInstance.ShowRunLog($"{DeviceName},设置料仓下限重量：{res.LowerLimitWeightOfSilo}");
+                    var value7 = modbusTcp.Read<uint>(DeviceAddress.LowerLimitWeightOfSilo.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
+                    if ((value7 != null && value7.ToString() != res.LowerLimitWeightOfSilo.ToString())) goto prop7;
+                    prop8:
                     modbusTcp.Write(DeviceAddress.StirringSpeed.ToAdd(), (uint)res.StirringSpeed);
-                   // MessageNotify.GetInstance.ShowRunLog($"当前下发重量：{res.SlowlyAddWeight}:{modbusTcp.Read<float>(DeviceAddress.SlowlyAddWeight.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content}");
+                    MessageNotify.GetInstance.ShowRunLog($"{DeviceName},设置搅拌速度：{res.StirringSpeed}");
+                    var value8 = modbusTcp.Read<uint>(DeviceAddress.StirringSpeed.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
+                    if (value8 != null && value8.ToString() != res.StirringSpeed.ToString()) goto prop8;
                     MessageNotify.GetInstance.ShowRunLog($"{res.MaterialName},配料参数下发完成");
-
-                //prop1:
-                //    modbusTcp.Write(DeviceAddress.SlowlyAddWeight.ToAdd(), res.SlowlyAddWeight);
-                //    var value1 = modbusTcp.Read<float>(DeviceAddress.SlowlyAddWeight.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
-                //    if (value1 != null && value1.ToString() != res.SlowlyAddWeight.ToString()) goto prop1;
-                //    prop2:
-                //    modbusTcp.Write(DeviceAddress.PreCloseValveWeight.ToAdd(), res.PreCloseValveWeight);
-                //    var value2 = modbusTcp.Read<float>(DeviceAddress.PreCloseValveWeight.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
-                //    if (value2 != null && value2.ToString() != res.PreCloseValveWeight.ToString()) goto prop2;
-                //    prop3:
-                //    modbusTcp.Write(DeviceAddress.RapidAcceleration.ToAdd(), (uint)res.RapidAcceleration);
-                //    var value3 = modbusTcp.Read<uint>(DeviceAddress.RapidAcceleration.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
-                //    if (value3 != null && value3.ToString() != res.RapidAcceleration.ToString()) goto prop3;
-                //    prop4:
-                //    modbusTcp.Write(DeviceAddress.SlowAcceleration.ToAdd(), (uint)res.SlowAcceleration);
-                //    var value4 = modbusTcp.Read<uint>(DeviceAddress.SlowAcceleration.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
-                //    if (value4 != null && value4.ToString() != res.SlowAcceleration.ToString()) goto prop4;
-                //    prop5:
-                //    modbusTcp.Write(DeviceAddress.ServoManualSpeed.ToAdd(), (uint)res.ServoManualSpeed);
-                //    var value5 = modbusTcp.Read<uint>(DeviceAddress.ServoManualSpeed.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
-                //    if (value5 != null && value5.ToString() != res.ServoManualSpeed.ToString()) goto prop5;
-
-                //    prop6:
-                //    modbusTcp.Write(DeviceAddress.SiloUpperLimitWeight.ToAdd(), (uint)res.SiloUpperLimitWeight);
-                //    var value6 = modbusTcp.Read<uint>(DeviceAddress.SiloUpperLimitWeight.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
-                //    if (value6 != null && value6.ToString() != res.SiloUpperLimitWeight.ToString()) goto prop6;
-                //    prop7:
-                //    modbusTcp.Write(DeviceAddress.LowerLimitWeightOfSilo.ToAdd(), (uint)res.LowerLimitWeightOfSilo);
-                //    var value7 = modbusTcp.Read<uint>(DeviceAddress.LowerLimitWeightOfSilo.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
-                //    if ((value7 != null && value7.ToString() != res.LowerLimitWeightOfSilo.ToString())) goto prop7;
-                //    prop8:
-                //    modbusTcp.Write(DeviceAddress.StirringSpeed.ToAdd(), (uint)res.StirringSpeed);
-                //    var value8 = modbusTcp.Read<uint>(DeviceAddress.StirringSpeed.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
-                //    if (value8 != null && value8.ToString() != res.StirringSpeed.ToString()) goto prop8;
-                 //   MessageNotify.GetInstance.ShowRunLog($"{res.MaterialName},配料参数下发完成");
                 }
             prop9:
-                //modbusTcp.Write(DeviceAddress.WeightSet.ToAdd(), Value);//写入配方重量
-                //var value9 = modbusTcp.Read<float>(DeviceAddress.WeightSet.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
-                //if ((value9 != null && value9.ToString() != Value.ToString()) || value9 == 0) goto prop9;
+                modbusTcp.Write(DeviceAddress.WeightSet.ToAdd(), Value);//写入配方重量
+                MessageNotify.GetInstance.ShowRunLog($"{DeviceName},设置重量：{Value}");
+
+               var value9 = modbusTcp.Read<float>(DeviceAddress.WeightSet.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
+                if ((value9 != null && value9.ToString() != Value.ToString()) || value9 == 0) goto prop9;
                 //prop10:
                 //MessageNotify.GetInstance.ShowRunLog($"写入配方重量，值{Value}:{value9}");
                 //modbusTcp.Write(DeviceAddress.Start.ToAdd(), (ushort)1);//设备启动写入
                 //var value10 = modbusTcp.Read<ushort>(DeviceAddress.Start.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
                 //if ((value10 != null && value10.ToString() != 1.ToString())||value10==0) goto prop10;
-                modbusTcp.Write(DeviceAddress.WeightSet.ToAdd(), Value);//写入配方重量
+                //modbusTcp.Write(DeviceAddress.WeightSet.ToAdd(), Value);//写入配方重量
                 modbusTcp.Write(DeviceAddress.Start.ToAdd(), (ushort)1);//设备启动写入
-                MessageNotify.GetInstance.ShowRunLog($"设备启动写入，值1:{Value}");
+                Task.Run(() =>
+                {
+                    while (true)
+                    {
+                        ushort c = modbusTcp.Read<ushort>(DeviceAddress.DeviceAlarmCode.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content;
+                        MessageNotify.GetInstance.ShowRunLog($"{IpAddress}:LW51,值：{modbusTcp.Read<ushort>(DeviceAddress.DeviceAlarmCode.ToAdd(), 1, BPA.Helper.DataFormat.CDAB).Content}");
+                        string str = DecToBinary(c);
+                        if (str[8].ToString() == 0.ToString())
+                        {
+                            modbusTcp.Write(DeviceAddress.Start.ToAdd(), (ushort)1);//设备启动写入
+                        }
+                        else
+                            return;
+                    }
+
+
+                });
+             
                 MessageNotify.GetInstance.ShowRunLog($"{DeviceName},设置重量：{Value}，味魔方启动配料");
             }
         }
+        static string DecToBinary(int a)
+        {
+            int r;
+            string s = "";
+            do
+            {
+                r = a % 2;
+                a /= 2;
+                s = r + s;
+            }
+            while (a != 0);
+            int length = s.Length;
+            for (int i = 0; i < 16 - length; i++)
+            {
+                s = 0 + s;
+            }
+            return s;
+        }
     }
 }

DosingSystem/ViewModel/RecipeControlViewModel.cs

@@ -19,11 +19,13 @@ using System.Data.SqlClient;
 using S7.Net.Types;
 using BPA.Communication;
 using BPASmartClient.DosingSystem.Model;
+using System.Security.Cryptography;
 
 namespace BPASmartClient.DosingSystem.ViewModel
 {
     public class RecipeControlViewModel : NotifyBase
     {
+        int ComCount = 0;//配料完成计数
         static ConcurrentQueue<string> RecipeNames = new ConcurrentQueue<string>();
         static ObservableCollection<StockStatusModel> StockStatus = new ObservableCollection<StockStatusModel>();
         public RecipeControlViewModel()
@@ -160,7 +162,7 @@ namespace BPASmartClient.DosingSystem.ViewModel
                                                 if ((values != null && values.ToString() != (item + item1).ToString()) || values == null)
                                                     goto prop1;
                                                 if (RE.IsSuccess)
-                                                    MessageNotify.GetInstance.ShowRunLog($"下发配方DB4.DBD{2 + (tempDevice.DeviceNum - 1) * 4} :{(byte)tInfo.ElementAt(i).ElementAt(m).Loc}-{item+item1}-{(item+item1).ToBinString()}");
+                                                    MessageNotify.GetInstance.ShowRunLog($"下发配方DB4.DBD{2 + (tempDevice.DeviceNum - 1) * 4} :{(byte)tInfo.ElementAt(i).ElementAt(m).Loc}-{item + item1}-{(item + item1).ToBinString()}");
                                                 else
                                                     MessageNotify.GetInstance.ShowRunLog($"下发配方DB4.DBD{2 + (tempDevice.DeviceNum - 1) * 4} 失败");
                                             }
@@ -294,7 +296,8 @@ namespace BPASmartClient.DosingSystem.ViewModel
                 Thread.Sleep(100);
             }), "启动配方下发", true);
         }
-        int ComCount = 0;
+    
+   
         /// <summary>
         /// 配方执行状态监听
         /// </summary>
@@ -727,7 +730,7 @@ namespace BPASmartClient.DosingSystem.ViewModel
                         //设备状态显示
                         if (Recipes.ElementAt(i).RecipeName == CurrentRecipeName)
                         {
-                             string tempRawMaterialName = DeviceInquire.GetInstance.GetDevice(Recipes.ElementAt(i).RawMaterials.ElementAt(m).DeviceIp).DeviceName;
+                            string tempRawMaterialName = DeviceInquire.GetInstance.GetDevice(Recipes.ElementAt(i).RawMaterials.ElementAt(m).DeviceIp).DeviceName;
                             int recIndex = recipeProcesses.ToList().FindIndex(p => p.RecipeName == CurrentRecipeName);
                             if (recIndex >= 0 && recIndex < recipeProcesses.Count)
                             {
@@ -735,9 +738,12 @@ namespace BPASmartClient.DosingSystem.ViewModel
 
                                 if (index >= 0 && index < recipeProcesses.ElementAt(recIndex).RawMaterials.Count)
                                 {
+
                                     //测试使用
                                     recipeProcesses.ElementAt(recIndex).RawMaterials.ElementAt(index).RecipeStatus = RunStatus;
 
+
+
                                 }
                                 for (int j = 0; j < GlobalDevice.PlcData.IsAllowIngredients.Length; j++)
                                 {
@@ -778,13 +784,12 @@ namespace BPASmartClient.DosingSystem.ViewModel
                                             if (DeviceNum > 0)
                                             {
                                                 float weight = Recipes.ElementAt(i).RawMaterials.ElementAt(Location1).RawMaterialWeight;
-                                                //测试
-                                               // int loc1 = Array.FindIndex(recipeProcesses.ElementAt(recIndex).RawMaterials.ToArray(),p=>p.RawMaterialName==RawName&&p.RecipeStatus==1);
+                                               
                                                 int loc = Array.FindIndex(Recipes.ElementAt(i).RawMaterials.ToArray(), p => (p.RawMaterialName == RawName));
                                                 if (loc >= 0 && RawName != null && weight >= 0)
                                                 {
                                                     int St_index = Array.FindIndex(StockStatus.ToArray(), p => p.MaterialName == RawName);
-                                                   // int materialCount = recipeProcesses.ElementAt(recIndex).RawMaterials.Where(p => p.RawMaterialName == RawName).Count();
+                                                    // int materialCount = recipeProcesses.ElementAt(recIndex).RawMaterials.Where(p => p.RawMaterialName == RawName).Count();
                                                     if (St_index < 0) //|| (StockStatus.Count < materialCount && St_index > 0)
                                                     {
                                                         StockStatus.Add(new StockStatusModel()
@@ -794,16 +799,17 @@ namespace BPASmartClient.DosingSystem.ViewModel
                                                             IssueStatus = 0,
                                                         });
                                                     }
-                                                    St_index = Array.FindIndex(StockStatus.ToArray(), p => p.MaterialName == RawName );//&& p.IssueStatus == 0)
+                                                    St_index = Array.FindIndex(StockStatus.ToArray(), p => p.MaterialName == RawName);//&& p.IssueStatus == 0)
 
                                                     //  int St_index1 = Array.FindIndex(StockStatus.ToArray(), p => (p.MaterialName == RawName && p.IssueStatus == 1));
                                                     if (St_index >= 0)
                                                     {
+
                                                         if (RTrig.GetInstance($"ac{j}-{St_index}").Start(GlobalDevice.PlcData.IsAllowIngredients[j]))
                                                         {
                                                             MessageNotify.GetInstance.ShowRunLog($"{St_index}-{j}--》允许配料");
                                                             if (StockStatus.ElementAt(St_index).IssueStatus == 2)
-                                                            { 
+                                                            {
                                                                 StockStatus.ElementAt(St_index).IssueStatus = 0;
                                                                 MessageNotify.GetInstance.ShowRunLog($"{St_index}-复位");
                                                             }
@@ -811,36 +817,51 @@ namespace BPASmartClient.DosingSystem.ViewModel
                                                         var rrr = DeviceInquire.GetInstance.GetDevice(Recipes.ElementAt(i).RawMaterials.ElementAt(loc).DeviceIp).deviceStatus.RunStatus;
                                                         if ((recipeProcesses.ElementAt(recIndex).RawMaterials.ElementAt(loc).RecipeStatus == 1 && StockStatus.ElementAt(St_index).IssueStatus == 0))// 
                                                         {
+
                                                             StockStatus.ElementAt(St_index).IssueStatus = 1;
                                                             DeviceInquire.GetInstance.GetDevice(Recipes.ElementAt(i).RawMaterials.ElementAt(loc).DeviceIp).Start(weight);
-                                                          
+                                                            var res = recipeProcesses.ElementAt(recIndex).RawMaterials.FirstOrDefault(p => p.Status !=Status.正在配料 &&p.Status!=Status.配料完成&& p.RawMaterialName == tempRawMaterialName && p.Loc == j + 1);
+                                                            if (res != null)
+                                                                res.Status = Status.正在配料;
+                                                         
                                                             MessageNotify.GetInstance.ShowRunLog($"设备执行状态：{rrr}");
                                                             MessageNotify.GetInstance.ShowRunLog($"柔性味魔方{Recipes.ElementAt(i).RawMaterials.ElementAt(loc).DeviceIp},开始出料");
                                                         }
                                                         if (recipeProcesses.ElementAt(recIndex).RawMaterials.ElementAt(loc).RecipeStatus == 3 && StockStatus.ElementAt(St_index).IssueStatus == 1)
                                                         {
                                                             //GlobalDevice.PlcData.IsAllowIngredients[j] = false;//测试使用
-                                                           
+
                                                             ComCount++;
                                                             StockStatus.ElementAt(St_index).IssueStatus = 2;
                                                             DeviceInquire.GetInstance.GetDevice(Recipes.ElementAt(i).RawMaterials.ElementAt(loc).DeviceIp).StatusReset();
                                                             //int a = 0.SetBitValue((byte)(DeviceNum), true);
                                                             //byte[] test1 = a.ToBytes(BPA.Helper.DataFormat.BADC);
                                                             //int item = test1.ToInt();
-                                                        //prop1:
-                                                               // SiemensDevice.GetInstance.MySiemens.Write("DB4.DBD130", item);
-                                                            SiemensDevice.GetInstance.MySiemens.Write($"DB4.DBX130.{DeviceNum - 1}", true).OnSuccess(() =>
+                                                            //prop1:
+                                                            // SiemensDevice.GetInstance.MySiemens.Write("DB4.DBD130", item);
+                                                            SiemensDevice.GetInstance.MySiemens.Write($"DB4.DBX130.{DeviceNum - 1}", true);
+                                                            Task.Run(() =>
                                                             {
-                                                                MessageNotify.GetInstance.ShowRunLog($"设备完成信号写入成功！DB4.DBX130.{{DeviceNum - 1}}:true\"");
-                                                            }).OnFail(s =>
-                                                            {
-                                                                MessageNotify.GetInstance.ShowRunLog($"设备完成信号写入失败！{s}");
-                                                            }); 
+                                                                int cout = DeviceNum - 1;
+                                                                while (!SiemensDevice.GetInstance.MySiemens.Read<bool>($"DB3.DBX148.{cout}").Content)  //DB3.DBX148.0-31   148.0-148.5代表6个料仓位置
+                                                                {
+                                                                    SiemensDevice.GetInstance.MySiemens.Write($"DB4.DBX130.{cout}", true);
+                                                                    Thread.Sleep(200);
+                                                                }
+                                                                while (SiemensDevice.GetInstance.MySiemens.Read<bool>($"DB3.DBX148.{cout}").Content)
+                                                                {
+                                                                    SiemensDevice.GetInstance.MySiemens.Write($"DB4.DBX130.{cout}", false);
+                                                                }
+                                                                MessageNotify.GetInstance.ShowRunLog($"{cout}号气缸复位信号写入成功！");
+                                                            });
+                                                            var res = recipeProcesses.ElementAt(recIndex).RawMaterials.FirstOrDefault(p => p.Status != Status.配料完成 && p.RawMaterialName == tempRawMaterialName && p.Loc == j + 1);
+                                                            if (res != null)
+                                                                res.Status = Status.配料完成;
                                                             //var values = SiemensDevice.GetInstance.MySiemens.Read<int>("DB4.DBD130").Content;
                                                             //if ((values != null && values.ToString() != item.ToString()) || values == null)
                                                             //    goto prop1;
 
-                                                         
+
                                                             //SiemensDevice.GetInstance.MySiemens.Write("DB4.DBD130", true).OnSuccess(() =>
                                                             //{
                                                             //    MessageNotify.GetInstance.ShowRunLog($"设备完成信号写入成功！");
@@ -848,11 +869,10 @@ namespace BPASmartClient.DosingSystem.ViewModel
                                                             //{
                                                             //    MessageNotify.GetInstance.ShowRunLog($"设备完成信号写入失败！{s}");
                                                             //});
-                                                            //MessageNotify.GetInstance.ShowRunLog($"{res}");
+
                                                             MessageNotify.GetInstance.ShowRunLog($"设备完成执行状态：{rrr}");
-                                                            MessageNotify.GetInstance.ShowRunLog($"DB4.DBD130:{item.ToBinString()}");
                                                             MessageNotify.GetInstance.ShowRunLog($"柔性味魔方{Recipes.ElementAt(i).RawMaterials.ElementAt(loc).DeviceIp},出料完成，状态复位");
-                                                           
+
                                                         }
 
                                                         //测试
@@ -972,7 +992,7 @@ namespace BPASmartClient.DosingSystem.ViewModel
                                         //                    });
                                         //                }
                                         //                St_index = Array.FindIndex(StockStatus.ToArray(), p => p.MaterialName == RawName);
-                                                      
+
                                         //                if (St_index >= 0)
                                         //                {
                                         //                    if (RTrig.GetInstance($"ac{j}").Start(GlobalDevice.PlcData.IsAllowIngredients[j]))
@@ -1146,9 +1166,18 @@ namespace BPASmartClient.DosingSystem.ViewModel
                                 }
                                 //int Finish_Count = StockStatus.Where(s => s.IssueStatus == 2).Count();
                                 //int Finish_Count = recipeProcesses.ElementAt(recIndex).RawMaterials.Where(p => p.RecipeStatus == 3).Count();
-                                if ( ComCount >= Recipes.ElementAt(i).RawMaterials.Count) //配方配料完成 StockStatus.Count >= Recipes.ElementAt(i).RawMaterials.Count &&
+                                if (ComCount >= Recipes.ElementAt(i).RawMaterials.Count) //配方配料完成 StockStatus.Count >= Recipes.ElementAt(i).RawMaterials.Count &&
                                 {
+                                    int cc = recipeProcesses.ElementAt(recIndex).RawMaterials.OrderBy(p => p.RawMaterialName).Count();
+                                    for (int k = 0; k < 32; k++)
+                                    {
+                                        for (int l = 0; l < cc; l++)
+                                        {
+                                            RTrig.GetInstance($"ac{k}-{l}").Start(false);
+                                        }
+                                    }
                                     ComCount = 0;
+
                                     StockStatus.Clear();
                                     MessageNotify.GetInstance.ShowUserLog($"配方:{recipeProcesses.ElementAt(recIndex).RecipeName},配料完成");
                                     foreach (var item in recipeProcesses.ElementAt(recIndex).RawMaterials)