Morkf

BPASmartClient.Business/Plugin/MQTTMgr.cs

@@ -64,7 +64,7 @@ namespace BPASmartClient.Business
             string deviceId =  deviceConfig[0].deviceModels[0].DeviceId;
             clientId = Plugin.GetInstance().GetPlugin<ConfigMgr>().ClientId;
             //MQTT 初始化
-            mqttProxy.Connect(MqttServerAccount.UserName, MqttServerAccount.Password, MqttServerConfig.Host, MqttServerConfig.Port, "ClientId:" + clientId + "DeviceId:" + deviceId + Guid.NewGuid().ToString());
+                mqttProxy.Connect(MqttServerAccount.UserName, MqttServerAccount.Password, MqttServerConfig.Host, MqttServerConfig.Port, "ClientId:" + clientId + "DeviceId:" + deviceId + Guid.NewGuid().ToString());
 
             ThreadManage.GetInstance().Start(() =>
             {

BPASmartClient.Modbus/ModbusTcp.cs

@@ -118,7 +118,15 @@ namespace BPASmartClient.Modbus
             if (address.Length > 0)
             {
                 address = address.Trim();
-                if (address.ToUpper().Contains("M") && address.Length >= 4)
+                if (address.ToUpper().Contains("GM") && address.Length >= 3)
+                {
+                    var res = address.Remove(0, 2);
+                    if (res != null && res.Length > 0)
+                    {
+                        return int.Parse(res) + 4096;
+                    }
+                }
+                else if (address.ToUpper().Contains("M") && address.Length >= 4)
                 {
                     var res = address.Substring(1).Split('.');
                     if (res != null && res.Length == 2)
@@ -132,15 +140,7 @@ namespace BPASmartClient.Modbus
                         }
                     }
                 }
-                else if (address.ToUpper().Contains("GM") && address.Length >= 3)
-                {
-                    var res = address.Remove(0,2);
-                    if (res != null && res.Length > 0) 
-                    {
-                        return int.Parse(res) + 4096;
-                    }
-                }
-
+              
                 else if (address.ToUpper().Contains("GI") && address.Length >= 3)
                 {
                     var res = address.Remove(0, 2);

BPASmartClient.MorkBF/BPASmartClient.MorkBF.csproj

@@ -11,7 +11,15 @@
   </ItemGroup>
 
   <ItemGroup>
+    <ProjectReference Include="..\BPASmartClient.Business\BPASmartClient.Business.csproj" />
     <ProjectReference Include="..\BPASmartClient.Device\BPASmartClient.Device.csproj" />
   </ItemGroup>
 
+  <ItemGroup>
+    <Page Update="VIew\Monitor.xaml">
+      <XamlRuntime>$(DefaultXamlRuntime)</XamlRuntime>
+      <SubType>Designer</SubType>
+    </Page>
+  </ItemGroup>
+
 </Project>

BPASmartClient.MorkBF/Control_MorkBF.cs

@@ -3,6 +3,7 @@ using BPASmartClient.Device;
 using BPASmartClient.EventBus;
 using BPASmartClient.Helper;
 using BPASmartClient.Model;
+using BPASmartClient.MorkBF.ViewModel;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -21,8 +22,8 @@ namespace BPASmartClient.MorkBF
 
         public override void DoMain()
         {
-            
 
+            MonitorViewModel.DeviceId = DeviceId;
             CommandRegist();//调试
             ServerInit();
             DataParse();//数据解析
@@ -115,7 +116,7 @@ namespace BPASmartClient.MorkBF
             ActionManage.GetInstance.Register(RobotProgramStart, "RobotProgramStart");//程序启动
             ActionManage.GetInstance.Register(Robot_Pot1AllowInMaterail, "Robot_Pot1AllowInMaterail");//1号炒锅允许机器人投料
             ActionManage.GetInstance.Register(Robot_Pot1OutFoodInSlowDown, "Robot_Pot1OutFoodInSlowDown");//1号炒锅出餐倒料到减速位
-            ActionManage.GetInstance.Register(Robot_Pot1OutFoodInSlowDown, "Robot_Pot1OutFoodInSlowDown");//1号炒锅出餐倒料完成
+            ActionManage.GetInstance.Register(Robot_Pot1OutFood, "Robot_Pot1OutFoodInSlowDown");//1号炒锅出餐倒料完成
             ActionManage.GetInstance.Register(Robot_Pot2AllowInMaterail, "Robot_Pot2AllowInMaterail");//2号炒锅允许机器人投料
             ActionManage.GetInstance.Register(Robot_Pot2OutFoodInSlowDown, "Robot_Pot2OutFoodInSlowDown");//2号炒锅出餐倒料到减速位
             ActionManage.GetInstance.Register(Robot_Pot2OutFood, "Robot_Pot2OutFood");//2号炒锅出餐倒料完成
@@ -163,7 +164,122 @@ namespace BPASmartClient.MorkBF
 
         public override void ReadData()
         {
-            
+            GetStatus("M20.0",new Action<object>((o)=>
+            {
+                if (o == null) return;
+                if(o is bool[] values&&values.Length == 19)
+                {
+                    morkBF.FirePot1_InitCompleted = values[0];
+                    morkBF.FirePot1_IsAuto = values[1];
+                    morkBF.FirePot1_Emergencystop = values[2];
+                    morkBF.FirePot1_MealTubExist = values[3];
+                    morkBF.FirePot1_VegetablesTub1Exist = values[4];
+                    morkBF.FirePot1_VegetablesTub2Exist = values[5];
+                    morkBF.FirePot1_Seasoning1Exist = values[6];
+                    morkBF.FirePot1_Seasoning2Exist = values[7];
+                    morkBF.FirePot1_Accessories1Exist = values[8];
+                    morkBF.FirePot1_Accessories2Exist = values[9];
+                    morkBF.FirePot1_OutFoodTubExist = values[10];
+                    morkBF.FirePot1_OnOrigin = values[11];
+                    morkBF.FirePot1_FirePosition1 = values[12];
+                    morkBF.FirePot1_FirePosition2 = values[13];
+                    morkBF.FirePot1_FirePosition3 = values[14];
+                    morkBF.FirePot1_FirePosition4 = values[15];
+                    morkBF.FirePot1_PotOnOutFoodPosition = values[16];
+                    morkBF.FirePot1_PotOnIntoFoodPosition = values[17];
+                    morkBF.FirePot1_PotOnCleanPosition = values[18];
+
+                }
+            }),0);
+
+            GetStatus("VW120", new Action<object>((o) =>
+            {
+                if (o == null) return;
+                if (o is int[] values&&values.Length == 2)
+                {
+                    morkBF.FirePot1_Temperature = values[0];
+                    morkBF.FirePot1_Pulse = values[1];
+
+                }
+            }), 0);
+
+            GetStatus("M25.0", new Action<object>((o) =>
+            {
+                if (o == null) return;
+                if (o is bool[] values&& values.Length == 19)
+                {
+                    morkBF.FirePot2_InitCompleted = values[0];
+                    morkBF.FirePot2_IsAuto = values[1];
+                    morkBF.FirePot2_Emergencystop = values[2];
+                    morkBF.FirePot2_MealTubExist = values[3];
+                    morkBF.FirePot2_VegetablesTub1Exist = values[4];
+                    morkBF.FirePot2_VegetablesTub2Exist = values[5];
+                    morkBF.FirePot2_Seasoning1Exist = values[6];
+                    morkBF.FirePot2_Seasoning2Exist = values[7];
+                    morkBF.FirePot2_Accessories1Exist = values[8];
+                    morkBF.FirePot2_Accessories2Exist = values[9];
+                    morkBF.FirePot2_OutFoodTubExist = values[10];
+                    morkBF.FirePot2_OnOrigin = values[11];
+                    morkBF.FirePot2_FirePosition1 = values[12];
+                    morkBF.FirePot2_FirePosition2 = values[13];
+                    morkBF.FirePot2_FirePosition3 = values[14];
+                    morkBF.FirePot2_FirePosition4 = values[15];
+                    morkBF.FirePot2_PotOnOutFoodPosition = values[16];
+                    morkBF.FirePot2_PotOnIntoFoodPosition = values[17];
+                    morkBF.FirePot2_PotOnCleanPosition = values[18];
+
+                }
+            }), 0);
+
+            GetStatus("VW150", new Action<object>((o) =>
+            {
+                if (o == null) return;
+                if (o is int[] values&& values.Length == 2)
+                {
+                    morkBF.FirePot2_Temperature = values[0];
+                    morkBF.FirePot2_Pulse = values[1];
+
+                }
+            }), 0);
+            GetStatus("GM500", new Action<object>((o) =>
+            {
+                if (o == null) return;
+                if (o is bool[] values && values.Length == 7)
+                {
+                    morkBF.Robot_FirePot1OutMeal = values[0];
+                    morkBF.Robot_FirePot1OutVegetables1 = values[1];
+                    morkBF.Robot_FirePot1OutVegetables2 = values[2];
+                    morkBF.Robot_FirePot1OutSeasoning = values[3];
+                    morkBF.Robot_FirePot1OutAccessories = values[4];
+                    morkBF.Robot_ArriveFirePot1 = values[5];
+                    morkBF.Robot_FirePot1OutFoodComplete = values[6];
+
+                }
+            }), 1);
+            GetStatus("GM510", new Action<object>((o) =>
+            {
+                if (o == null) return;
+                if (o is bool[] values && values.Length == 7)
+                {
+                    morkBF.Robot_FirePot2OutMeal = values[0];
+                    morkBF.Robot_FirePot2OutVegetables1 = values[1];
+                    morkBF.Robot_FirePot2OutVegetables2 = values[2];
+                    morkBF.Robot_FirePot2OutSeasoning = values[3];
+                    morkBF.Robot_FirePot2OutAccessories = values[4];
+                    morkBF.Robot_ArriveFirePot2 = values[5];
+                    morkBF.Robot_FirePot2OutFoodComplete = values[6];
+
+                }
+            }), 1);
+            GetStatus("GI5", new Action<object>((o) =>
+            {
+                if (o == null) return;
+                if (o is int[] values && values.Length == 1)
+                {
+                    morkBF.Robot_ActionCallback = values[0];
+                }
+            }), 1);
+
         }
 
         public override void ResetProgram()
@@ -182,11 +298,32 @@ namespace BPASmartClient.MorkBF
             
         }
 
+        /// <summary>
+        /// 获取炒锅PLC的所有状态
+        /// </summary>
+        /// <param name="key"></param>
+        /// <param name="action"></param>
+        /// <param name="num">炒锅编号</param>
+        private void GetStatus(string key, Action<object> action, int num)
+        {
+            if (dicPort2peripheralStatus.ContainsKey(num))
+            {
+                if (dicPort2peripheralStatus[num].ContainsKey(key))
+                {
+                    action((object)dicPort2peripheralStatus[num][key]);//获取PLC指定地址的状态值
+                }
+            }
+        }
+
         #region 控制
         private void FirePot_Write(string address, object value, int i = 0)
         {
             WriteControlExact(address, value, i);
         }
+        private void Robot_Write(string address, object value, int i = 1)
+        {
+            WriteControlExact(address, value, i);
+        }
         #region 炒锅1
 
         /// <summary>
@@ -251,6 +388,7 @@ namespace BPASmartClient.MorkBF
             }
         }
         #endregion
+
         #region 炒锅2
         /// <summary>
         /// 炒锅2设定加热挡位
@@ -315,6 +453,7 @@ namespace BPASmartClient.MorkBF
         }
 
         #endregion
+
         #region 炒锅通用
         /// <summary>
         /// 炒锅复位
@@ -548,61 +687,88 @@ namespace BPASmartClient.MorkBF
             }
         }
         #endregion
+
         #region 机器人
         /// <summary>
         /// 机器人启动
         /// </summary>
         private void RobotStart()
         {
-
+            Robot_Write("GM600",true);
         }
         /// <summary>
         /// 机器人停止
         /// </summary>
         private void RobotStop()
         {
-
+            Robot_Write("GM601", true);
         }
         /// <summary>
         /// 机器人复位
         /// </summary>
         private void RobotReset()
         {
-
+            Robot_Write("GM602", true);
         }
         /// <summary>
         /// 机器人程序重启
         /// </summary>
         private void RobotProgramStart()
         {
-
+            Robot_Write("GM603", true);
         }
         /// <summary>
         /// 1号炒锅允许机器人投料（炒锅在投料位给出）
         /// </summary>
         private void Robot_Pot1AllowInMaterail()
         {
-
+            Robot_Write("GM520", true);
         }
+        /// <summary>
+        /// 1号炒锅出餐倒料到减速位
+        /// </summary>
         private void Robot_Pot1OutFoodInSlowDown()
         {
-
+            Robot_Write("GM621", true);
         }
+        /// <summary>
+        /// 1号炒锅出餐倒料完成
+        /// </summary>
+        private void Robot_Pot1OutFood()
+        {
+            Robot_Write("GM522", true);
+        }
+        /// <summary>
+        /// 2号炒锅允许机器人投料（炒锅在投料位给出）
+        /// </summary>
         private void Robot_Pot2AllowInMaterail()
         {
-
+            Robot_Write("GM530", true);
         }
+        /// <summary>
+        /// 2号炒锅出餐倒料到减速位。开始倒菜
+        /// </summary>
         private void Robot_Pot2OutFoodInSlowDown()
         {
-
+            Robot_Write("GM531", true);
         }
+        /// <summary>
+        /// 2号炒锅出餐倒料完成
+        /// </summary>
         private void Robot_Pot2OutFood()
         {
-
+            Robot_Write("GM532", true);
         }
-        private void RobotActionStart()
+        /// <summary>
+        /// 
+        /// </summary>
+        private void RobotActionStart(object o)
         {
-
+            if (o == null) return;
+            if(o is int value)
+            {
+                Robot_Write("GI0",value);
+            }
         }
         #endregion
 

BPASmartClient.MorkBF/GVL_MorkBF.cs

@@ -1,4 +1,5 @@
-using BPASmartClient.MorkBF.Model;
+using BPASmartClient.Device;
+using BPASmartClient.MorkBF.Model;
 using System;
 using System.Collections.Concurrent;
 using System.Collections.Generic;
@@ -27,6 +28,295 @@ namespace BPASmartClient.MorkBF
         /// </summary>
         public bool FirePan2_Busy = false;
 
+        #region 炒锅1读取数据
+        /// <summary>
+        /// 炒锅1锅低温度
+        /// </summary>
+        [VariableMonitor("炒锅1锅低温度", "VW120","160")]
+        public int FirePot1_Temperature;
+        /// <summary>
+        /// 炒锅1脉冲值
+        /// </summary>
+        [VariableMonitor("炒锅1脉冲值", "VW122", "161")]
+        public int FirePot1_Pulse;
+        /// <summary>
+        /// 炒锅1初始化完成
+        /// </summary>
+        [VariableMonitor("炒锅1初始化完成", "M20.0", "480")]
+        public bool FirePot1_InitCompleted = false;
+
+        /// <summary>
+        /// 炒锅1手动自动模式
+        /// </summary>
+        [VariableMonitor("炒锅1手动自动模式", "M20.1", "481")]
+        public bool FirePot1_IsAuto;
+        /// <summary>
+        /// 炒锅1急停
+        /// </summary>
+        [VariableMonitor("炒锅1急停", "M20.2", "482")]
+        public bool FirePot1_Emergencystop;
+        /// <summary>
+        /// 1#炒锅荤菜盆有无检测
+        /// </summary>
+        [VariableMonitor("1#炒锅1锅低温度", "M20.3", "483")]
+        public bool FirePot1_MealTubExist;
+        /// <summary>
+        /// 1#炒锅素菜盆1有无检测
+        /// </summary>
+        [VariableMonitor("炒锅素菜盆1有无检测", "M20.4", "484")]
+        public bool FirePot1_VegetablesTub1Exist;
+        /// <summary>
+        /// 1#炒锅素菜盆2有无检测
+        /// </summary>
+        [VariableMonitor("1#炒锅素菜盆2有无检测", "M20.5", "485")]
+        public bool FirePot1_VegetablesTub2Exist;
+        /// <summary>
+        /// 1#炒锅调料盆1有无检测
+        /// </summary>
+        [VariableMonitor("1#炒锅调料盆1有无检测", "M20.6", "486")]
+        public bool FirePot1_Seasoning1Exist;
+        /// <summary>
+        /// 1#炒锅调料盆2有无检测
+        /// </summary>
+        [VariableMonitor("1#炒锅调料盆2有无检测", "M20.7", "487")]
+        public bool FirePot1_Seasoning2Exist;
+        /// <summary>
+        /// 1#炒锅辅料盆1有无检测
+        /// </summary>
+        [VariableMonitor("1#炒锅辅料盆1有无检测", "M21.0", "488")]
+        public bool FirePot1_Accessories1Exist;
+        /// <summary>
+        /// 1#炒锅辅料盆2有无检测
+        /// </summary>
+        [VariableMonitor("1#炒锅辅料盆2有无检测", "M21.1", "489")]
+        public bool FirePot1_Accessories2Exist;
+        /// <summary>
+        /// 1#炒锅出餐空盆有无检测
+        /// </summary>
+        [VariableMonitor("1#炒锅出餐空盆有无检测", "M21.2", "490")]
+        public bool FirePot1_OutFoodTubExist;
+        /// <summary>
+        /// 1#炒锅在原点反馈
+        /// </summary>
+        [VariableMonitor("1#炒锅在原点反馈", "M21.3", "491")]
+        public bool FirePot1_OnOrigin;
+        /// <summary>
+        /// 1#炒制位置1反馈
+        /// </summary>
+        [VariableMonitor("1#炒制位置1反馈", "M21.4", "492")]
+        public bool FirePot1_FirePosition1;
+        /// <summary>
+        /// 1#炒制位置2反馈
+        /// </summary>
+        [VariableMonitor("1#炒制位置2反馈", "M21.5", "493")]
+        public bool FirePot1_FirePosition2;
+        /// <summary>
+        /// 1#炒制位置3反馈
+        /// </summary>
+        [VariableMonitor("1#炒制位置3反馈", "M21.6", "494")]
+        public bool FirePot1_FirePosition3;
+        /// <summary>
+        /// 1#炒制位置4反馈
+        /// </summary>
+        [VariableMonitor("1#炒制位置4反馈", "M21.7", "495")]
+        public bool FirePot1_FirePosition4;
+        /// <summary>
+        /// 1#炒锅在出餐倒料位置反馈
+        /// </summary>
+        [VariableMonitor("1#炒锅在出餐倒料位置反馈", "M22.0", "496")]
+        public bool FirePot1_PotOnOutFoodPosition;
+        /// <summary>
+        /// 1#炒锅在投料位置反馈、
+        /// </summary>
+        [VariableMonitor("1#炒锅在投料位置反馈", "M22.1", "497")]
+        public bool FirePot1_PotOnIntoFoodPosition;
+        /// <summary>
+        /// 1#炒锅在洗锅位置反馈
+        /// </summary>
+        [VariableMonitor("1#炒锅在洗锅位置反馈", "M22.2", "498")]
+        public bool FirePot1_PotOnCleanPosition;
+        #endregion
+
+        #region 炒锅2读取数据
+        /// <summary>
+        /// 炒锅2锅低温度
+        /// </summary>
+        [VariableMonitor("炒锅2锅低温度", "VW150", "175")]
+        public int FirePot2_Temperature;
+        /// <summary>
+        /// 炒锅2脉冲值
+        /// </summary>
+        [VariableMonitor("炒锅2脉冲值", "VW152", "176")]
+        public int FirePot2_Pulse;
+        /// <summary>
+        /// 炒锅2初始化完成
+        /// </summary>
+        [VariableMonitor("炒锅2初始化完成", "M25.0", "520")]
+        public bool FirePot2_InitCompleted = false;
+
+        /// <summary>
+        /// 炒锅2手动自动模式
+        /// </summary>
+        [VariableMonitor("炒锅2手动自动模式", "M25.1", "521")]
+        public bool FirePot2_IsAuto;
+        /// <summary>
+        /// 炒锅2急停
+        /// </summary>
+        [VariableMonitor("炒锅2急停", "M25.2", "522")]
+        public bool FirePot2_Emergencystop;
+        /// <summary>
+        /// 2#炒锅荤菜盆有无检测
+        /// </summary>
+        [VariableMonitor("2#炒锅荤菜盆有无检测", "M25.3", "523")]
+        public bool FirePot2_MealTubExist;
+        /// <summary>
+        /// 2#炒锅素菜盆1有无检测
+        /// </summary>
+        [VariableMonitor("2#炒锅素菜盆1有无检测", "M25.4", "524")]
+        public bool FirePot2_VegetablesTub1Exist;
+        /// <summary>
+        /// 2#炒锅素菜盆2有无检测
+        /// </summary>
+        [VariableMonitor("2#炒锅素菜盆2有无检测", "M25.5", "525")]
+        public bool FirePot2_VegetablesTub2Exist;
+        /// <summary>
+        /// 2#炒锅调料盆1有无检测
+        /// </summary>
+        [VariableMonitor("2#炒锅调料盆1有无检测", "M25.6", "526")]
+        public bool FirePot2_Seasoning1Exist;
+        /// <summary>
+        /// 2#炒锅调料盆2有无检测
+        /// </summary>
+        [VariableMonitor("2#炒锅调料盆2有无检测", "M25.7", "527")]
+        public bool FirePot2_Seasoning2Exist;
+        /// <summary>
+        /// 2#炒锅辅料盆1有无检测
+        /// </summary>
+        [VariableMonitor("2#炒锅1锅低温度", "M26.0", "528")]
+        public bool FirePot2_Accessories1Exist;
+        /// <summary>
+        /// 2#炒锅辅料盆2有无检测
+        /// </summary>
+        [VariableMonitor("2#炒锅辅料盆2有无检测", "M26.1", "529")]
+        public bool FirePot2_Accessories2Exist;
+        /// <summary>
+        /// 2#炒锅出餐空盆有无检测
+        /// </summary>
+        [VariableMonitor("2#炒锅出餐空盆有无检测", "M26.2", "530")]
+        public bool FirePot2_OutFoodTubExist;
+        /// <summary>
+        /// 2#炒锅在原点反馈
+        /// </summary>
+        [VariableMonitor("2#炒锅在原点反馈", "M26.3", "531")]
+        public bool FirePot2_OnOrigin;
+        /// <summary>
+        /// 2#炒制位置1反馈
+        /// </summary>
+        [VariableMonitor("2#炒制位置1反馈", "M26.4", "532")]
+        public bool FirePot2_FirePosition1;
+        /// <summary>
+        /// 2#炒制位置2反馈
+        /// </summary>
+        [VariableMonitor("2#炒制位置2反馈", "M26.5", "533")]
+        public bool FirePot2_FirePosition2;
+        /// <summary>
+        /// 2#炒制位置3反馈
+        /// </summary>
+        [VariableMonitor("2#炒制位置3反馈", "M26.6", "534")]
+        public bool FirePot2_FirePosition3;
+        /// <summary>
+        /// 2#炒制位置4反馈
+        /// </summary>
+        [VariableMonitor("2#炒制位置4反馈", "M26.7", "535")]
+        public bool FirePot2_FirePosition4;
+        /// <summary>
+        /// 2#炒锅在出餐倒料位置反馈
+        /// </summary>
+        [VariableMonitor("2#炒锅在出餐倒料位置反馈", "M27.0", "536")]
+        public bool FirePot2_PotOnOutFoodPosition;
+        /// <summary>
+        /// 2#炒锅在投料位置反馈、
+        /// </summary>
+        [VariableMonitor("2#炒锅在投料位置反馈", "M27.1", "537")]
+        public bool FirePot2_PotOnIntoFoodPosition;
+        /// <summary>
+        /// 2#炒锅在洗锅位置反馈
+        /// </summary>
+        [VariableMonitor("2#炒锅在洗锅位置反馈", "M27.2", "538")]
+        public bool FirePot2_PotOnCleanPosition;
+        #endregion
+
+        #region 机器人数据读取
+        /// <summary>
+        /// 1号锅倒荤菜完成
+        /// </summary>
+        public bool Robot_FirePot1OutMeal;
+        /// <summary>
+        /// 1号炒锅倒素菜1完成
+        /// </summary>
+        public bool Robot_FirePot1OutVegetables1;
+        /// <summary>
+        /// 1号炒锅倒素菜2完成
+        /// </summary>
+        public bool Robot_FirePot1OutVegetables2;
+        /// <summary>
+        /// 1号炒锅倒调料完成
+        /// </summary>
+        public bool Robot_FirePot1OutSeasoning;
+        /// <summary>
+        /// 1号炒锅倒辅料完成
+        /// </summary>
+        public bool Robot_FirePot1OutAccessories;
+        /// <summary>
+        /// 机器人到位，请求1#炒锅倒菜
+        /// </summary>
+        public bool Robot_ArriveFirePot1;
+        /// <summary>
+        /// 1号炒锅出餐完成
+        /// </summary>
+        public bool Robot_FirePot1OutFoodComplete;
+
+
+
+
+
+        /// <summary>
+        /// 2号锅倒荤菜完成
+        /// </summary>
+        public bool Robot_FirePot2OutMeal;
+        /// <summary>
+        /// 2号炒锅倒素菜1完成
+        /// </summary>
+        public bool Robot_FirePot2OutVegetables1;
+        /// <summary>
+        /// 2号炒锅倒素菜2完成
+        /// </summary>
+        public bool Robot_FirePot2OutVegetables2;
+        /// <summary>
+        /// 2号炒锅倒调料完成
+        /// </summary>
+        public bool Robot_FirePot2OutSeasoning;
+        /// <summary>            
+        /// 2号炒锅倒辅料完成    
+        /// </summary>           
+        public bool Robot_FirePot2OutAccessories;
+        /// <summary>
+        /// 机器人到位，请求1#炒锅倒菜
+        /// </summary>
+        public bool Robot_ArriveFirePot2;
+        /// <summary>
+        /// 2号炒锅出餐完成
+        /// </summary>
+        public bool Robot_FirePot2OutFoodComplete;
+        /// <summary>
+        /// 机器人动作反馈
+        /// </summary>
+        public int Robot_ActionCallback;
+
+        #endregion
+
+
+
         public DateTime FirePan1_Date;
         public DateTime FirePan2_Date;
     }

BPASmartClient.MorkBF/VIew/DebugView.xaml

@@ -57,7 +57,33 @@
 
         </GroupBox>
         <GroupBox Grid.Row="1" Header="炒锅2" FontSize="22">
-
+            <WrapPanel Grid.Row="1" Orientation="Horizontal">
+                <Button Content="复位" Width="110" Margin="10,5" Command="{Binding FirePot_ResetCommand}" CommandParameter="1"/>
+                <TextBlock Text="加热挡位" Margin="10,5"/>
+                <ComboBox Width="80" ItemsSource="{Binding FireGear}" Margin="10,5" SelectedItem="{Binding FirePot2_FireGear}"/>
+                <Button Content="加热档位设定" Width="110" Margin="10,5" Command="{Binding FirePot2_SetFireGearCommand}"/>
+                <Button Content="加热启动" Width="80" Margin="10,5" Command="{Binding FirePot2_StartFireCommand}"/>
+                <Button Content="加热停止" Width="80" Margin="10,5,30,5" Command="{Binding FirePot2_StopFireCommand}"/>
+                <TextBlock Text="搅拌挡位" Margin="10,5"/>
+                <ComboBox Width="80" ItemsSource="{Binding StirGear}" SelectedItem="{Binding FirePot2_StirGear}" Margin="10,5"/>
+                <Button Content="搅拌档位设定" Width="110" Margin="10,5" Command="{Binding FirePot2_SetStirGearCommand}"/>
+                <Button Content="搅拌启动" Width="80" Margin="10,5" Command="{Binding FirePot2_StartStirCommand}"/>
+                <Button Content="搅拌停止" Width="80" Margin="10,5,30,5" Command="{Binding FirePot2_StopStirCommand}"/>
+                <TextBlock Text="翻转频率" Margin="10,5"/>
+                <TextBox Width="80" Text="{Binding FirePot2_TurnSpeed}" Margin="10,5"/>
+                <Button Content="翻转频率设定" Width="110" Margin="10,5" Command="{Binding FirePot2_SetTurnSpeedCommand}"/>
+                <Button Content="炒锅回原点" Width="110" Margin="10,5" Command="{Binding FirePot_PotGotoOriginCommand}" CommandParameter="2"/>
+                <Button Content="出餐启动" Width="110" Margin="10,5"  Command="{Binding FirePot_StartOutFoodCommand}" CommandParameter="2"/>
+                <Button Content="单独清洗" Width="110" Margin="10,5" Command="{Binding FirePot_CleanCommand}" CommandParameter="2"/>
+                <Button Content="抽水启动" Width="110" Margin="10,5"  Command="{Binding FirePot_StartPumpWaterCommand}" CommandParameter="2"/>
+                <Button Content="抽油启动" Width="110" Margin="10,5" Command="{Binding FirePot_StartPumpOilCommand}" CommandParameter="2"/>
+                <Button Content="炒锅去炒制位置1" Width="110" Margin="10,5"  Command="{Binding FirePot_PotGotoP1Command}" CommandParameter="2"/>
+                <Button Content="炒锅去炒制位置2" Width="110" Margin="10,5"  Command="{Binding FirePot_PotGotoP2Command}" CommandParameter="2"/>
+                <Button Content="炒锅去炒制位置3" Width="110" Margin="10,5"  Command="{Binding FirePot_PotGotoP3Command}" CommandParameter="2"/>
+                <Button Content="炒锅去炒制位置4" Width="110" Margin="10,5"  Command="{Binding FirePot_PotGotoP4Command}" CommandParameter="2"/>
+                <Button Content="炒锅去出餐倒料位置" Width="140" Margin="10,5"  Command="{Binding FirePot_PotGotoOutFoodPositiongCommand}" CommandParameter="2"/>
+                <Button Content="炒锅去投料位置" Width="110" Margin="10,5"  Command="{Binding FirePot_PotGotoInFoodPositionCommand}" CommandParameter="2"/>
+            </WrapPanel>
         </GroupBox>
         <GroupBox Grid.Row="3" Header="机器人" FontSize="22">
             <WrapPanel Orientation="Horizontal">

BPASmartClient.MorkBF/VIew/Monitor.xaml

@@ -0,0 +1,242 @@
+<UserControl
+    x:Class="BPASmartClient.MorkBF.View.Monitor"
+    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+    xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
+    xmlns:local="clr-namespace:BPASmartClient.MorkBF.View"
+    xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
+    xmlns:vm="clr-namespace:BPASmartClient.MorkBF.ViewModel"
+    Name="监控画面"
+    d:DesignHeight="450"
+    d:DesignWidth="800"
+    mc:Ignorable="d">
+
+    <UserControl.DataContext>
+        <vm:MonitorViewModel />
+    </UserControl.DataContext>
+
+    <UserControl.Resources>
+        <ResourceDictionary>
+            <ResourceDictionary.MergedDictionaries>
+                <ResourceDictionary>
+                    <!--<convert:TextDisplayConvert x:Key="textDisplayConvert" />
+                    <convert:IsEnableConvert x:Key="isEnableConvert" />
+                    <convert:AnalogAlarmConvert x:Key="analogAlarmConvert" />
+                    <convert:DiscreteAlarmConvert x:Key="discreteAlarmConvert" />
+                    <convert:AlarmTypeTextConvert x:Key="alarmTypeTextConvert" />-->
+                    <SolidColorBrush x:Key="BorderSolid" Color="#5523CACA" />
+                    <SolidColorBrush x:Key="FontColor" Color="#FF2AB2E7" />
+                    <SolidColorBrush x:Key="TitleFontColor" Color="#ddd" />
+                    <SolidColorBrush x:Key="CursorColor" Color="Aqua" />
+                    <SolidColorBrush x:Key="TitleBorderColor" Color="#FF2AB2E7" />
+
+                    <Style x:Key="TextBlockStyle" TargetType="TextBlock">
+                        <Setter Property="FontFamily" Value="楷体" />
+                        <Setter Property="FontSize" Value="18" />
+                        <Setter Property="Foreground" Value="{StaticResource TextBlockForeground}" />
+                        <Setter Property="VerticalAlignment" Value="Center" />
+                        <Setter Property="HorizontalAlignment" Value="Center" />
+                    </Style>
+
+                    <Style x:Key="TextBoxStyle" TargetType="TextBox">
+                        <Setter Property="FontFamily" Value="楷体" />
+                        <Setter Property="FontSize" Value="22" />
+                        <Setter Property="Background" Value="Transparent" />
+                        <Setter Property="Foreground" Value="{StaticResource TextBlockForeground}" />
+                        <Setter Property="BorderBrush" Value="#FF23CACA" />
+                        <Setter Property="CaretBrush" Value="Aqua" />
+                        <Setter Property="VerticalAlignment" Value="Center" />
+                    </Style>
+
+                </ResourceDictionary>
+            </ResourceDictionary.MergedDictionaries>
+        </ResourceDictionary>
+    </UserControl.Resources>
+
+    <Grid Margin="10">
+        <Grid.RowDefinitions>
+            <RowDefinition Height="30" />
+            <RowDefinition />
+        </Grid.RowDefinitions>
+
+        <!--#region 表格标题栏设置-->
+        <Grid Background="#dd2AB2E7">
+            <Grid.ColumnDefinitions>
+                <ColumnDefinition Width="0.3*" />
+                <ColumnDefinition />
+                <ColumnDefinition />
+                <ColumnDefinition />
+                <ColumnDefinition Width="0.7*" />
+                <ColumnDefinition Width="0.7*" />
+            </Grid.ColumnDefinitions>
+            <TextBlock
+                Grid.Column="0"
+                HorizontalAlignment="Center"
+                VerticalAlignment="Center"
+                FontSize="16"
+                Foreground="{StaticResource TitleFontColor}"
+                Text="ID" />
+
+            <Grid Grid.Column="1">
+                <TextBlock
+                    HorizontalAlignment="Center"
+                    VerticalAlignment="Center"
+                    FontSize="16"
+                    Foreground="{StaticResource TitleFontColor}"
+                    Text="变量名" />
+                <Border
+                    BorderBrush="{StaticResource TitleBorderColor}"
+                    BorderThickness="1,0,1,0"
+                    Cursor="SizeWE" />
+            </Grid>
+
+            <TextBlock
+                Grid.Column="2"
+                HorizontalAlignment="Center"
+                VerticalAlignment="Center"
+                FontSize="16"
+                Foreground="{StaticResource TitleFontColor}"
+                Text="PLC 地址" />
+
+
+            <Grid Grid.Column="3">
+                <TextBlock
+                    HorizontalAlignment="Center"
+                    VerticalAlignment="Center"
+                    FontSize="16"
+                    Foreground="{StaticResource TitleFontColor}"
+                    Text="注释" />
+                <Border
+                    BorderBrush="{StaticResource TitleBorderColor}"
+                    BorderThickness="1,0,0,0"
+                    Cursor="SizeWE" />
+            </Grid>
+
+
+
+            <Grid Grid.Column="4">
+                <TextBlock
+                    HorizontalAlignment="Center"
+                    VerticalAlignment="Center"
+                    FontSize="16"
+                    Foreground="{StaticResource TitleFontColor}"
+                    Text="Modbus TCP 地址" />
+                <Border
+                    BorderBrush="{StaticResource TitleBorderColor}"
+                    BorderThickness="1,0,1,0"
+                    Cursor="SizeWE" />
+            </Grid>
+
+            <TextBlock
+                Grid.Column="5"
+                HorizontalAlignment="Center"
+                VerticalAlignment="Center"
+                FontSize="16"
+                Foreground="{StaticResource TitleFontColor}"
+                Text="当前值" />
+
+        </Grid>
+        <!--#endregion-->
+
+        <!--#region 表格数据显示-->
+        <ScrollViewer
+            Grid.Row="1"
+            HorizontalScrollBarVisibility="Hidden"
+            VerticalScrollBarVisibility="Hidden">
+            <ItemsControl ItemsSource="{Binding variableMonitors}">
+                <ItemsControl.ItemTemplate>
+                    <DataTemplate>
+                        <Grid x:Name="gr" Height="30">
+                            <Grid.ColumnDefinitions>
+                                <ColumnDefinition Width="0.3*" />
+                                <ColumnDefinition />
+                                <ColumnDefinition />
+                                <ColumnDefinition />
+                                <ColumnDefinition Width="0.7*" />
+                                <ColumnDefinition Width="0.7*" />
+                            </Grid.ColumnDefinitions>
+
+                            <TextBlock
+                                Grid.Column="0"
+                                HorizontalAlignment="Center"
+                                VerticalAlignment="Center"
+                                Background="Transparent"
+                                FontSize="14"
+                                Foreground="{StaticResource FontColor}"
+                                Text="{Binding Id}" />
+
+                            <Grid Grid.Column="1">
+                                <TextBlock
+                                    Margin="5,0,0,0"
+                                    VerticalAlignment="Center"
+                                    Background="Transparent"
+                                    FontSize="14"
+                                    Foreground="{StaticResource FontColor}"
+                                    Text="{Binding VarName}" />
+                                <Border BorderBrush="{StaticResource BorderSolid}" BorderThickness="1,0,1,0" />
+                            </Grid>
+
+
+                            <TextBlock
+                                Grid.Column="2"
+                                Margin="5,0,0,0"
+                                VerticalAlignment="Center"
+                                Background="Transparent"
+                                FontSize="14"
+                                Foreground="{StaticResource FontColor}"
+                                Text="{Binding PLCAddress}" />
+
+                            <Grid Grid.Column="3">
+                                <TextBlock
+                                    Margin="5,0,0,0"
+                                    VerticalAlignment="Center"
+                                    Background="Transparent"
+                                    FontSize="14"
+                                    Foreground="{StaticResource FontColor}"
+                                    Text="{Binding Notes}" />
+                                <Border BorderBrush="{StaticResource BorderSolid}" BorderThickness="1,0,0,0" />
+                            </Grid>
+
+                            <Grid Grid.Column="4">
+                                <TextBlock
+                                    Margin="5,0,0,0"
+                                    VerticalAlignment="Center"
+                                    Background="Transparent"
+                                    FontSize="14"
+                                    Foreground="{StaticResource FontColor}"
+                                    Text="{Binding ModbusTcpAddress}" />
+                                <Border BorderBrush="{StaticResource BorderSolid}" BorderThickness="1,0,1,0" />
+                            </Grid>
+
+                            <TextBlock
+                                Grid.Column="5"
+                                Margin="5,0,0,0"
+                                VerticalAlignment="Center"
+                                Background="Transparent"
+                                FontSize="14"
+                                Foreground="{StaticResource FontColor}"
+                                Text="{Binding CurrentValue}" />
+
+                            <Border
+                                Grid.ColumnSpan="8"
+                                BorderBrush="{StaticResource BorderSolid}"
+                                BorderThickness="1" />
+
+                        </Grid>
+
+                        <DataTemplate.Triggers>
+                            <Trigger Property="IsMouseOver" Value="true">
+                                <Setter TargetName="gr" Property="Background" Value="#112AB2E7" />
+                            </Trigger>
+                        </DataTemplate.Triggers>
+
+                    </DataTemplate>
+                </ItemsControl.ItemTemplate>
+            </ItemsControl>
+        </ScrollViewer>
+        <!--#endregion-->
+
+
+    </Grid>
+
+</UserControl>

BPASmartClient.MorkBF/VIew/Monitor.xaml.cs

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

BPASmartClient.MorkBF/ViewModel/DebugViewModel.cs

@@ -33,8 +33,10 @@ namespace BPASmartClient.MorkBF.ViewModel
         private int _firePot2_StirGear = 0;
         [ObservableProperty]
         private int _firePot1_TurnSpeed;
+        [ObservableProperty]
+        private int _firePot2_TurnSpeed;
         #region 炒锅1
-       
+
         /// <summary>
         /// 设定加热挡位
         /// </summary>
@@ -93,8 +95,67 @@ namespace BPASmartClient.MorkBF.ViewModel
             ActionManage.GetInstance.Send("FirePot1_SetTurnSpeed",new List<int> { FirePot1_TurnSpeed});
         }
         #endregion
+
         #region 炒锅2
+        /// <summary>
+        /// 设定加热挡位
+        /// </summary>
+        [RelayCommand]
+        private void FirePot2_SetFireGear()
+        {
+            ActionManage.GetInstance.Send("FirePot2_SetFireGear", new List<int> { FirePot2_FireGear });
+        }
+        /// <summary>
+        /// 加热启动
+        /// </summary>
+        [RelayCommand]
+        private void FirePot2_StartFire()
+        {
+            ActionManage.GetInstance.Send("FirePot2_StartFire", true);
+        }
+        /// <summary>
+        /// 关闭加热
+        /// </summary>
+        [RelayCommand]
+        private void FirePot2_StopFire()
+        {
+            ActionManage.GetInstance.Send("FirePot2_StopFire", false);
+        }
+        /// <summary>
+        /// 设定搅拌挡位
+        /// </summary>
+        [RelayCommand]
+        private void FirePot2_SetStirGear()
+        {
+            ActionManage.GetInstance.Send("FirePot2_SetStirGear", new List<int> { FirePot2_StirGear });
+        }
+        /// <summary>
+        /// 搅拌启动
+        /// </summary>
+        [RelayCommand]
+        private void FirePot2_StartStir()
+        {
+            ActionManage.GetInstance.Send("FirePot2_StartStir", true);
+        }
+        /// <summary>
+        /// 搅拌停止
+        /// </summary>
+        [RelayCommand]
+        private void FirePot2_StopStir()
+        {
+            ActionManage.GetInstance.Send("FirePot1_StopStir", false);
+        }
+        /// <summary>
+        /// 翻转频率设定
+        /// </summary>
+        [RelayCommand]
+        private void FirePot2_SetTurnSpeed()
+        {
+            if (FirePot1_TurnSpeed > 800) FirePot1_TurnSpeed = 800;
+            ActionManage.GetInstance.Send("FirePot2_SetTurnSpeed", new List<int> { FirePot2_TurnSpeed });
+        }
         #endregion
+
         #region 炒锅通用
         /// <summary>
         /// 复位
@@ -304,7 +365,7 @@ namespace BPASmartClient.MorkBF.ViewModel
         [RelayCommand]
         private void RobotActionStart()
         {
-            ActionManage.GetInstance.Send("RobotProgramStart",new List<int> {RobotAction });
+            ActionManage.GetInstance.Send("RobotProgramStart",RobotAction );
         }
 
         #endregion

BPASmartClient.MorkBF/ViewModel/MonitorViewModel.cs

@@ -0,0 +1,25 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using BPASmartClient.Business;
+using BPASmartClient.Device;
+using Microsoft.Toolkit.Mvvm.ComponentModel;
+using System.Collections.ObjectModel;
+
+namespace BPASmartClient.MorkBF.ViewModel
+{
+    public class MonitorViewModel : ObservableObject
+    {
+        public MonitorViewModel()
+        {
+
+        }
+
+        public static int DeviceId { get; set; }
+
+        public ObservableCollection<VariableMonitor> variableMonitors { get; set; } = Plugin.GetInstance()?.GetPlugin<DeviceMgr>()?.GetDevices()?.FirstOrDefault(p => p.DeviceId == DeviceId)?.variableMonitors;
+
+    }
+}