海科调试修改。

BPASmartClient.MorkCL/BPASmartClient.MorkCL.csproj

@@ -6,9 +6,7 @@
     <UseWPF>true</UseWPF>
   </PropertyGroup>
 
-  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|AnyCPU'">
-    <DefineConstants>$(DefineConstants);FORMAL</DefineConstants>
-  </PropertyGroup>
+  <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|AnyCPU'" />
 
   <ItemGroup>
     <Compile Remove="Model\Recipe\LocalRecipeData.cs" />

BPASmartClient.MorkCL/Control_MorkCL.cs

@@ -8,6 +8,7 @@ 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;
@@ -63,10 +64,10 @@ namespace BPASmartClient.MorkCL
 
 #if !FORMAL
             devices[EDeviceType.炒锅1].Init(Json<ConnectPar>.Data.FryingPanIP1);
-            devices[EDeviceType.炒锅2].Init(Json<ConnectPar>.Data.FryingPanIP2);
+            //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);
+            //devices[EDeviceType.压力锅].Init(Json<ConnectPar>.Data.PressureCookerIP);
+            //devices[EDeviceType.外部设备].Init(Json<ConnectPar>.Data.PPortName);
 
             ManualActionRegiester();
 #endif
@@ -98,7 +99,7 @@ namespace BPASmartClient.MorkCL
             if (TaskList.ContainsKey(res)) TaskList.TryRemove(res, out _);
         }
 
-        private void FryingPanControl(EDeviceType et, ControlData cd)
+        private async void FryingPanControl(EDeviceType et, ControlData cd)
         {
             DeviceProcessLogShow($"开始执行-{cd.Name} 任务");
             if (TaskList.ContainsKey(et) && TaskList[et].Cts.IsCancellationRequested) return;
@@ -106,35 +107,38 @@ namespace BPASmartClient.MorkCL
             {
                 if (cd.ControlFuncs.TryDequeue(out FuncModel fm))
                 {
-                    //var device = (FryingPanServer)devices[et];
-                    //var robot = (RobotServer)devices[EDeviceType.机器人];
+                    var device = (FryingPanServer)devices[et];
+                    var robot = (RobotServer)devices[EDeviceType.机器人];
                     int index = (ushort)et - 1;
                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}。");
                     switch (fm.eFunc)
                     {
                         case EFunc.搅拌启动:
                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入搅拌频率-{fm.funcPars.ElementAt(0).ParValue.ToString()}HZ。");
-                            //device.MixingFrequencySet(fm.funcPars.ElementAt(0).ParValue.ToString());
+                            device.MixingFrequencySet(fm.funcPars.ElementAt(0).ParValue.ToString());
                             DeviceProcessLogShow($"{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($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入开始搅拌。");
-                            //device.StirStartOrStop = true;
+                            device.StirStartOrStop = true;
                             DeviceProcessLogShow($"{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($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入停止搅拌。");
-                            //device.StirStartOrStop = false;
+                            device.StirStartOrStop = false;
                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入停止搅拌完成。");
                             break;
                         case EFunc.加热启动:
                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热挡位-【{fm.funcPars.ElementAt(0).ParValue.ToString()}】。");
-                            //device.HeatingGearSet(fm.funcPars.ElementAt(0).ParValue.ToString());
+                            device.HeatingGearSet(fm.funcPars.ElementAt(0).ParValue.ToString());
                             DeviceProcessLogShow($"{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;
+
+                            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;
+                            device.HeatStartOrStop = false;
                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热停止完成。");
                             break;
                         case EFunc.添加调料:
@@ -142,8 +146,10 @@ namespace BPASmartClient.MorkCL
                             var Seasoning = SqliteHelper.GetInstance.GetSeasoning().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id);
                             if (Seasoning != null)
                             {
-                                //device.CuttingControl(Seasoning.Loc.ToString(), fm.funcPars.ElementAt(1).ParValue.ToString());
+                                //TODO:应该为下料完成就关闭。
+                                device.CuttingControl(Seasoning.Loc.ToString(), fm.funcPars.ElementAt(1).ParValue.ToString());
                                 DeviceProcessLogShow($"{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
                             {
@@ -164,26 +170,33 @@ namespace BPASmartClient.MorkCL
                                     //device.CuttingControl(Seasoning.Loc.ToString(), fm.funcPars.ElementAt(1).ParValue.ToString());
                                     var ingredientes = Json<ItemStorageInfo>.Data.IngredientsStorage[ingre_index];
                                     //TODO:机器人下发取料
-                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-执行下料，控制取{ingre_index}库物料，下料名称：{ingredientes.Name.ToString()}，下料重量：【{fm.funcPars.ElementAt(1).ParValue.ToString()}】。");
+                                    DeviceProcessLogShow($"{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()}】。");
                                    
-                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{ingre_index.ToString()}】，子任务【{et}】。");
-                                    //robot.RobotTaskControl(ingre_index.ToString(), et);
-                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{ingre_index.ToString()}】，子任务【{et}】完成。");
+                                    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($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置。");
-                                    //device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置
+                                    device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置
+                                    device.FryingPanHome = false;
                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置完成。");
+                                    
 
                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置。");
-                                    //robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts);  //等待机器人到投料位置
+                                    robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts);  //等待机器人到投料位置
                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置完成。");
+                                    
 
                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料。");
-                                    //robot.AllowPourVegetables(et);//允许机器人开始投料
+                                    robot.AllowPourVegetables(et);//允许机器人开始投料
                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料完成。");
 
                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-开始等待机器人投料完成。");
-                                    //robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts);    //等待机器人投料完成
+                                    robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts);    //等待机器人投料完成
                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人投料完成。");
 
                                     Json<ItemStorageInfo>.Data.IngredientsStorage[ingre_index] = new ItemStorage();
@@ -197,20 +210,22 @@ namespace BPASmartClient.MorkCL
                             }
                             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);
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{mb.Loc.ToString()}】，子任务【{et}】。");
-                            //robot.RobotTaskControl(mb.Loc.ToString(), et);
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{mb.Loc.ToString()}】，子任务【{et}】完成。");
+                            MaterialBase mb = SqliteHelper.GetInstance.GetAccessories().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id);
+                            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($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置。");
-                            //device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置
+                            device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置
+                            device.FryingPanHome = false;
                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置完成。");
 
                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置。");
-                            //robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts);  //等待机器人到投料位置
+                            robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts);  //等待机器人到投料位置
                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置完成。");
 
                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料。");
@@ -218,36 +233,69 @@ namespace BPASmartClient.MorkCL
                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料完成。");
 
                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-开始等待机器人投料完成。");
-                            //robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts);    //等待机器人投料完成
+                            robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts);    //等待机器人投料完成
                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人投料完成。");
                             break;
                         case EFunc.炒锅回原点位:
+
+
                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回原点。");
-                            //device.FryingPanHome = true;
+                            device.FryingPanHome = true;
                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回原点完成。");
+
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待回原点完成。");
+                            device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);
+                            device.FryingPanHome = false;
+
                             break;
                         case EFunc.出餐启动:
+
+                            device.DiningOutStart = false;
                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人取空盆。");
-                            //robot.RobotTaskControl("1", et);//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($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人取空盆完成，等待机器人到出菜位置。");
-                            //robot.DiningOutRequest[index].Wait(Cts: TaskList[et].Cts);//等待机器人到出菜位置
+                            
+                            robot.DiningOutRequest[index].Wait(Cts: TaskList[et].Cts);//等待机器人到出菜位置
                             DeviceProcessLogShow($"{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.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(500);
+                            device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);
+                            device.DiningOutStart = false;
                             break;
                         case EFunc.炒锅清洗:
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置超过清洗。");
-                            //device.FryingPanClear = true;
+                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅清洗。");
+                            device.FryingPanClear = true;
                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒锅清洗已写入。");
+
+                            Thread.Sleep(500);
+                            device.CleanFinish.Wait(Cts: TaskList[et].Cts);
+                            device.FryingPanClear = false;
                             break;
                         case EFunc.炒锅回投料位置:
                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料位置。");
-                            //device.FryingPanFeedingLoc = true;
+                            device.FryingPanFeedingLoc = true;
                             DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料位置完成。");
+
+                            //回到投料位置就复位。
+
+                            Thread.Sleep(500);
+                            device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);
+                            device.DiningOutStart = false;
                             break;
                         case EFunc.去指定炒制位:
                             DeviceProcessLogShow($"{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());
+                            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:
@@ -280,6 +328,31 @@ namespace BPASmartClient.MorkCL
             //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;
+
+            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)
             {
@@ -358,10 +431,13 @@ namespace BPASmartClient.MorkCL
         {
             ActionManage.GetInstance.Register((object location) =>
             {
-                if (String.IsNullOrEmpty(location.ToString()) &&location.ToString().Length>=0)
+                var loc = location.ToString();
+                if (!String.IsNullOrEmpty(loc) && loc.Length>=0)
                 {
                     var robot = (RobotServer)devices[EDeviceType.机器人];
-                    robot.WarehousingControl(location.ToString());
+                    robot.WarehousingControl(loc);
+                    //会卡死。
+                    //robot.WarehousingComplete[(Convert.ToInt32(loc)-1)].Wait();
                 }
             },"ItemStorage",true);
 

BPASmartClient.MorkCL/GVL_MorkCL.cs

@@ -59,6 +59,23 @@ 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>
@@ -127,6 +144,24 @@ 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>
@@ -154,19 +189,19 @@ 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]", "LW22")]
+        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]", "LW22")]
+        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]", "LW22")]
         public bool[] DiningOutRequest { get; set; } = new bool[3];
 
         /// <summary>
@@ -212,12 +247,13 @@ namespace BPASmartClient.MorkCL
         /// </summary>
         [VariableMonitor("电子秤当前重量", "0")]
         public float CurrentWeight { get; set; }
-        //TODO：正式使用解除注释。
+#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];
+#endif
         #endregion
     }
 }

BPASmartClient.MorkCL/Model/Control/FryingPanGet.cs

@@ -29,7 +29,7 @@ namespace BPASmartClient.MorkCL.Model.Control
         public bool[] StirFryingLocFB { get; set; } = new bool[4];
 
         /// <summary>
-        /// 炒锅在出餐位置反馈
+        /// 炒锅在出餐位置反馈，投料位置和原点在同一个点。
         /// </summary>
         public bool DiningOutLocFB { get; set; }
 
@@ -47,7 +47,20 @@ 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

@@ -19,6 +19,11 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// </summary>
         public bool HeatStartOrStop { get { return default; } set { MyModbus.Write("LB3".ToModbusAdd(), value); } }
 
+        /// <summary>
+        /// 通道下料启动
+        /// </summary>
+        //public bool ChnnelDisStart { get { return default; } set { MyModbus.Write("LB3".ToModbusAdd(), value); } }
+
         /// <summary>
         /// 通道下料启动控制（1-3）
         /// </summary>
@@ -26,13 +31,18 @@ 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($"VW10{VWOffset[ChannelNum - 1]}".ToModbusAdd(), value);
+                    byte[] VWOffset = new byte[3] { 3, 4, 5 };
+                    byte[] LBOffset = new byte[3] { 6, 7, 8 };
+                    MyModbus.Write($"LW{VWOffset[ChannelNum - 1]}".ToModbusAdd(), value);
                     MyModbus.Write($"LB{LBOffset[ChannelNum - 1]}".ToModbusAdd(), true);
+                    //扫描周期较短，不等下料完成读为0，就已经过了，添加一个延时。
+                    Thread.Sleep(500);
+                    ChannelDisCom[ChannelNum - 1].Wait();
+                    MyModbus.Write($"LB{LBOffset[ChannelNum - 1]}".ToModbusAdd(), false);
                 }
         }
 
@@ -45,8 +55,9 @@ namespace BPASmartClient.MorkCL.Model.Control
             if (ushort.TryParse(value, out ushort Gear))
                 if (Gear >= 1 && Gear <= 8)
                 {
-                    MyModbus.Write($"VW100".ToModbusAdd(), Gear);
+                    MyModbus.Write($"LW0".ToModbusAdd(), Gear);
                     MyModbus.Write($"LB9".ToModbusAdd(), true);
+                    MyModbus.Write($"LB9".ToModbusAdd(), false);
                 }
         }
 
@@ -59,8 +70,9 @@ namespace BPASmartClient.MorkCL.Model.Control
             if (ushort.TryParse(value, out ushort Frequency))
                 if (Frequency >= 0 && Frequency <= 50)
                 {
-                    MyModbus.Write($"VW102".ToModbusAdd(), Frequency);
+                    MyModbus.Write($"LW1".ToModbusAdd(), Frequency*100);
                     MyModbus.Write($"LB10".ToModbusAdd(), true);
+                    MyModbus.Write($"LB10".ToModbusAdd(), false);
                 }
         }
 
@@ -73,8 +85,9 @@ namespace BPASmartClient.MorkCL.Model.Control
             if (ushort.TryParse(value, out ushort Frequency))
                 if (Frequency >= 0 && Frequency <= 50)
                 {
-                    MyModbus.Write($"VW104".ToModbusAdd(), Frequency);
+                    MyModbus.Write($"LW2".ToModbusAdd(), Frequency);
                     MyModbus.Write($"LB11".ToModbusAdd(), true);
+                    MyModbus.Write($"LB11".ToModbusAdd(), false);
                 }
         }
 
@@ -108,6 +121,9 @@ namespace BPASmartClient.MorkCL.Model.Control
                 if (loc >= 1 && loc <= 4)
                 {
                     MyModbus.Write($"LB{loc + 15}".ToModbusAdd(), true);
+                    Thread.Sleep(500);
+                    StirFryingLocFB[loc - 1].Wait();
+                    MyModbus.Write($"LB{loc + 15}".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

BPASmartClient.MorkCL/Model/Control/RobotSet.cs

@@ -54,7 +54,27 @@ 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/Json/ConnectPar.cs

@@ -8,26 +8,38 @@ namespace BPASmartClient.MorkCL.Model.Json
 {
     public class ConnectPar
     {
-        //1号炒锅
-        public string FryingPanIP1 { get; } = "192.168.0.1";
+        /// <summary>
+        /// 1号炒锅
+        /// </summary>
+        public string FryingPanIP1 { get; } = "192.168.6.100";
         public string FryingPanPort1 { get; } = "502";
 
-        //2号炒锅
-        public string FryingPanIP2 { get; } = "192.168.0.2";
+        /// <summary>
+        /// 2号炒锅
+        /// </summary>
+        public string FryingPanIP2 { get; } = "192.168.6.101";
         public string FryingPanPort2 { get; } = "502";
 
-        //压力锅
-        public string PressureCookerIP { get; } = "192.168.0.3";
+        /// <summary>
+        /// 压力锅
+        /// </summary>
+        public string PressureCookerIP { get; } = "192.168.6.102";
         public string PressureCookerPort { get; } = "502";
 
-        //机器人
-        public string RobotIP { get; } = "192.168.0.4";
+        /// <summary>
+        /// 机器人
+        /// </summary>
+        public string RobotIP { get; } = "192.168.6.103";
         public string RobotPort { get; } = "502";
 
-        //电子秤端口号
+        /// <summary>
+        /// 电子秤端口号
+        /// </summary>
         public string ESPortName { get; } = "COM1";
 
-        //外设端口号
+        /// <summary>
+        /// 外设端口号
+        /// </summary>
         public string PPortName { get; } = "COM2";
     }
 }

BPASmartClient.MorkCL/Server/FryingPanServer.cs

@@ -19,7 +19,7 @@ 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];
@@ -32,6 +32,10 @@ namespace BPASmartClient.MorkCL.Server
                         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

@@ -19,9 +19,9 @@ 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];
@@ -29,9 +29,9 @@ namespace BPASmartClient.MorkCL.Server
                         }
                     });
 
-                    MyModbus.Read<bool[]>("M630".ToModbusAdd(), 12).OnSuccess(s =>
-                     {
-                         for (byte i = 0; i < s.Length; i++) WarehousingComplete[i] = s[i];
+                    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; });

BPASmartClient.MorkCL/View/Debug.xaml

@@ -5,16 +5,34 @@
     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"
+    xmlns:vm="clr-namespace:BPASmartClient.MorkCL.ViewModel"
     d:DesignHeight="450"
     d:DesignWidth="800" 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 -->
+        <StackPanel Orientation="Vertical" Margin="5">
+            <TextBlock Text="加热档位设定："/>
+            <TextBox Text="{Binding HeatGear}"/>
+            <Button Content="写入"/>
+        </StackPanel>
+        
+        <!--#endregion-->
+    </Grid>
 </UserControl>

BPASmartClient.MorkCL/ViewModel/DebugViewModel.cs

@@ -0,0 +1,18 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkCL.ViewModel
+{
+    public  class DebugViewModel:NotifyBase
+    {
+        public DebugViewModel()
+        {
+            
+        }
+
+        public int HeatGear { get; set; }
+    }
+}

BPASmartClient.MorkCL/ViewModel/ItemStorageViewModel.cs

@@ -10,13 +10,13 @@ namespace BPASmartClient.MorkCL.ViewModel
         public ItemStorageViewModel()
         {
             //加载读取数据。
-            //AddTestData();
+            AddTestData();
 
             ActionManage.GetInstance.Register(() =>
             {
                 IngredientsItorage = new ObservableCollection<ItemStorage>(Json<ItemStorageInfo>.Data.IngredientsStorage);
                 AccessoriesItorage = new ObservableCollection<ItemStorage>(Json<ItemStorageInfo>.Data.AccessoriesStorage);
-            },"RefreshItemStorage");
+            },"RefreshItemStorage",true);
             
 
             ActionManage.GetInstance.Register((() =>
@@ -31,7 +31,7 @@ namespace BPASmartClient.MorkCL.ViewModel
                 if (o!=null)
                 {
 #if !FORMAL
-                    ScaleCurrentWeight = (float)o;
+                   // ScaleCurrentWeight = (float)o;
 #else
                     ScaleCurrentWeight = 1.23f;
 #endif
@@ -55,7 +55,7 @@ namespace BPASmartClient.MorkCL.ViewModel
                             item.Name = ingredients.Name;
                             item.IsEmploy = true;
                             item.Weight = ScaleCurrentWeight;
-                            ActionManage.GetInstance.Send("ItemStorage", IngredientsItorage.IndexOf(item));
+                            ActionManage.GetInstance.Send("ItemStorage", IngredientsItorage.IndexOf(item)+1);
                             Json<ItemStorageInfo>.Data.IngredientsStorage = IngredientsItorage.ToArray();
                             Json<ItemStorageInfo>.Save();