MotkT流程

BPASmartClient.Business/Plugin/DeviceMgr.cs

@@ -61,13 +61,22 @@ namespace BPASmartClient.Business
                 List<IPeripheral> peripherals = new List<IPeripheral>();
                 foreach (var peripheral in device.Peripherals)
                 {
-                    var peripheralTemp = Assembly.Load(peripheral.Module.Substring(0, peripheral.Module.LastIndexOf('.'))).CreateInstance(peripheral.Module) as IPeripheral;
+                    try
+                    {
+                        var peripheralTemp = Assembly.Load(peripheral.Module.Substring(0, peripheral.Module.LastIndexOf('.'))).CreateInstance(peripheral.Module,true) as IPeripheral;
 
-                    foreach (var pars in peripheral.Parameters)
+                        foreach (var pars in peripheral.Parameters)
+                        {
+                            peripheralTemp.GetType().GetProperty(pars.Key).SetValue(peripheralTemp, Convert.ChangeType(pars.Value, peripheralTemp.GetType().GetProperty(pars.Key).PropertyType));
+                        }
+                        peripherals.Add(peripheralTemp);
+                    }
+                    catch (Exception ex)
                     {
-                        peripheralTemp.GetType().GetProperty(pars.Key).SetValue(peripheralTemp, Convert.ChangeType(pars.Value, peripheralTemp.GetType().GetProperty(pars.Key).PropertyType));
+
+                        throw ex;
                     }
-                    peripherals.Add(peripheralTemp);
+                   ;
                 }
                 deviceTemp.Initliaze(peripherals);
                 this.devices.Add(deviceTemp);

BPASmartClient.Business/Plugin/OrderProxy.cs

@@ -97,7 +97,7 @@ namespace BPASmartClient.Business
                 var device = deviceMgr.GetDevices().FirstOrDefault(p => p.DeviceId == deviceId);
                 while (running)
                 {
-                    if (device.IsBusy || !device.IsHealth)
+                    if (device.IsBusy /*|| !device.IsHealth*/)
                     {
                         Thread.Sleep(100);
                         continue;

BPASmartClient.DRCoffee/CoffeeMachine.cs

@@ -38,6 +38,9 @@ namespace BPASmartClient.DRCoffee
         /// 是否在线
         /// </summary>
         public bool OnLine { get { return DateTime.Now.Subtract(lastRefreshTime).TotalSeconds <= 3; } }
+
+        //private volatile static CoffeeMachine _Instance;
+        //public static CoffeeMachine GetInstance => _Instance ?? (_Instance = new CoffeeMachine());
         public CoffeeMachine()
         {
             DrCoffeePackage package = new DrCoffeePackage();
@@ -100,6 +103,7 @@ namespace BPASmartClient.DRCoffee
                 //一系列解包
                 while (dataStorage.GetSize() > 0)
                 {
+                    
                     byte item = dataStorage.GetData();
                     if (DrCoffee.HEADER == item)
                     {
@@ -137,9 +141,11 @@ namespace BPASmartClient.DRCoffee
         /// <param name="package"></param>
         public void ProcessPackage(DrCoffeePackage package)
         {
+            
             if (((DrCoffeeStatus)status["Status"]) == DrCoffeeStatus.Running && package.Status != DrCoffeeStatus.Running)
             {
                 status["Status"] = package.Status;
+                
                 lastRefreshTime = DateTime.Now;
                 new DRCoffee_CoffeEndCookEvent() { DeviceId = DeviceId }.Publish();
             }
@@ -147,7 +153,7 @@ namespace BPASmartClient.DRCoffee
             status["AppStatus"] = package.ApplicationStatus;
             status["Warning"] = package.Warning;
             status["Fault"] = package.Fault;
-
+            
             if ((DrCoffeeStatus)status["Status"] == DrCoffeeStatus.Warning
                 || (DrCoffeeStatus)status["Status"] == DrCoffeeStatus.Fault
                 || (DrCoffeeWarning)status["Warning"] != DrCoffeeWarning.无警告
@@ -155,9 +161,10 @@ namespace BPASmartClient.DRCoffee
                 )
             {
                 IsWork = false;
+                
             }
             else
-                IsWork = true;
+                IsWork = true; 
         }
 
         protected override void InitStatus()
@@ -229,6 +236,8 @@ namespace BPASmartClient.DRCoffee
                 }
             });
             InitStatus();
+            //测试
+            Start();
         }
 
     }

BPASmartClient.Device/BaseDevice.cs

@@ -125,7 +125,6 @@ namespace BPASmartClient.Device
             {
                 p.DeviceId = this.DeviceId;
                 p.Init();
-
             });
             this.peripherals = peripherals;
         }

BPASmartClient.GSIceCream/IceCreamMachine.cs

@@ -32,7 +32,8 @@ namespace BPASmartClient.GSIceCream
         private DateTime lastRefreshTime = DateTime.MinValue;
         //是否在线
         public bool OnLine { get { return DateTime.Now.Subtract(lastRefreshTime).TotalSeconds <= 3; } }
-
+        //private volatile static IceCreamMachine _Instance;
+        //public static IceCreamMachine GetInstance => _Instance ?? (_Instance = new IceCreamMachine());
         public IceCreamMachine()
         {
             ICMSG_Heart_DW heartDW = new ICMSG_Heart_DW();
@@ -330,6 +331,8 @@ namespace BPASmartClient.GSIceCream
                 }
             });
             InitStatus();
+            //测试用
+            Start();
         }
     }
 

BPASmartClient.Lebai/BPASmartClient.Lebai.csproj

@@ -9,6 +9,7 @@
   <ItemGroup>
     <ProjectReference Include="..\BPASmartClient.EventBus\BPASmartClient.EventBus.csproj" />
     <ProjectReference Include="..\BPASmartClient.Helper\BPASmartClient.Helper.csproj" />
+    <ProjectReference Include="..\BPASmartClient.LebaiRobot\BPASmartClient.LebaiRobot.csproj" />
     <ProjectReference Include="..\BPASmartClient.Message\BPASmartClient.Message.csproj" />
     <ProjectReference Include="..\BPASmartClient.Model\BPASmartClient.Model.csproj" />
     <ProjectReference Include="..\BPASmartClient.Peripheral\BPASmartClient.Peripheral.csproj" />

BPASmartClient.Lebai/LebaiRobot.cs

@@ -14,71 +14,17 @@ using BPASmartClient.Peripheral;
 using BPASmartClient.EventBus;
 using static BPASmartClient.EventBus.EventBus;
 using BPASmartClient.Model;
+using BPASmartClient.LebaiRobot;
 
 namespace BPASmartClient.Lebai
 {
     public class LebaiRobot: BasePeripheral
     {
 
-        //public const int SENCE_自嗨 = 10008;
-        //public const int SENCE_接冰淇淋1 = 10004;
-        //public const int SENCE_接冰淇淋2 = 10003;
-        //public const int SENCE_接冰淇淋3 = 10005;
-        //public const int SENCE_咖啡 = 10006;
-        //#region 新增场景
-        //public const int SENCE_取咖啡杯 = 10013;
-        //public const int SENCE_咖啡杯检测 = 10014;
-        //public const int SENCE_再次取杯 = 10017;
-        //public const int SENCE_接咖啡 = 10015;
-        //public const int SENCE_送咖啡 = 10016; //无取走咖啡检测配合场景
-        //public const int SENCE_New送咖啡 = 10021;//有取走咖啡检测配合场景
-        //public const int SENCE_有无咖啡检测 = 10019;
-        //public const int SENCE_再送咖啡 = 10020;
-        //public const int SENCE_复位 = 10018;
-        //#endregion
-        //public const int SENCE_欢迎 = 10002;
-
-
-        #region 且时且多设备
-        //取咖啡杯 set：=1    get:=101	10031
-        //取冰淇淋杯 set：=1    get:=101	10032
-        //咖啡杯检测 set：=1    get:=101	10033
-        //冰淇淋杯检测 set：=1    get:=101	10034
-        //二次取咖啡杯 set：=1    get:=101	10035
-        //二次取冰淇淋杯 set：=1    get:=101	10036
-        //接咖啡 set：=1    get:=101	10037
-        //接冰淇淋公共点 set：=1    get:=101	10038
-        //接1号冰淇淋 set：=1    get:=101	10039
-        //接2号冰淇淋 set：=1    get:=101	10040
-        //接3号冰淇淋 set：=1    get:=101	10041
-        //放咖啡位置 set：=1    get:=101	10042
-        //放冰淇淋位置 set：=1    get:=101	10043
-
-        public const int SENCE_取咖啡杯 = 10031;
-        public const int SENCE_取冰淇淋杯 = 10032;
-        public const int SENCE_咖啡杯检测 = 10033;
-        public const int SENCE_冰淇淋杯检测 = 10034;
-        public const int SENCE_二次取咖啡杯 = 10035;
-        public const int SENCE_二次取冰淇淋杯 = 10036;
-        public const int SENCE_接咖啡 = 10037;
-        public const int SENCE_接冰淇淋公共点 = 10038;
-        public const int SENCE_接1号冰淇淋 = 10039;
-        public const int SENCE_接2号冰淇淋 = 10040;
-        public const int SENCE_接3号冰淇淋 = 10041;
-        public const int SENCE_放咖啡位置 = 10042;
-        public const int SENCE_放冰淇淋位置 = 10043;
-
-        //add 新加场景
-        public const int SENCE_接咖啡后回原点 = 10051;
-        public const int SENCE_咖啡杯回原点 = 10050;
-        public const int SENCE_冰淇淋杯回原点 = 10049;
-        public const int SENCE_取咖啡出餐 = 10052;
-        #endregion
-
         /// <summary>
         /// IP地址
         /// </summary>
-        public string IpAddress { get; set; }
+        public string IpAddress { get; set; } = "192.168.0.1";
         /// <summary>
         /// 抓手上传感器输入位索引
         /// </summary>
@@ -88,281 +34,6 @@ namespace BPASmartClient.Lebai
         /// </summary>
         public int OutputSingalValue { get; set; }
 
-
-        private volatile static LebaiRobot _Instance;
-        public static LebaiRobot GetInstance => _Instance ?? (_Instance = new LebaiRobot());
-        private LebaiRobot() { }
-        private LebaiRobotClient client;
-        private RobotData robotData;
-        public bool IsIdle { get; set; } = false;
-        public bool IsConnected { get { return null != robotData; } }
-
-        public void Connect(string ip)
-        {
-            bool ErrorFlag = false;
-            while (robotData == null)
-            {
-                try
-                {
-                    client = new LebaiRobotClient(ip);
-                    robotData = client.GetRobotData().Result;
-                }
-                catch (Exception ex)
-                {
-                    if (!ErrorFlag)
-                    {
-                        MessageLog.GetInstance.ShowEx(ex.ToString());
-                        ErrorFlag = true;
-                    }
-                    Thread.Sleep(3000);
-                }
-            }
-            StartRobot();
-            MessageLog.GetInstance.Show("乐百机器人连接成功！");
-        }
-        /// <summary>
-        /// 机器人重连检测
-        /// </summary>
-        /// <param name="ip"></param>
-        public void Reconnect(string ip)
-        {
-            if (client == null)
-            {
-                try
-                {
-                    client = new LebaiRobotClient(ip);
-                }
-                catch (Exception)
-                {
-
-                    // throw;
-                }
-            }
-        check:
-            while (robotData != null)
-            {
-
-                try
-                {
-                    robotData = client.GetRobotData().Result;
-                }
-                catch (Exception)
-                {
-                    robotData = null;
-                    // throw;
-                }
-            }
-            MessageLog.GetInstance.Show("乐白机器人断开连接，准备重连");
-            int num = 0;
-            while (num < 6 && robotData == null)
-            {
-                try
-                {
-
-                    robotData = client.GetRobotData().Result;
-                }
-                catch (Exception ex)
-                {
-                    if (num == 5)
-                    {
-                        MessageLog.GetInstance.ShowEx(ex.ToString());
-                    }
-                }
-
-                if (num < 5 && robotData == null)
-                {
-                    Thread.Sleep(1000);
-                    MessageLog.GetInstance.Show($"乐白机器人正在尝试第{num + 1}次重连....");
-                }
-                else if (num >= 5 && robotData == null)
-                {
-                    MessageLog.GetInstance.Show("乐白机器人重连失败，请检查硬件连接");
-                    //return;
-                }
-                num++;
-            }
-            if (robotData != null)
-            {
-                StartRobot();
-                MessageLog.GetInstance.Show("乐白机器人重连成功");
-            }
-            goto check;
-        }
-
-        public void GetRobotModeStatus()
-        {
-
-            if (robotData == null) return;
-            int mode = robotData.RobotMode.Mode;
-            IsIdle = mode == 5;
-            for (int i = 0; i < 14; i++)
-            {
-                if (RTrig.GetInstance(((ELebaiRModel)i).ToString()).Start(mode == i))
-                    MessageLog.GetInstance.Show(((ELebaiRModel)i).ToString());
-            }
-        }
-        public void GetSpeed()
-        {
-            //client.StartSys().GetAwaiter();
-            var aa = client.GetActualTcpSpeed().GetAwaiter();
-            //robotData.RobotMode.Mode
-        }
-
-        /// <summary>
-        /// 启动机器人
-        /// </summary>
-        public async void StartRobot()
-        {
-            if (robotData != null)
-            {
-                await client.StartSys();
-                await client.Sync();
-                MessageLog.GetInstance.Show("机器人启动成功");
-            }
-        }
-
-        /// <summary>
-        /// 启动示教
-        /// </summary>
-        public async void StartTeachMode()
-        {
-            try
-            {
-                if (robotData != null)
-                {
-                    await client.TeachMode();
-                    MessageLog.GetInstance.Show("机器人切换为示教模式.");
-                }
-            }
-            catch (Exception ex)
-            {
-                MessageLog.GetInstance.ShowEx(ex.ToString());
-            }
-        }
-
-        /// <summary>
-        /// 结束示教
-        /// </summary>
-        public async void EndtTeachMode()
-        {
-            try
-            {
-                if (robotData != null)
-                {
-                    await client.EndTeachMode();
-                    MessageLog.GetInstance.Show("机器人切换为停止示教模式.");
-                }
-            }
-            catch (Exception ex)
-            {
-                MessageLog.GetInstance.ShowEx(ex.ToString());
-            }
-        }
-
-        /// <summary>
-        /// 机器人急停
-        /// </summary>
-        public async void EStopRobot()
-        {
-            try
-            {
-                if (robotData != null)
-                {
-                    await client.EStop();
-                    MessageLog.GetInstance.Show("机器人急停");
-                }
-            }
-            catch (Exception ex)
-            {
-                MessageLog.GetInstance.ShowEx(ex.ToString());
-            }
-        }
-
-        /// <summary>
-        /// 获取抓手重量
-        /// </summary>
-        /// <returns></returns>
-        public double GetClawWdight()
-        {
-            if (robotData != null)
-            {
-                return client.GetClawWeight().Result.Weight_;
-            }
-            return 0;
-        }
-
-        /// <summary>
-        /// 获取信号量
-        /// </summary>
-        /// <param name="index"></param>
-        /// <returns></returns>
-        public SignalResult? GetValueAsync(int index = 0)
-        {
-            if (robotData == null) return default(SignalResult);
-            SignalValue signalValue = new SignalValue();
-            signalValue.Index = index;
-            return client?.GetSignal(signalValue).Result;
-        }
-
-        /// <summary>
-        /// 设置信号量
-        /// </summary>
-        /// <param name="index"></param>
-        /// <param name="value"></param>
-        /// <returns></returns>
-        public SignalResult? SetValue(int value, int index = 0)
-        {
-            if (robotData == null) return default;
-            SignalValue signalValue = new SignalValue();
-            signalValue.Index = index;
-            signalValue.Value = value;
-            return client.SetSignal(signalValue).Result;
-        }
-
-        /// <summary>
-        /// 获取输入DI状态
-        /// </summary>
-        /// <param name="pin"></param>
-        /// <returns></returns>
-        public bool GetInput(int pin = 0)
-        {
-            if (client == null) return false;
-            var res = client.GetDIO(new IOPin() { Pin = pin }).Result;
-            if (res != null)
-            {
-                return res.Value == 1 ? true : false;
-            }
-            return false;
-        }
-
-        /// <summary>
-        /// 运行指定的场景
-        /// </summary>
-        /// <param name="id"></param>
-        public async void Scene(int id)
-        {
-            CancellationToken cancellationToken = default(CancellationToken);
-            var result = await client.GetTasks(new GetTasksInput { PageIndex = 1, PageSize = 1 }, cancellationToken);
-            var first = result?.Items?.FirstOrDefault();
-            var r = first == null || first.Status != TaskStatus.Running && first.Status != TaskStatus.Pause;
-            while (!r)
-            {
-                Thread.Sleep(5);
-                result = await client.GetTasks(new GetTasksInput { PageIndex = 1, PageSize = 1 }, cancellationToken);
-                first = result?.Items?.FirstOrDefault();
-                r = first == null || first.Status != TaskStatus.Running && first.Status != TaskStatus.Pause;
-            }
-            while (GetValueAsync().Value != 0)
-            {
-                Thread.Sleep(500);
-            }
-            Thread.Sleep(1000);
-            if (robotData == null || client == null) return;
-            //if (!client.GetIsCanRunTask().Result) return;
-            await client?.RunScene(id);
-            MessageLog.GetInstance.Show($"调用场景：{id}");
-        }
-
         protected override void InitStatus()
         {
             status["Connected"] = false;
@@ -372,12 +43,18 @@ namespace BPASmartClient.Lebai
 
         public override void Start()
         {
-            Connect(IpAddress);
-            
+            LebaiHelper.GetInstance().Connect(IpAddress);
+            ThreadManage.GetInstance().StartLong(() => { LebaiHelper.GetInstance().Reconnect(IpAddress); Thread.Sleep(5000); }, "机器人重连检测");
+            ThreadManage.GetInstance().StartLong(() =>
+            {
+                status["Connected"] = LebaiHelper.GetInstance().IsConnected;
+                if (LebaiHelper.GetInstance().robotData != null) status["RobotMode"] = LebaiHelper.GetInstance().robotData.RobotMode.Mode;
+            },"获取乐白机器人数据");
         }
 
         public override void Stop()
         {
+
         }
 
         public override void Init()
@@ -387,6 +64,9 @@ namespace BPASmartClient.Lebai
 
             });
             InitStatus();
+            Start();
         }
+
+        
     }
 }

BPASmartClient.LebaiRobot/BPASmartClient.LebaiRobot.csproj

@@ -0,0 +1,15 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net6.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <ProjectReference Include="..\BPASmartClient.Helper\BPASmartClient.Helper.csproj" />
+    <ProjectReference Include="..\BPASmartClient.Model\BPASmartClient.Model.csproj" />
+    <ProjectReference Include="..\Lebai.SDK\Lebai.SDK.csproj" />
+  </ItemGroup>
+
+</Project>

BPASmartClient.Lebai/ELebaiRModel.cs → BPASmartClient.LebaiRobot/ELebaiRModel.cs

@@ -4,7 +4,7 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 
-namespace BPASmartClient.Lebai
+namespace BPASmartClient.LebaiRobot
 {
     public enum ELebaiRModel : int
     {

BPASmartClient.LebaiRobot/LebaiHelper.cs

@@ -0,0 +1,333 @@
+using BPASmartClient.Helper;
+using BPASmartClient.Message;
+using BPASmartClient.Model;
+using Lebai.SDK;
+using Lebai.SDK.Dtos;
+using Robotc;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using TaskStatus = Lebai.SDK.Dtos.TaskStatus;
+
+namespace BPASmartClient.LebaiRobot
+{
+    public class LebaiHelper:Singleton<LebaiHelper>
+    {
+
+        #region 且时且多设备
+        //取咖啡杯 set：=1    get:=101	10031
+        //取冰淇淋杯 set：=1    get:=101	10032
+        //咖啡杯检测 set：=1    get:=101	10033
+        //冰淇淋杯检测 set：=1    get:=101	10034
+        //二次取咖啡杯 set：=1    get:=101	10035
+        //二次取冰淇淋杯 set：=1    get:=101	10036
+        //接咖啡 set：=1    get:=101	10037
+        //接冰淇淋公共点 set：=1    get:=101	10038
+        //接1号冰淇淋 set：=1    get:=101	10039
+        //接2号冰淇淋 set：=1    get:=101	10040
+        //接3号冰淇淋 set：=1    get:=101	10041
+        //放咖啡位置 set：=1    get:=101	10042
+        //放冰淇淋位置 set：=1    get:=101	10043
+
+        public const int SENCE_取咖啡杯 = 10031;
+        public const int SENCE_取冰淇淋杯 = 10032;
+        public const int SENCE_咖啡杯检测 = 10033;
+        public const int SENCE_冰淇淋杯检测 = 10034;
+        public const int SENCE_二次取咖啡杯 = 10035;
+        public const int SENCE_二次取冰淇淋杯 = 10036;
+        public const int SENCE_接咖啡 = 10037;
+        public const int SENCE_接冰淇淋公共点 = 10038;
+        public const int SENCE_接1号冰淇淋 = 10039;
+        public const int SENCE_接2号冰淇淋 = 10040;
+        public const int SENCE_接3号冰淇淋 = 10041;
+        public const int SENCE_放咖啡位置 = 10042;
+        public const int SENCE_放冰淇淋位置 = 10043;
+
+        //add 新加场景
+        public const int SENCE_接咖啡后回原点 = 10051;
+        public const int SENCE_咖啡杯回原点 = 10050;
+        public const int SENCE_冰淇淋杯回原点 = 10049;
+        public const int SENCE_取咖啡出餐 = 10052;
+        #endregion
+
+        
+
+       
+        private LebaiRobotClient client;
+        public RobotData robotData;
+        public bool IsIdle { get; set; } = false;
+        public bool IsConnected { get { return null != robotData; } }
+        public void Connect(string ip)
+        {
+            MessageLog.GetInstance.Show($"机器人IP地址：{ip}");
+            bool ErrorFlag = false;
+            while (robotData == null)
+            {
+                try
+                {
+                    client = new LebaiRobotClient(ip);
+                    robotData = client.GetRobotData().Result;
+                    ActionManage.GetInstance.Send("乐白机器人数据");
+                }
+                catch (Exception ex)
+                {
+                    if (!ErrorFlag)
+                    {
+                        MessageLog.GetInstance.ShowEx(ex.ToString());
+                        ErrorFlag = true;
+                    }
+                    Thread.Sleep(3000);
+                }
+            }
+            StartRobot();
+
+            MessageLog.GetInstance.Show("乐百机器人连接成功！");
+        }
+        /// <summary>
+        /// 机器人重连检测
+        /// </summary>
+        /// <param name="ip"></param>
+        public void Reconnect(string ip)
+        {
+            if (client == null)
+            {
+                try
+                {
+                    client = new LebaiRobotClient(ip);
+                }
+                catch (Exception)
+                {
+
+                    // throw;
+                }
+            }
+        check:
+            while (robotData != null)
+            {
+
+                try
+                {
+                    robotData = client.GetRobotData().Result;                }
+                catch (Exception)
+                {
+                    robotData = null;
+                    // throw;
+                }
+            }
+            MessageLog.GetInstance.Show("乐白机器人断开连接，准备重连");
+            int num = 0;
+            while (num < 6 && robotData == null)
+            {
+                try
+                {
+                    robotData = client.GetRobotData().Result;
+                }
+                catch (Exception ex)
+                {
+                    if (num == 5)
+                    {
+                        MessageLog.GetInstance.ShowEx(ex.ToString());
+                    }
+                }
+
+                if (num < 5 && robotData == null)
+                {
+                    Thread.Sleep(1000);
+                    MessageLog.GetInstance.Show($"乐白机器人正在尝试第{num + 1}次重连....");
+                }
+                else if (num >= 5 && robotData == null)
+                {
+                    MessageLog.GetInstance.Show("乐白机器人重连失败，请检查硬件连接");
+                    //return;
+                }
+                num++;
+            }
+            if (robotData != null)
+            {
+                StartRobot();
+                MessageLog.GetInstance.Show("乐白机器人重连成功");
+            }
+            goto check;
+        }
+
+        public void GetRobotModeStatus()
+        {
+            if (robotData == null)
+            {
+
+                return;
+            }
+            int mode = robotData.RobotMode.Mode;
+            IsIdle = mode == 5;
+
+            for (int i = 0; i < 14; i++)
+            {
+                if (RTrig.GetInstance(((ELebaiRModel)i).ToString()).Start(mode == i))
+                    MessageLog.GetInstance.Show(((ELebaiRModel)i).ToString());
+            }
+
+        }
+        public void GetSpeed()
+        {
+            //client.StartSys().GetAwaiter();
+            var aa = client.GetActualTcpSpeed().GetAwaiter();
+            //robotData.RobotMode.Mode
+        }
+
+        /// <summary>
+        /// 启动机器人
+        /// </summary>
+        public async void StartRobot()
+        {
+            if (robotData != null)
+            {
+                await client.StartSys();
+                await client.Sync();
+                MessageLog.GetInstance.Show("机器人启动成功");
+            }
+        }
+
+        /// <summary>
+        /// 启动示教
+        /// </summary>
+        public async void StartTeachMode()
+        {
+            try
+            {
+                if (robotData != null)
+                {
+                    await client.TeachMode();
+                    MessageLog.GetInstance.Show("机器人切换为示教模式.");
+                }
+            }
+            catch (Exception ex)
+            {
+                MessageLog.GetInstance.ShowEx(ex.ToString());
+            }
+        }
+
+        /// <summary>
+        /// 结束示教
+        /// </summary>
+        public async void EndtTeachMode()
+        {
+            try
+            {
+                if (robotData != null)
+                {
+                    await client.EndTeachMode();
+                    MessageLog.GetInstance.Show("机器人切换为停止示教模式.");
+                }
+            }
+            catch (Exception ex)
+            {
+                MessageLog.GetInstance.ShowEx(ex.ToString());
+            }
+        }
+
+        /// <summary>
+        /// 机器人急停
+        /// </summary>
+        public async void EStopRobot()
+        {
+            try
+            {
+                if (robotData != null)
+                {
+                    await client.EStop();
+                    MessageLog.GetInstance.Show("机器人急停");
+                }
+            }
+            catch (Exception ex)
+            {
+                MessageLog.GetInstance.ShowEx(ex.ToString());
+            }
+        }
+
+        /// <summary>
+        /// 获取抓手重量
+        /// </summary>
+        /// <returns></returns>
+        public double GetClawWdight()
+        {
+            if (robotData != null)
+            {
+                return client.GetClawWeight().Result.Weight_;
+            }
+            return 0;
+        }
+
+        /// <summary>
+        /// 获取信号量
+        /// </summary>
+        /// <param name="index"></param>
+        /// <returns></returns>
+        public SignalResult? GetValueAsync(int index = 0)
+        {
+            if (robotData == null) return default(SignalResult);
+            SignalValue signalValue = new SignalValue();
+            signalValue.Index = index;
+            return client?.GetSignal(signalValue).Result;
+        }
+
+        /// <summary>
+        /// 设置信号量
+        /// </summary>
+        /// <param name="index"></param>
+        /// <param name="value"></param>
+        /// <returns></returns>
+        public SignalResult? SetValue(int value, int index = 0)
+        {
+            if (robotData == null) return default;
+            SignalValue signalValue = new SignalValue();
+            signalValue.Index = index;
+            signalValue.Value = value;
+            return client.SetSignal(signalValue).Result;
+        }
+
+        /// <summary>
+        /// 获取输入DI状态
+        /// </summary>
+        /// <param name="pin"></param>
+        /// <returns></returns>
+        public bool GetInput(int pin = 0)
+        {
+            if (client == null) return false;
+            var res = client.GetDIO(new IOPin() { Pin = pin }).Result;
+            if (res != null)
+            {
+                return res.Value == 1 ? true : false;
+            }
+            return false;
+        }
+
+        /// <summary>
+        /// 运行指定的场景
+        /// </summary>
+        /// <param name="id"></param>
+        public async void Scene(int id)
+        {
+            CancellationToken cancellationToken = default(CancellationToken);
+            var result = await client.GetTasks(new GetTasksInput { PageIndex = 1, PageSize = 1 }, cancellationToken);
+            var first = result?.Items?.FirstOrDefault();
+            var r = first == null || first.Status != Lebai.SDK.Dtos.TaskStatus.Running && first.Status != TaskStatus.Pause;
+            while (!r)
+            {
+                Thread.Sleep(5);
+                result = await client.GetTasks(new GetTasksInput { PageIndex = 1, PageSize = 1 }, cancellationToken);
+                first = result?.Items?.FirstOrDefault();
+                r = first == null || first.Status != Lebai.SDK.Dtos.TaskStatus.Running && first.Status != Lebai.SDK.Dtos.TaskStatus.Pause;
+            }
+            while (GetValueAsync().Value != 0)
+            {
+                Thread.Sleep(500);
+            }
+            Thread.Sleep(1000);
+            if (robotData == null || client == null) return;
+            //if (!client.GetIsCanRunTask().Result) return;
+            await client?.RunScene(id);
+            MessageLog.GetInstance.Show($"调用场景：{id}");
+        }
+    }
+}

BPASmartClient.MorkT/Control_MorkT.cs

@@ -2,7 +2,9 @@
 using BPASmartClient.Device;
 using BPASmartClient.EventBus;
 using BPASmartClient.GSIceCream;
+using BPASmartClient.Helper;
 using BPASmartClient.Lebai;
+using BPASmartClient.LebaiRobot;
 using BPASmartClient.Message;
 using BPASmartClient.Model;
 using BPASmartClient.Model.冰淇淋.Enum;
@@ -25,9 +27,9 @@ namespace BPASmartClient.MorkT
 
         GLV_MorkT morkT = new GLV_MorkT();
 
-
         public override void DoMain()
         {
+            IsHealth = true;
             ServerInit();
             DataParse();
             EventBus.EventBus.GetInstance().Subscribe<DRCoffee_CoffeEndCookEvent>(DeviceId, delegate (IEvent @event, EventCallBackHandle callBack)
@@ -35,7 +37,30 @@ namespace BPASmartClient.MorkT
                 if (morkT.MakeCoffeeOrder != null)
                     morkT.MakeCoffeeOrder.OrderStatus = 1;
             });
+
+            ActionManage.GetInstance.Register(new Action<object>((o) =>
+            {
+                switch (o)
+                {
+                    case "机器人启动":
+                        LebaiHelper.GetInstance().StartRobot();
+                        break;
+                    case "启动示教":
+                        LebaiHelper.GetInstance().StartTeachMode();
+                        break;
+                    case "停止示教":
+                        LebaiHelper.GetInstance().EndtTeachMode();
+                        break;
+                    case "机器人急停":
+                        LebaiHelper.GetInstance().EStopRobot();
+                        break;
+                    default:
+                        break;
+                }
+            }),"调试控制-机器人控制");
+         
             MessageLog.GetInstance.Show("MORKT 设备初始化完成");
+
         }
 
         public override void ResetProgram()
@@ -47,7 +72,7 @@ namespace BPASmartClient.MorkT
         public override void MainTask()
         {
             MakeCoffeeProcess();
-            if(!LebaiRobot.GetInstance.GetInput())//取餐口有空余位置
+            if(!LebaiHelper.GetInstance().GetInput())//取餐口有空余位置
             {
                 MakeIceCreamProcess();
                 MakeCoffeeComplete();
@@ -56,8 +81,8 @@ namespace BPASmartClient.MorkT
 
         public override void ReadData()
         {
-            morkT.lebai = LebaiRobot.GetInstance.GetValueAsync();
-            LebaiRobot.GetInstance.GetRobotModeStatus();
+            morkT.lebai = LebaiHelper.GetInstance().GetValueAsync();
+            LebaiHelper.GetInstance().GetRobotModeStatus();
         }
 
 
@@ -211,9 +236,9 @@ namespace BPASmartClient.MorkT
                 {
                     DeviceProcessLogShow($"开始制作 [咖啡] 订单[{orderLoc.SortNum}]");
                     GetAndCheeckCoffe(orderLoc);
-                    LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_接咖啡后回原点);//把咖啡杯放到咖啡机机的位置后回原点
+                    LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_接咖啡后回原点);//把咖啡杯放到咖啡机机的位置后回原点
                     Wait();
-                    LebaiRobot.GetInstance.SetValue(1);
+                    LebaiHelper.GetInstance().SetValue(1);
                     new DRCoffee_MakeCoffeeEvent() { DrinkCode = (Model.咖啡机.Enum.DrCoffeeDrinksCode)int.Parse(orderLoc.Loc) }.Publish();  //接咖啡控制
                     DeviceProcessLogShow($"发送咖啡机制作{orderLoc.Loc}!");
                     morkT.IsCoffeeMake = true; morkT.MakeCoffeeOrder = orderLoc;
@@ -246,9 +271,9 @@ namespace BPASmartClient.MorkT
         /// </summary>
         private void DoCoffeeQC(OrderLocInfo order)
         {
-            LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_取咖啡出餐);
+            LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_取咖啡出餐);
             Wait();
-            LebaiRobot.GetInstance.SetValue(1);
+            LebaiHelper.GetInstance().SetValue(1);
             //订单状态改变：完成
             OrderChange(order.SuborderId, ORDER_STATUS.COMPLETED_COOK);
             DeviceProcessLogShow($"{order.GoodsName}等待取餐");
@@ -262,36 +287,36 @@ namespace BPASmartClient.MorkT
         /// <param name="order"></param>
         private void GetAndCheeckCoffe(OrderLocInfo order)
         {
-            LebaiRobot.GetInstance.SetValue(0);
+            LebaiHelper.GetInstance().SetValue(0);
             OrderChange(order.SuborderId, ORDER_STATUS.COOKING);
-            LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_取咖啡杯);
+            LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_取咖啡杯);
             Wait();
             new SCChip_TakeCupEvent() { Cup = IC_CUP.CUP_COFFEE }.Publish();//落碗控制
             Thread.Sleep(500);
             DeviceProcessLogShow("尝试取咖啡杯!");
-            LebaiRobot.GetInstance.SetValue(1);
+            LebaiHelper.GetInstance().SetValue(1);
             int count = 2;
         p:
-            LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_咖啡杯检测);
+            LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_咖啡杯检测);
             Wait();
-            LebaiRobot.GetInstance.SetValue(1);
+            LebaiHelper.GetInstance().SetValue(1);
 
-            if (!LebaiRobot.GetInstance.GetInput())
+            if (!LebaiHelper.GetInstance().GetInput())
             {
                 if (count >= 3)
                 {
                     //退出循环回到初始位置
                     DeviceProcessLogShow($"执行{count}次取咖啡杯,仍为成功,订单默认废弃,机器人回到初始位置!");
-                    LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_咖啡杯回原点);
+                    LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_咖啡杯回原点);
                     Wait();
-                    LebaiRobot.GetInstance.SetValue(1);
+                    LebaiHelper.GetInstance().SetValue(1);
                     return;
                 }
                 DeviceProcessLogShow("执行二次取咖啡杯");
-                LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_二次取咖啡杯);
+                LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_二次取咖啡杯);
                 Wait();
                 new SCChip_TakeCupEvent() { Cup = IC_CUP.CUP_COFFEE }.Publish();//落碗控制
-                LebaiRobot.GetInstance.SetValue(1);
+                LebaiHelper.GetInstance().SetValue(1);
                 count++;
                 goto p;
             }
@@ -315,22 +340,29 @@ namespace BPASmartClient.MorkT
         {
             if (IceCreamCanMake())
             {
-                if (MorkIStatus.GetInstance().CurrentMode != MORKI_MODE.制冷模式) new GSIceCream_ModeSetEvent() { Mode = MORKI_MODE.制冷模式 }.Publish();
-                if (MorkIStatus.GetInstance().CXB >= 86 && morkT.morkOrderPushesIceCream.Count > 0)//成型比大于86才可以制作
+                if(Status.status.ContainsKey("CurrentMode"))
                 {
-                    if (LebaiRobot.GetInstance.GetInput(3))
-                    {
-                        if (morkT.IceIsOK) DeviceProcessLogShow("请检查冰淇淋出料口有无遮挡");
-                        morkT.IceIsOK = false;
+                    if ((MORKI_MODE)Status.status["CurrentMode"] != MORKI_MODE.制冷模式) new GSIceCream_ModeSetEvent() { Mode = MORKI_MODE.制冷模式 }.Publish();
+                }
 
-                    }
-                    else if (morkT.morkOrderPushesIceCream.TryDequeue(out OrderLocInfo order))
+                if(Status.status.ContainsKey("CBX"))
+                {
+                    if ((short)Status.status["CBX"] >= 86 && morkT.morkOrderPushesIceCream.Count > 0)//成型比大于86才可以制作
                     {
-                        morkT.IceIsOK = true;
-                        DeviceProcessLogShow($"开始制作 [冰淇淋] 订单[{order.SortNum}]");
-                        DoIceCream(order);
+                        if (LebaiHelper.GetInstance().GetInput(3))
+                        {
+                            if (morkT.IceIsOK) DeviceProcessLogShow("请检查冰淇淋出料口有无遮挡");
+                            morkT.IceIsOK = false;
+                        }
+                        else if (morkT.morkOrderPushesIceCream.TryDequeue(out OrderLocInfo order))
+                        {
+                            morkT.IceIsOK = true;
+                            DeviceProcessLogShow($"开始制作 [冰淇淋] 订单[{order.SortNum}]");
+                            DoIceCream(order);
+                        }
                     }
                 }
+                
             }
         }
 
@@ -351,8 +383,8 @@ namespace BPASmartClient.MorkT
         /// </summary>
         private void GetIceCreamCup()
         {
-            LebaiRobot.GetInstance.SetValue(0);
-            LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_取冰淇淋杯);
+            LebaiHelper.GetInstance().SetValue(0);
+            LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_取冰淇淋杯);
             Wait();
             new SCChip_TakeCupEvent() { Cup = IC_CUP.CUP_ICECREAM }.Publish();//落碗控制
             Thread.Sleep(500);
@@ -366,27 +398,27 @@ namespace BPASmartClient.MorkT
         private void CheckICeCreaCup()
         {
             int count = 2;
-            LebaiRobot.GetInstance.SetValue(1);
+            LebaiHelper.GetInstance().SetValue(1);
         p:
-            LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_冰淇淋杯检测);
+            LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_冰淇淋杯检测);
             Wait();
-            LebaiRobot.GetInstance.SetValue(1);
-            if (!LebaiRobot.GetInstance.GetInput())
+            LebaiHelper.GetInstance().SetValue(1);
+            if (!LebaiHelper.GetInstance().GetInput())
             {
                 if (count >= 3)
                 {
                     //退出循环回到初始位置
                     DeviceProcessLogShow($"执行{count}次取冰淇淋杯,仍未成功,订单默认废弃,机器人回到初始位置!");
-                    LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_冰淇淋杯回原点);
+                    LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_冰淇淋杯回原点);
                     Wait();
-                    LebaiRobot.GetInstance.SetValue(1);
+                    LebaiHelper.GetInstance().SetValue(1);
                     return;
                 }
                 DeviceProcessLogShow($"执行{count}次取冰淇淋杯!");
-                LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_二次取冰淇淋杯);
+                LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_二次取冰淇淋杯);
                 new SCChip_TakeCupEvent() { Cup = IC_CUP.CUP_ICECREAM }.Publish();//落碗控制
                 Wait();
-                LebaiRobot.GetInstance.SetValue(1);
+                LebaiHelper.GetInstance().SetValue(1);
                 count++;
                 goto p;
             }
@@ -401,9 +433,9 @@ namespace BPASmartClient.MorkT
         {
             //制冷模式
             new GSIceCream_ModeSetEvent() { Mode = MORKI_MODE.制冷模式 }.Publish();
-            LebaiRobot.GetInstance.SetValue(0);
+            LebaiHelper.GetInstance().SetValue(0);
             OrderChange(order.SuborderId, ORDER_STATUS.COOKING);
-            LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_接1号冰淇淋);
+            LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_接1号冰淇淋);
             Wait();
             bool doItResult = true;
             //出料
@@ -418,7 +450,8 @@ namespace BPASmartClient.MorkT
             else
             {
                 int count_1 = 0;
-                while (MorkIStatus.GetInstance().CXB <= 86)
+
+                while ((short)Status.status["CBX"] <= 86)
                 {
                     Thread.Sleep(5);
                     count_1++;
@@ -427,7 +460,7 @@ namespace BPASmartClient.MorkT
                 }
                 IceCreamCookCheck();
             }
-            LebaiRobot.GetInstance.SetValue(1);
+            LebaiHelper.GetInstance().SetValue(1);
         }
 
         /// <summary>
@@ -436,13 +469,13 @@ namespace BPASmartClient.MorkT
         /// <param name="order"></param>
         private void PutIceCream(OrderLocInfo order)
         {
-            while (LebaiRobot.GetInstance.GetInput())
+            while (LebaiHelper.GetInstance().GetInput())
             {
                 Thread.Sleep(500);
             }
-            LebaiRobot.GetInstance.Scene(LebaiRobot.SENCE_放冰淇淋位置);
+            LebaiHelper.GetInstance().Scene(LebaiHelper.SENCE_放冰淇淋位置);
             Wait();
-            LebaiRobot.GetInstance.SetValue(1);
+            LebaiHelper.GetInstance().SetValue(1);
             //订单状态改变：完成
             OrderChange(order.SuborderId, ORDER_STATUS.COMPLETED_COOK);
             DeviceProcessLogShow($"{order.GoodsName}等待取餐");
@@ -457,7 +490,7 @@ namespace BPASmartClient.MorkT
         {
             int retry = 3;
             DateTime beginTime = DateTime.Now;
-            while (!LebaiRobot.GetInstance.GetInput(3))
+            while (!LebaiHelper.GetInstance().GetInput(3))
             {
                 if (retry <= 0 && DateTime.Now.Subtract(beginTime).TotalSeconds >= 10)
                 {

BPASmartClient.MorkT/PolymerBatching.cs

@@ -1,5 +1,6 @@
 
 using BPASmartClient.Lebai;
+using BPASmartClient.LebaiRobot;
 using BPASmartClient.Model.单片机.Enum;
 using System;
 using System.Collections.Generic;
@@ -102,19 +103,19 @@ namespace BPASmartClient.MorkT
             switch (loc)
             {
                 case ICE_MAIN_BATCHIN1_LOC:
-                    sence = LebaiRobot.SENCE_接1号冰淇淋;
+                    sence = LebaiHelper.SENCE_接1号冰淇淋;
                     return IC_SE.SE_1;
 
                 case ICE_MAIN_BATCHIN2_LOC:
-                    sence = LebaiRobot.SENCE_接2号冰淇淋;
+                    sence = LebaiHelper.SENCE_接2号冰淇淋;
                     return IC_SE.SE_2;
 
                 case ICE_MAIN_BATCHIN3_LOC:
-                    sence = LebaiRobot.SENCE_接3号冰淇淋;
+                    sence = LebaiHelper.SENCE_接3号冰淇淋;
                     return IC_SE.SE_3;
 
                 default:
-                    sence = LebaiRobot.SENCE_接1号冰淇淋;
+                    sence = LebaiHelper.SENCE_接1号冰淇淋;
                     return IC_SE.SE_1;
             }
         }

BPASmartClient.SCChip/ICChipMachine.cs

@@ -378,6 +378,8 @@ namespace BPASmartClient.SCChip
                 }
             });
             InitStatus();
+            //测试
+            Start();
         }
     }
 

BPASmartClient.SerialPort/SerialPortClient.cs

@@ -1,4 +1,5 @@
 using BPASmartClient.Helper;
+using BPASmartClient.Message;
 using System;
 using System.IO.Ports;
 using System.Linq;
@@ -99,7 +100,6 @@ namespace BPASmartClient.SerialPort
         {
             if (comPort.IsOpen)     //判断是否打开串口
             {
-
                 byte[] receivedData = new byte[comPort.BytesToRead];        //创建接收字节数组
                 comPort.Read(receivedData, 0, receivedData.Length);         //读取数据
 

BPASmartClient.ViewModel/AdminstratorsViewModel.cs

@@ -27,7 +27,7 @@ namespace BPASmartClient.ViewModel
             AdminLoginCommand = new RelayCommand(() =>
             {
 
-                ActionManage.GetInstance.Send("Lonin");
+                ActionManage.GetInstance.Send("LoginSuccess");
             });
         }
         

BPASmartClient.ViewModel/BPASmartClient.ViewModel.csproj

@@ -15,9 +15,13 @@
   <ItemGroup>
     <ProjectReference Include="..\BPASmartClient.Business\BPASmartClient.Business.csproj" />
     <ProjectReference Include="..\BPASmartClient.CustomResource\BPASmartClient.CustomResource.csproj" />
+    <ProjectReference Include="..\BPASmartClient.DRCoffee\BPASmartClient.DRCoffee.csproj" />
+    <ProjectReference Include="..\BPASmartClient.GSIceCream\BPASmartClient.GSIceCream.csproj" />
     <ProjectReference Include="..\BPASmartClient.Helper\BPASmartClient.Helper.csproj" />
     <ProjectReference Include="..\BPASmartClient.IoT\BPASmartClient.IoT.csproj" />
+    <ProjectReference Include="..\BPASmartClient.Lebai\BPASmartClient.Lebai.csproj" />
     <ProjectReference Include="..\BPASmartClient.Model\BPASmartClient.Model.csproj" />
+    <ProjectReference Include="..\BPASmartClient.SCChip\BPASmartClient.SCChip.csproj" />
   </ItemGroup>
 
 </Project>

BPASmartClient.ViewModel/MainViewModel.cs

@@ -38,12 +38,6 @@ namespace BPASmartClient.ViewModel
                 OnPropertyChanged("NetworkConnectState");
             }
         }
-        //状态隐藏
-        public Visibility VsMenuItem { get { return _vsMenuItem; }  set { _vsMenuItem = value; OnPropertyChanged(); } }
-        private Visibility _vsMenuItem;
-
-        public RelayCommand LogoutCommand  { get; set; }
-
         /// <summary>
         /// 是否告警
         /// </summary>
@@ -80,14 +74,7 @@ namespace BPASmartClient.ViewModel
             };
             dispatcherTimer.Interval = TimeSpan.FromSeconds(1);
             dispatcherTimer.Start();
-            ActionManage.GetInstance.Register(new Action(() =>
-            {
-                VsMenuItem = Visibility.Hidden;
-            }),"Lonin");
-            LogoutCommand = new RelayCommand(() =>
-            {
-                VsMenuItem = Visibility.Visible;
-            });
+           
 
 
         }

BPASmartClient.ViewModel/MorkT_DebugViewModel.cs

@@ -0,0 +1,212 @@
+using BPASmartClient.Business;
+using BPASmartClient.Device;
+using BPASmartClient.DRCoffee;
+using BPASmartClient.EventBus;
+using BPASmartClient.GSIceCream;
+using BPASmartClient.Helper;
+using BPASmartClient.Lebai;
+using BPASmartClient.LebaiRobot;
+using BPASmartClient.Model;
+using BPASmartClient.Model.冰淇淋.Enum;
+using BPASmartClient.Model.咖啡机.Enum;
+using BPASmartClient.SCChip;
+using Microsoft.Toolkit.Mvvm.ComponentModel;
+using Microsoft.Toolkit.Mvvm.Input;
+using System;
+using System.Collections.Concurrent;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.ViewModel
+{
+    public class MorkT_DebugViewModel : ObservableObject
+    {
+        #region 乐白机器人
+        /// <summary>
+        /// 乐白机器人连接状态
+        /// </summary>
+        public string RobotConnected { get; set; }
+        /// <summary>
+        /// 乐白机器人的模式状态
+        /// </summary>
+        public ELebaiRModel RobotMode { get; set; }
+        /// <summary>
+        /// 机器人控制指令
+        /// </summary>
+        public RelayCommand<object> Button_RobotControlCommand { get; set; }
+        /// <summary>
+        /// 机器人控制
+        /// </summary>
+        /// <param name="o"></param>
+        private void Button_RobotControl(object o)
+        {
+            ActionManage.GetInstance.Send("调试控制-机器人控制",o.ToString());
+        }
+
+        #endregion
+
+        #region 冰淇淋机器
+        /// <summary>
+        /// 制作冰淇淋
+        /// </summary>
+        public RelayCommand Button_MakeIceCreamCommand { get; set; }
+        /// <summary>
+        /// 选择冰淇淋模式
+        /// </summary>
+        public RelayCommand Button_SetIceCreamModelCommand { get; set; }
+
+        /// <summary>
+        /// 冰淇淋连接状态
+        /// </summary>
+        public string IceCreamConnected { get; set; }
+        /// <summary>
+        /// 预冷温度
+        /// </summary>
+        public short YLWD { get; set; }
+        /// <summary>
+        /// 回气温度
+        /// </summary>
+        public short HQWD { get; set; }
+        /// <summary>
+        /// 环境温度
+        /// </summary>
+        public short HJWD { get; set; }
+        /// <summary>
+        /// 电流
+        /// </summary>
+        public short DL { get; set; }
+        /// <summary>
+        /// 电压
+        /// </summary>
+        public short DY { get; set; }
+        /// <summary>
+        /// 当前模式
+        /// </summary>
+        public MORKI_MODE CurrentMode { get; set; }
+        /// <summary>
+        /// 故障
+        /// </summary>
+        public MORKI_FAULT IceCreamFault { get; set; }
+        /// <summary>
+        /// 成型比
+        /// </summary>  
+        public byte CXB { get; set; }
+        /// <summary>
+        /// 打料完成状态
+        /// </summary>
+        public string DLCompleted { get; set; }
+
+        public List<string> IceCreamModes { get; set; } = new List<string>();
+        public string SelecteIceCreamdMode { get; set; }
+
+        private void Button_MakeIceCream()
+        {
+            
+        }
+        private void Button_SetIceCreamModel()
+        {
+            MORKI_MODE mORKI_MODE = (MORKI_MODE)Enum.Parse(typeof(MORKI_MODE), SelecteIceCreamdMode);
+            new GSIceCream_ModeSetEvent() { Mode = mORKI_MODE }.Publish();
+        }
+        #endregion
+
+        #region 咖啡机
+        /// <summary>
+        /// 咖啡机连接状态
+        /// </summary>
+        public string CoffeeConnected { get; set; }
+        /// <summary>
+        /// 咖啡机状态
+        /// </summary>
+        public DrCoffeeStatus CoffeeStatus { get; set; }
+        /// <summary>
+        /// 应用状态
+        /// </summary>
+        public DrCoffeeAppStatus AppStatus { get; set; }
+        /// <summary>
+        /// 告警
+        /// </summary>
+        public DrCoffeeWarning Warning { get; set; }
+        /// <summary>
+        /// 故障信息
+        /// </summary>
+        public DrCoffeeFault CaffeeFault { get; set; }
+
+        public List<string> Coffees { get; set; } = new List<string>();
+        public string SelectedCoffee { get; set; }
+
+        public List<string> CoffeeCmds { get; set; } = new List<string>();
+        public string SelectedCoffeeCmd { get; set; }
+        #endregion
+
+
+        Dictionary<string, object> CurrentData { get; set; }
+  
+        public MorkT_DebugViewModel()
+        {
+            Button_RobotControlCommand = new RelayCommand<object>(Button_RobotControl);
+            Button_MakeIceCreamCommand = new RelayCommand(Button_MakeIceCream);
+            Button_SetIceCreamModelCommand = new RelayCommand(Button_SetIceCreamModel);
+
+            foreach (DrCoffeeDrinksCode code in Enum.GetValues(typeof(DrCoffeeDrinksCode)))
+            {
+                Coffees.Add(code.ToString());
+            }
+            SelectedCoffee = Coffees[0];
+            foreach (DrCoffeeCommCmd code in Enum.GetValues(typeof(DrCoffeeCommCmd)))
+            {
+                CoffeeCmds.Add(code.ToString());
+            }
+            SelectedCoffeeCmd = CoffeeCmds[0];
+
+            foreach (MORKI_MODE code in Enum.GetValues(typeof(MORKI_MODE)))
+            {
+                IceCreamModes.Add(code.ToString());
+            }
+            SelecteIceCreamdMode = IceCreamModes[0];
+
+           
+
+            ThreadManage.GetInstance().StartLong(new Action(() =>
+            {
+                Plugin.GetInstance()?.GetPlugin<DeviceMgr>()?.GetDevices().ForEach(device =>
+                {
+                    if (device.Name == "MorkT") CurrentData = device.Status.GetStatus();
+                });
+                if (CurrentData != null && CurrentData.Count != 0)
+                {
+                    RobotConnected = (bool)CurrentData["Lebai.LebaiRobot.Connected"] ? "已连接" : "未连接";
+                    IceCreamConnected = (bool)CurrentData["GSIceCream.IceCreamMachine.IsConnected"] ? "已连接" : "未连接";
+                    CoffeeConnected = (bool)CurrentData["GSIceCream.IceCreamMachine.IsConnected"] ? "已连接" : "未连接";
+
+                    RobotMode = (ELebaiRModel)CurrentData["Lebai.LebaiRobot.RobotMode"];
+
+                    CoffeeStatus = (DrCoffeeStatus)CurrentData["DRCoffee.CoffeeMachine.Status"];
+                    AppStatus = (DrCoffeeAppStatus)CurrentData["DRCoffee.CoffeeMachine.AppStatus"];
+                    Warning = (DrCoffeeWarning)CurrentData["DRCoffee.CoffeeMachine.Warning"];
+                    CaffeeFault = (DrCoffeeFault)CurrentData["DRCoffee.CoffeeMachine.Fault"];
+
+                    YLWD = (short)CurrentData["GSIceCream.IceCreamMachine.YLWD"];
+                    HQWD = (short)CurrentData["GSIceCream.IceCreamMachine.HQWD"];
+                    HJWD = (short)CurrentData["GSIceCream.IceCreamMachine.HJWD"];
+                    DL = (short)CurrentData["GSIceCream.IceCreamMachine.DL"];
+                    DY = (short)CurrentData["GSIceCream.IceCreamMachine.DY"];
+                    CurrentMode = (MORKI_MODE)CurrentData["GSIceCream.IceCreamMachine.CurrentMode"];
+                    IceCreamFault = (MORKI_FAULT)CurrentData["GSIceCream.IceCreamMachine.Fault"];
+                    CXB = (byte)CurrentData["GSIceCream.IceCreamMachine.CXB"];
+                    DLCompleted = (bool)CurrentData["GSIceCream.IceCreamMachine.DLCompleted"] ? "打料完成" : "打料中";
+                }
+                
+               
+
+
+
+                Thread.Sleep(500);
+            }), "MorkT-状态刷新");
+        }
+
+    }
+}

BPASmartClient.ViewModel/ShopDeviceConfigViewModel.cs

@@ -201,7 +201,7 @@ namespace BPASmartClient.ViewModel
         private void DataListInit()
         {
             Ports.Clear();
-            SerialPort.GetPortNames().ToList().ForEach((item) => { Ports.Add(item); });
+            System.IO.Ports.SerialPort.GetPortNames().ToList().ForEach((item) => { Ports.Add(item); });
 
             BaudRates.Clear();
             int[] rb = new int[] { 110, 300, 600, 1200, 2400, 4800, 9600, 14400, 19200, 38400, 43000, 57600, 76800, 115200 };

BPASmartClient/App.config

@@ -3,7 +3,7 @@
   <appSettings>
     <!--通用配置-->
     <!--1:且时且多冰淇淋咖啡机，2:且时且多煮面机,3：海科煮面机测试店铺-->
-    <add key="ClientId" value="48"/>
+    <add key="ClientId" value="50"/>
     <!--<add key="ApolloUri" value="http://10.2.1.21:28080"/>
     <add key="OrderServiceUri" value="http://10.2.1.26:21527/order/"/>
     <add key="StockServiceUri" value="http://10.2.1.26:21527/stock/"/>-->
@@ -23,9 +23,6 @@
     <add key="IsEnableTest" value="False"/>
 
 
-
-
-
     <!--测试环境-->
     <!--<add key="ApolloUri" value="http://10.2.1.21:28070"/>
     <add key="OrderServiceUri" value="https://bpa.black-pa.com:21528/order/"/>

BPASmartClient/BPASmartClient.csproj

@@ -30,6 +30,7 @@
     <ProjectReference Include="..\BPASmartClient.MorkT\BPASmartClient.MorkT.csproj" />
     <ProjectReference Include="..\BPASmartClient.SCChip\BPASmartClient.SCChip.csproj" />
     <ProjectReference Include="..\BPASmartClient.ViewModel\BPASmartClient.ViewModel.csproj" />
+    <ProjectReference Include="..\HBLConsole.MORKIC\BPASmartClient.MORKIC.csproj" />
   </ItemGroup>
 
   <ItemGroup>

BPASmartClient/Control/DebugView.xaml

@@ -21,7 +21,7 @@
         </Grid.RowDefinitions>
 
         <StackPanel Orientation="Horizontal" Grid.Row="0">
-            <Button Content="初始化" Command="{Binding PlcInite}"  Margin="10,0,10,0"></Button>
+            <Button Content="初始化" Command="{Binding PlcInite}"  Margin="10,0,10,0" Cursor="Hand"></Button>
             <Button Content="模拟订单" Command="{Binding SimulateOrder}"  Margin="10,0,10,0"></Button>
             <Button Content="手撕包菜" Command="{Binding ShreddCabbage}"  Margin="10,0,10,0"></Button>
             <Button Content="盐煎肉" Command="{Binding FryPork}"  Margin="10,0,10,0"></Button>

BPASmartClient/Control/MorkT_DebugView.xaml

@@ -0,0 +1,244 @@
+<UserControl x:Class="BPASmartClient.Control.MorkT_DebugView"
+             xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
+             xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
+             xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006" 
+             xmlns:d="http://schemas.microsoft.com/expression/blend/2008" 
+             xmlns:local="clr-namespace:BPASmartClient.Control"
+             xmlns:vm ="clr-namespace:BPASmartClient.ViewModel;assembly=BPASmartClient.ViewModel"
+             mc:Ignorable="d" 
+             d:DesignHeight="450" d:DesignWidth="1000" >
+    <UserControl.DataContext>
+        <vm:MorkT_DebugViewModel/>
+    </UserControl.DataContext>
+    <UserControl.Resources>
+        <ResourceDictionary>
+            <ResourceDictionary.MergedDictionaries>
+                <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/GenricStyle.xaml" />
+                <ResourceDictionary Source="/BPASmartClient.CustomResource;component/Themes/MyStyle.xaml" />
+            </ResourceDictionary.MergedDictionaries>
+        </ResourceDictionary>
+    </UserControl.Resources>
+    <Grid>
+        <Grid.ColumnDefinitions>
+            <ColumnDefinition Width="*"/>
+            <ColumnDefinition Width="*"/>
+        </Grid.ColumnDefinitions>
+        <Grid.RowDefinitions>
+            <RowDefinition Height="9*"/>
+            <RowDefinition Height="10*"/>
+        </Grid.RowDefinitions>
+
+        <GroupBox Grid.ColumnSpan="2"
+            FontFamily="楷体"
+            FontSize="20"
+            Header=" 乐白机器人 ">
+            <Grid Margin="10">
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="*"/>
+                    <RowDefinition Height="3*"/>
+                </Grid.RowDefinitions>
+                <TextBlock Text="连接状态" />
+                <TextBlock Text="{Binding RobotConnected}"
+                           Margin="120,0,0,0"/>
+                <TextBlock Text="乐白机器人控制" 
+                           Grid.Row="1"
+                           VerticalAlignment="Center" HorizontalAlignment="Center"/>
+                <ListBox Grid.Row="2" Background="Transparent">
+                    <ListBox.Template>
+                        <ControlTemplate TargetType="{x:Type ListBox}">
+                            <ScrollViewer  HorizontalScrollBarVisibility="Disabled" VerticalScrollBarVisibility="Auto">
+                                <WrapPanel Orientation="Horizontal" IsItemsHost="True" ScrollViewer.CanContentScroll="True"/>
+                            </ScrollViewer>
+                        </ControlTemplate>
+                    </ListBox.Template>
+                    <Button Content="机器人启动"
+                            Margin="20,5" Width="150" Height="40"
+                            Command="{Binding Button_RobotControlCommand}"
+                            CommandParameter="机器人启动">
+                    </Button>
+                    <Button Content="启动示教"
+                            Margin="20,5" Width="150" Height="40"
+                            Command="{Binding Button_RobotControlCommand}"
+                            CommandParameter="启动示教"/>
+                    <Button Content="停止示教" 
+                            Margin="20,5" Width="150" Height="40"
+                            Command="{Binding Button_RobotControlCommand}"
+                            CommandParameter="停止示教"/>
+                    <Button Content="机器人急停"
+                            Margin="20,5"  Width="110" Height="40"
+                            Command="{Binding Button_RobotControlCommand}"
+                            CommandParameter="机器人急停"/>
+
+                </ListBox>
+            </Grid>
+        </GroupBox>
+        <GroupBox  Grid.Row="1"
+            FontFamily="楷体"
+            FontSize="20"
+            Header=" 冰淇淋机器 ">
+            <Grid>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="30"/>
+                    <RowDefinition />
+                    <RowDefinition />
+                </Grid.RowDefinitions>
+                <TextBlock Text="连接状态" />
+                <TextBlock Text="{Binding IceCreamConnected}"
+                           Margin="120,0,0,0"/>
+                <Grid Grid.Row="1">
+                    <Grid.RowDefinitions>
+                        <RowDefinition />
+                        <RowDefinition />
+                        <RowDefinition />
+                        <RowDefinition />
+                    </Grid.RowDefinitions>
+                    <Grid.ColumnDefinitions>
+                        <ColumnDefinition Width="100" />
+                        <ColumnDefinition Width="80" />
+                        <ColumnDefinition Width="120" />
+                        <ColumnDefinition Width="100" />
+                    </Grid.ColumnDefinitions>
+
+                    <TextBlock Grid.Row="0" Grid.Column="0">预冷温度</TextBlock>
+                    <TextBlock
+                            Grid.Row="0"
+                            Grid.Column="1"
+                            Text="{Binding YLWD}" />
+                    <TextBlock Grid.Row="0" Grid.Column="2">回气温度</TextBlock>
+                    <TextBlock
+                            Grid.Row="0"
+                            Grid.Column="3"
+                            Text="{Binding HQWD}" />
+
+                    <TextBlock Grid.Row="1" Grid.Column="0">环境温度</TextBlock>
+                    <TextBlock
+                            Grid.Row="1"
+                            Grid.Column="1"
+                            Text="{Binding HJWD}" />
+                    <TextBlock Grid.Row="1" Grid.Column="2">当前模式</TextBlock>
+                    <TextBlock
+                            Grid.Row="1"
+                            Grid.Column="3"
+                            Text="{Binding CurrentMode}" />
+
+                    <TextBlock Grid.Row="2" Grid.Column="0">电流</TextBlock>
+                    <TextBlock
+                            Grid.Row="2"
+                            Grid.Column="1"
+                            Text="{Binding DL}" />
+                    <TextBlock Grid.Row="2" Grid.Column="2">电压</TextBlock>
+                    <TextBlock
+                            Grid.Row="2"
+                            Grid.Column="3"
+                            Text="{Binding DY}" />
+
+                    <TextBlock Grid.Row="3" Grid.Column="0">成型比</TextBlock>
+                    <TextBlock
+                            Grid.Row="3"
+                            Grid.Column="1"
+                            Text="{Binding CXB}" />
+                    <TextBlock Grid.Row="3" Grid.Column="2">故障</TextBlock>
+                    <TextBlock
+                            Grid.Row="3"
+                            Grid.Column="3"
+                            Text="{Binding IceCreamFault}" />
+                </Grid>
+                <StackPanel Grid.Row="2" Orientation="Vertical">
+                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal">
+                        <TextBlock>冰淇淋</TextBlock>
+                        <Button Command="{Binding Button_MakeIceCreamCommand}"
+                                Margin="20,0"
+                                Content="制作" />
+                    </StackPanel>
+                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal">
+                        <TextBlock>模式</TextBlock>
+                        <ComboBox Width="100"
+                                Margin="20,0"
+                                ItemsSource="{Binding IceCreamModes}"
+                                SelectedItem="{Binding SelecteIceCreamdMode}" />
+                        <Button Command="{Binding Button_SetIceCreamModelCommand}"
+                                Margin="20,0"
+                                Content="设置" />
+                    </StackPanel>
+                </StackPanel>
+            </Grid>
+        </GroupBox>
+        <GroupBox  Grid.Row="1" Grid.Column="1"
+            FontFamily="楷体"
+            FontSize="20"
+            Header=" 咖啡机">
+            <Grid>
+                <Grid.RowDefinitions>
+                    <RowDefinition Height="30"/>
+                    <RowDefinition />
+                    <RowDefinition />
+                </Grid.RowDefinitions>
+                <TextBlock Text="连接状态" />
+                <TextBlock Text="{Binding CoffeeConnected}"
+                           Margin="120,0,0,0"/>
+                <Grid Grid.Row="1">
+                    <Grid.Resources>
+                        <Style TargetType="TextBlock">
+                            <Setter Property="HorizontalAlignment" Value="Left" />
+                            <Setter Property="VerticalAlignment" Value="Center" />
+                        </Style>
+                    </Grid.Resources>
+                    <Grid.RowDefinitions>
+                        <RowDefinition />
+                        <RowDefinition />
+                    </Grid.RowDefinitions>
+                    <Grid.ColumnDefinitions>
+                        <ColumnDefinition Width="99" />
+                        <ColumnDefinition Width="140" />
+                        <ColumnDefinition Width="100" />
+                        <ColumnDefinition Width="171" />
+                    </Grid.ColumnDefinitions>
+                    <TextBlock Height="23" Width="100" FontSize="18" HorizontalAlignment="Center">咖啡机状态</TextBlock>
+                    <TextBlock FontSize="18"
+                            Grid.Column="1"
+                            Text="{Binding CoffeeStatus}" Height="23" Width="0" />
+                    <TextBlock Grid.Column="2" Height="23" Width="80" FontSize="18">应用状态</TextBlock>
+                    <TextBlock FontSize="18"
+                            Grid.Column="3" 
+                            Text="{Binding AppStatus}" Height="23" Width="100" />
+                    <TextBlock Grid.Row="1" Grid.Column="0" Height="22" Width="80" FontSize="18">告警信息</TextBlock>
+                    <TextBlock FontSize="15"
+                            Grid.Row="1"
+                            Grid.Column="1"
+                            Text="{Binding Warning}"  />
+                    <TextBlock Grid.Row="1" Grid.Column="2" Height="22" Width="80" FontSize="18">故障信息</TextBlock>
+                    <TextBlock FontSize="18"
+                            Grid.Row="1"
+                            Grid.Column="3"
+                            Text="{Binding CaffeeFault}" Height="22" Width="60" />
+                </Grid>
+                <StackPanel Grid.Row="2" Orientation="Vertical">
+                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal">
+                        <TextBlock>饮品</TextBlock>
+                        <ComboBox Margin="10,0"
+                                Width="100"
+                                ItemsSource="{Binding Coffees}"
+                                SelectedItem="{Binding SelectedCoffee}" />
+                        <Button Margin="10,0"
+                            Command="{}"
+                                Content="制作"/>
+                        <Button Margin="10,0"
+                            Command="{}"
+                                Content="停止制作"/>
+                    </StackPanel>
+                    <StackPanel Margin="0,10,0,0" Orientation="Horizontal">
+                        <TextBlock>模式</TextBlock>
+                        <ComboBox Margin="10,0"
+                                Width="100"
+                                ItemsSource="{Binding CoffeeCmds}"
+                                SelectedItem="{Binding SelectedCoffeeCmd}"/>
+                        <Button Margin="10,0"
+                                Command="{}"
+                                Content="设置" Cursor="Hand"/>
+                    </StackPanel>
+                </StackPanel>
+            </Grid>
+        </GroupBox>
+    </Grid>
+</UserControl>

BPASmartClient/Control/MorkT_DebugView.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.Control
+{
+    /// <summary>
+    /// MorkT_DebugView.xaml 的交互逻辑
+    /// </summary>
+    public partial class MorkT_DebugView : UserControl
+    {
+        public MorkT_DebugView()
+        {
+            InitializeComponent();
+        }
+    }
+}

BPASmartClient/DeviceInfo.xml

@@ -26,17 +26,36 @@
     </Peripherals>
   </Device>-->
 
-  <Device Name="MorkT" Module="BPASmartClient.MorkF.Control_MorkF" DeviceId="29">
+  <Device Name="MorkT" Module="BPASmartClient.MorkT.Control_MorkT" DeviceId="29">
     <Peripherals>
       <Peripheral Module="BPASmartClient.DRCoffee.CoffeeMachine">
         <Parameters>
-          <PortName>COM5</PortName>
-          <BaudRate>9600</BaudRate>
+          <PortName>COM4</PortName>
+          <BaudRate>115200</BaudRate>
           <!--<IpAddress>192.168.6.1</IpAddress>
           <Port>502</Port>
           <PLCReadAddress>M,M0.1,1;M,M1.0,8;M,M2.0,9;M,M8.0,4;M,M13.5,1;M,M16.0,7;</PLCReadAddress>-->
         </Parameters>
       </Peripheral>
+	  <Peripheral Module="BPASmartClient.GSIceCream.IceCreamMachine">
+	  	<Parameters>
+	  		<PortName>COM6</PortName>
+	  		<BaudRate>9600</BaudRate>
+	  	</Parameters>
+	  </Peripheral>
+	  <Peripheral Module="BPASmartClient.SCChip.ICChipMachine">
+	  	<Parameters>
+	  		<PortName>COM7</PortName>
+	  		<BaudRate>9600</BaudRate>
+	  	</Parameters>
+	  </Peripheral>
+		<!--<Peripheral Module="BPASmartClient.Lebai.LebaiRobot">
+			<Parameters>
+				<IpAddress>192.168.2.100</IpAddress>
+				<HandSensor>1</HandSensor>
+				<OutputSingalValue>0</OutputSingalValue>
+			</Parameters>
+		</Peripheral>-->
     </Peripherals>
   </Device>
 

BPASmartClient/MainWindow.xaml

@@ -50,8 +50,8 @@
                     Margin="20,0,0,0"
                     VerticalAlignment="Center"
                     Style="{DynamicResource imagetop_Title}" />
-                <Grid Grid.Column="1" Visibility="{Binding VsMenuItem}" >
-                    <Menu>
+                <Grid Grid.Column="1"  >
+                    <Menu x:Name="myMenu">
                         <MenuItem Header="功能列表">
                             <MenuItem
                                 Click="MenuItem_Click"
@@ -87,7 +87,7 @@
                                 Click="MenuItem_Click"
                                 FontSize="12"
                                 Header="调试界面"
-                                Tag="DebugView" />
+                                Tag="MorkT_DebugView" />
                         </MenuItem>
                         <MenuItem Header="状态监视">
                             <MenuItem
@@ -289,8 +289,7 @@
                         VerticalAlignment="Top"
                         Click="Button_Login"
                         Content="登录"
-                        Cursor="Hand"
-                        Style="{DynamicResource CommonBtn_返回}" />
+                        Cursor="Hand"/>
                     <Button
                         Name="logout"
                         Grid.Row="0"
@@ -300,9 +299,7 @@
                         VerticalAlignment="Top"
                         Click="Button_LogOut"
                         Content="注销"
-                        Cursor="Hand"
-                        Style="{DynamicResource CommonBtn_返回}" 
-                        Command="{Binding LogoutCommand}"/>
+                        Cursor="Hand" />
                 </Grid>
                 <!--#region 底部窗体栏-->
 

BPASmartClient/MainWindow.xaml.cs

@@ -40,6 +40,11 @@ namespace BPASmartClient
             InitializeComponent();
             MainViewModel.GetInstance().window = this;
             this.DataContext = MainViewModel.GetInstance();
+            ActionManage.GetInstance.Register(new Action(() =>
+            {
+                myMenu.Visibility = Visibility.Visible;
+                MenuItem_Click(new MenuItem() { Tag = "LogView", Header = "日志监视" },null);
+            }), "LoginSuccess");
             Initialize();
         }
 
@@ -82,7 +87,7 @@ namespace BPASmartClient
 
             }), "启动主IoT", false);
 
-
+            
         }
         #endregion
 
@@ -218,7 +223,7 @@ namespace BPASmartClient
 
         private void Button_LogOut(object sender, RoutedEventArgs e)
         {
-
+            myMenu.Visibility = Visibility.Hidden;
         }
     }
 }

ClassLibrary1/Class1.cs

@@ -0,0 +1,7 @@
+namespace ClassLibrary1
+{
+    public class Class1
+    {
+
+    }
+}

ClassLibrary1/ClassLibrary1.csproj

@@ -0,0 +1,9 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net6.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+  </PropertyGroup>
+
+</Project>

HBLConsole.MORKIC/Control_MORKIC.cs

@@ -152,7 +152,7 @@ namespace BPASmartClient.MORKIC
 
         private int NoOrderTime = 0;
 
-        public override DeviceClientType DeviceType => throw new NotImplementedException();
+        public override DeviceClientType DeviceType => DeviceClientType.MORKT;
 
         //订单制作
         public void OrderMake()
@@ -605,22 +605,22 @@ namespace BPASmartClient.MORKIC
 
         public override void Stop()
         {
-            throw new NotImplementedException();
+            
         }
 
         public override void ReadData()
         {
-            throw new NotImplementedException();
+            
         }
 
         public override void MainTask()
         {
-            throw new NotImplementedException();
+           
         }
 
         public override void ResetProgram()
         {
-            throw new NotImplementedException();
+            
         }
     }
 

SmartClient.sln

@@ -78,128 +78,614 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MorkF", "BPA
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "BPASmartClient.MORKIC", "HBLConsole.MORKIC\BPASmartClient.MORKIC.csproj", "{31A3B51C-A4BB-4FEB-B712-38482F6D1667}"
 EndProject
+Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "BPASmartClient.LebaiRobot", "BPASmartClient.LebaiRobot\BPASmartClient.LebaiRobot.csproj", "{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}"
+EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
+		Debug|ARM = Debug|ARM
+		Debug|ARM64 = Debug|ARM64
+		Debug|x64 = Debug|x64
+		Debug|x86 = Debug|x86
 		Release|Any CPU = Release|Any CPU
+		Release|ARM = Release|ARM
+		Release|ARM64 = Release|ARM64
+		Release|x64 = Release|x64
+		Release|x86 = Release|x86
 	EndGlobalSection
 	GlobalSection(ProjectConfigurationPlatforms) = postSolution
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+		{31E9DC70-5889-4BA5-A5BA-FFDE66AFF314}.Debug|ARM.ActiveCfg = Debug|Any CPU
+		{31E9DC70-5889-4BA5-A5BA-FFDE66AFF314}.Debug|ARM.Build.0 = Debug|Any CPU
+		{31E9DC70-5889-4BA5-A5BA-FFDE66AFF314}.Debug|ARM64.ActiveCfg = Debug|Any CPU
+		{31E9DC70-5889-4BA5-A5BA-FFDE66AFF314}.Debug|ARM64.Build.0 = Debug|Any CPU
+		{31E9DC70-5889-4BA5-A5BA-FFDE66AFF314}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{31E9DC70-5889-4BA5-A5BA-FFDE66AFF314}.Debug|x64.Build.0 = Debug|Any CPU
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+		{7F04A788-38B5-42CB-B601-70C657C953B8}.Release|x86.Build.0 = Release|Any CPU
 		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Debug|ARM.ActiveCfg = Debug|Any CPU
+		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Debug|ARM.Build.0 = Debug|Any CPU
+		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Debug|ARM64.ActiveCfg = Debug|Any CPU
+		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Debug|ARM64.Build.0 = Debug|Any CPU
+		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Debug|x64.Build.0 = Debug|Any CPU
+		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Debug|x86.Build.0 = Debug|Any CPU
 		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Release|Any CPU.Build.0 = Release|Any CPU
+		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Release|ARM.ActiveCfg = Release|Any CPU
+		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Release|ARM.Build.0 = Release|Any CPU
+		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Release|ARM64.ActiveCfg = Release|Any CPU
+		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Release|ARM64.Build.0 = Release|Any CPU
+		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Release|x64.ActiveCfg = Release|Any CPU
+		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Release|x64.Build.0 = Release|Any CPU
+		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Release|x86.ActiveCfg = Release|Any CPU
+		{15FD3FF1-80F1-4274-945A-BA5EBA35999E}.Release|x86.Build.0 = Release|Any CPU
 		{31A3B51C-A4BB-4FEB-B712-38482F6D1667}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
 		{31A3B51C-A4BB-4FEB-B712-38482F6D1667}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{31A3B51C-A4BB-4FEB-B712-38482F6D1667}.Debug|ARM.ActiveCfg = Debug|Any CPU
+		{31A3B51C-A4BB-4FEB-B712-38482F6D1667}.Debug|ARM64.ActiveCfg = Debug|Any CPU
+		{31A3B51C-A4BB-4FEB-B712-38482F6D1667}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{31A3B51C-A4BB-4FEB-B712-38482F6D1667}.Debug|x86.ActiveCfg = Debug|Any CPU
 		{31A3B51C-A4BB-4FEB-B712-38482F6D1667}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{31A3B51C-A4BB-4FEB-B712-38482F6D1667}.Release|Any CPU.Build.0 = Release|Any CPU
+		{31A3B51C-A4BB-4FEB-B712-38482F6D1667}.Release|ARM.ActiveCfg = Release|Any CPU
+		{31A3B51C-A4BB-4FEB-B712-38482F6D1667}.Release|ARM64.ActiveCfg = Release|Any CPU
+		{31A3B51C-A4BB-4FEB-B712-38482F6D1667}.Release|x64.ActiveCfg = Release|Any CPU
+		{31A3B51C-A4BB-4FEB-B712-38482F6D1667}.Release|x86.ActiveCfg = Release|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Debug|Any CPU.Build.0 = Debug|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Debug|ARM.ActiveCfg = Debug|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Debug|ARM.Build.0 = Debug|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Debug|ARM64.ActiveCfg = Debug|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Debug|ARM64.Build.0 = Debug|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Debug|x64.ActiveCfg = Debug|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Debug|x64.Build.0 = Debug|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Debug|x86.ActiveCfg = Debug|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Debug|x86.Build.0 = Debug|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Release|Any CPU.ActiveCfg = Release|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Release|Any CPU.Build.0 = Release|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Release|ARM.ActiveCfg = Release|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Release|ARM.Build.0 = Release|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Release|ARM64.ActiveCfg = Release|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Release|ARM64.Build.0 = Release|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Release|x64.ActiveCfg = Release|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Release|x64.Build.0 = Release|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Release|x86.ActiveCfg = Release|Any CPU
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0}.Release|x86.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -234,6 +720,7 @@ Global
 		{7F04A788-38B5-42CB-B601-70C657C953B8} = {666CB1A9-562E-453A-A2C7-FD9D77CFDFDD}
 		{15FD3FF1-80F1-4274-945A-BA5EBA35999E} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F}
 		{31A3B51C-A4BB-4FEB-B712-38482F6D1667} = {9FB27073-61A0-4FE3-94DB-5FDDE062332F}
+		{D40C3CC7-C07C-4882-93D3-7F9ABCD3B5F0} = {3D1D0E04-03FD-480A-8CF8-6E01A2E28625}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {9AEC9B81-0222-4DE9-B642-D915C29222AC}