修改冒菜机订单状态改变事件推送方式。2. 成都旅游学院调试修改

BPASmartClient.Device/BaseDevice.cs

@@ -509,7 +509,8 @@ namespace BPASmartClient.Device
             }
 
             //监控列表排序
-            vm.OrderBy(p => p.VarName).ToList().ForEach(item => { variableMonitors.Add(item); });
+            //vm.OrderBy(p => p.VarName).ToList().ForEach(item => { variableMonitors.Add(item); });
+            vm.ForEach(item => { variableMonitors.Add(item); });
 
         }
 

BPASmartClient.MorkCL/Control_MorkCL.cs

@@ -35,18 +35,8 @@ namespace BPASmartClient.MorkCL
         /// </summary>
         ConcurrentDictionary<EDeviceType, TaskServer> TaskList { get; set; } = new();
 
-        /// <summary>
-        /// 炒锅1任务队列。
-        /// </summary>
-        ConcurrentQueue<TaskServer> FryingPan1TaskLsit { get; set; } = new();
-        /// <summary>
-        /// 炒锅2任务队列。
-        /// </summary>
-        ConcurrentQueue<TaskServer> FryingPan2TaskLsit { get; set; } = new();
-        /// <summary>
-        /// 高压锅任务队列。
-        /// </summary>
-        ConcurrentQueue<TaskServer> PressureCookerTaskLsit { get; set; } = new();
+        List<PropertyInfo>? propertyInfos;
+
         public override void DoMain()
         {
             MonitorViewModel.DeviceId = DeviceId;
@@ -84,14 +74,26 @@ namespace BPASmartClient.MorkCL
             devices.TryAdd(EDeviceType.外部设备, new OtherServer());
 
 #if !FORMAL
-            devices[EDeviceType.炒锅1].Init(Json<ConnectPar>.Data.FryingPanIP1);
-            devices[EDeviceType.炒锅2].Init(Json<ConnectPar>.Data.FryingPanIP2);
-            devices[EDeviceType.机器人].Init(Json<ConnectPar>.Data.RobotIP);
-            //devices[EDeviceType.压力锅].Init(Json<ConnectPar>.Data.PressureCookerIP);
-            devices[EDeviceType.外部设备].Init(PortName:Json<ConnectPar>.Data.ESPortName);
-
-            
-            
+            if (Json<ConnectPar>.Data.FryPanConnect_1)
+            {
+                devices[EDeviceType.炒锅1].Init(Json<ConnectPar>.Data.FryingPanIP1);
+            }
+            if (Json<ConnectPar>.Data.FryPanConnect_2)
+            {
+                devices[EDeviceType.炒锅2].Init(Json<ConnectPar>.Data.FryingPanIP2);
+            }
+            if (Json<ConnectPar>.Data.RobotConnet)
+            {
+                devices[EDeviceType.机器人].Init(Json<ConnectPar>.Data.RobotIP);
+            }
+            if (Json<ConnectPar>.Data.PressureCookerConnect)
+            {
+                devices[EDeviceType.压力锅].Init(Json<ConnectPar>.Data.PressureCookerIP);
+            }
+            if (Json<ConnectPar>.Data.OtherDeviceConnect)
+            {
+                devices[EDeviceType.外部设备].Init(PortName: Json<ConnectPar>.Data.ESPortName);
+            }
 #endif
             ManualActionRegiester();
         }
@@ -106,12 +108,10 @@ namespace BPASmartClient.MorkCL
             if (TaskList.IsEmpty)
             {
                 morkCL.CanItemStorage = true;
-                //ActionManage.GetInstance.Send("RefreshCanItemStorage", true);
             }
             else
             {
                 morkCL.CanItemStorage = false;
-                //ActionManage.GetInstance.Send("RefreshCanItemStorage", false);
             }
 
             //分配任务，这段程序必须写最后。
@@ -435,7 +435,7 @@ namespace BPASmartClient.MorkCL
             DeviceProcessLogShow($"【{et}】开始执行-{cd.Name} 任务");
             if (TaskList.ContainsKey(et) && TaskList[et].Cts.IsCancellationRequested)
                 return;
-            while (cd.ControlFuncs.Count > 0)
+            while (cd.ControlFuncs.Count > 0 && !TaskList[et].Cts.IsCancellationRequested)
             {
                 if (cd.ControlFuncs.TryDequeue(out FuncModel fm))
                 {
@@ -444,269 +444,306 @@ namespace BPASmartClient.MorkCL
                     var otherDevice = (OtherServer)devices[EDeviceType.外部设备];
                     int index = (ushort)et - 1;
                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}。");
-                    switch (fm.eFunc)
+                    try
                     {
-                        case EFunc.搅拌启动:
-                            device.StirStartOrStop = false;
-
-                            //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入搅拌频率-{fm.funcPars.ElementAt(0).ParValue.ToString()}HZ。");
-                            device.MixingFrequencySet(fm.funcPars.ElementAt(0).ParValue.ToString());
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入搅拌频率-{fm.funcPars.ElementAt(0).ParValue.ToString()}HZ完成。");
-
-                            //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入开始搅拌。");
-                            device.StirStartOrStop = true;
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入开始搅拌完成。");
-
-                            break;
-                        case EFunc.搅拌停止:
-                            //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入停止搅拌。");
-                            device.StirStartOrStop = false;
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入停止搅拌完成。");
-                            break;
-                        case EFunc.加热启动:
-                            device.HeatStartOrStop = false;
-
-                            //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热挡位-【{fm.funcPars.ElementAt(0).ParValue.ToString()}】。");
-                            device.HeatingGearSet(fm.funcPars.ElementAt(0).ParValue.ToString());
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热挡位-【{fm.funcPars.ElementAt(0).ParValue.ToString()}】完成，等待设置加热启动。");
-
-                            device.HeatStartOrStop = true;
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热启动完成。");
-                            break;
-                        case EFunc.加热停止:
-                            //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热停止。");
-                            device.HeatStartOrStop = false;
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热停止完成。");
-                            break;
-                        case EFunc.添加调料:
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找调料【{fm.funcPars.ElementAt(0).Id}】。");
-                            var Seasoning = SqliteHelper.GetInstance.GetSeasoning().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id);
-                            if (Seasoning != null)
-                            {
-                                device.FryingPanToSeasoningLoc = false;
-
-                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置。");
-                                device.FryingPanToSeasoningLoc = true;
-                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置完成，等待炒锅到达调料投料位置。");
+                        switch (fm.eFunc)
+                        {
+                            case EFunc.搅拌启动:
+                                device.StirStartOrStop = false;
+
+                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入搅拌频率-{fm.funcPars.ElementAt(0).ParValue.ToString()}HZ。");
+                                device.MixingFrequencySet(fm.funcPars.ElementAt(0).ParValue.ToString());
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入搅拌频率-{fm.funcPars.ElementAt(0).ParValue.ToString()}HZ完成。");
+                                await Task.Delay(400);
+                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入开始搅拌。");
+                                device.StirStartOrStop = true;
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入开始搅拌完成。");
+
+                                break;
+                            case EFunc.搅拌停止:
+                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入停止搅拌。");
+                                device.StirStartOrStop = false;
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-写入停止搅拌完成。");
+                                break;
+                            case EFunc.加热启动:
+                                device.HeatStartOrStop = false;
+                                await Task.Delay(400);
+
+                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热挡位-【{fm.funcPars.ElementAt(0).ParValue.ToString()}】。");
+                                device.HeatingGearSet(fm.funcPars.ElementAt(0).ParValue.ToString());
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热挡位-【{fm.funcPars.ElementAt(0).ParValue.ToString()}】完成，等待设置加热启动。");
+
+                                device.HeatStartOrStop = true;
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热启动完成。");
+                                break;
+                            case EFunc.加热停止:
+                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热停止。");
+                                device.HeatStartOrStop = false;
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置加热停止完成。");
+                                break;
+                            case EFunc.添加调料:
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找调料【{fm.funcPars.ElementAt(0).Id}】。");
+                                var Seasoning = SqliteHelper.GetInstance.GetSeasoning().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id);
+                                if (Seasoning != null)
+                                {
+                                    device.FryingPanToSeasoningLoc = false;
+                                    await Task.Delay(400);
 
-                                //回到投料位置就复位。
+                                    //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置。");
+                                    device.FryingPanToSeasoningLoc = true;
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置完成，等待炒锅到达调料投料位置。");
 
-                                Thread.Sleep(50);
-                                device.FeedingSeasoningLocFB.Wait(Cts: TaskList[et].Cts);
-                                device.FryingPanToSeasoningLoc = false;
-                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒锅已到达调料投料位置。");
+                                    //回到投料位置就复位。
 
-                                device.CuttingControl(Seasoning.Loc.ToString(), fm.funcPars.ElementAt(1).ParValue.ToString());
-                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-执行下料，下料位置：{Seasoning.Loc.ToString()}，下料重量：【{fm.funcPars.ElementAt(1).ParValue.ToString()}】。");
-                            }
-                            else
-                            {
-                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找调料失败，未查找到【{fm.funcPars.ElementAt(0).Id}】调料。任务取消。");
-                                TaskList[et].Cts.Cancel();
-                            }
+                                    await Task.Delay(400);
 
-                            break;
-                        case EFunc.添加主料:
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找主料【{fm.funcPars.ElementAt(0).Id}】。");
+                                    device.FeedingSeasoningLocFB.Wait(Cts: TaskList[et].Cts);
+                                    device.FryingPanToSeasoningLoc = false;
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒锅已到达调料投料位置。");
 
-                            if (float.TryParse(fm.funcPars.ElementAt(1).ParValue.ToString(), out float weight))
-                            {
-                                //查找主料库位符合条件的物料库位，主要根据物料ID和物料重量查找。
-                                var ingre_index = Array.FindIndex(Json<ItemStorageInfo>.Data.IngredientsStorage,
-                                item => item.MaterialID == fm.funcPars.ElementAt(0).Id/* && item.Weight == weight*/);
-                                if (ingre_index >= 0)
+                                    device.CuttingControl(Seasoning.Loc.ToString(), fm.funcPars.ElementAt(1).ParValue.ToString());
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-执行下料，下料位置：{Seasoning.Loc.ToString()}，下料重量：【{fm.funcPars.ElementAt(1).ParValue.ToString()}】。");
+                                }
+                                else
                                 {
-                                    //device.CuttingControl(Seasoning.Loc.ToString(), fm.funcPars.ElementAt(1).ParValue.ToString());
-                                    var ingredientes = Json<ItemStorageInfo>.Data.IngredientsStorage[ingre_index];
+                                    MessageNotify.GetInstance.ShowDialog($"任务【{cd.Name}】查找调料失败，未查找到【{fm.funcPars.ElementAt(0).Id}】调料，任务即将取消。", DialogType.Warning);
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找调料失败，未查找到【{fm.funcPars.ElementAt(0).Id}】调料。任务取消。");
+                                    TaskList[et].Cts.Cancel();
+                                }
 
-                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-执行下料，控制取{ingre_index + 1}库物料，下料名称：{ingredientes.Name.ToString()}，下料重量：【{fm.funcPars.ElementAt(1).ParValue.ToString()}】。");
-                                    device.FryingPanHome = false;
+                                break;
+                            case EFunc.添加主料:
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找主料【{fm.funcPars.ElementAt(0).Id}】。");
 
-                                    //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(ingre_index + 1).ToString()}】，子任务【{et}】。");
+                                if (float.TryParse(fm.funcPars.ElementAt(1).ParValue.ToString(), out float weight))
+                                {
+                                    //查找主料库位符合条件的物料库位，主要根据物料ID和物料重量查找。
+                                    var ingre_index = Array.FindIndex(Json<ItemStorageInfo>.Data.IngredientsStorage,
+                                    item => item.MaterialID == fm.funcPars.ElementAt(0).Id/* && item.Weight == weight*/);
+                                    if (ingre_index >= 0)
+                                    {
+                                        //device.CuttingControl(Seasoning.Loc.ToString(), fm.funcPars.ElementAt(1).ParValue.ToString());
+                                        var ingredientes = Json<ItemStorageInfo>.Data.IngredientsStorage[ingre_index];
+
+                                        DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-执行下料，控制取{ingre_index + 1}库物料，下料名称：{ingredientes.Name.ToString()}，下料重量：【{fm.funcPars.ElementAt(1).ParValue.ToString()}】。");
+                                        device.FryingPanHome = false;
+
+                                        //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(ingre_index + 1).ToString()}】，子任务【{et}】。");
+
+                                        robot.RobotTaskControl((ingre_index + 1).ToString(), et);
+                                        DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(ingre_index + 1).ToString()}】，子任务【{et}】完成。");
+                                        await Task.Delay(400);
+
+                                        //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置。");
+                                        device.FryingPanHome = true;
+                                        DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置完成，等待炒锅回到主料辅料投料位置");
+
+                                        //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置。");
+                                        device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置
+                                        await Task.Delay(400);
+
+                                        device.FryingPanHome = false;
+                                        DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置完成。");
+
+
+                                        DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置。");
+                                        robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts);  //等待机器人到投料位置也就是发出倒料请求。
+                                                                                                          //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置完成。");
+
+                                        //目前程序在炒锅在投料位置时，会自动发出允许倒料信息。
+                                        //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料。");
+                                        //robot.AllowPourVegetables(et);//允许机器人开始投料
+                                        //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料完成。");
+
+                                        DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人已到达投料位置，等待机器人投料完成。");
+                                        robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts);    //等待机器人投料完成
+                                        DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人投料完成。");
+
+                                        Json<ItemStorageInfo>.Data.IngredientsStorage[ingre_index] = new ItemStorage();
+                                        Json<ItemStorageInfo>.Save();
+                                        ActionManage.GetInstance.Send("RefreshItemStorage");
+                                    }
+                                    else
+                                    {
+                                        MessageNotify.GetInstance.ShowDialog($"任务【{cd.Name}】查找主料失败，未查找到【{fm.funcPars.ElementAt(0).Id}】主料，任务即将取消。", DialogType.Warning);
+
+                                        //TODO:暂定为直接取消任务，后期再说。
+                                        DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找主料失败，未查找到【{fm.funcPars.ElementAt(0).Id}】主料。任务取消。");
+                                        TaskList[et].Cts.Cancel();
+                                    }
+                                }
+                                break;
+                            case EFunc.添加辅料:
+                                MaterialBase mb = SqliteHelper.GetInstance.GetAccessories().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id);
+                                if (mb != null)
+                                {
+                                    //先复位变量。防止上一次是异常结束，设为True时，不会响应。
+                                    device.FryingPanHome = false;
 
-                                    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()}-设置机器人任务【{(mb.Loc + 12).ToString()}】，子任务【{et}】。");
+                                    robot.RobotTaskControl((mb.Loc + 12).ToString(), et);
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(mb.Loc + 12).ToString()}】，子任务【{et}】完成。");
 
                                     //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置。");
+                                    await Task.Delay(400);
                                     device.FryingPanHome = true;
-                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置完成，等待炒锅回到主料辅料投料位置");
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置完成，开始等待炒锅到投料位置。");
 
                                     //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置。");
                                     device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置
+                                    await Task.Delay(400);
                                     device.FryingPanHome = false;
-                                    DeviceProcessLogShow($"{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()}-等待炒锅到投料位置完成，等待机器人到投料位置。");
 
+                                    //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置。");
+                                    robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts);  //等待机器人到投料位置
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人到达投料位置完成，开始等待机器人投料完成。");
 
-                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置。");
-                                    robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts);  //等待机器人到投料位置也就是发出倒料请求。
-                                    //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置完成。");
-
-                                    //目前程序在炒锅在投料位置时，会自动发出允许倒料信息。
                                     //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料。");
                                     //robot.AllowPourVegetables(et);//允许机器人开始投料
                                     //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料完成。");
 
-                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人已到达投料位置，等待机器人投料完成。");
+                                    //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-开始等待机器人投料完成。");
                                     robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts);    //等待机器人投料完成
                                     DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人投料完成。");
 
-                                    Json<ItemStorageInfo>.Data.IngredientsStorage[ingre_index] = new ItemStorage();
-                                    Json<ItemStorageInfo>.Save();
-                                    ActionManage.GetInstance.Send("RefreshItemStorage");
                                 }
                                 else
                                 {
-                                    //TODO:暂定为直接取消任务，后期再说。
-                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找主料失败，未查找到【{fm.funcPars.ElementAt(0).Id}】主料。任务取消。");
+                                    MessageNotify.GetInstance.ShowDialog($"任务【{cd.Name}】查找辅料失败，未查找到【{fm.funcPars.ElementAt(0).Id}】辅料，任务即将取消。", DialogType.Warning);
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找辅料失败，未查找到【{fm.funcPars.ElementAt(0).Id}】辅料。任务取消。");
                                     TaskList[et].Cts.Cancel();
                                 }
-                            }
-                            break;
-                        case EFunc.添加辅料:
-                            MaterialBase mb = SqliteHelper.GetInstance.GetAccessories().FirstOrDefault(p => p.Id == fm.funcPars.ElementAt(0).Id);
-                            if (mb != null)
-                            {
-                                //先复位变量。防止上一次是异常结束，设为True时，不会响应。
+                                break;
+                            case EFunc.炒锅回原点位:
+                                device.FryingPanFeedingLoc = false;
                                 device.FryingPanHome = false;
-
-                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(mb.Loc + 12).ToString()}】，子任务【{et}】。");
-                                robot.RobotTaskControl((mb.Loc + 12).ToString(), et);
-                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人任务【{(mb.Loc + 12).ToString()}】，子任务【{et}】完成。");
-
-                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置。");
+                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回原点。");
+                                await Task.Delay(400);
                                 device.FryingPanHome = true;
-                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回投料位置完成，开始等待炒锅到投料位置。");
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回原点完成，等待炒锅回原点。");
 
-                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置。");
-                                device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);//等待炒锅到投料位置
+                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待回原点完成。");
+                                device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);
+                                await Task.Delay(400);
                                 device.FryingPanHome = false;
-                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒锅到投料位置完成，等待机器人到投料位置。");
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒锅回原点完成。");
+                                break;
+                            case EFunc.出餐启动:
+
+                                device.DiningOutStart = false;
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人取空盆。");
+                                //TODO：暂时修改，后期优化。
+                                while (!TaskList[et].Cts.IsCancellationRequested)
+                                {
+                                    var emptyPanIndex = Array.FindIndex(otherDevice.BoxDetection, i => i == true);
+                                    if (emptyPanIndex >= 0)
+                                    {
+                                        robot.RobotTaskControl((21 + emptyPanIndex).ToString(), et);//取空盆
+                                        break;
+                                    }
+                                    await Task.Delay(3000);
+                                    DeviceProcessLogShow("无空盆，请添加空盆！");
+                                }
+                                //robot.RobotTaskControl("21", et);//取空盆
+                                DeviceProcessLogShow($"{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。");
 
-                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待机器人到投料位置。");
-                                robot.MaterialPouringRequest[index].Wait(Cts: TaskList[et].Cts);  //等待机器人到投料位置
-                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人到达投料位置完成，开始等待机器人投料完成。");
+                                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。");
+                                await Task.Delay(400);
+                                device.DiningOutStart = true;
 
-                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料。");
-                                //robot.AllowPourVegetables(et);//允许机器人开始投料
-                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置允许机器人开始投料完成。");
+                                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。");
 
-                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-开始等待机器人投料完成。");
-                                robot.MaterialPouringComplete[index].Wait(Cts: TaskList[et].Cts);    //等待机器人投料完成
-                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人投料完成。");
+                                device.OutDinningFinsh.Wait(Cts: TaskList[et].Cts);
+                                robot.DiningOutComplete(et);
 
-                            }
-                            else
-                            {
-                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-查找主料失败，未查找到【{fm.funcPars.ElementAt(0).Id}】辅料。任务取消。");
-                                TaskList[et].Cts.Cancel();
-                            }
-                            break;
-                        case EFunc.炒锅回原点位:
-                            device.FryingPanFeedingLoc = false;
-                            device.FryingPanHome = false;
-                            //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回原点。");
-                            device.FryingPanHome = true;
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅回原点完成，等待炒锅回原点。");
-
-                            //DeviceProcessLogShow($"{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;
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒锅回原点完成。");
-                            break;
-                        case EFunc.出餐启动:
-
-                            device.DiningOutStart = false;
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人取空盆。");
-                            //TODO：暂时修改，后期优化。
-                            while (true)
-                            {
-                                var emptyPanIndex = Array.FindIndex(otherDevice.BoxDetection, i => i == true);
-                                if (emptyPanIndex >= 0)
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-出餐完成。");
+                                //回到投料位置就复位。
+                                Thread.Sleep(50);
+                                device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);
+                                await Task.Delay(400);
+                                device.DiningOutStart = false;
+                                break;
+                            case EFunc.炒锅清洗:
+                                device.FryingPanClear = false;
+
+                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅清洗。");
+                                await Task.Delay(400);
+                                device.FryingPanClear = true;
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒锅清洗已写入，等待炒锅清洗完成。");
+
+                                Thread.Sleep(500);
+                                device.CleanFinish.Wait(Cts: TaskList[et].Cts);
+                                await Task.Delay(400);
+                                device.FryingPanClear = false;
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒锅清洗完成。");
+                                break;
+                            case EFunc.炒锅回调料投料位置:
+                                device.FryingPanToSeasoningLoc = false;
+
+                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置。");
+                                await Task.Delay(400);
+                                device.FryingPanToSeasoningLoc = true;
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置完成，等待回到调料投料位置。");
+
+                                //回到投料位置就复位。
+
+                                Thread.Sleep(50);
+                                device.FeedingSeasoningLocFB.Wait(Cts: TaskList[et].Cts);
+                                await Task.Delay(400);
+                                device.FryingPanToSeasoningLoc = false;
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒锅回到调料投料位置完成。");
+                                break;
+                            case EFunc.去指定炒制位:
+                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置去指定炒制位。");
+                                device.SetStirFryingLoc(fm.funcPars.ElementAt(0).ParValue.ToString());
+                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置去指定炒制位【{fm.funcPars.ElementAt(0).ParValue.ToString()}】完成。");
+
+                                //TODO:根据情况看是否需要等待反馈变量。
+                                //device.StirFryingLocFB[int.Parse(fm.funcPars.ElementAt(0).ParValue.ToString())].Wait();
+                                //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒锅到达炒制位【{fm.funcPars.ElementAt(0).ParValue.ToString()}】。");
+                                break;
+                            case EFunc.炒制:
+
+                                if (int.TryParse(fm.funcPars.ElementAt(0).ParValue.ToString(), out int time))
                                 {
-                                    robot.RobotTaskControl((21 + emptyPanIndex).ToString(), et);//取空盆
-                                    break;
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒制【{time}】秒。");
+
+                                    Task.Delay(time * 1000).Wait(TaskList[et].Cts.Token);
+                                    DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒制完成。");
                                 }
-                                await Task.Delay(3000);
-                                DeviceProcessLogShow("无空盆，请添加空盆！");
-                            }
-                            //robot.RobotTaskControl("21", et);//取空盆
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置机器人取空盆完成，等待机器人到出菜位置。");
-
-                            robot.DiningOutRequest[index].Wait(Cts: TaskList[et].Cts);//等待机器人到出菜位置
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-机器人已到出餐位置，出餐启动。");
-                            device.DiningOutStart = true;
-
-                            device.OutDinningSlowDownFlag.Wait(Cts: TaskList[et].Cts);
-                            robot.ModerateInPlace(et);
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-到达出餐减速位。");
-
-                            device.OutDinningFinsh.Wait(Cts: TaskList[et].Cts);
-                            robot.DiningOutComplete(et);
-
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-出餐完成。");
-                            //回到投料位置就复位。
-                            Thread.Sleep(50);
-                            device.FeedingLocFB.Wait(Cts: TaskList[et].Cts);
-                            device.DiningOutStart = false;
-                            break;
-                        case EFunc.炒锅清洗:
-                            device.FryingPanClear = false;
-
-                            //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅清洗。");
-                            device.FryingPanClear = true;
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒锅清洗已写入，等待炒锅清洗完成。");
-
-                            Thread.Sleep(500);
-                            device.CleanFinish.Wait(Cts: TaskList[et].Cts);
-                            device.FryingPanClear = false;
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒锅清洗完成。");
-                            break;
-                        case EFunc.炒锅回调料投料位置:
-                            device.FryingPanToSeasoningLoc = false;
-
-                            //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置。");
-                            device.FryingPanToSeasoningLoc = true;
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置炒锅到调料投料位置完成，等待回到调料投料位置。");
-
-                            //回到投料位置就复位。
-
-                            Thread.Sleep(50);
-                            device.FeedingSeasoningLocFB.Wait(Cts: TaskList[et].Cts);
-                            device.FryingPanToSeasoningLoc = false;
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒锅回到调料投料位置完成。");
-                            break;
-                        case EFunc.去指定炒制位:
-                            //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置去指定炒制位。");
-                            device.SetStirFryingLoc(fm.funcPars.ElementAt(0).ParValue.ToString());
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-设置去指定炒制位【{fm.funcPars.ElementAt(0).ParValue.ToString()}】完成。");
-
-                            //TODO:根据情况看是否需要等待反馈变量。
-                            //device.StirFryingLocFB[int.Parse(fm.funcPars.ElementAt(0).ParValue.ToString())].Wait();
-                            //DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒锅到达炒制位【{fm.funcPars.ElementAt(0).ParValue.ToString()}】。");
-                            break;
-                        case EFunc.炒制:
-
-                            if (int.TryParse(fm.funcPars.ElementAt(0).ParValue.ToString(), out int time))
-                            {
-                                DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-等待炒制【{time}】秒。");
-                                Task.Delay(time * 1000).Wait(TaskList[et].Cts.Token);
-                            }
 
-                            DeviceProcessLogShow($"{cd.Name}-任务执行-{fm.eFunc.ToString()}-炒制完成。");
-                            break;
-                        default:
-                            break;
+                                break;
+                            default:
+                                break;
+                        }
+                    }
+
+                    catch (TaskCanceledException)
+                    {
+                        DeviceProcessLogShow($"{cd.Name}-任务被取消。");
+                    }
+                    catch (OperationCanceledException)
+                    {
+                        DeviceProcessLogShow($"{cd.Name}-任务被手动取消。");
                     }
                 }
             }
             DeviceProcessLogShow($"【{et}】任务-{cd.Name} 执行完成");
+            TaskList[et].IsComplete = true;
         }
         #endregion
 
         public override void ReadData()
         {
+            if (propertyInfos is null || propertyInfos.Count==0)
+            {
+                propertyInfos = morkCL.GetType().GetProperties().ToList();
+            }
             
-            var propertyInfos = morkCL.GetType().GetProperties();
 
             var fryingPan1 = (FryingPanServer)devices[EDeviceType.炒锅1];
             var fryingPan2 = (FryingPanServer)devices[EDeviceType.炒锅2];
@@ -733,14 +770,21 @@ namespace BPASmartClient.MorkCL
             alarm.TurnMotorError2 = fryingPan2.TurnMotorErrorCode != "无故障" ? true : false;
 
             //这是字段。直接赋值
+            morkCL.FeedingSeasoningLocFB1 = fryingPan1.FeedingSeasoningLocFB;
+            morkCL.FeedingSeasoningLocFB2 = fryingPan2.FeedingSeasoningLocFB;
+
             morkCL.FeedingLocFB1 = fryingPan1.FeedingLocFB;
             morkCL.FeedingLocFB2 = fryingPan2.FeedingLocFB;
+
             morkCL.CleanFinish1 = fryingPan1.CleanFinish;
             morkCL.CleanFinish2 = fryingPan2.CleanFinish;
+            
             morkCL.OutDinningFinsh1 = fryingPan1.OutDinningFinsh;
             morkCL.OutDinningFinsh2 = fryingPan2.OutDinningFinsh;
+
             morkCL.OutDinningSlowDownFlag1 = fryingPan1.OutDinningSlowDownFlag;
             morkCL.OutDinningSlowDownFlag2 = fryingPan2.OutDinningSlowDownFlag;
+
             morkCL.BoxDetection = otherDevice.BoxDetection;
             morkCL.IsIdle = robot.IsIdle;
 
@@ -847,6 +891,12 @@ namespace BPASmartClient.MorkCL
                     NoticeDemoViewModel.OpenMsg(EnumPromptType.Error, Application.Current.MainWindow, "入库失败", $"物料入库失败，当前正在制作菜品。");
                     return;
                 }
+                var robot = (RobotServer)devices[EDeviceType.机器人];
+                if (robot.IsIdle==false)
+                {
+                    MessageNotify.GetInstance.ShowDialog("当前机器人未在空闲状态，稍后再试。", DialogType.Warning);
+                    return;
+                }
                 TaskManage.GetInstance.Start(() =>
                 {
                     if (o != null && o is IngredientsTB ingredients)
@@ -863,20 +913,17 @@ namespace BPASmartClient.MorkCL
                             item.Weight = ((OtherServer)devices[EDeviceType.外部设备]).CurrentWeight;
 
                             var loc = (index + 1).ToString();
-                            //var robot = (RobotServer)devices[EDeviceType.机器人];
-                            //robot.WarehousingControl(loc);
-                            //robot.WarehousingComplete[(Convert.ToInt32(loc) - 1)].Wait();
-
-                            var robot = (RobotServer)devices[EDeviceType.机器人];
+#if !FORMAL
+                            
                             robot.WarehousingControl(loc);
                             DeviceProcessLogShow($"已下发机器人物料入{loc}号库任务，等待机器人入库操作完成");
                             robot.WarehousingComplete[(Convert.ToInt32(loc) - 1)].Wait();
-
+#endif
                             Json<ItemStorageInfo>.Save();
 
                             ActionManage.GetInstance.Send("RefreshItemStorage");
 
-                            DeviceProcessLogShow($"物料{ingredients.Name}，ID:[{ingredients.Id}]入库成功。");
+                            DeviceProcessLogShow($"物料[{ingredients.Name}]，ID:[{ingredients.Id}]入库成功。");
                             Application.Current.Dispatcher.Invoke(() =>
                             {
                                 NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, Application.Current.MainWindow, "入库成功", $"物料{ingredients.Name}入库成功。");
@@ -918,6 +965,45 @@ namespace BPASmartClient.MorkCL
                }, "ItemStorage", true); 
             #endregion
 
+            ActionManage.GetInstance.Register((object[] o) =>
+            {
+                if (o is not null && o is object[] para)
+                {
+                    var device =(EDeviceType)Enum.Parse(typeof(EDeviceType), para[0].ToString());
+                    var channelIndex = para[1].ToString();
+                    var demandValue = para[2].ToString();
+                    ((FryingPanServer)devices[device]).CuttingControl(channelIndex, demandValue);
+                }
+            },"DeviceCuttingControl",true);
+
+            ActionManage.GetInstance.Register((object o) =>
+            {
+                if (o is not null)
+                {
+                    var device = (EDeviceType)Enum.Parse(typeof(EDeviceType), o.ToString());
+                    if (TaskList.ContainsKey(device))
+                    {
+                        TaskList[device].Cts.Cancel();
+                        DeviceProcessLogShow($"取消{device}当前任务成功。");
+                    }
+                    else
+                    {
+                        DeviceProcessLogShow($"[{device}]当前无任务。");
+                    }
+                }
+                
+            }, "CancelFryPanTask", true);
+
+            ActionManage.GetInstance.Register((object o) =>
+            {
+                if (o is not null)
+                {
+                    var device = (EDeviceType)Enum.Parse(typeof(EDeviceType), o.ToString());
+                    //TODO : 把所有属于该炒锅的任务全部删除。
+                }
+
+            }, "ClearFryPanTask", true);
+
             ActionManage.GetInstance.Register((object o) =>
             {
                 if (o!=null && o is WriteModel<bool> write)

BPASmartClient.MorkCL/Model/Control/FryingPanSet.cs

@@ -26,7 +26,10 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <param name="demandValue">通道需求值</param>
         public void CuttingControl(string Num, string demandValue)
         {
-
+            if (!MyModbus.IsConnected())
+            {
+                return;
+            }
             if (ushort.TryParse(Num, out ushort ChannelNum) && ushort.TryParse(demandValue, out ushort value))
                 if (ChannelNum >= 1 && ChannelNum <= 3)
                 {
@@ -34,9 +37,10 @@ namespace BPASmartClient.MorkCL.Model.Control
                     byte[] LBOffset = new byte[3] { 6, 7, 8 };
                     MyModbus.Write($"LB{LBOffset[ChannelNum - 1]}".ToModbusAdd(), false);
                     MyModbus.Write($"LW{VWOffset[ChannelNum - 1]}".ToModbusAdd(), value);
+                    Thread.Sleep(400);
                     MyModbus.Write($"LB{LBOffset[ChannelNum - 1]}".ToModbusAdd(), true);
                     //扫描周期较短，不等下料完成读为0，就已经过了，添加一个延时。
-                    Thread.Sleep(500);
+                    Thread.Sleep(400);
                     ChannelDisCom[ChannelNum - 1].Wait();
                     MyModbus.Write($"LB{LBOffset[ChannelNum - 1]}".ToModbusAdd(), false);
                 }
@@ -48,12 +52,18 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <param name="value">档位，1-8挡</param>
         public void HeatingGearSet(string value)
         {
+            if (!MyModbus.IsConnected())
+            {
+                return;
+            }
             if (ushort.TryParse(value, out ushort Gear))
                 if (Gear >= 1 && Gear <= 8)
                 {
                     MyModbus.Write($"LB9".ToModbusAdd(), false);
                     MyModbus.Write($"LW0".ToModbusAdd(), Gear);
+                    Thread.Sleep(400);
                     MyModbus.Write($"LB9".ToModbusAdd(), true);
+                    Thread.Sleep(400);
                     MyModbus.Write($"LB9".ToModbusAdd(), false);
                 }
         }
@@ -64,12 +74,18 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <param name="value">频率，0-50HZ</param>
         public void MixingFrequencySet(string value)
         {
+            if (!MyModbus.IsConnected())
+            {
+                return;
+            }
             if (ushort.TryParse(value, out ushort Frequency))
                 if (Frequency >= 0 && Frequency <= 50)
                 {
                     MyModbus.Write($"LB10".ToModbusAdd(), false);
                     MyModbus.Write($"LW1".ToModbusAdd(), Frequency*100);
+                    Thread.Sleep(400);
                     MyModbus.Write($"LB10".ToModbusAdd(), true);
+                    Thread.Sleep(400);
                     MyModbus.Write($"LB10".ToModbusAdd(), false);
                 }
         }
@@ -80,12 +96,18 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <param name="value">频率，0-50HZ</param>
         public void OverturnFrequencySet(string value)
         {
+            if (!MyModbus.IsConnected())
+            {
+                return;
+            }
             if (ushort.TryParse(value, out ushort Frequency))
                 if (Frequency >= 0 && Frequency <= 50)
                 {
                     MyModbus.Write($"LB11".ToModbusAdd(), false);
                     MyModbus.Write($"LW2".ToModbusAdd(), Frequency);
+                    Thread.Sleep(400);
                     MyModbus.Write($"LB11".ToModbusAdd(), true);
+                    Thread.Sleep(400);
                     MyModbus.Write($"LB11".ToModbusAdd(), false);
                 }
         }
@@ -121,12 +143,17 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <param name="value">炒锅位置，1-3</param>
         public void SetStirFryingLoc(string value)
         {
+            if (!MyModbus.IsConnected())
+            {
+                return;
+            }
             if (ushort.TryParse(value, out ushort loc))
                 if (loc >= 1 && loc <= 3)
                 {
                     MyModbus.Write($"LB{loc + 16}".ToModbusAdd(), false);
+                    Thread.Sleep(400);
                     MyModbus.Write($"LB{loc + 16}".ToModbusAdd(), true);
-                    Thread.Sleep(500);
+                    Thread.Sleep(400);
                     StirFryingLocFB[loc - 1].Wait();
                     MyModbus.Write($"LB{loc + 16}".ToModbusAdd(), false);
                 }

BPASmartClient.MorkCL/Model/Control/RobotSet.cs

@@ -15,6 +15,10 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <param name="SubTask"></param>
         public void RobotTaskControl(string MainTask, EDeviceType SubTask)
         {
+            if (MyModbus is null || !MyModbus.IsConnected())
+            {
+                return;
+            }
             if (ushort.TryParse(MainTask, out ushort mainTask))
                 if (mainTask >= 0 && mainTask <= 24)
                 {
@@ -30,6 +34,10 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <param name="Loc"></param>
         public void WarehousingControl(string Loc)
         {
+            if (MyModbus is null || !MyModbus.IsConnected())
+            {
+                return;
+            }
             if (ushort.TryParse(Loc, out ushort loc))
             {
                 if (loc >= 1 && loc <= 12)
@@ -46,6 +54,10 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <param name="num">炒锅类型</param>
         public void AllowPourVegetables(EDeviceType num)
         {
+            if (MyModbus is null || !MyModbus.IsConnected())
+            {
+                return;
+            }
             switch (num)
             {
                 case EDeviceType.炒锅1:
@@ -67,6 +79,10 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <param name="num">炒锅类型</param>
         public void DisablePourVegetables(EDeviceType num)
         {
+            if (MyModbus is null || !MyModbus.IsConnected())
+            {
+                return;
+            }
             switch (num)
             {
                 case EDeviceType.炒锅1:
@@ -88,6 +104,10 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <param name="num">炒锅类型</param>
         public void ModerateInPlace(EDeviceType num)
         {
+            if (MyModbus is null || !MyModbus.IsConnected())
+            {
+                return;
+            }
             switch (num)
             {
                 case EDeviceType.炒锅1:
@@ -110,6 +130,10 @@ namespace BPASmartClient.MorkCL.Model.Control
         /// <param name="num">炒锅类型</param>
         public void DiningOutComplete(EDeviceType num)
         {
+            if (MyModbus is null || !MyModbus.IsConnected())
+            {
+                return;
+            }
             switch (num)
             {
                 case EDeviceType.炒锅1:

BPASmartClient.MorkCL/Model/Json/ConnectPar.cs

@@ -8,6 +8,26 @@ namespace BPASmartClient.MorkCL.Model.Json
 {
     public class ConnectPar
     {
+        /// <summary>
+        /// 1#炒锅是否连接。
+        /// </summary>
+        public bool FryPanConnect_1 { get; set; } = true;
+        /// <summary>
+        /// 2#炒锅是否连接。
+        /// </summary>
+        public bool FryPanConnect_2 { get; set; } = true;
+        /// <summary>
+        /// 高压锅是否连接。
+        /// </summary>
+        public bool PressureCookerConnect { get; set; } = false;
+        /// <summary>
+        /// 机器人是否链接。
+        /// </summary>
+        public bool RobotConnet { get; set; } = true;
+        /// <summary>
+        /// 其他设备是否连接。
+        /// </summary>
+        public bool OtherDeviceConnect { get; set; } = true;
         /// <summary>
         /// 1号炒锅
         /// </summary>

BPASmartClient.MorkCL/Server/FryingPanServer.cs

@@ -18,6 +18,7 @@ namespace BPASmartClient.MorkCL.Server
             MyModbus = new ModbusTcp();
             MyModbus.WithModbusTcp(IP, Port).UseConnected(() =>
             {
+                
                 TaskManage.GetInstance.StartLong(new Action(() =>
                 {
                     MyModbus.Read<bool[]>("LB100".ToModbusAdd(), 16).OnSuccess(s =>
@@ -39,14 +40,14 @@ namespace BPASmartClient.MorkCL.Server
                         OutDinningSlowDownFlag = s[15];
                     });
 
-
+                    Thread.Sleep(20);
                     MyModbus.Read<ushort[]>("LW20".ToModbusAdd(), 3).OnSuccess(s =>
                     {
                         CurrentTemperature = s[0] * 10.0F;
                         CurrentSpeed = s[1];
                         HeatingGear = s[2];
                     });
-
+                    Thread.Sleep(20);
                     MyModbus.Read<ushort[]>("LW30".ToModbusAdd(), 10).OnSuccess(s =>
                     {
                         StirMotorFreq = s[0];
@@ -62,7 +63,7 @@ namespace BPASmartClient.MorkCL.Server
                         TurnMotorErrorCode = MotorAlarm.AlarmDic[s[9]];
 
                     });
-
+                    Thread.Sleep(20);
                     MyModbus.Read<ushort>("LW49".ToModbusAdd()).OnSuccess(s =>
                     {
                         EStopAlarm = s.GetBitValue(1);
@@ -74,7 +75,7 @@ namespace BPASmartClient.MorkCL.Server
                         StirMotorCommError=s.GetBitValue(7);
                         RollingMotorCommError = s.GetBitValue(8);
                     });
-                    Thread.Sleep(100);
+                    Thread.Sleep(20);
                 }), $"炒锅服务-{IP}", true);
             });
         }

BPASmartClient.MorkCL/Server/OtherServer.cs

@@ -35,11 +35,12 @@ namespace BPASmartClient.MorkCL.Server
                             BoxDetection[i] = s.GetBitValue((byte)(i+1));
                         }
                     });
+                    Thread.Sleep(50);
                     myDevice.SlaveAddress = 2;
 
                     myDevice.Read<float>("LW8".ToModbusAdd()).OnSuccess(s => { CurrentWeight = s; });
 
-                    Thread.Sleep(100);
+                    Thread.Sleep(50);
                 }), $"其它外部设备-{PortName}", true);
             });
         }

BPASmartClient.MorkCL/Server/RobotServer.cs

@@ -28,16 +28,18 @@ namespace BPASmartClient.MorkCL.Server
                             DiningOutRequest[i] = s[i * 3 + 2];
                         }
                     });
+                    Thread.Sleep(20);
                     MyModbus.Read<bool>("GM620".ToModbusAdd()).OnSuccess((b)=> { Home = b; });
+                    Thread.Sleep(20);
                     MyModbus.Read<bool[]>("GM630".ToModbusAdd(), 12).OnSuccess(s =>
                     {
                         for (byte i = 0; i < s.Length; i++) WarehousingComplete[i] = s[i];
                      });
-
+                    Thread.Sleep(20);
                     MyModbus.Read<ushort>("GI5".ToModbusAdd(), 1).OnSuccess(s => { TaskFeedback = (RobotMainTask)s; });
 
                     IsIdle = (TaskFeedback == RobotMainTask.无任务 && Home);
-                    Thread.Sleep(100);
+                    Thread.Sleep(20);
                 }), $"机器人服务-{IP}", true);
             });
         }

BPASmartClient.MorkCL/Server/TaskServer.cs

@@ -11,7 +11,8 @@ namespace BPASmartClient.MorkCL.Server
         /// <summary>
         /// 获取任务是否执行完成
         /// </summary>
-        public bool IsComplete => RunTask == null ? false : RunTask.IsCompleted;
+        //public bool IsComplete => RunTask == null ? false : RunTask.IsCompleted;
+        public bool IsComplete { get; set; }
 
         /// <summary>
         /// 任务取消标识

BPASmartClient.MorkCL/View/Debug.xaml

@@ -40,21 +40,30 @@
                     Margin="25,0"
                     FontSize="16"
                     ItemsSource="{Binding DeviceTypes}"
-                    SelectedItem="{Binding FryingPanSelect}">
-                    
-                </ComboBox>
+                    SelectedItem="{Binding FryingPanSelect}" />
             </StackPanel>
             <StackPanel Margin="5" Orientation="Horizontal">
-                <Button Margin="0,0,20,0" Content="设为自动模式" />
-                <Button Margin="10,0" Content="设为手动模式" />
-                <Button Margin="10,0" Content="初始化设备" />
+                <Button
+                    Margin="0,0,20,0"
+                    Command="{Binding SetAutoModeCommand}"
+                    Content="设为自动模式" />
+                <Button
+                    Margin="10,0"
+                    Command="{Binding SetManualModeCommand}"
+                    Content="设为手动模式" />
+                <Button
+                    Margin="10,0"
+                    Command="{Binding InitalDeviceCommand}"
+                    Content="初始化设备" />
                 <Button
                     Width="100"
                     Margin="10,0"
+                    Command="{Binding ResetDeviceCommand}"
                     Content="复位" />
                 <Button
                     Width="100"
                     Margin="10,0"
+                    Command="{Binding StopDeviceCommand}"
                     Content="停止" />
             </StackPanel>
             <StackPanel Margin="5" Orientation="Horizontal">
@@ -172,6 +181,51 @@
             Margin="15"
             Orientation="Vertical" />
         <!--#endregion-->
+
+        <!--#region 系统任务控制-->
+        <pry:ImageBorder Grid.Row="2" Margin="10" />
+        <StackPanel
+            Grid.Row="2"
+            Margin="15"
+            Orientation="Vertical">
+            <StackPanel Orientation="Horizontal">
+                <Button
+                    Width="150"
+                    Height="35"
+                    Margin="5"
+                    Command="{Binding CancelFryPanTaskCommand}"
+                    CommandParameter="炒锅1"
+                    Content="取消当前1#炒锅任务" />
+                <Button
+                    Width="150"
+                    Height="35"
+                    Margin="5"
+                    Command="{Binding CancelFryPanTaskCommand}"
+                    CommandParameter="炒锅2"
+                    Content="取消当前2#炒锅任务" />
+
+            </StackPanel>
+
+            <StackPanel Orientation="Horizontal">
+                <Button
+                    Width="150"
+                    Height="35"
+                    Margin="5"
+                    Command="{Binding ClearFryPanTaskCommand_1}"
+                    Content="清空1#炒锅任务"
+                    Visibility="Collapsed" />
+                <Button
+                    Width="150"
+                    Height="35"
+                    Margin="5"
+                    Command="{Binding ClearFryPanTaskCommand_2}"
+                    Content="清空2#炒锅任务"
+                    Visibility="Collapsed" />
+
+            </StackPanel>
+
+        </StackPanel>
+        <!--#endregion-->
     </Grid>
 
 </UserControl>

BPASmartClient.MorkCL/View/ItemStorageView.xaml

@@ -35,6 +35,12 @@
         <pry:ImageBorder Margin="5,15" />
         <StackPanel Margin="15,20">
             <TextBlock Width="200" Text="{Binding ScaleCurrentWeight, StringFormat=当前重量：{0:F2} g}" />
+
+
+            <Button
+                Margin="0,30"
+                Command="{Binding InitialStorageCommand}"
+                Content="清空库位" />
         </StackPanel>
         <!--#endregion-->
 
@@ -56,16 +62,17 @@
                 Command="{Binding InStorageCommand}"
                 CommandParameter="{Binding ElementName=cmbSelectName, Path=SelectedItem}"
                 Content="入库" />
+
         </StackPanel>
         <!--#endregion-->
-        <!--#region 辅料仓-->
-        <pry:ImageBorder Grid.Column="1" Margin="15" />
+        <!--#region 辅料仓不需要显示，整体注释。-->
+        <!--<pry:ImageBorder Grid.Column="1" Margin="15" Visibility="Collapsed"/>
         <ItemsControl
             Grid.Column="1"
             Margin="3"
             Background="Transparent"
             BorderThickness="1"
-            ItemsSource="{Binding AccessoriesItorage}"
+            ItemsSource="{Binding AccessoriesItorage}" Visibility="Collapsed"
             ScrollViewer.HorizontalScrollBarVisibility="Disabled">
             <ItemsControl.ItemsPanel>
                 <ItemsPanelTemplate>
@@ -119,15 +126,17 @@
                     </Border>
                 </DataTemplate>
             </ItemsControl.ItemTemplate>
-        </ItemsControl>
+        </ItemsControl>-->
         <!--#endregion-->
         <!--#region 原料仓-->
         <pry:ImageBorder
-            Grid.Row="1"
+            Grid.Row="0"
+            Grid.RowSpan="2"
             Grid.Column="1"
             Margin="15" />
         <ItemsControl
-            Grid.Row="1"
+            Grid.Row="0"
+            Grid.RowSpan="2"
             Grid.Column="1"
             Margin="3"
             Background="Transparent"
@@ -153,7 +162,7 @@
             <ItemsControl.ItemTemplate>
                 <DataTemplate>
                     <Border Margin="5" Background="Transparent">
-                        <Grid Height="180">
+                        <Grid>
                             <Grid.RowDefinitions>
                                 <RowDefinition />
                                 <RowDefinition />
@@ -166,7 +175,7 @@
                             </Grid.LayoutTransform>
 
                             <TextBlock
-                                Margin="0,0,0,25"
+                                Margin="0,0,0,55"
                                 HorizontalAlignment="Center"
                                 VerticalAlignment="Bottom"
                                 FontSize="25"
@@ -181,7 +190,7 @@
                                 Foreground="#FF0084FF"
                                 Text="{Binding Weight, StringFormat={}{0} g}" />
 
-                            <StackPanel
+                            <!--<StackPanel
                                 Grid.Row="1"
                                 Margin="0,25"
                                 HorizontalAlignment="Center"
@@ -190,7 +199,7 @@
                                     FontSize="20"
                                     Foreground="#FF0084FF"
                                     Text="{Binding ID, StringFormat={}{0} 号仓}" />
-                            </StackPanel>
+                            </StackPanel>-->
                             <Image
                                 Grid.RowSpan="2"
                                 Source="/BPASmartClient.CustomResource;component/Image/光柱.png"

BPASmartClient.MorkCL/View/Monitor.xaml

@@ -135,7 +135,7 @@
         <ScrollViewer
             Grid.Row="1"
             HorizontalScrollBarVisibility="Hidden"
-            VerticalScrollBarVisibility="Hidden">
+            VerticalScrollBarVisibility="Auto">
             <ItemsControl ItemsSource="{Binding VariableMonitors}">
                 <ItemsControl.ItemTemplate>
                     <DataTemplate>

BPASmartClient.MorkCL/View/ParSet.xaml

@@ -5,8 +5,10 @@
     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:pry="clr-namespace:BPASmartClient.CustomResource.UserControls;assembly=BPASmartClient.CustomResource"
+    Name="参数设置"
     d:DesignHeight="450"
-    d:DesignWidth="800" Name="参数设置"
+    d:DesignWidth="800"
     mc:Ignorable="d">
     <UserControl.Resources>
         <ResourceDictionary>
@@ -16,5 +18,10 @@
             </ResourceDictionary.MergedDictionaries>
         </ResourceDictionary>
     </UserControl.Resources>
-    <Grid />
+
+    <Grid>
+        <pry:ImageBorder Margin="10" />
+        <TextBlock HorizontalAlignment="Center" Text="暂时没有参数需要调整" />
+    </Grid>
+
 </UserControl>

BPASmartClient.MorkCL/View/Test.xaml

@@ -1,141 +0,0 @@
-<UserControl
-    x:Class="BPASmartClient.MorkCL.View.Test"
-    xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
-    xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
-    xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
-    xmlns:local="clr-namespace:BPASmartClient.MorkCL.View"
-    xmlns:mc="http://schemas.openxmlformats.org/markup-compatibility/2006"
-    xmlns:vm="clr-namespace:BPASmartClient.MorkCL.ViewModel"
-    Name="测试"
-    d:DesignHeight="450"
-    d:DesignWidth="800"
-    mc:Ignorable="d">
-
-    <UserControl.DataContext>
-        <vm:testViewModel />
-    </UserControl.DataContext>
-
-    <UserControl.Resources>
-        <ResourceDictionary>
-            <ResourceDictionary.MergedDictionaries>
-                <ResourceDictionary Source="/BPASmartClient.MorkCL;component/CustomStyle/CustomStyle.xaml" />
-            </ResourceDictionary.MergedDictionaries>
-            <Style TargetType="DataGridCell">
-                <Setter Property="FontSize" Value="16" />
-                <Setter Property="VerticalAlignment" Value="Center" />
-                <Setter Property="Background" Value="Transparent" />
-                <Setter Property="Foreground" Value="{StaticResource FontColor}" />
-                <Setter Property="BorderBrush" Value="{StaticResource bordColor}" />
-            </Style>
-            <Style TargetType="DataGridColumnHeader">
-                <Setter Property="FontSize" Value="22" />
-                <Setter Property="FontWeight" Value="Bold" />
-                <Setter Property="VerticalAlignment" Value="Center" />
-                <Setter Property="Background" Value="Transparent" />
-                <Setter Property="Foreground" Value="{StaticResource FontColor}" />
-                <Setter Property="BorderBrush" Value="{StaticResource TitleBorderColor}" />
-                <Setter Property="BorderThickness" Value="1" />
-            </Style>
-        </ResourceDictionary>
-    </UserControl.Resources>
-
-    <StackPanel Orientation="Vertical">
-        <Button
-            Width="100"
-            Height="30"
-            Command="{Binding testCommand}"
-            Content="Init" />
-        <ListView Height="100" ItemsSource="{Binding TBS}">
-
-            <ListView.View>
-                <GridView>
-                    <GridView.Columns>
-                        <GridViewColumn Width="200">
-                            <GridViewColumn.CellTemplate>
-                                <DataTemplate>
-                                    <TextBlock Text="{Binding Id}" />
-                                </DataTemplate>
-                            </GridViewColumn.CellTemplate>
-                            <GridViewColumnHeader
-                                HorizontalContentAlignment="Center"
-                                Content="ID"
-                                IsHitTestVisible="False" />
-                        </GridViewColumn>
-
-                        <GridViewColumn Width="200">
-                            <GridViewColumn.CellTemplate>
-                                <DataTemplate>
-                                    <TextBlock Text="{Binding Name}" />
-                                </DataTemplate>
-                            </GridViewColumn.CellTemplate>
-                            <GridViewColumnHeader
-                                HorizontalContentAlignment="Center"
-                                Content="Name"
-                                IsHitTestVisible="False" />
-                        </GridViewColumn>
-
-                        <GridViewColumn Width="Auto">
-                            <GridViewColumn.CellTemplate>
-                                <DataTemplate>
-                                    <TextBlock Text="{Binding Description}" />
-                                </DataTemplate>
-                            </GridViewColumn.CellTemplate>
-                            <GridViewColumnHeader
-                                HorizontalContentAlignment="Center"
-                                Content="描述"
-                                IsHitTestVisible="False" />
-                        </GridViewColumn>
-
-                        <GridViewColumn Width="200">
-                            <GridViewColumn.CellTemplate>
-                                <DataTemplate>
-                                    <TextBlock Text="{Binding Loc}" />
-                                </DataTemplate>
-                            </GridViewColumn.CellTemplate>
-                            <GridViewColumnHeader
-                                HorizontalContentAlignment="Center"
-                                Content="位置"
-                                IsHitTestVisible="False" />
-                        </GridViewColumn>
-                    </GridView.Columns>
-                </GridView>
-            </ListView.View>
-
-        </ListView>
-        <DataGrid
-            Height="500"
-            AutoGenerateColumns="False"
-            CanUserAddRows="False"
-            CanUserDeleteRows="False"
-            CanUserReorderColumns="False"
-            CanUserResizeRows="False"
-            CanUserSortColumns="False"
-            IsHitTestVisible="False"
-            IsReadOnly="True"
-            ItemsSource="{Binding TBS}"
-            RowHeaderWidth="0">
-            <DataGrid.Columns>
-                <DataGridTextColumn
-                    Width="350"
-                    Binding="{Binding Id}"
-                    Header="ID" />
-
-                <DataGridTextColumn
-                    Width="70"
-                    Binding="{Binding Name}"
-                    Header="名称" />
-
-                <DataGridTextColumn
-                    Width="*"
-                    Binding="{Binding Description}"
-                    Header="描述" />
-
-                <DataGridTextColumn
-                    Width="100"
-                    Binding="{Binding Loc}"
-                    Header="位置" />
-            </DataGrid.Columns>
-        </DataGrid>
-
-    </StackPanel>
-</UserControl>

BPASmartClient.MorkCL/View/Test.xaml.cs

@@ -1,15 +0,0 @@
-using System.Windows.Controls;
-
-namespace BPASmartClient.MorkCL.View
-{
-    /// <summary>
-    /// Test.xaml 的交互逻辑
-    /// </summary>
-    public partial class Test : UserControl
-    {
-        public Test()
-        {
-            InitializeComponent();
-        }
-    }
-}

BPASmartClient.MorkCL/ViewModel/DebugViewModel.cs

@@ -1,4 +1,7 @@
-using BPASmartClient.MorkCL.HelpClass;
+using BPASmartClient.CustomResource.UserControls.MessageShow;
+using BPASmartClient.MorkCL.HelpClass;
+using System.Reflection.Metadata;
+using System.Windows.Markup;
 
 namespace BPASmartClient.MorkCL.ViewModel
 {
@@ -11,18 +14,22 @@ namespace BPASmartClient.MorkCL.ViewModel
         {
             WriteAgitaParamCommand = new(async () =>
             {
-                ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(FryingPanSelect, "LW1", AgitaFrequency));
+                ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(FryingPanSelect, "LW1", (ushort)(AgitaFrequency*100)));
 
                 await SendWriteRequest("LB10");
+
+                ShowNotify($"写入搅拌参数成功。");
             });
 
             StartAgitateCommand = new(() =>
             {
                 ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB0", true));
+                ShowNotify($"写入搅拌启动成功。");
             });
             StopAgitateCommand = new(() =>
             {
                 ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB0", false));
+                ShowNotify($"写入搅拌停止成功。");
             });
 
             WriteHeatParamCommand = new(async () =>
@@ -30,17 +37,38 @@ namespace BPASmartClient.MorkCL.ViewModel
                 ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(FryingPanSelect, "LW0", HeatGear));
 
                 await SendWriteRequest("LB9");
+                ShowNotify($"写入加热参数成功。");
+            });
+
+            StartHeatCommand = new(() =>
+            {
+                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB3", true));
+                ShowNotify($"写入加热启动成功。");
+            });
+
+            StopHeatCommand = new(() =>
+            {
+                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB3", false));
+                ShowNotify($"写入加热停止成功。");
             });
 
             ChannelCuttingCommand = new(async () =>
             {
-                var channelIndex = ChannelSelect;
-                var weight = Convert.ToUInt16(Weight);
-                byte[] LWOffset = new byte[3] { 3, 4, 5 };
-                byte[] LBOffset = new byte[3] { 6, 7, 8 };
+                //var channelIndex = ChannelSelect;
+                //var weight = Convert.ToUInt16(Weight);
+                //byte[] LWOffset = new byte[3] { 3, 4, 5 };
+                //byte[] LBOffset = new byte[3] { 6, 7, 8 };
+
+                //ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(FryingPanSelect, $"LW{LWOffset[channelIndex]}", weight));
+                //await SendWriteRequest($"LB{LBOffset[channelIndex]}");
+
+                object[] para = new object[3];
+                para[0]= FryingPanSelect;
+                para[1] = ChannelSelect+1;
+                para[2] = Convert.ToUInt16(Weight);
 
-                ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(FryingPanSelect, $"LW{LWOffset[channelIndex]}", weight));
-                await SendWriteRequest($"LB{LBOffset[channelIndex]}");
+                await Task.Run(() => ActionManage.GetInstance.Send("DeviceCuttingControl", para));
+                ShowNotify($"写入通道下料控制成功。");
             });
 
             GoFryLocCommand = new(async () =>
@@ -48,24 +76,74 @@ namespace BPASmartClient.MorkCL.ViewModel
                 var loc = StirFryLocSelect + 17;
 
                 await SendWriteRequest($"LB{loc}");
+                ShowNotify($"写入去炒制位成功。");
             });
             GoHomeCommand = new(async () =>
             {
                 await SendWriteRequest("LB12");
+                ShowNotify($"写入回原点成功。");
             });
             GoSeasoningFeddLocCommand = new(async () =>
             {
                 await SendWriteRequest("LB16");
+                ShowNotify($"写入去调料投料位成功。");
             });
 
             OutDiningStartCommand = new(async () =>
             {
                 await SendWriteRequest("LB13");
+                ShowNotify($"写入出餐启动成功。");
             });
 
             FryPanCleanCommand = new(async () =>
             {
                 await SendWriteRequest("LB14");
+                ShowNotify($"写入炒锅清洗成功。");
+            });
+
+            SetAutoModeCommand = new(() =>
+            {
+                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB20", true));
+                ShowNotify($"设置设备自动模式成功。");
+            });
+
+            SetManualModeCommand = new(() =>
+            {
+                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB20", false));
+                ShowNotify($"设置设备手动模式成功。");
+            });
+            InitalDeviceCommand = new(async () =>
+            {
+                await SendWriteRequest("LB21");
+                ShowNotify($"设置设备初始化成功。");
+            });
+
+            StopDeviceCommand = new(async () =>
+            {
+                await SendWriteRequest("LB22");
+                ShowNotify($"设置设备停止成功。");
+            });
+
+            ResetDeviceCommand = new(async () =>
+            {
+                await SendWriteRequest("LB23");
+                ShowNotify($"设置设备复位成功。");
+            });
+
+            CancelFryPanTaskCommand = new((string device) =>
+            {
+                ActionManage.GetInstance.Send("CancelFryPanTask", device);
+                ShowNotify($"[{device}#]取消当前任务成功");
+            });
+
+           
+            ClearFryPanTaskCommand_1 = new(() =>
+            {
+
+            });
+            ClearFryPanTaskCommand_2 = new(() =>
+            {
+
             });
         }
 
@@ -74,12 +152,17 @@ namespace BPASmartClient.MorkCL.ViewModel
         private async Task SendWriteRequest(string address)
         {
             ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, address, false));
-            await Task.Delay(50);
+            await Task.Delay(400);
             ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, address, true));
-            await Task.Delay(50);
+            await Task.Delay(400);
             ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, address, false));
         }
 
+        private void ShowNotify(string info)
+        {
+            NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, Application.Current.MainWindow, "提示", info);
+        }
+
         #endregion 私有方法
 
         #region 属性
@@ -191,6 +274,38 @@ namespace BPASmartClient.MorkCL.ViewModel
 
         /// <summary>炒锅清洗。</summary>
         public BPARelayCommand FryPanCleanCommand { get; set; }
+        /// <summary>
+        /// 设为自动模式。
+        /// </summary>
+        public BPARelayCommand SetAutoModeCommand { get; set; }
+        /// <summary>
+        /// 设为手动模式。
+        /// </summary>
+        public BPARelayCommand SetManualModeCommand { get; set; }
+        /// <summary>
+        /// 初始化设备。
+        /// </summary>
+        public BPARelayCommand InitalDeviceCommand { get; set; }
+        /// <summary>
+        /// 设备停止。
+        /// </summary>
+        public BPARelayCommand StopDeviceCommand { get; set; }
+        /// <summary>
+        /// 设备复位。
+        /// </summary>
+        public BPARelayCommand ResetDeviceCommand { get; set; }
+        /// <summary>
+        /// 取消指定炒锅当前任务。
+        /// </summary>
+        public BPARelayCommand<string> CancelFryPanTaskCommand { get; set; }
+        /// <summary>
+        /// 清空1#炒锅所有任务。
+        /// </summary>
+        public BPARelayCommand ClearFryPanTaskCommand_1 { get; set; }
+        /// <summary>
+        /// 清空2#炒锅所有任务。
+        /// </summary>
+        public BPARelayCommand ClearFryPanTaskCommand_2 { get; set; }
 
         #endregion 命令
     }

BPASmartClient.MorkCL/ViewModel/ItemStorageViewModel.cs

@@ -1,4 +1,6 @@
-using BPASmartClient.MorkCL.Model.DB;
+using BPASmartClient.CustomResource.Pages.Model;
+using BPASmartClient.CustomResource.UserControls.MessageShow;
+using BPASmartClient.MorkCL.Model.DB;
 using BPASmartClient.MorkCL.Model.Json;
 using BPASmartClient.MorkCL.Server;
 
@@ -34,10 +36,10 @@ namespace BPASmartClient.MorkCL.ViewModel
                 }
             }, "SendCurrentWeight");
 
-            ActionManage.GetInstance.Register((object o) =>
-            {
-                CanItemStorage = (bool)o;
-            }, "RefreshCanItemStorage", true);
+            //ActionManage.GetInstance.Register((object o) =>
+            //{
+            //    CanItemStorage = (bool)o;
+            //}, "RefreshCanItemStorage", true);
 
             //实例化时调用一次，更新数据。
             ActionManage.GetInstance.Send("RefreshItemStorage");
@@ -97,6 +99,20 @@ namespace BPASmartClient.MorkCL.ViewModel
 
                 #endregion 暂时弃用
             });
+
+            InitialStorageCommand = new(() =>
+            {
+                if (MessageNotify.GetInstance.ShowDialog($"确定清空所有仓位吗？"))
+                {
+                    for (int i = 0; i < Json<ItemStorageInfo>.Data.IngredientsStorage.Length; i++)
+                    {
+                        Json<ItemStorageInfo>.Data.IngredientsStorage[i] = new();
+                    }
+                    Json<ItemStorageInfo>.Save();
+                    ActionManage.GetInstance.Send("RefreshItemStorage");
+                    NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, Application.Current.MainWindow, "成功", "清空仓位信息成功。");
+                }
+            });
         }
 
         private void AddTestData()
@@ -165,5 +181,9 @@ namespace BPASmartClient.MorkCL.ViewModel
             get { return _CanItemStorage; }
             set { _CanItemStorage = value; OnPropertyChanged(); }
         }
+        /// <summary>
+        /// 初始化库位。
+        /// </summary>
+        public BPARelayCommand InitialStorageCommand { get; set; }
     }
 }

BPASmartClient.MorkCL/ViewModel/testViewModel.cs

@@ -1,166 +0,0 @@
-using BPASmartClient.MorkCL.Model.DB;
-using BPASmartClient.MorkCL.Server;
-using SqlSugar;
-
-namespace BPASmartClient.MorkCL.ViewModel
-{
-    public class testViewModel : NotifyBase
-    {
-        public testViewModel()
-        {
-            TBS = new(SqliteHelper.GetInstance.GetAccessories());
-
-            testCommand = new BPARelayCommand(() =>
-            {
-                ControlData cd = new ControlData();
-                cd.Name = "莲白回锅";
-                cd.DeviceType = EDeviceType.炒锅1;
-
-                cd.ControlFuncs.Enqueue(new FuncModel()
-                {
-                    eFunc = EFunc.加热启动,
-                    funcPars = new FuncPar[1] { new FuncPar() { ParValue = 1.ToString() } }.ToList()
-                });
-
-                cd.ControlFuncs.Enqueue(new FuncModel()
-                {
-                    eFunc = EFunc.炒制,
-                    funcPars = new FuncPar[1] { new FuncPar() { ParValue = 10.ToString() } }.ToList()
-                });
-
-                cd.ControlFuncs.Enqueue(new FuncModel()
-                {
-                    eFunc = EFunc.搅拌启动,
-                    funcPars = new FuncPar[1] { new FuncPar() { ParValue = 30.ToString() } }.ToList()
-                });
-
-                cd.ControlFuncs.Enqueue(new FuncModel()
-                {
-                    eFunc = EFunc.添加调料,
-                    funcPars = new FuncPar[1] { new FuncPar() { ParValue = 30.ToString(), Id = "" } }.ToList()
-                });
-
-                cd.ControlFuncs.Enqueue(new FuncModel()
-                {
-                    eFunc = EFunc.添加调料,
-                    funcPars = new FuncPar[1] { new FuncPar() { ParValue = 30.ToString(), Id = "" } }.ToList()
-                });
-
-                cd.ControlFuncs.Enqueue(new FuncModel()
-                {
-                    eFunc = EFunc.添加调料,
-                    funcPars = new FuncPar[1] { new FuncPar() { ParValue = 30.ToString(), Id = "" } }.ToList()
-                });
-
-                cd.ControlFuncs.Enqueue(new FuncModel()
-                {
-                    eFunc = EFunc.添加辅料,
-                    funcPars = new FuncPar[1] { new FuncPar() { ParValue = 30.ToString(), Id = "" } }.ToList()
-                });
-
-                cd.ControlFuncs.Enqueue(new FuncModel()
-                {
-                    eFunc = EFunc.添加辅料,
-                    funcPars = new FuncPar[1] { new FuncPar() { ParValue = 30.ToString(), Id = "" } }.ToList()
-                });
-
-                cd.ControlFuncs.Enqueue(new FuncModel()
-                {
-                    eFunc = EFunc.添加主料,
-                    funcPars = new FuncPar[1] { new FuncPar() { ParValue = 30.ToString(), Id = "" } }.ToList()
-                });
-
-                cd.ControlFuncs.Enqueue(new FuncModel()
-                {
-                    eFunc = EFunc.添加主料,
-                    funcPars = new FuncPar[1] { new FuncPar() { ParValue = 30.ToString(), Id = "" } }.ToList()
-                });
-
-                cd.ControlFuncs.Enqueue(new FuncModel()
-                {
-                    eFunc = EFunc.炒制,
-                    funcPars = new FuncPar[1] { new FuncPar() { ParValue = 30.ToString() } }.ToList()
-                });
-
-                cd.ControlFuncs.Enqueue(new FuncModel()
-                {
-                    eFunc = EFunc.出餐启动,
-                    funcPars = new FuncPar[1] { new FuncPar() { ParValue = 30.ToString() } }.ToList()
-                });
-
-                ActionManage.GetInstance.Send(NotifyTopic.FormulaDistribution, cd);
-                //ActionManage.GetInstance.Register(new Action<object>(o =>
-                //{
-                //    if (o != null && o is ControlData cd) morkCL.cds.Enqueue(cd);
-                //}), NotifyTopic.FormulaDistribution);
-
-                //SqliteHelper.GetInstance.Init();
-
-                //for (int i = 0; i < 10; i++)
-                //{
-                //    SqliteHelper.GetInstance.AddAccessories(new Model.DB.AccessoriesTB()
-                //    {
-                //        Description = "AccessoriesTB",
-                //        Loc = 1,
-                //        Name = $"AccessoriesTB{i}"
-                //    });
-
-                // SqliteHelper.GetInstance.AddIngredients(new Model.DB.IngredientsTB() {
-                // Description = "IngredientsTB", Loc = 1, Name = $"IngredientsTB{i}" });
-
-                //    SqliteHelper.GetInstance.AddSeasoning(new Model.DB.SeasoningTB()
-                //    {
-                //        Description = "SeasoningTB",
-                //        Loc = 1,
-                //        Name = $"SeasoningTB{i}"
-                //    });
-                //}
-
-                //var Accessories = SqliteHelper.GetInstance.GetAccessories();
-                //var Ingredients = SqliteHelper.GetInstance.GetIngredients();
-                //var Seasoning = SqliteHelper.GetInstance.GetSeasoning();
-
-                //Accessories?.ForEach(x =>
-                //{
-                //    SqliteHelper.GetInstance.EditAccessories(new Model.DB.AccessoriesTB()
-                //    {
-                //        Description = "AccessoriesTB1111",
-                //        Loc = x.Loc,
-                //        Name = x.Name,
-                //        Id = x.Id
-                //    });
-                //});
-
-                //Ingredients?.ForEach(x =>
-                //{
-                //    SqliteHelper.GetInstance.EditIngredients(new Model.DB.IngredientsTB()
-                //    {
-                //        Description = "IngredientsTB1111",
-                //        Loc = x.Loc,
-                //        Name = x.Name,
-                //        Id = x.Id
-                //    });
-                //});
-
-                //Seasoning?.ForEach(x =>
-                //{
-                //    SqliteHelper.GetInstance.EditSeasoning(new Model.DB.SeasoningTB()
-                //    {
-                //        Description = "SeasoningTB1111",
-                //        Loc = x.Loc,
-                //        Name = x.Name,
-                //        Id = x.Id
-                //    });
-                //});
-
-                //var Accessories1 = SqliteHelper.GetInstance.GetAccessories();
-                //var Ingredients1 = SqliteHelper.GetInstance.GetIngredients();
-                //var Seasoning1 = SqliteHelper.GetInstance.GetSeasoning();
-            });
-        }
-
-        public BPARelayCommand testCommand { get; set; }
-
-        public ObservableCollection<AccessoriesTB> TBS { get; set; }
-    }
-}

BPASmartClient.MorkMV1/Control_MorkMV1.cs

@@ -26,6 +26,7 @@ using BPASmartClient.CustomResource;
 using Microsoft.EntityFrameworkCore.Metadata.Internal;
 using static BPA.Helper.EventBus;
 using BPASmartClient.MorkMV1.Event;
+using System.Collections.Concurrent;
 //using BPA.Helper;
 
 namespace BPASmartClient.MorkMV1
@@ -157,12 +158,15 @@ namespace BPASmartClient.MorkMV1
                     recipeBoms = recipe.recipeBoms;
                 }
             });
-
+            OrderNotifyInit();
 
         }
 
         private void OrderChange(string subid, ORDER_STATUS oRDER_STATUS)
         {
+            osm.Enqueue(new OrderStatusModel() { SubOrderId = subid, Status = oRDER_STATUS });
+            return;
+
             var res = mORKM.doOrderEvents.FirstOrDefault(p => p.MorkOrder.SuborderId == subid);
             string goodName = string.Empty;
             string SortNum = string.Empty;
@@ -211,6 +215,78 @@ namespace BPASmartClient.MorkMV1
             }
         }
 
+
+        #region 接口通知任务处理
+        ConcurrentQueue<OrderStatusModel> osm = new ConcurrentQueue<OrderStatusModel>();
+        private void OrderNotifyInit()
+        {
+            TaskManage.GetInstance.StartLong(() =>
+            {
+                while (osm.Count > 0)
+                {
+                    TempOrderChange(osm.ElementAt(0).SubOrderId, osm.ElementAt(0).Status, () =>
+                    {
+                        osm.TryDequeue(out OrderStatusModel tempOSM);
+                        DeviceProcessLogShow($"订单:【{tempOSM.SubOrderId}】, 状态:【{tempOSM.Status}】,   API状态修改成功");
+                    });
+                }
+                Thread.Sleep(100);
+            }, $"订单状态更新接口{DeviceId}", true);
+        }
+
+        private void TempOrderChange(string subid, ORDER_STATUS oRDER_STATUS, Action complete)
+        {
+            var res = mORKM.doOrderEvents.FirstOrDefault(p => p.MorkOrder.SuborderId == subid);
+            string goodName = string.Empty;
+            string SortNum = string.Empty;
+            if (res != null)
+            {
+                goodName = res.MorkOrder.GoodsName;
+                SortNum = res.MorkOrder.SortNum.ToString();
+            }
+            if (!string.IsNullOrEmpty(goodName) && !string.IsNullOrEmpty(SortNum))
+            {
+                EventBus.GetInstance().Publish(new OrderStatusChangedEvent() { SortNum = SortNum, GoodName = goodName, Status = oRDER_STATUS, SubOrderId = subid, deviceClientType = DeviceType }, e => { complete?.Invoke(); });
+                
+                var index = DataServer.GetInstance.morkS.MakeOrder.FindIndex(p => p.SortNum == SortNum);
+                if (index >= 0 && index < DataServer.GetInstance.morkS.MakeOrder.Count)
+                {
+                    if (oRDER_STATUS == ORDER_STATUS.COMPLETED_COOK)
+                    {
+                        DataServer.GetInstance.morkS.MakeOrder.RemoveAt(index);
+                        DataServer.GetInstance.morkS.MakeOrderOver.Add(new OrderMakeModel()
+                        {
+                            Status = oRDER_STATUS,
+                            GoodName = goodName,
+                            SortNum = SortNum,
+                            StopTime = DateTime.Now.ToString("HH:mm:ss")
+                        });
+                    }
+                    else if (oRDER_STATUS == ORDER_STATUS.COMPLETED_TAKE)
+                    {
+                        var temp = DataServer.GetInstance.morkS.MakeOrderOver.FirstOrDefault(p => p.SortNum == SortNum);
+                        if (temp != null)
+                            DataServer.GetInstance.morkS.MakeOrderOver.Remove(temp);
+                    }
+                    else
+                    {
+                        DataServer.GetInstance.morkS.MakeOrder.ElementAt(index).Status = oRDER_STATUS;
+                    }
+                }
+                else
+                {
+                    DataServer.GetInstance.morkS.MakeOrder.Add(new OrderMakeModel()
+                    {
+                        Status = oRDER_STATUS,
+                        GoodName = goodName,
+                        SortNum = SortNum,
+                        StartTime = DateTime.Now.ToString("HH:mm:ss")
+                    });
+                }
+            }
+        }
+        #endregion
+
         private void GetStatus(string key, Action<object> action)
         {
             if (peripheralStatus.ContainsKey(key))

BPASmartClient.MorkMV1/Model/OrderStatusModel.cs

@@ -0,0 +1,14 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace BPASmartClient.MorkMV1.Model
+{
+    public class OrderStatusModel
+    {
+        public string SubOrderId { get; set; }
+        public ORDER_STATUS Status { get; set; }
+    }
+}

BPASmartClient.MorkSUpgradedVer/Control_MorkSUpgradedVer.cs

@@ -120,7 +120,7 @@ namespace BPASmartClient.MorkSUpgradedVer
                     TempOrderChange(osm.ElementAt(0).SubOrderId, osm.ElementAt(0).Status, () =>
                     {
                         osm.TryDequeue(out OrderStatusModel tempOSM);
-                        DeviceProcessLogShow($"订单:{tempOSM.SubOrderId}, 状态:{tempOSM.Status},   API状态修改成功");
+                        DeviceProcessLogShow($"订单:【{tempOSM.SubOrderId}】, 状态:【{tempOSM.Status}】,   API状态修改成功");
                     });
                 }
                 Thread.Sleep(100);