TeamAAS-VP-HeShuo/TeamAAS-VM/Core/Robots/XYZ_Platform.cs

using ControlzEx.Standard;
using MahApps.Metro.Controls;
using MathNet.Numerics;
using Opc.Ua;
using OpcUaHelper;
using OxyPlot.Axes;
using Prism;
using Prism.Ioc;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Diagnostics;
using System.Linq;
using System.Net;
using System.Runtime.CompilerServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using TeamAAS_VP;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TouchSocket.Core;
using TouchSocket.Sockets;
using static NPOI.HSSF.Util.HSSFColor;
using static TeamAAS_VP.Core.CoordinateTransformer;

namespace TeamAAS_VP.Core.Robots
{
    public class XYZ_Platform : IRobot, INotifyPropertyChanged
    {
        public event Action<Guid, object, ConnectedEventArgs> ConnectedEvent;
        public event Action<Guid, object, ClosedEventArgs> DisconnectedEvent;
        public event Action<Guid, object, ReceivedDataEventArgs> ReceivedEvent;
        public event Action<Guid, object, List<ProcedureOutputOpcAdr>> TrggerChangeEvent;
        public event Action<Guid, object, string> SendEvent;

        public XYZ_Platform(RobotInfo robot)
        {
            RobotInfo = robot;
            Id = robot.Id;
            RobotIp = robot.IP;
            RobotPort = robot.Port;
            ConnectType = robot.ConnectType;
            Terminator = robot.Terminator;
            DataEncoding = robot.DataEncoding;
            Brand = RobotBrand.XYZ_Platform;
            var app = (PrismApplicationBase)App.Current;
            Management management = app.Container.Resolve<Management>();
            Plc = management.PlcService.GetPlc(robot.PLC);
            Plc.ConnectChangedEvent += Plc_ConnectChangedEvent;
        }

        private void Plc_ConnectChangedEvent(object arg1, bool arg2)
        {
            CanExecute = arg2;
        }

        #region 属性
        public TcpClient TcpClient { get; private set; }

        public TcpService TcpService { get; private set; }

        public Guid Id { get; set; }

        public int RobotPort { get; private set; }

        public string RobotIp { get; private set; }

        public TCPConnectType ConnectType { get; private set; }

        public Terminator Terminator { get; private set; }

        public DataEncoding DataEncoding { get; private set; }

        public bool IsConnected
        {
            get
            {
                if (Plc != null)
                {
                    return Plc.IsConnected;
                }
                else
                {
                    return false;
                }
            }
        }

        public int Timeout { get; set; } = 20000;

        private bool _CanExecute = true;

        public bool CanExecute
        {
            get { return _CanExecute; }
            set { SetProperty(ref _CanExecute, value); }
        }

        public int SelectedTool { get; private set; } = 0;

        public RobotBrand Brand { get; private set; }

        public IPlc Plc { get; private set; }

        public RobotInfo RobotInfo { get; private set; }

        #endregion

        #region 连接
        public void Connect()
        {

        }

        public Task ConnectAsync()
        {
            return Task.CompletedTask;
        }

        public void Disconnect()
        {

        }

        public void Dispose()
        {

        }
        #endregion

        #region 控制
        public bool Reset()
        {
            return false;
        }

        public async Task<bool> ResetAsync()
        {
            return false;
        }

        public bool Motor(bool state)
        {
            return false;
        }
        public async Task<bool> MotorAsync(bool state)
        {
            return false;
        }

        public bool Power(bool state)
        {
            return true;
        }

        public async Task<bool> PowerAsync(bool state)
        {
            return true;
        }

        public bool Speed(int value)
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return false;
            }
            return Plc.OpcUaClient.WriteNode(RobotInfo.PlcRobotParameter.CommandParameter.Speed, value);
        }

        public async Task<bool> SpeedAsync(int value)
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return false;
            }
            return await Plc.OpcUaClient.WriteNodeAsync(RobotInfo.PlcRobotParameter.CommandParameter.Speed, value);
        }

        public bool Speedfactor(int value)
        {
            return true;
        }

        public async Task<bool> SpeedfactorAsync(int value)
        {
            return true;
        }

        public bool Speeds(double value)
        {
            return true;
        }

        public async Task<bool> SpeedsAsync(double value)
        {
            return true;
        }

        public bool Accel(int value)
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return false;
            }
            return Plc.OpcUaClient.WriteNode(RobotInfo.PlcRobotParameter.CommandParameter.Accel, value);
        }

        public async Task<bool> AccelAsync(int value)
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return false;
            }
            return await Plc.OpcUaClient.WriteNodeAsync(RobotInfo.PlcRobotParameter.CommandParameter.Accel, value);
        }

        public bool Accels(double value)
        {
            return true;
        }

        public async Task<bool> AccelsAsync(double value)
        {
            return true;
        }

        public RPoint GetRobotPos()
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return null;
            }
            try
            {
                for (int i = 0; i < 3; i++)
                {
                    var data = Plc.OpcUaClient.ReadNodes(new List<string>
                    {
                        RobotInfo.PlcRobotParameter.StateParameter.X,
                        RobotInfo.PlcRobotParameter.StateParameter.Y,
                        RobotInfo.PlcRobotParameter.StateParameter.Z,
                        RobotInfo.PlcRobotParameter.StateParameter.U,
                    }.Select(p => new Opc.Ua.NodeId(p)).ToArray());
                    if (StatusCode.IsGood(data[0].StatusCode) && StatusCode.IsGood(data[1].StatusCode) && StatusCode.IsGood(data[2].StatusCode) && StatusCode.IsGood(data[3].StatusCode))
                    {
                        RPoint point = new RPoint();
                        point.X = Convert.ToSingle(data[0].Value);
                        point.Y = Convert.ToSingle(data[1].Value);
                        point.Z = Convert.ToSingle(data[2].Value);
                        point.U = Convert.ToSingle(data[3].Value);
                        point.V = 0;
                        point.W = 0;
                        point.Hand = RobotHand.Right;
                        point.Local = 0;
                        point.Tool = 0;
                        return point;
                    }
                }
                return null;
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行机器人命令时出错！", ex);
                throw ex;
            }
        }

        public async Task<RPoint> GetRobotPosAsync()
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return null;
            }
            try
            {
                for (int i = 0; i < 3; i++)
                {
                    var data = await Plc.OpcUaClient.ReadNodesAsync(new List<string>
                    {
                        RobotInfo.PlcRobotParameter.StateParameter.X,
                        RobotInfo.PlcRobotParameter.StateParameter.Y,
                        RobotInfo.PlcRobotParameter.StateParameter.Z,
                        RobotInfo.PlcRobotParameter.StateParameter.U,
                    }.Select(p => new Opc.Ua.NodeId(p)).ToArray());
                    if (StatusCode.IsGood(data[0].StatusCode) && StatusCode.IsGood(data[1].StatusCode) && StatusCode.IsGood(data[2].StatusCode) && StatusCode.IsGood(data[3].StatusCode))
                    {
                        RPoint point = new RPoint();
                        point.X = Convert.ToSingle(data[0].Value);
                        point.Y = Convert.ToSingle(data[1].Value);
                        point.Z = Convert.ToSingle(data[2].Value);
                        point.U = Convert.ToSingle(data[3].Value);
                        point.V = 0;
                        point.W = 0;
                        point.Hand = RobotHand.Right;
                        point.Local = 0;
                        point.Tool = 0;
                        return point;
                    }
                }
                return null;
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行机器人命令时出错！", ex);
                throw ex;
            }
        }

        public bool Jog(string axis, double distance)
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return false;
            }
            try
            {
                CanExecute = false;
                int jogAxis = 0;
                switch (axis)
                {
                    case "X":
                        jogAxis = 1;
                        break;
                    case "Y":
                        jogAxis = 2;
                        break;
                    case "Z":
                        jogAxis = 3;
                        break;
                    case "U":
                        jogAxis = 4;
                        break;
                    default:
                        break;
                }
                if (jogAxis == 0)
                {
                    return false;
                }
                List<string> nodes = new List<string>() {
                    RobotInfo.PlcRobotParameter.CommandParameter.Distance,
                    RobotInfo.PlcRobotParameter.StateParameter.MoveFinish,
                    RobotInfo.PlcRobotParameter.CommandParameter.JogCmd,
                };
                List<object> values = new List<object>()
                {
                    (float)distance,
                    false,
                    jogAxis,
                };

                for (int i = 0; i < 3; i++)
                {
                    if (Plc.OpcUaClient.WriteNodes(nodes.ToArray(), values.ToArray()))
                    {
                        Stopwatch sw = new Stopwatch();
                        sw.Start();
                        while (true)
                        {
                            var data = Plc.OpcUaClient.ReadNode(RobotInfo.PlcRobotParameter.StateParameter.MoveFinish);
                            if (StatusCode.IsGood(data.StatusCode) && (bool)data.Value)
                            {
                                sw.Stop();
                                return true;
                            }
                            if (sw.Elapsed.TotalMilliseconds > Timeout)
                            {
                                sw.Stop();
                                return false;
                            }
                        }
                    }
                }
                return false;
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行机器人命令时出错！", ex);
                CanExecute = true;
                throw ex;
            }
            finally
            {
                CanExecute = true;
            }
        }
        public async Task<bool> JogAsync(string axis, double distance)
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return false;
            }
            return await Task.Run(() =>
            {
                try
                {
                    CanExecute = false;
                    int jogAxis = 0;
                    switch (axis)
                    {
                        case "X":
                            jogAxis = 1;
                            break;
                        case "Y":
                            jogAxis = 2;
                            break;
                        case "Z":
                            jogAxis = 3;
                            break;
                        case "U":
                            jogAxis = 4;
                            break;
                        default:
                            break;
                    }
                    if (jogAxis == 0)
                    {
                        return false;
                    }
                    List<string> nodes = new List<string>() {
                    RobotInfo.PlcRobotParameter.CommandParameter.Distance,
                    RobotInfo.PlcRobotParameter.StateParameter.MoveFinish,
                    RobotInfo.PlcRobotParameter.CommandParameter.JogCmd,
                };
                    List<object> values = new List<object>()
                {
                    (float)distance,
                    false,
                    jogAxis,
                };

                    for (int i = 0; i < 3; i++)
                    {
                        if (Plc.OpcUaClient.WriteNodes(nodes.ToArray(), values.ToArray()))
                        {
                            Stopwatch sw = new Stopwatch();
                            sw.Start();
                            while (true)
                            {
                                var data = Plc.OpcUaClient.ReadNode(RobotInfo.PlcRobotParameter.StateParameter.MoveFinish);
                                if (StatusCode.IsGood(data.StatusCode) && (bool)data.Value)
                                {
                                    sw.Stop();
                                    return true;
                                }
                                if (sw.Elapsed.TotalMilliseconds > Timeout)
                                {
                                    sw.Stop();
                                    return false;
                                }
                            }
                        }
                    }
                    return false;
                }
                catch (Exception ex)
                {
                    LogHelper.WriteLogError("执行机器人命令时出错！", ex);
                    CanExecute = true;
                    throw ex;
                }
                finally
                {
                    CanExecute = true;
                }
            });
        }
        public bool Joint(int joint, double distance)
        {
            return true;
        }
        public async Task<bool> JointAsync(int joint, double distance)
        {
            return true;
        }

        public bool Go(RPoint position)
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return false;
            }
            try
            {
                CanExecute = false;
                List<string> nodes = new List<string>() {
                    RobotInfo.PlcRobotParameter.CommandParameter.X,
                    RobotInfo.PlcRobotParameter.CommandParameter.Y,
                    RobotInfo.PlcRobotParameter.CommandParameter.Z,
                    RobotInfo.PlcRobotParameter.CommandParameter.U,
                    RobotInfo.PlcRobotParameter.StateParameter.MoveFinish,
                };
                List<object> values = new List<object>()
                {
                    position.X,
                    position.Y,
                    position.Z,
                    position.U,
                    false,
                };

                for (int i = 0; i < 3; i++)
                {
                    if (Plc.OpcUaClient.WriteNodes(nodes.ToArray(), values.ToArray()))
                    {
                        if (Plc.OpcUaClient.WriteNode<bool>(RobotInfo.PlcRobotParameter.CommandParameter.ExecuteMove, true))
                        {
                            Stopwatch sw = new Stopwatch();
                            sw.Start();
                            while (true)
                            {
                                var data = Plc.OpcUaClient.ReadNode(RobotInfo.PlcRobotParameter.StateParameter.MoveFinish);
                                if (StatusCode.IsGood(data.StatusCode) && (bool)data.Value)
                                {
                                    sw.Stop();
                                    return true;
                                }
                                if (sw.Elapsed.TotalMilliseconds > Timeout)
                                {
                                    sw.Stop();
                                    return false;
                                }
                            }
                        }
                    }
                }
                return false;
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行机器人命令时出错！", ex);
                CanExecute = true;
                throw ex;
            }
            finally
            {
                CanExecute = true;
            }
        }

        public async Task<bool> GoAsync(RPoint position)
        {
            return await Task.Run(() =>
            {
                if (Plc == null || !Plc.IsConnected)
                {
                    return false;
                }
                try
                {
                    CanExecute = false;
                    List<string> nodes = new List<string>() {
                    RobotInfo.PlcRobotParameter.CommandParameter.X,
                    RobotInfo.PlcRobotParameter.CommandParameter.Y,
                    RobotInfo.PlcRobotParameter.CommandParameter.Z,
                    RobotInfo.PlcRobotParameter.CommandParameter.U,
                    RobotInfo.PlcRobotParameter.StateParameter.MoveFinish,
                };
                    List<object> values = new List<object>()
                {
                    position.X,
                    position.Y,
                    position.Z,
                    position.U,
                    false,
                };
                    for (int i = 0; i < 3; i++)
                    {
                        if (Plc.OpcUaClient.WriteNodes(nodes.ToArray(), values.ToArray()))
                        {
                            if (Plc.OpcUaClient.WriteNode<bool>(RobotInfo.PlcRobotParameter.CommandParameter.ExecuteMove, true))
                            {
                                Stopwatch sw = new Stopwatch();
                                sw.Start();
                                while (true)
                                {
                                    var data = Plc.OpcUaClient.ReadNode(RobotInfo.PlcRobotParameter.StateParameter.MoveFinish);
                                    if (StatusCode.IsGood(data.StatusCode) && (bool)data.Value)
                                    {
                                        sw.Stop();
                                        return true;
                                    }
                                    if (sw.Elapsed.TotalMilliseconds > Timeout)
                                    {
                                        sw.Stop();
                                        return false;
                                    }
                                }
                            }
                        }
                    }
                    return false;
                }
                catch (Exception ex)
                {
                    LogHelper.WriteLogError("执行机器人命令时出错！", ex);
                    CanExecute = true;
                    throw ex;
                }
                finally
                {
                    CanExecute = true;
                }
            });
        }
        public bool Jump(RPoint position, double? LimZ)
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return false;
            }
            try
            {
                CanExecute = false;
                double limz = LimZ == null ? 0 : (double)LimZ;
                List<string> nodes = new List<string>() {
                    RobotInfo.PlcRobotParameter.CommandParameter.X,
                    RobotInfo.PlcRobotParameter.CommandParameter.Y,
                    RobotInfo.PlcRobotParameter.CommandParameter.Z,
                    RobotInfo.PlcRobotParameter.CommandParameter.U,
                    RobotInfo.PlcRobotParameter.CommandParameter.Limz,
                    RobotInfo.PlcRobotParameter.StateParameter.MoveFinish,
                };
                List<object> values = new List<object>()
                {
                    position.X,
                    position.Y,
                    position.Z,
                    position.U,
                    limz,
                    false,
                };
                for (int i = 0; i < 3; i++)
                {
                    if (Plc.OpcUaClient.WriteNodes(nodes.ToArray(), values.ToArray()))
                    {
                        if (Plc.OpcUaClient.WriteNode<bool>(RobotInfo.PlcRobotParameter.CommandParameter.ExecuteMove, true))
                        {
                            Stopwatch sw = new Stopwatch();
                            sw.Start();
                            while (true)
                            {
                                var data = Plc.OpcUaClient.ReadNode(RobotInfo.PlcRobotParameter.StateParameter.MoveFinish);
                                if (StatusCode.IsGood(data.StatusCode) && (bool)data.Value)
                                {
                                    sw.Stop();
                                    return true;
                                }
                                if (sw.Elapsed.TotalMilliseconds > Timeout)
                                {
                                    sw.Stop();
                                    return false;
                                }
                            }
                        }
                    }
                }
                return false;
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行机器人命令时出错！", ex);
                CanExecute = true;
                throw ex;
            }
            finally
            {
                CanExecute = true;
            }
        }
        public async Task<bool> JumpAsync(RPoint position, double? LimZ)
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return false;
            }
            return await Task.Run(() =>
            {
                try
                {
                    CanExecute = false;
                    double limz = LimZ == null ? 0 : (double)LimZ;
                    List<string> nodes = new List<string>() {
                    RobotInfo.PlcRobotParameter.CommandParameter.X,
                    RobotInfo.PlcRobotParameter.CommandParameter.Y,
                    RobotInfo.PlcRobotParameter.CommandParameter.Z,
                    RobotInfo.PlcRobotParameter.CommandParameter.U,
                    RobotInfo.PlcRobotParameter.CommandParameter.Limz,
                    RobotInfo.PlcRobotParameter.StateParameter.MoveFinish,
                };
                    List<object> values = new List<object>()
                {
                    position.X,
                    position.Y,
                    position.Z,
                    position.U,
                    limz,
                    false,
                };
                    for (int i = 0; i < 3; i++)
                    {
                        if (Plc.OpcUaClient.WriteNodes(nodes.ToArray(), values.ToArray()))
                        {
                            if (Plc.OpcUaClient.WriteNode<bool>(RobotInfo.PlcRobotParameter.CommandParameter.ExecuteMove, true))
                            {
                                Stopwatch sw = new Stopwatch();
                                sw.Start();
                                while (true)
                                {
                                    var data = Plc.OpcUaClient.ReadNode(RobotInfo.PlcRobotParameter.StateParameter.MoveFinish);
                                    if (StatusCode.IsGood(data.StatusCode) && (bool)data.Value)
                                    {
                                        sw.Stop();
                                        return true;
                                    }
                                    if (sw.Elapsed.TotalMilliseconds > Timeout)
                                    {
                                        sw.Stop();
                                        return false;
                                    }
                                }
                            }
                        }
                    }
                    return false;
                }
                catch (Exception ex)
                {
                    LogHelper.WriteLogError("执行机器人命令时出错！", ex);
                    CanExecute = true;
                    throw ex;
                }
                finally
                {
                    CanExecute = true;
                }
            });
        }

        public bool Move(RPoint position)
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return false;
            }
            try
            {
                CanExecute = false;
                List<string> nodes = new List<string>() {
                    RobotInfo.PlcRobotParameter.CommandParameter.X,
                    RobotInfo.PlcRobotParameter.CommandParameter.Y,
                    RobotInfo.PlcRobotParameter.CommandParameter.Z,
                    RobotInfo.PlcRobotParameter.CommandParameter.U,
                    RobotInfo.PlcRobotParameter.StateParameter.MoveFinish,
                };
                List<object> values = new List<object>()
                {
                    position.X,
                    position.Y,
                    position.Z,
                    position.U,
                    false,
                };
                for (int i = 0; i < 3; i++)
                {
                    if (Plc.OpcUaClient.WriteNodes(nodes.ToArray(), values.ToArray()))
                    {
                        if (Plc.OpcUaClient.WriteNode<bool>(RobotInfo.PlcRobotParameter.CommandParameter.ExecuteMove, true))
                        {
                            Stopwatch sw = new Stopwatch();
                            sw.Start();
                            while (true)
                            {
                                var data = Plc.OpcUaClient.ReadNode(RobotInfo.PlcRobotParameter.StateParameter.MoveFinish);
                                if (StatusCode.IsGood(data.StatusCode) && (bool)data.Value)
                                {
                                    sw.Stop();
                                    return true;
                                }
                                if (sw.Elapsed.TotalMilliseconds > Timeout)
                                {
                                    sw.Stop();
                                    return false;
                                }
                            }
                        }
                    }
                }
                return false;
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行机器人命令时出错！", ex);
                CanExecute = true;
                throw ex;
            }
            finally
            {
                CanExecute = true;
            }
        }

        public async Task<bool> MoveAsync(RPoint position)
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return false;
            }
            return await Task.Run(() =>
            {
                try
                {
                    CanExecute = false;
                    List<string> nodes = new List<string>() {
                    RobotInfo.PlcRobotParameter.CommandParameter.X,
                    RobotInfo.PlcRobotParameter.CommandParameter.Y,
                    RobotInfo.PlcRobotParameter.CommandParameter.Z,
                    RobotInfo.PlcRobotParameter.CommandParameter.U,
                    RobotInfo.PlcRobotParameter.StateParameter.MoveFinish,
                };
                    List<object> values = new List<object>()
                {
                    position.X,
                    position.Y,
                    position.Z,
                    position.U,
                    false,
                };
                    for (int i = 0; i < 3; i++)
                    {
                        if (Plc.OpcUaClient.WriteNodes(nodes.ToArray(), values.ToArray()))
                        {
                            if (Plc.OpcUaClient.WriteNode<bool>(RobotInfo.PlcRobotParameter.CommandParameter.ExecuteMove, true))
                            {
                                Stopwatch sw = new Stopwatch();
                                sw.Start();
                                while (true)
                                {
                                    var data = Plc.OpcUaClient.ReadNode(RobotInfo.PlcRobotParameter.StateParameter.MoveFinish);
                                    if (StatusCode.IsGood(data.StatusCode) && (bool)data.Value)
                                    {
                                        sw.Stop();
                                        return true;
                                    }
                                    if (sw.Elapsed.TotalMilliseconds > Timeout)
                                    {
                                        sw.Stop();
                                        return false;
                                    }
                                }
                            }
                        }
                    }
                    return false;
                }
                catch (Exception ex)
                {
                    LogHelper.WriteLogError("执行机器人命令时出错！", ex);
                    CanExecute = true;
                    throw ex;
                }
                finally
                {
                    CanExecute = true;
                }
            });
        }

        public bool SFree()
        {
            return false;
        }

        public async Task<bool> SFreeAsync()
        {
            return false;
        }

        public bool SLock()
        {
            return false;
        }

        public async Task<bool> SLockAsync()
        {
            return false;
        }

        public bool CalibMotion(RPoint position, double? LimZ)
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return false;
            }
            try
            {
                CanExecute = false;
                double limz = LimZ == null ? 0 : (double)LimZ;
                List<string> nodes = new List<string>() {
                    RobotInfo.PlcRobotParameter.CommandParameter.X,
                    RobotInfo.PlcRobotParameter.CommandParameter.Y,
                    RobotInfo.PlcRobotParameter.CommandParameter.Z,
                    RobotInfo.PlcRobotParameter.CommandParameter.U,
                    RobotInfo.PlcRobotParameter.CommandParameter.Limz,
                    RobotInfo.PlcRobotParameter.StateParameter.MoveFinish,
                };
                List<object> values = new List<object>()
                {
                    position.X,
                    position.Y,
                    position.Z,
                    position.U,
                    limz,
                    false,
                };
                for (int i = 0; i < 3; i++)
                {
                    if (Plc.OpcUaClient.WriteNodes(nodes.ToArray(), values.ToArray()))
                    {
                        if (Plc.OpcUaClient.WriteNode<bool>(RobotInfo.PlcRobotParameter.CommandParameter.ExecuteMove, true))
                        {
                            Stopwatch sw = new Stopwatch();
                            sw.Start();
                            while (true)
                            {
                                var data = Plc.OpcUaClient.ReadNode(RobotInfo.PlcRobotParameter.StateParameter.MoveFinish);
                                if (StatusCode.IsGood(data.StatusCode) && (bool)data.Value)
                                {
                                    sw.Stop();
                                    return true;
                                }
                                if (sw.Elapsed.TotalMilliseconds > Timeout)
                                {
                                    sw.Stop();
                                    return false;
                                }
                            }
                        }
                    }
                }
                return false;
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行机器人命令时出错！", ex);
                CanExecute = true;
                throw ex;
            }
            finally
            {
                CanExecute = true;
            }
        }

        public async Task<bool> CalibMotionAsync(RPoint position, double? LimZ)
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return false;
            }
            return await Task.Run(() =>
            {
                try
                {
                    
                    CanExecute = false;
                    float limz = LimZ == null ? 0f : (float)LimZ;
                    List<string> nodes = new List<string>() {
                    RobotInfo.PlcRobotParameter.CommandParameter.X,
                    RobotInfo.PlcRobotParameter.CommandParameter.Y,
                    RobotInfo.PlcRobotParameter.CommandParameter.Z,
                    RobotInfo.PlcRobotParameter.CommandParameter.U,
                    RobotInfo.PlcRobotParameter.CommandParameter.Limz,
                    RobotInfo.PlcRobotParameter.StateParameter.MoveFinish,
                };
                    List<object> values = new List<object>()
                {
                    position.X,
                    position.Y,
                    position.Z,
                    position.U,
                    position.U,
                    false, 
                };
                    for (int i = 0; i < 3; i++)
                    {
                        if (Plc.OpcUaClient.WriteNodes(nodes.ToArray(), values.ToArray()))
                        {
                            if (Plc.OpcUaClient.WriteNode<bool>(RobotInfo.PlcRobotParameter.CommandParameter.ExecuteMove, true))
                            {
                                Stopwatch sw = new Stopwatch();
                                sw.Start();
                                while (true)
                                {
                                    var data = Plc.OpcUaClient.ReadNode(RobotInfo.PlcRobotParameter.StateParameter.MoveFinish);
                                    
                                    if (StatusCode.IsGood(data.StatusCode) && (bool)data.Value)
                                    {
                                        sw.Stop();
                                        return true;
                                    }
                                    if (sw.Elapsed.TotalMilliseconds > Timeout)
                                    {
                                        sw.Stop();
                                        return false;
                                    }
                                }
                            }
                        }
                    }
                    return false;
                }
                catch (Exception ex)
                {
                    LogHelper.WriteLogError("执行机器人命令时出错！", ex);
                    CanExecute = true;
                    throw ex;
                }
                finally
                {
                    CanExecute = true;
                }
            });
        }

        public bool CalibOutIO(bool state)
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return false;
            }
            try
            {
                for (int i = 0; i < 3; i++)
                {
                    string node = state ? RobotInfo.PlcRobotParameter.CommandParameter.VacuumOn :
                        RobotInfo.PlcRobotParameter.CommandParameter.VacuumOff;
                    if (Plc.OpcUaClient.WriteNode(node, true))
                    {
                        Stopwatch sw = new Stopwatch();
                        sw.Start();
                        while (true)
                        {
                            string node1 = state ? RobotInfo.PlcRobotParameter.StateParameter.VacuumOn : RobotInfo.PlcRobotParameter.StateParameter.VacuumOff;
                            var data = Plc.OpcUaClient.ReadNode(node1);
                            if (StatusCode.IsGood(data.StatusCode) && (bool)data.Value)
                            {
                                sw.Stop();
                                Plc.OpcUaClient.WriteNode(node, false);
                                return true;
                            }
                            if (sw.Elapsed.TotalMilliseconds > Timeout)
                            {
                                sw.Stop();
                                Plc.OpcUaClient.WriteNode(node, false);
                                return false;
                            }
                        }
                    }
                }
                return false;
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行机器人命令时出错！", ex);
                throw ex;
            }
        }

        public async Task<bool> CalibOutIOAsync(bool state)
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return false;
            }

            return await Task.Run(() =>
            {
                try
                {
                    for (int i = 0; i < 3; i++)
                    {
                        string node = state ? RobotInfo.PlcRobotParameter.CommandParameter.VacuumOn :
                            RobotInfo.PlcRobotParameter.CommandParameter.VacuumOff;
                        if (Plc.OpcUaClient.WriteNode(node, true))
                        {
                            Stopwatch sw = new Stopwatch();
                            sw.Start();
                            while (true)
                            {
                                string node1 = state ? RobotInfo.PlcRobotParameter.StateParameter.VacuumOn : RobotInfo.PlcRobotParameter.StateParameter.VacuumOff;
                                var data = Plc.OpcUaClient.ReadNode(node1);
                                if (StatusCode.IsGood(data.StatusCode) && (bool)data.Value)
                                {
                                    sw.Stop();
                                    Plc.OpcUaClient.WriteNode(node, false);
                                    return true;
                                }
                                if (sw.Elapsed.TotalMilliseconds > Timeout)
                                {
                                    sw.Stop();
                                    Plc.OpcUaClient.WriteNode(node, false);
                                    return false;
                                }
                            }
                        }
                    }
                    return false;
                }
                catch (Exception ex)
                {
                    LogHelper.WriteLogError("执行机器人命令时出错！", ex);
                    throw ex;
                }
            });
        }

        public bool CalibParame(PickInfo Pick, int Speed, int Accel, bool Power, int WaitSuction, int WaitBlow)
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return false;
            }
            try
            {
                List<string> nodes = new List<string>() {
                    RobotInfo.PlcRobotParameter.CommandParameter.Speed,
                    RobotInfo.PlcRobotParameter.CommandParameter.Accel,
                    RobotInfo.PlcRobotParameter.CommandParameter.WaitVacuumOn,
                    RobotInfo.PlcRobotParameter.CommandParameter.WaitVacuumOff,
                };
                List<object> values = new List<object>()
                {
                    Speed,
                    Accel,
                    WaitSuction,
                    WaitBlow,
                };
                for (int i = 0; i < 3; i++)
                {
                    if (Plc.OpcUaClient.WriteNodes(nodes.ToArray(), values.ToArray()))
                    {
                        return true;
                    }
                }
                return false;
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行机器人命令时出错！", ex);
                throw ex;
            }
        }

        public async Task<bool> CalibParameAsync(PickInfo Pick, int Speed, int Accel, bool Power, int WaitSuction, int WaitBlow)
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return false;
            }
            return await Task.Run(() =>
            {
                try
                {
                    List<string> nodes = new List<string>() {
                    RobotInfo.PlcRobotParameter.CommandParameter.Speed,
                    RobotInfo.PlcRobotParameter.CommandParameter.Accel,
                    RobotInfo.PlcRobotParameter.CommandParameter.WaitVacuumOn,
                    RobotInfo.PlcRobotParameter.CommandParameter.WaitVacuumOff,
                };
                    List<object> values = new List<object>()
                {
                    Speed,
                    Accel,
                    WaitSuction,
                    WaitBlow,
                };
                    for (int i = 0; i < 3; i++)
                    {
                        if (Plc.OpcUaClient.WriteNodes(nodes.ToArray(), values.ToArray()))
                        {
                            return true;
                        }
                    }
                    return false;
                }
                catch (Exception ex)
                {
                    LogHelper.WriteLogError("执行机器人命令时出错！", ex);
                    throw ex;
                }
            });
        }


        public List<DataValue> GetNodesValue()
        {
            if (Plc == null || !Plc.IsConnected)
            {
                return new List<DataValue>();
            }
            try
            {
                CanExecute = false;
                List<NodeId> nodes = new List<NodeId>() {
                RobotInfo.PlcRobotParameter.StateParameter.X,
                RobotInfo.PlcRobotParameter.StateParameter.Y,
                RobotInfo.PlcRobotParameter.StateParameter.Z,
                RobotInfo.PlcRobotParameter.StateParameter.U,
                RobotInfo.PlcRobotParameter.StateParameter.MoveFinish,
                RobotInfo.PlcRobotParameter.StateParameter.Error,
                RobotInfo.PlcRobotParameter.StateParameter.VacuumOn,
                RobotInfo.PlcRobotParameter.StateParameter.VacuumOff
                };
                List<DataValue> Results = new List<DataValue>();
                for (int i = 0; i < 3; i++)
                {
                    Results = Plc.OpcUaClient.ReadNodes(nodes.ToArray());
                    if (Results.Count != 0)
                    {

                        return Results;
                    }
                }
                return new List<DataValue>();
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行机器人命令时出错！", ex);
                CanExecute = true;
                throw ex;
            }
            finally
            {
                CanExecute = true;
            }
        }

        /// <summary>
        /// 设置工具坐标
        /// </summary>
        /// <param name="index"></param>
        /// <param name="x"></param>
        /// <param name="y"></param>
        /// <returns></returns>
        public bool SetTool(int index, double x, double y)
        {
            return true;
        }

        /// <summary>
        /// 设置工具坐标
        /// </summary>
        /// <param name="index"></param>
        /// <param name="x"></param>
        /// <param name="y"></param>
        /// <returns></returns>
        public async Task<bool> SetToolAsync(int index, double x, double y)
        {
            return true;
        }

        /// <summary>
        /// 选择工具坐标
        /// </summary>
        /// <param name="index"></param>
        /// <returns></returns>
        public bool SelectTool(int index)
        {
            return true;
        }

        /// <summary>
        /// 选择工具坐标
        /// </summary>
        /// <param name="index"></param>
        /// <returns></returns>
        public async Task<bool> SelectToolAsync(int index)
        {
            return true;
        }
        #endregion

        #region plc触发信号监控
        private bool isTrigger = false;
        public bool IsTrigger { get => isTrigger; set => isTrigger = value; }
        public Thread CreateThreadToTrigger(NodeId[]Keys, List<ProcedureOutputOpcAdr> outputadr) 
        {
            Thread TriggerTherad = new Thread(() => 
            {
                List<DataValue> Results = new List<DataValue>();
                List<DataValue> ResultsT = new List<DataValue>();
                while (IsTrigger) 
                {
                    try
                    {
                        if (Plc.IsConnected)
                        {
                            Results = Plc.OpcUaClient.ReadNodes(Keys);
                            if (ResultsT.Count != Results.Count)
                            {
                                ResultsT.Clear();
                                for (int i = 0; i < Results.Count; i++)
                                {
                                    ResultsT.Add(new DataValue() { Value = Results[i].Value });
                                    if (Results[i].StatusCode.Code != 2150891520)
                                    {
                                        if ((bool)Results[i].Value)
                                        {
                                            TrggerChangeEvent?.Invoke(Id, Keys[i], outputadr);
                                        }
                                    }
                                }
                            }
                            else
                            {
                                for (int i = 0; i < Results.Count; i++)
                                {
                                    if (Results[i].StatusCode.Code != 2150891520)
                                    {
                                        if ((bool)Results[i].Value && (bool)Results[i].Value != (bool)ResultsT[i].Value)
                                        {
                                          
                                            TrggerChangeEvent?.Invoke(Id, Keys[i], outputadr);
                                            if (TrggerChangeEvent != null)
                                            {
                                                Delegate[] aaa = TrggerChangeEvent.GetInvocationList();
                                            }
                                        }
                                        ResultsT[i].Value = Results[i].Value;
                                    }
                                }

                            }
                        }
                    }
                    catch (Exception ex)
                    {

                        Thread.Sleep(5000);
                    }
                    Thread.Sleep(50);
                }
            });

            TriggerTherad.IsBackground = true;
            TriggerTherad.Name = Plc.Name + "触发检测" + Keys[0];
            TriggerTherad.Start();
            return TriggerTherad;
        }
        #endregion

        #region 收发数据
        /// <summary>
        /// 发送并接收数据
        /// </summary>
        /// <param name="send"></param>
        /// <returns></returns>
        public string SendAndReceive(string send)
        {
            return string.Empty;
        }

        /// <summary>
        /// 发送并接收数据
        /// </summary>
        /// <param name="send"></param>
        /// <returns></returns>
        public Task<string> SendAndReceiveAsync(string send)
        {
            return Task.FromResult(string.Empty);
        }

        /// <summary>
        /// 发送并接收数据
        /// </summary>
        /// <param name="send"></param>
        /// <returns></returns>
        public string SendAndReceive(ITcpSessionClient client, string send)
        {
            return string.Empty;
        }

        /// <summary>
        /// 发送并接收数据
        /// </summary>
        /// <param name="send"></param>
        /// <returns></returns>
        public Task<string> SendAndReceiveAsync(ITcpSessionClient client, string send)
        {
            return Task.FromResult(string.Empty);
        }

        public void Send(string send)
        {

        }

        public Task SendAsync(string send)
        {
            return Task.CompletedTask;
        }

        public void Send(ITcpSessionClient client, string send)
        {

        }

        public Task SendAsync(ITcpSessionClient client, string send)
        {
            return Task.CompletedTask;
        }
        /// <summary>
        /// 获取编码
        /// </summary>
        /// <param name="dataEncoding"></param>
        /// <returns></returns>
        public Encoding GetEncoding()
        {
            DataEncoding dataEncoding = this.DataEncoding;
            Encoding encoding;
            if (dataEncoding == DataEncoding.Default)
            {
                encoding = Encoding.Default;
            }
            else if (dataEncoding == DataEncoding.ASCII)
            {
                encoding = Encoding.ASCII;
            }
            else if (dataEncoding == DataEncoding.UTF7)
            {
                encoding = Encoding.UTF7;
            }
            else if (dataEncoding == DataEncoding.UTF8)
            {
                encoding = Encoding.UTF8;
            }
            else if (dataEncoding == DataEncoding.UTF32)
            {
                encoding = Encoding.UTF32;
            }
            else if (dataEncoding == DataEncoding.Unicode)
            {
                encoding = Encoding.Unicode;
            }
            else if (dataEncoding == DataEncoding.BigEndianUnicode)
            {
                encoding = Encoding.BigEndianUnicode;
            }
            else if (dataEncoding == DataEncoding.GB2312)
            {

                encoding = Encoding.GetEncoding("gb2312");
            }
            else
            {
                encoding = Encoding.Default;
            }
            return encoding;
        }
        #endregion

        #region 属性通知
        /// <summary>
        /// Occurs when a property value changes.
        /// </summary>
        public event PropertyChangedEventHandler PropertyChanged;

        /// <summary>
        /// Checks if a property already matches a desired value. Sets the property and
        /// notifies listeners only when necessary.
        /// </summary>
        /// <typeparam name="T">Type of the property.</typeparam>
        /// <param name="storage">Reference to a property with both getter and setter.</param>
        /// <param name="value">Desired value for the property.</param>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers that
        /// support CallerMemberName.</param>
        /// <returns>True if the value was changed, false if the existing value matched the
        /// desired value.</returns>
        protected virtual bool SetProperty<T>(ref T storage, T value, [CallerMemberName] string propertyName = null)
        {
            if (EqualityComparer<T>.Default.Equals(storage, value)) return false;

            storage = value;
            RaisePropertyChanged(propertyName);

            return true;
        }

        /// <summary>
        /// Checks if a property already matches a desired value. Sets the property and
        /// notifies listeners only when necessary.
        /// </summary>
        /// <typeparam name="T">Type of the property.</typeparam>
        /// <param name="storage">Reference to a property with both getter and setter.</param>
        /// <param name="value">Desired value for the property.</param>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers that
        /// support CallerMemberName.</param>
        /// <param name="onChanged">Action that is called after the property value has been changed.</param>
        /// <returns>True if the value was changed, false if the existing value matched the
        /// desired value.</returns>
        protected virtual bool SetProperty<T>(ref T storage, T value, Action onChanged, [CallerMemberName] string propertyName = null)
        {
            if (EqualityComparer<T>.Default.Equals(storage, value)) return false;

            storage = value;
            onChanged?.Invoke();
            RaisePropertyChanged(propertyName);

            return true;
        }

        /// <summary>
        /// Raises this object's PropertyChanged event.
        /// </summary>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers
        /// that support <see cref="CallerMemberNameAttribute"/>.</param>
        protected void RaisePropertyChanged([CallerMemberName] string propertyName = null)
        {
            OnPropertyChanged(new PropertyChangedEventArgs(propertyName));
        }

        /// <summary>
        /// Raises this object's PropertyChanged event.
        /// </summary>
        /// <param name="args">The PropertyChangedEventArgs</param>
        protected virtual void OnPropertyChanged(PropertyChangedEventArgs args)
        {
            PropertyChanged?.Invoke(this, args);
        }
        #endregion
    }
}