修改标定

TeamAAS-VM/ViewModels/Calibration/CalibrationAutoViewModel.cs

@@ -181,6 +181,15 @@ namespace TeamAAS_VP.ViewModels.Calibration
 
 
                 if (SelectCalibration.CameraMount == Enums.CameraMount.MobileDown_XYPlatform)
+                {
+                    var res = await AutoTechP0(SelectCalibration.CalibTechP0Mode);
+                    if (!res)
+                    {
+                        MessageBox.Show(Lang.自动示教P0失败);
+                        return;
+                    }
+                }
+                else if (Robot.Brand== Enums.RobotBrand.XYZ_Platform)
                 {
                     var res = await AutoTechP0(SelectCalibration.CalibTechP0Mode);
                     if (!res)
@@ -190,10 +199,10 @@ namespace TeamAAS_VP.ViewModels.Calibration
                     }
                 }
 
-                /// <summary>
-                /// 机器人与相机之间的旋转矩阵
-                /// </summary>
-                Matrix<double> RobotCameraRotationMatrix = Matrix<double>.Build.DenseOfArray(SelectCalibration.RobotCameraRotationMatrix);
+                    /// <summary>
+                    /// 机器人与相机之间的旋转矩阵
+                    /// </summary>
+                    Matrix<double> RobotCameraRotationMatrix = Matrix<double>.Build.DenseOfArray(SelectCalibration.RobotCameraRotationMatrix);
                 //1
                 P1 = RobotCameraRotationMatrix.Inverse() * P1 + P0;
                 //2
@@ -584,6 +593,10 @@ namespace TeamAAS_VP.ViewModels.Calibration
             {
                 _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationTeachCenterPoint",param);
             }
+            else if (Robot.Brand == Enums.RobotBrand.XYZ_Platform)
+            {
+                _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationTeachCenterPoint", param);
+            }
             else
             {
                 _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationSelectTool", param);

TeamAAS-VM/ViewModels/Calibration/CalibrationTeachCenterPointViewModel.cs

@@ -137,6 +137,10 @@ namespace TeamAAS_VP.ViewModels.Calibration
             {
                 _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationAuto", param);
             }
+            else if (Robot.Brand== Enums.RobotBrand.XYZ_Platform)
+            {
+                _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationAuto", param);
+            }
             else
             {
                 _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationSelectTool", param);

TeamAAS-VM/ViewModels/Product/ProcessBasicsViewModel.cs

@@ -179,9 +179,14 @@ namespace TeamAAS_VP.ViewModels.Product
                 try
                 {
                     if (value == null)
+                    {
                         SelectProcedure.CalibrationId = Guid.Empty;
-                    if (SelectProcedure != null)
-                        SelectProcedure.CalibrationId = value.Id;
+                    }
+                    else
+                    {
+                        if (SelectProcedure != null)
+                            SelectProcedure.CalibrationId = value.Id;
+                    }
                 }
                 catch (Exception)
                 {