优化相机采集耗时与错误信息显示，禁用自动校准

优化相机采集流程，支持耗时与错误信息多语言显示，并在界面实时展示相关信息。暂时注释自动校准锁付点位的主要业务逻辑，保留方法入口用于后续调试或功能调整。

TeamAAS-VM/Core/Cameras/OptCamera.cs

@@ -424,6 +424,7 @@ namespace TeamAAS_VP.Core.Cameras
                             mvCameraAcq.FreePayload(payload);
                             //nReVal = mvCameraAcq.StopGrabbing();
                             TotalTime = sw.Elapsed;
+                            ErrorMessage= "";
                             return Image;
                         }
                         else

TeamAAS-VM/ViewModels/Calibration/CalibrationCameraParamsViewModel.cs

@@ -19,6 +19,7 @@ using TeamAAS_VP.Core;
 using TeamAAS_VP.Interfaces;
 using TeamAAS_VP.Models;
 using TeamAAS_VP.Models.Calibration;
+using TeamAAS_VP.Resources.Languages;
 
 namespace TeamAAS_VP.ViewModels.Calibration
 {
@@ -135,6 +136,12 @@ namespace TeamAAS_VP.ViewModels.Calibration
             set { SetProperty(ref _Image,value); }
         }
 
+        private string _Message;
+        public string Message
+        {
+            get { return _Message; }
+            set { SetProperty(ref _Message, value); }
+        }
         #endregion
 
         #region 命令
@@ -271,6 +278,18 @@ namespace TeamAAS_VP.ViewModels.Calibration
         private void Camera_ImageCallbackEvent(ICogImage image,TimeSpan totaltime,string errormessage)
         {
             Image = image;
+            App.Current.Dispatcher.Invoke(new
+                 Action(() =>
+                 {
+                     if (errormessage != null && !string.IsNullOrEmpty(errormessage))
+                     {
+                         Message = $"{Lang.耗时}:{totaltime.TotalMilliseconds.ToString("F1")} ms Error:{errormessage}";
+                     }
+                     else
+                     {
+                         Message = $"{Lang.耗时}:{totaltime.TotalMilliseconds.ToString("F1")} ms";
+                     }
+                 }));
         }
         #endregion
 

TeamAAS-VM/ViewModels/Product/AutoCorrectLockPointViewModel.cs

@@ -169,187 +169,187 @@ namespace TeamAAS_VP.ViewModels.Product
         /// </summary>
         async void ExecuteStartAutoCorrectCommand()
         {
-            IsExecuting= true;
-            try
-            {
+            //IsExecuting= true;
+            //try
+            //{
                 
-                if (Robot == null || !Robot.IsConnected)
-                {
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "机器人未连接，无法执行取料拍照点位矫正！", Duration = 1 });
-                    return;
-                }
-                //获取当前产品
-                var product = SelectProduct;
-                if (product == null)
-                {
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未选择产品，无法执行取料拍照点位矫正！", Duration = 1 });
-                    return;
-                }
-                //获取锁付相机拍照点位
-                var screwCameraPoint = product.ScrewCameraPoints;
-                if (screwCameraPoint == null || screwCameraPoint.Count < 2)
-                {
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照点位，无法执行取料拍照点位矫正！", Duration = 1 });
-                    return;
-                }
-                //获取相机拍照点位对应的锁付点
-                var screwCameraLocalPoint1 = product.ScrewCameraLocalPos1;
-                if (screwCameraLocalPoint1 == null)
-                {
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照点位对应的锁付点，无法执行取料拍照点位矫正！", Duration = 1 });
-                    return;
-                }
-                var screwCameraLocalPoint2= product.ScrewCameraLocalPos2;
-                if (screwCameraLocalPoint2 == null)
-                {
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照点位对应的锁付点，无法执行取料拍照点位矫正！", Duration = 1 });
-                    return;
-                }
-                var ProcedureModels = new ObservableCollection<ProcedureModel>();
-                foreach (var item in product.CameraProcedures)
-                {
-                    foreach (var item1 in item.ProcedureModels)
-                    {
-                        ProcedureModels.Add(item1);
-                    }
-                }
-                //获取拍照流程
-                if (product.MoveDownCameraLockPhotoProcedureId == Guid.Empty)
-                {
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照流程，无法执行取料拍照点位矫正！", Duration = 1 });
-                    return;
-                }
-                var procedure = ProcedureModels.FirstOrDefault(p => p.Id == product.MoveDownCameraLockPhotoProcedureId);
-                if (procedure == null)
-                {
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照流程，无法执行取料拍照点位矫正！", Duration = 1 });
-                    return;
-                }
-
-                _cts = new CancellationTokenSource();
-                //移动机器人至拍照点位，拍照
-                var rpoint = new RPoint()
-                {
-                    X = screwCameraPoint[0].X_Position,
-                    Y = screwCameraPoint[0].Y_Position,
-                    Z = screwCameraPoint[0].Z_Position_Start,
-                    U = screwCameraPoint[0].U_Position,
-                    V = screwCameraPoint[0].R_Position,
-                };
-                await Robot.CalibMotionAsync(rpoint, 0);
-                await Task.Delay(200);
-                // 执行拍照并获取识别结果
-                var recognitionResult = await _remoteCommandService.ExecutePhotoGetSinglePointWithImage(procedure, null, new double[] { rpoint.X, rpoint.Y, 0 }, _cts.Token);
-                Image= recognitionResult.Image;
-                Graphic = null;
-                Graphic = recognitionResult.Graphic;
-                if (!recognitionResult.IsSucceed)
-                {
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "拍照获取识别结果失败，无法执行取料拍照点位矫正！", Duration = 1 });
-                    return;
-                }
-                //第一个点位的校正结果
-                PointF worldP1 = new PointF((float)recognitionResult.X, (float)recognitionResult.Y);
-                //移动机器人至拍照点位，拍照
-                rpoint = new RPoint()
-                {
-                    X = screwCameraPoint[1].X_Position,
-                    Y = screwCameraPoint[1].Y_Position,
-                    Z = screwCameraPoint[1].Z_Position_Start,
-                    U = screwCameraPoint[1].U_Position,
-                    V = screwCameraPoint[1].R_Position,
-                };
-                await Robot.CalibMotionAsync(rpoint, 0);
-                if (_cts.IsCancellationRequested)
-                    return;
-                await Task.Delay(200);
-                // 执行拍照并获取识别结果
-                recognitionResult = await _remoteCommandService.ExecutePhotoGetSinglePointWithImage(procedure, null, new double[] { rpoint.X, rpoint.Y, 0 }, _cts.Token);
-                Image = recognitionResult.Image;
-                Graphic = null;
-                Graphic = recognitionResult.Graphic;
-                if (!recognitionResult.IsSucceed)
-                {
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "拍照获取识别结果失败，无法执行取料拍照点位矫正！", Duration = 1 });
-                    return;
-                }
-                //第一个点位的校正结果
-                PointF worldP2 = new PointF((float)recognitionResult.X, (float)recognitionResult.Y);
-
-                //计算移动相机与拍照点之间的偏差
-                //获取校准
-                var calibration = _calibrationService.GetCalibration(procedure.CalibrationId);
-
-                //获取mark点
-                var mark = calibration.MarkPoint;
-                //获取中心点
-                var center = calibration.CenterPoint;
-                //计算相机中心与披头之间的坐标偏差
-                var cameraOffsetX = mark.X - center.X;
-                var cameraOffsetY = mark.Y - center.Y;
-
-
-                //根据UpCameraPutResults[]中的索引1、2，和拍照点对应的Local下的坐标，从创建Local坐标系
-                PointF localP1 = new PointF(screwCameraLocalPoint1.X_Position, screwCameraLocalPoint1.Y_Position);
-                PointF localP2 = new PointF(screwCameraLocalPoint2.X_Position, screwCameraLocalPoint2.Y_Position);
-                local = new CoordinateTransformer(worldP1, worldP2, localP1, localP2);
-
-                for (int i = 0; i < product.ScrewPoints.Count; i++)
-                {
-                    var localPoint = new PointF(product.ScrewPoints[i].X_Position, product.ScrewPoints[i].Y_Position);
-                    var worldPoint = local.ToOldCoord(localPoint.X, localPoint.Y);
-                    var point = product.ScrewCameraPoints[0].Clone();
-                    point.X_Position = (float)worldPoint[0];
-                    point.Y_Position = (float)worldPoint[1];
-                    //计算当前点的高度与screwCameraLocalPoint1的Z轴之间的偏差
-                    var deltaZ = product.ScrewPoints[i].Z_Position_Start - screwCameraLocalPoint1.Z_Position_Start;
-
-                    //计算相机去拍照点位
-                    point.X_Position-= cameraOffsetX;
-                    point.Y_Position-= cameraOffsetY;
-                    point.Z_Position_Start= screwCameraPoint[0].Z_Position_Start + deltaZ;
-
-                    //移动机器人至拍照点位，拍照
-                    rpoint = new RPoint()
-                    {
-                        X = point.X_Position,
-                        Y = point.Y_Position,
-                        Z = point.Z_Position_Start,
-                        U = screwCameraPoint[0].U_Position,
-                        V = screwCameraPoint[0].R_Position,
-                    };
-                    await Robot.CalibMotionAsync(rpoint, 0);
-                    if (_cts.IsCancellationRequested)
-                        return;
-                    await Task.Delay(200);
-                    // 执行拍照并获取识别结果
-                    recognitionResult = await _remoteCommandService.ExecutePhotoGetSinglePointWithImage(procedure, null, new double[] { rpoint.X, rpoint.Y, 0 }, _cts.Token);
-                    Image = recognitionResult.Image;
-                    Graphic = null;
-                    Graphic = recognitionResult.Graphic;
-                    if (!recognitionResult.IsSucceed)
-                    {
-                        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "拍照获取识别结果失败，无法执行取料拍照点位矫正！", Duration = 1 });
-                        return;
-                    }
-                    //将获取到的点位转换至Local坐标系下
-                    var correctedPoint = local.ToNewCoord((float)recognitionResult.X, (float)recognitionResult.Y);
-                    CorrectPoints[i].PostX = (float)correctedPoint[0];
-                    CorrectPoints[i].PostY = (float)correctedPoint[1];
-                    if (_cts.IsCancellationRequested)
-                        return;
-                }
-
-            }
-            catch (Exception ex)
-            {
-                LogHelper.WriteLogError("通过移动相机自动校准锁付点位是出错！",ex);
-                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
-            }
-            finally
-            {
-                IsExecuting= false;
-            }   
+            //    if (Robot == null || !Robot.IsConnected)
+            //    {
+            //        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "机器人未连接，无法执行取料拍照点位矫正！", Duration = 1 });
+            //        return;
+            //    }
+            //    //获取当前产品
+            //    var product = SelectProduct;
+            //    if (product == null)
+            //    {
+            //        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未选择产品，无法执行取料拍照点位矫正！", Duration = 1 });
+            //        return;
+            //    }
+            //    //获取锁付相机拍照点位
+            //    var screwCameraPoint = product.ScrewCameraPoints;
+            //    if (screwCameraPoint == null || screwCameraPoint.Count < 2)
+            //    {
+            //        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照点位，无法执行取料拍照点位矫正！", Duration = 1 });
+            //        return;
+            //    }
+            //    //获取相机拍照点位对应的锁付点
+            //    var screwCameraLocalPoint1 = product.ScrewCameraLocalPos1;
+            //    if (screwCameraLocalPoint1 == null)
+            //    {
+            //        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照点位对应的锁付点，无法执行取料拍照点位矫正！", Duration = 1 });
+            //        return;
+            //    }
+            //    var screwCameraLocalPoint2= product.ScrewCameraLocalPos2;
+            //    if (screwCameraLocalPoint2 == null)
+            //    {
+            //        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照点位对应的锁付点，无法执行取料拍照点位矫正！", Duration = 1 });
+            //        return;
+            //    }
+            //    var ProcedureModels = new ObservableCollection<ProcedureModel>();
+            //    foreach (var item in product.CameraProcedures)
+            //    {
+            //        foreach (var item1 in item.ProcedureModels)
+            //        {
+            //            ProcedureModels.Add(item1);
+            //        }
+            //    }
+            //    //获取拍照流程
+            //    if (product.MoveDownCameraLockPhotoProcedureId == Guid.Empty)
+            //    {
+            //        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照流程，无法执行取料拍照点位矫正！", Duration = 1 });
+            //        return;
+            //    }
+            //    var procedure = ProcedureModels.FirstOrDefault(p => p.Id == product.MoveDownCameraLockPhotoProcedureId);
+            //    if (procedure == null)
+            //    {
+            //        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照流程，无法执行取料拍照点位矫正！", Duration = 1 });
+            //        return;
+            //    }
+
+            //    _cts = new CancellationTokenSource();
+            //    //移动机器人至拍照点位，拍照
+            //    var rpoint = new RPoint()
+            //    {
+            //        X = screwCameraPoint[0].X_Position,
+            //        Y = screwCameraPoint[0].Y_Position,
+            //        Z = screwCameraPoint[0].Z_Position_Start,
+            //        U = screwCameraPoint[0].U_Position,
+            //        V = screwCameraPoint[0].R_Position,
+            //    };
+            //    await Robot.CalibMotionAsync(rpoint, 0);
+            //    await Task.Delay(200);
+            //    // 执行拍照并获取识别结果
+            //    var recognitionResult = await _remoteCommandService.ExecutePhotoGetSinglePointWithImage(procedure, null, new double[] { rpoint.X, rpoint.Y, 0 }, _cts.Token);
+            //    Image= recognitionResult.Image;
+            //    Graphic = null;
+            //    Graphic = recognitionResult.Graphic;
+            //    if (!recognitionResult.IsSucceed)
+            //    {
+            //        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "拍照获取识别结果失败，无法执行取料拍照点位矫正！", Duration = 1 });
+            //        return;
+            //    }
+            //    //第一个点位的校正结果
+            //    PointF worldP1 = new PointF((float)recognitionResult.X, (float)recognitionResult.Y);
+            //    //移动机器人至拍照点位，拍照
+            //    rpoint = new RPoint()
+            //    {
+            //        X = screwCameraPoint[1].X_Position,
+            //        Y = screwCameraPoint[1].Y_Position,
+            //        Z = screwCameraPoint[1].Z_Position_Start,
+            //        U = screwCameraPoint[1].U_Position,
+            //        V = screwCameraPoint[1].R_Position,
+            //    };
+            //    await Robot.CalibMotionAsync(rpoint, 0);
+            //    if (_cts.IsCancellationRequested)
+            //        return;
+            //    await Task.Delay(200);
+            //    // 执行拍照并获取识别结果
+            //    recognitionResult = await _remoteCommandService.ExecutePhotoGetSinglePointWithImage(procedure, null, new double[] { rpoint.X, rpoint.Y, 0 }, _cts.Token);
+            //    Image = recognitionResult.Image;
+            //    Graphic = null;
+            //    Graphic = recognitionResult.Graphic;
+            //    if (!recognitionResult.IsSucceed)
+            //    {
+            //        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "拍照获取识别结果失败，无法执行取料拍照点位矫正！", Duration = 1 });
+            //        return;
+            //    }
+            //    //第一个点位的校正结果
+            //    PointF worldP2 = new PointF((float)recognitionResult.X, (float)recognitionResult.Y);
+
+            //    //计算移动相机与拍照点之间的偏差
+            //    //获取校准
+            //    var calibration = _calibrationService.GetCalibration(procedure.CalibrationId);
+
+            //    //获取mark点
+            //    var mark = calibration.MarkPoint;
+            //    //获取中心点
+            //    var center = calibration.CenterPoint;
+            //    //计算相机中心与披头之间的坐标偏差
+            //    var cameraOffsetX = mark.X - center.X;
+            //    var cameraOffsetY = mark.Y - center.Y;
+
+
+            //    //根据UpCameraPutResults[]中的索引1、2，和拍照点对应的Local下的坐标，从创建Local坐标系
+            //    PointF localP1 = new PointF(screwCameraLocalPoint1.X_Position, screwCameraLocalPoint1.Y_Position);
+            //    PointF localP2 = new PointF(screwCameraLocalPoint2.X_Position, screwCameraLocalPoint2.Y_Position);
+            //    local = new CoordinateTransformer(worldP1, worldP2, localP1, localP2);
+
+            //    for (int i = 0; i < product.ScrewPoints.Count; i++)
+            //    {
+            //        var localPoint = new PointF(product.ScrewPoints[i].X_Position, product.ScrewPoints[i].Y_Position);
+            //        var worldPoint = local.ToOldCoord(localPoint.X, localPoint.Y);
+            //        var point = product.ScrewCameraPoints[0].Clone();
+            //        point.X_Position = (float)worldPoint[0];
+            //        point.Y_Position = (float)worldPoint[1];
+            //        //计算当前点的高度与screwCameraLocalPoint1的Z轴之间的偏差
+            //        var deltaZ = product.ScrewPoints[i].Z_Position_Start - screwCameraLocalPoint1.Z_Position_Start;
+
+            //        //计算相机去拍照点位
+            //        point.X_Position-= cameraOffsetX;
+            //        point.Y_Position-= cameraOffsetY;
+            //        point.Z_Position_Start= screwCameraPoint[0].Z_Position_Start + deltaZ;
+
+            //        //移动机器人至拍照点位，拍照
+            //        rpoint = new RPoint()
+            //        {
+            //            X = point.X_Position,
+            //            Y = point.Y_Position,
+            //            Z = point.Z_Position_Start,
+            //            U = screwCameraPoint[0].U_Position,
+            //            V = screwCameraPoint[0].R_Position,
+            //        };
+            //        await Robot.CalibMotionAsync(rpoint, 0);
+            //        if (_cts.IsCancellationRequested)
+            //            return;
+            //        await Task.Delay(200);
+            //        // 执行拍照并获取识别结果
+            //        recognitionResult = await _remoteCommandService.ExecutePhotoGetSinglePointWithImage(procedure, null, new double[] { rpoint.X, rpoint.Y, 0 }, _cts.Token);
+            //        Image = recognitionResult.Image;
+            //        Graphic = null;
+            //        Graphic = recognitionResult.Graphic;
+            //        if (!recognitionResult.IsSucceed)
+            //        {
+            //            _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "拍照获取识别结果失败，无法执行取料拍照点位矫正！", Duration = 1 });
+            //            return;
+            //        }
+            //        //将获取到的点位转换至Local坐标系下
+            //        var correctedPoint = local.ToNewCoord((float)recognitionResult.X, (float)recognitionResult.Y);
+            //        CorrectPoints[i].PostX = (float)correctedPoint[0];
+            //        CorrectPoints[i].PostY = (float)correctedPoint[1];
+            //        if (_cts.IsCancellationRequested)
+            //            return;
+            //    }
+
+            //}
+            //catch (Exception ex)
+            //{
+            //    LogHelper.WriteLogError("通过移动相机自动校准锁付点位是出错！",ex);
+            //    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
+            //}
+            //finally
+            //{
+            //    IsExecuting= false;
+            //}   
         }
 
         bool CanExecuteStartAutoCorrectCommand()

TeamAAS-VM/ViewModels/Product/PlcPointParamsViewModel.cs

@@ -1409,124 +1409,125 @@ namespace TeamAAS_VP.ViewModels.Product
         /// <returns></returns>
         private async Task<bool> AutoCalibLockPointLocal(ProductModel product)
         {
-            try
-            {
-                //获取锁付相机拍照点位
-                var screwCameraPoint = product.ScrewCameraPoints;
-                if (screwCameraPoint == null || screwCameraPoint.Count < 2)
-                {
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照点位，无法执行取料拍照点位矫正！", Duration = 1 });
-                    return false;
-                }
-                //获取相机拍照点位对应的锁付点
-                var screwCameraLocalPoint1 = product.ScrewCameraLocalPos1;
-                if (screwCameraLocalPoint1 == null)
-                {
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照点位对应的锁付点，无法执行取料拍照点位矫正！", Duration = 1 });
-                    return false;
-                }
-                var screwCameraLocalPoint2 = product.ScrewCameraLocalPos2;
-                if (screwCameraLocalPoint2 == null)
-                {
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照点位对应的锁付点，无法执行取料拍照点位矫正！", Duration = 1 });
-                    return false;
-                }
-                var ProcedureModels = new ObservableCollection<ProcedureModel>();
-                foreach (var item in product.CameraProcedures)
-                {
-                    foreach (var item1 in item.ProcedureModels)
-                    {
-                        ProcedureModels.Add(item1);
-                    }
-                }
-                //获取拍照流程
-                if (product.MoveDownCameraLockPhotoProcedureId == Guid.Empty)
-                {
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照流程，无法执行取料拍照点位矫正！", Duration = 1 });
-                    return false;
-                }
-                var procedure = ProcedureModels.FirstOrDefault(p => p.Id == product.MoveDownCameraLockPhotoProcedureId);
-                if (procedure == null)
-                {
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照流程，无法执行取料拍照点位矫正！", Duration = 1 });
-                    return false;
-                }
-
-                CancellationTokenSource _cts = new CancellationTokenSource();
-                //移动机器人至拍照点位，拍照
-                var rpoint = new RPoint()
-                {
-                    X = screwCameraPoint[0].X_Position,
-                    Y = screwCameraPoint[0].Y_Position,
-                    Z = screwCameraPoint[0].Z_Position_Start,
-                    U = screwCameraPoint[0].U_Position,
-                    V = screwCameraPoint[0].R_Position,
-                };
-                await Robot.CalibMotionAsync(rpoint, 0);
-                await Task.Delay(200);
-                // 执行拍照并获取识别结果
-                var recognitionResult = await _remoteCommandService.ExecutePhotoGetSinglePointWithImage(procedure, null, new double[] { rpoint.X, rpoint.Y, 0 }, _cts.Token);
-                //var Image = recognitionResult.Image;
-                //var Graphic = null;
-                //var Graphic = recognitionResult.Graphic;
-                if (!recognitionResult.IsSucceed)
-                {
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "拍照获取识别结果失败，无法执行取料拍照点位矫正！", Duration = 1 });
-                    return false;
-                }
-                //第一个点位的校正结果
-                PointF worldP1 = new PointF((float)recognitionResult.X, (float)recognitionResult.Y);
-                //移动机器人至拍照点位，拍照
-                rpoint = new RPoint()
-                {
-                    X = screwCameraPoint[1].X_Position,
-                    Y = screwCameraPoint[1].Y_Position,
-                    Z = screwCameraPoint[1].Z_Position_Start,
-                    U = screwCameraPoint[1].U_Position,
-                    V = screwCameraPoint[1].R_Position,
-                };
-                await Robot.CalibMotionAsync(rpoint, 0);
-                if (_cts.IsCancellationRequested)
-                    return false;
-                await Task.Delay(200);
-                // 执行拍照并获取识别结果
-                recognitionResult = await _remoteCommandService.ExecutePhotoGetSinglePointWithImage(procedure, null, new double[] { rpoint.X, rpoint.Y, 0 }, _cts.Token);
-                //Image = recognitionResult.Image;
-                //Graphic = null;
-                //Graphic = recognitionResult.Graphic;
-                if (!recognitionResult.IsSucceed)
-                {
-                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "拍照获取识别结果失败，无法执行取料拍照点位矫正！", Duration = 1 });
-                    return false;
-                }
-                //第一个点位的校正结果
-                PointF worldP2 = new PointF((float)recognitionResult.X, (float)recognitionResult.Y);
-
-                //计算移动相机与拍照点之间的偏差
-                //获取校准
-                var calibration = _calibrationService.GetCalibration(procedure.CalibrationId);
-
-                //获取mark点
-                var mark = calibration.MarkPoint;
-                //获取中心点
-                var center = calibration.CenterPoint;
-                //计算相机中心与披头之间的坐标偏差
-                var cameraOffsetX = mark.X - center.X;
-                var cameraOffsetY = mark.Y - center.Y;
-
-
-                //根据UpCameraPutResults[]中的索引1、2，和拍照点对应的Local下的坐标，从创建Local坐标系
-                PointF localP1 = new PointF(screwCameraLocalPoint1.X_Position, screwCameraLocalPoint1.Y_Position);
-                PointF localP2 = new PointF(screwCameraLocalPoint2.X_Position, screwCameraLocalPoint2.Y_Position);
-                local = new CoordinateTransformer(worldP1, worldP2, localP1, localP2);
-                return true;
-            }
-            catch (Exception ex)
-            {
-                LogHelper.WriteLogError("计算锁付点位产品坐标系坐标时出错！", ex);
-                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
-                return false;
-            }
+            return true;
+            //try
+            //{
+            //    //获取锁付相机拍照点位
+            //    var screwCameraPoint = product.ScrewCameraPoints;
+            //    if (screwCameraPoint == null || screwCameraPoint.Count < 2)
+            //    {
+            //        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照点位，无法执行取料拍照点位矫正！", Duration = 1 });
+            //        return false;
+            //    }
+            //    //获取相机拍照点位对应的锁付点
+            //    var screwCameraLocalPoint1 = product.ScrewCameraLocalPos1;
+            //    if (screwCameraLocalPoint1 == null)
+            //    {
+            //        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照点位对应的锁付点，无法执行取料拍照点位矫正！", Duration = 1 });
+            //        return false;
+            //    }
+            //    var screwCameraLocalPoint2 = product.ScrewCameraLocalPos2;
+            //    if (screwCameraLocalPoint2 == null)
+            //    {
+            //        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照点位对应的锁付点，无法执行取料拍照点位矫正！", Duration = 1 });
+            //        return false;
+            //    }
+            //    var ProcedureModels = new ObservableCollection<ProcedureModel>();
+            //    foreach (var item in product.CameraProcedures)
+            //    {
+            //        foreach (var item1 in item.ProcedureModels)
+            //        {
+            //            ProcedureModels.Add(item1);
+            //        }
+            //    }
+            //    //获取拍照流程
+            //    if (product.MoveDownCameraLockPhotoProcedureId == Guid.Empty)
+            //    {
+            //        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照流程，无法执行取料拍照点位矫正！", Duration = 1 });
+            //        return false;
+            //    }
+            //    var procedure = ProcedureModels.FirstOrDefault(p => p.Id == product.MoveDownCameraLockPhotoProcedureId);
+            //    if (procedure == null)
+            //    {
+            //        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "未获取到锁付相机拍照流程，无法执行取料拍照点位矫正！", Duration = 1 });
+            //        return false;
+            //    }
+
+            //    CancellationTokenSource _cts = new CancellationTokenSource();
+            //    //移动机器人至拍照点位，拍照
+            //    var rpoint = new RPoint()
+            //    {
+            //        X = screwCameraPoint[0].X_Position,
+            //        Y = screwCameraPoint[0].Y_Position,
+            //        Z = screwCameraPoint[0].Z_Position_Start,
+            //        U = screwCameraPoint[0].U_Position,
+            //        V = screwCameraPoint[0].R_Position,
+            //    };
+            //    await Robot.CalibMotionAsync(rpoint, 0);
+            //    await Task.Delay(200);
+            //    // 执行拍照并获取识别结果
+            //    var recognitionResult = await _remoteCommandService.ExecutePhotoGetSinglePointWithImage(procedure, null, new double[] { rpoint.X, rpoint.Y, 0 }, _cts.Token);
+            //    //var Image = recognitionResult.Image;
+            //    //var Graphic = null;
+            //    //var Graphic = recognitionResult.Graphic;
+            //    if (!recognitionResult.IsSucceed)
+            //    {
+            //        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "拍照获取识别结果失败，无法执行取料拍照点位矫正！", Duration = 1 });
+            //        return false;
+            //    }
+            //    //第一个点位的校正结果
+            //    PointF worldP1 = new PointF((float)recognitionResult.X, (float)recognitionResult.Y);
+            //    //移动机器人至拍照点位，拍照
+            //    rpoint = new RPoint()
+            //    {
+            //        X = screwCameraPoint[1].X_Position,
+            //        Y = screwCameraPoint[1].Y_Position,
+            //        Z = screwCameraPoint[1].Z_Position_Start,
+            //        U = screwCameraPoint[1].U_Position,
+            //        V = screwCameraPoint[1].R_Position,
+            //    };
+            //    await Robot.CalibMotionAsync(rpoint, 0);
+            //    if (_cts.IsCancellationRequested)
+            //        return false;
+            //    await Task.Delay(200);
+            //    // 执行拍照并获取识别结果
+            //    recognitionResult = await _remoteCommandService.ExecutePhotoGetSinglePointWithImage(procedure, null, new double[] { rpoint.X, rpoint.Y, 0 }, _cts.Token);
+            //    //Image = recognitionResult.Image;
+            //    //Graphic = null;
+            //    //Graphic = recognitionResult.Graphic;
+            //    if (!recognitionResult.IsSucceed)
+            //    {
+            //        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "拍照获取识别结果失败，无法执行取料拍照点位矫正！", Duration = 1 });
+            //        return false;
+            //    }
+            //    //第一个点位的校正结果
+            //    PointF worldP2 = new PointF((float)recognitionResult.X, (float)recognitionResult.Y);
+
+            //    //计算移动相机与拍照点之间的偏差
+            //    //获取校准
+            //    var calibration = _calibrationService.GetCalibration(procedure.CalibrationId);
+
+            //    //获取mark点
+            //    var mark = calibration.MarkPoint;
+            //    //获取中心点
+            //    var center = calibration.CenterPoint;
+            //    //计算相机中心与披头之间的坐标偏差
+            //    var cameraOffsetX = mark.X - center.X;
+            //    var cameraOffsetY = mark.Y - center.Y;
+
+
+            //    //根据UpCameraPutResults[]中的索引1、2，和拍照点对应的Local下的坐标，从创建Local坐标系
+            //    PointF localP1 = new PointF(screwCameraLocalPoint1.X_Position, screwCameraLocalPoint1.Y_Position);
+            //    PointF localP2 = new PointF(screwCameraLocalPoint2.X_Position, screwCameraLocalPoint2.Y_Position);
+            //    local = new CoordinateTransformer(worldP1, worldP2, localP1, localP2);
+            //    return true;
+            //}
+            //catch (Exception ex)
+            //{
+            //    LogHelper.WriteLogError("计算锁付点位产品坐标系坐标时出错！", ex);
+            //    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
+            //    return false;
+            //}
         }
 
         /// <summary>

TeamAAS-VM/Views/Calibration/CalibrationCameraParams.xaml

@@ -166,6 +166,9 @@
                             materialDesign:ButtonAssist.CornerRadius="10"
                             Style="{StaticResource MaterialDesignRaisedButton}"
                             Command="{Binding StopGrabbingCommand}" />
+                    <TextBlock Text="{Binding Message}"
+                               VerticalAlignment="Center"
+                               Foreground="Gray" />
                 </StackPanel>
             </Grid>
         </materialDesign:DrawerHost>