调整视觉单点接口参数并完善拍照记录remark传递

对 ExecutePhotoGetSinglePoint 接口去除 index 参数，相关调用处同步调整，所有拍照记录均补充 remark 传递。异常和失败分支增加 RecordPhotoCaptureAsync 调用，提升数据追溯能力。

TeamAAS-VM/Core/Management.cs

@@ -1277,7 +1277,7 @@ namespace TeamAAS_VP.Core
 
                             // 执行视觉任务
                             var _cts = new CancellationTokenSource();
-                            var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint(process, null, null, _cts.Token);
+                            var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint(process, null, null, _cts.Token,null);
                             if (visionResult.IsSucceed)
                             {
                                 //披头偏差
@@ -1344,7 +1344,7 @@ namespace TeamAAS_VP.Core
 
                             // 执行视觉任务
                             var _cts = new CancellationTokenSource();
-                            var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint(process, null, null, _cts.Token);
+                            var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint(process, null, null, _cts.Token, null);
                             if (visionResult.IsSucceed)
                             {
                                 //披头偏差
@@ -1441,7 +1441,7 @@ namespace TeamAAS_VP.Core
 
                             // 执行视觉任务
                             var _cts = new CancellationTokenSource();
-                            var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint(process, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token);
+                            var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint(process, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token, null);
                             if (visionResult.IsSucceed)
                             {
                                 UpCameraPutResults[cameraIndex] = new PointF((float)visionResult.X, (float)visionResult.Y);

TeamAAS-VM/Interfaces/IRemoteCommandService.cs

@@ -202,7 +202,7 @@ namespace TeamAAS_VP.Interfaces
         /// </summary>
         /// <param name="cancellationToken"></param>
         /// <returns></returns>
-        Task<bool> IsRobotInDebugModeAsync(int robotNumber,CancellationToken cancellationToken);
+        Task<bool> IsRobotInDebugModeAsync(int robotNumber, CancellationToken cancellationToken);
 
         /// <summary>
         /// 执行视觉任务
@@ -249,7 +249,7 @@ namespace TeamAAS_VP.Interfaces
         /// <param name="robotCoord"></param>
         /// <param name="cancellationToken"></param>
         /// <returns></returns>
-        Task<(bool IsSucceed, double X, double Y, double U)> ExecutePhotoGetSinglePoint(ProcedureModel procedure, Dictionary<string, string> InputTerminal, double[] robotCoord, CancellationToken cancellationToken,int? index,string remark);
+        Task<(bool IsSucceed, double X, double Y, double U)> ExecutePhotoGetSinglePoint(ProcedureModel procedure, Dictionary<string, string> InputTerminal, double[] robotCoord, CancellationToken cancellationToken, string remark);
 
         /// <summary>
         /// 执行相机拍照获取单个点位结果，并且返回图像和图形

TeamAAS-VM/Services/RemoteCommandService.cs

@@ -1667,7 +1667,7 @@ namespace TeamAAS_VP.Services
         /// <param name="robotCoord"></param>
         /// <param name="cancellationToken"></param>
         /// <returns></returns>
-        public async Task<(bool IsSucceed, double X, double Y, double U)> ExecutePhotoGetSinglePoint(ProcedureModel procedure, Dictionary<string, string> InputTerminal, double[] robotCoord, CancellationToken cancellationToken, int? index, string remark)
+        public async Task<(bool IsSucceed, double X, double Y, double U)> ExecutePhotoGetSinglePoint(ProcedureModel procedure, Dictionary<string, string> InputTerminal, double[] robotCoord, CancellationToken cancellationToken, string remark)
         {
             DateTime nowtime = DateTime.Now;
             await SetLightBeforePhoto(procedure);
@@ -1689,6 +1689,7 @@ namespace TeamAAS_VP.Services
                     if (!outputCollection.Contains("Found"))
                     {
                         SendTaskMessage(Lang.未找到视觉输出结果, MessageLevel.Error);
+                        await RecordPhotoCaptureAsync(procedure, robotCoord, false, new double[] { 0, 0, 0 }, new double[] { 0, 0, 0 }, string.Empty, remark);
                         return (false, 0, 0, 0);
                     }
 
@@ -1717,17 +1718,20 @@ namespace TeamAAS_VP.Services
                     var calibResult = _calibrationService.ConvertPixelToPosition((_pixel_x, _pixel_y, _pixel_u), robotCoord, calib, RobotBrand.XYZ_Platform);
                     if (!calibResult.IsSucceed)
                     {
+                        await RecordPhotoCaptureAsync(procedure, robotCoord, false, new double[] { _pixel_x, _pixel_y, _pixel_u }, new double[] { 0, 0, 0 }, string.Empty, remark);
                         return (false, 0, 0, 0);
                     }
-                    await RecordPhotoCaptureAsync(procedure, robotCoord,true, new double[] { _pixel_x, _pixel_y, _pixel_u }, new double[] { calibResult.X, calibResult.Y, calibResult.U }, string.Empty, string.Empty);
+                    await RecordPhotoCaptureAsync(procedure, robotCoord,true, new double[] { _pixel_x, _pixel_y, _pixel_u }, new double[] { calibResult.X, calibResult.Y, calibResult.U }, string.Empty, remark);
                     return (true, calibResult.X, calibResult.Y, calibResult.U);
                 }
                 SendTaskMessage(Lang.多次拍照失败, MessageLevel.Alarm);
+                await RecordPhotoCaptureAsync(procedure, robotCoord, false, new double[] { 0, 0, 0 }, new double[] { 0, 0, 0 }, string.Empty, remark);
                 return (false, 0, 0, 0);
             }
             catch (Exception ex)
             {
                 LogHelper.WriteLogError(Lang.执行相机取图并获取单点位时出错, ex);
+                await RecordPhotoCaptureAsync(procedure, robotCoord, false, new double[] { 0, 0, 0 }, new double[] { 0, 0, 0 }, string.Empty, remark);
                 return (false, 0, 0, 0);
             }
             finally