新增取料拍照点位自动矫正功能

在“PLC点位参数”界面增加了取料拍照点位自动矫正功能：
- ViewModel 新增流程、点位选择及自动矫正命令，支持机器人移动拍照并自动修正取料点 X/Y 坐标。
- 界面新增矫正操作面板，仅在“取料拍照点”页签下显示，支持流程、点位选择及一键校准。
- 优化相关属性、命令及布局，提升点位维护智能化和便捷性。

TeamAAS-VM/ViewModels/Product/PlcPointParamsViewModel.cs

@@ -9,6 +9,8 @@ using System;
 using System.Collections.Generic;
 using System.Collections.ObjectModel;
 using System.Linq;
+using System.Threading;
+using System.Threading.Tasks;
 using System.Windows;
 using TeamAAS_VP.Core;
 using TeamAAS_VP.Core.PLCs;
@@ -20,6 +22,7 @@ using TeamAAS_VP.Models;
 using TeamAAS_VP.Models.PLC;
 using TeamAAS_VP.Models.Robot;
 using TeamAAS_VP.Resources.Languages;
+using TeamAAS_VP.Services;
 using TeamAAS_VP.Views.Product;
 
 namespace TeamAAS_VP.ViewModels.Product
@@ -33,6 +36,7 @@ namespace TeamAAS_VP.ViewModels.Product
         IConfigService _configService;
         IRobotService _robotService;
         ISystemDatabaseService _systemDatabaseService;
+        IRemoteCommandService _remoteCommandService;
 
         #region 属性
 
@@ -155,6 +159,31 @@ namespace TeamAAS_VP.ViewModels.Product
                 }
             }
         }
+
+        private ObservableCollection<ProcedureModel> _ProcedureModels;
+
+        /// <summary>
+        /// 流程集合
+        /// </summary>
+        public ObservableCollection<ProcedureModel> ProcedureModels
+        {
+            get { return _ProcedureModels; }
+            set { SetProperty(ref _ProcedureModels, value); }
+        }
+
+        private ProcedureModel _SelectProcedure;
+
+        /// <summary>
+        /// 选中的流程
+        /// </summary>
+        public ProcedureModel SelectProcedure
+        {
+            get { return _SelectProcedure; }
+            set
+            {
+                SetProperty(ref _SelectProcedure, value);
+            }
+        }
         #endregion
 
         #region 命令
@@ -229,7 +258,7 @@ namespace TeamAAS_VP.ViewModels.Product
         #endregion
 
         public PlcPointParamsViewModel(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IDialogService dialogService,
-            IConfigService configService, IRobotService robotService, ISystemDatabaseService systemDatabaseService)
+            IConfigService configService, IRobotService robotService, ISystemDatabaseService systemDatabaseService, IRemoteCommandService remoteCommandService)
         {
             _regionManager = regionManager;
             _eventAggregator = ea;
@@ -241,6 +270,7 @@ namespace TeamAAS_VP.ViewModels.Product
             _eventAggregator.GetEvent<UserLoginNotification>().Subscribe(LoginChange);
             management = _container.Resolve<Management>();
             _robotService = robotService;
+            _remoteCommandService = remoteCommandService;
         }
 
         #region 方法
@@ -501,7 +531,9 @@ namespace TeamAAS_VP.ViewModels.Product
             switch (SelectedIndex)
             {
                 case 0:
+
                     Points = SelectProduct.PickCameraPoints;
+                    PickPoints= SelectProduct.PickPoints;
                     break;
                 case 1:
                     Points = SelectProduct.PickPoints;
@@ -746,6 +778,14 @@ namespace TeamAAS_VP.ViewModels.Product
                 {
                     Robot.EnterDebugMode = true;
                 }
+                ProcedureModels = new ObservableCollection<ProcedureModel>();
+                foreach (var item in SelectProduct.CameraProcedures)
+                {
+                    foreach (var item1 in item.ProcedureModels)
+                    {
+                        ProcedureModels.Add(item1);
+                    }
+                }
             }
             catch (Exception ex)
             {
@@ -776,6 +816,115 @@ namespace TeamAAS_VP.ViewModels.Product
         }
         #endregion
 
+        #region 取料拍照点位矫正
+        private PlcPoint _SelectedCameraForPickPoint;
+        public PlcPoint SelectedCameraForPickPoint
+        {
+            get { return _SelectedCameraForPickPoint; }
+            set { SetProperty(ref _SelectedCameraForPickPoint, value); }
+        }
+
+        
+        private ObservableCollection<PlcPoint> _PickPoints = new ObservableCollection<PlcPoint>();
+        /// <summary>
+        /// 取料点位集合
+        /// </summary>
+        public ObservableCollection<PlcPoint> PickPoints
+        {
+            get { return _PickPoints; }
+            set { SetProperty(ref _PickPoints, value); }
+        }
+
+        //
+        private PlcPoint _SelectedPickPoint;
+        /// <summary>
+        /// 选中的取料点位
+        /// </summary>
+        public PlcPoint SelectedPickPoint
+        {
+            get { return _SelectedPickPoint; }
+            set { SetProperty(ref _SelectedPickPoint, value); }
+        }
+
+        private DelegateCommand _AutoCorrectPickPointCommand;
+        public DelegateCommand AutoCorrectPickPointCommand =>
+            _AutoCorrectPickPointCommand ?? (_AutoCorrectPickPointCommand = new DelegateCommand(ExecuteAutoCorrectPickPointCommand, CanExecuteAutoCorrectPickPointCommand)
+            .ObservesProperty(()=> SelectedCameraForPickPoint).ObservesProperty(() => SelectedPickPoint).ObservesProperty(() => SelectProcedure).ObservesProperty(() => IsExecutingAutoCorrectPickPoint));
+
+        //
+        private bool _IsExecutingAutoCorrectPickPoint = false;
+        /// <summary>
+        /// 正在执行取料拍照点位矫正
+        /// </summary>
+        public bool IsExecutingAutoCorrectPickPoint
+        {
+            get { return _IsExecutingAutoCorrectPickPoint; }
+            set { SetProperty(ref _IsExecutingAutoCorrectPickPoint, value); }
+        }
+
+        async void ExecuteAutoCorrectPickPointCommand()
+        {
+            try
+            {
+                IsExecutingAutoCorrectPickPoint = true;
+                if (SelectedCameraForPickPoint == null || SelectedPickPoint == null || SelectProcedure == null)
+                {
+                    return;
+                }
+                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;
+                }
+                if (MessageBox.Show("确认要执行取料拍照点位矫正吗？", "取料拍照点位矫正", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
+                {
+                    return;
+                }
+
+                // 1. 控制机器人移动至拍照点位
+                var rpoint = new RPoint()
+                {
+                    X = SelectedCameraForPickPoint.X_Position,
+                    Y = SelectedCameraForPickPoint.Y_Position,
+                    Z = SelectedCameraForPickPoint.Z_Position_Start,
+                    U = SelectedCameraForPickPoint.U_Position,
+                    V = SelectedCameraForPickPoint.R_Position,
+                };
+                await Robot.CalibMotionAsync(rpoint, 0);
+
+                var _cts = new CancellationTokenSource();
+                // 2. 执行拍照并获取识别结果
+                var recognitionResult = _remoteCommandService.ExecutePhotoGetSinglePoint(SelectProcedure, null, new double[] { rpoint.X, rpoint.Y, 0 }, _cts.Token);
+                if (!recognitionResult.IsSucceed)
+                {
+                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "取料拍照点位矫正失败，识别未成功！", Duration = 1 });
+                    return;
+                }
+
+                // 3. 根据识别结果更新取料点位坐标
+                SelectedPickPoint.X_Position = (float)recognitionResult.X;
+                SelectedPickPoint.Y_Position = (float)recognitionResult.Y;
+
+                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "取料拍照点位矫正完成！", Duration = 0.4 });
+            }
+            catch (Exception ex)
+            {
+                LogHelper.WriteLogError("取料拍照点位矫正时出错！", ex);
+                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
+            }
+            finally
+            {
+                IsExecutingAutoCorrectPickPoint = false;
+            }
+        }
+
+        bool CanExecuteAutoCorrectPickPointCommand()
+        {
+            return SelectedCameraForPickPoint!=null && SelectedPickPoint!=null && SelectProcedure!=null && !IsExecutingAutoCorrectPickPoint;
+        }
+
+        #endregion
+
         private bool _IsAllowEdit = false;
 
         public bool IsAllowEdit