update

TeamAAS-VM/Core/Management.cs

@@ -249,7 +249,7 @@ namespace TeamAAS_VP.Core
                     robot.ConnectedEvent += Management_ConnectedEvent;
                     robot.DisconnectedEvent += Management_DisconnectedEvent;
                     await robot.ConnectAsync();     //连接Robot
-                    SendTaskMessage($"{item.RobotName}{Lang.已连接}!", MessageLevel.Debug);
+                    //SendTaskMessage($"{item.RobotName}{Lang.已连接}!", MessageLevel.Debug);
                 }
                 catch (Exception ex)
                 {
@@ -538,7 +538,7 @@ namespace TeamAAS_VP.Core
                 var isConnected = await ScrewDriver.ConnectAsync();
                 if (isConnected)
                 {
-                    SendTaskMessage($"电批已连接", MessageLevel.Debug);
+                    //SendTaskMessage($"电批已连接", MessageLevel.Debug);
                 }
                 else
                 {
@@ -1031,8 +1031,20 @@ namespace TeamAAS_VP.Core
 
         PointF[] DowmCameraResults= new PointF[10];
         PointF[] UpCameraPutResults = new PointF[10];
-        
 
+        bool _LastDowmCameraExe = false;
+        bool _LastScrewTeachExe = false;
+        bool _LastUpCameraPickExe = false;
+        bool _LastUpCameraPutExe = false;
+        bool _LastUPCameracheckExe = false;
+        bool _LastFixedCameraPickExe = false;
+        bool _LastFixedCameraPutExe = false;
+        bool _LastFixedCameracheckExe = false;
+        Int16 _LastWorkStart = 0;
+        Int16 _LastWorkDone = 0;
+        Int16 _LastRequestPosition=0;
+        Int16 _LastMesCheck = 0;
+        Int16 _LastPickINC = 0;
         /// <summary>
         /// PLC命令触发时
         /// </summary>
@@ -1069,6 +1081,15 @@ namespace TeamAAS_VP.Core
                 {
                     if (tuple.value is bool state)
                     {
+                        if (_LastDowmCameraExe!= state)
+                        {
+                            _LastDowmCameraExe = state;
+                        }
+                        else
+                        {
+                            return;
+                        }
+
                         if (state)
                         {
                             SendTaskMessage($"触发下相机拍照...", MessageLevel.Debug);
@@ -1098,7 +1119,7 @@ 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);
                             if (visionResult.IsSucceed)
                             {
                                 //披头偏差
@@ -1127,6 +1148,14 @@ namespace TeamAAS_VP.Core
                 {
                     if (tuple.value is bool state)
                     {
+                        if (_LastScrewTeachExe != state)
+                        {
+                            _LastScrewTeachExe = state;
+                        }
+                        else
+                        {
+                            return;
+                        }
                         if (state)
                         {
                             SendTaskMessage($"触发下相机拍照...", MessageLevel.Debug);
@@ -1185,6 +1214,14 @@ namespace TeamAAS_VP.Core
                 {
                     if (tuple.value is bool state)
                     {
+                        if (_LastUpCameraPickExe != state)
+                        {
+                            _LastUpCameraPickExe = state;
+                        }
+                        else
+                        {
+                            return;
+                        }
                         if (state)
                         {
                             SendTaskMessage($"触发上相机取料拍照...", MessageLevel.Debug);
@@ -1206,6 +1243,14 @@ namespace TeamAAS_VP.Core
                 {
                     if (tuple.value is bool state)
                     {
+                        if (_LastUpCameraPutExe != state)
+                        {
+                            _LastUpCameraPutExe = state;
+                        }
+                        else
+                        {
+                            return;
+                        }
                         if (state)
                         {
                             SendTaskMessage($"触发上相机锁附/组装拍照...", MessageLevel.Debug);
@@ -1260,6 +1305,14 @@ namespace TeamAAS_VP.Core
                 {
                     if (tuple.value is bool state)
                     {
+                        if (_LastUPCameracheckExe != state)
+                        {
+                            _LastUPCameracheckExe = state;
+                        }
+                        else
+                        {
+                            return;
+                        }
                         if (state)
                         {
                             SendTaskMessage($"触发上相机检测拍照...", MessageLevel.Debug);
@@ -1282,6 +1335,14 @@ namespace TeamAAS_VP.Core
                 {
                     if (tuple.value is bool state)
                     {
+                        if (_LastFixedCameraPickExe != state)
+                        {
+                            _LastFixedCameraPickExe = state;
+                        }
+                        else
+                        {
+                            return;
+                        }
                         if (state)
                         {
                             SendTaskMessage($"触发固定相机取料拍照...", MessageLevel.Debug);
@@ -1304,6 +1365,14 @@ namespace TeamAAS_VP.Core
                 {
                     if (tuple.value is bool state)
                     {
+                        if (_LastFixedCameraPutExe != state)
+                        {
+                            _LastFixedCameraPutExe = state;
+                        }
+                        else
+                        {
+                            return;
+                        }
                         if (state)
                         {
                             SendTaskMessage($"触发固定相机锁附/组装拍照...", MessageLevel.Debug);
@@ -1325,6 +1394,14 @@ namespace TeamAAS_VP.Core
                 {
                     if (tuple.value is bool state)
                     {
+                        if (_LastFixedCameracheckExe != state)
+                        {
+                            _LastFixedCameracheckExe = state;
+                        }
+                        else
+                        {
+                            return;
+                        }
                         if (state)
                         {
                             SendTaskMessage($"触发固定相机检测拍照...", MessageLevel.Debug);
@@ -1346,6 +1423,14 @@ namespace TeamAAS_VP.Core
                 {
                     if (tuple.value is Int16 state)
                     {
+                        if (_LastWorkStart != state)
+                        {
+                            _LastWorkStart = state;
+                        }
+                        else
+                        {
+                            return;
+                        }
                         if (state==1)
                         {
                             SendTaskMessage($"收到开始锁付信号...", MessageLevel.Debug);
@@ -1365,6 +1450,14 @@ namespace TeamAAS_VP.Core
                 {
                     if (tuple.value is Int16 state)
                     {
+                        if (_LastWorkDone != state)
+                        {
+                            _LastWorkDone = state;
+                        }
+                        else
+                        {
+                            return;
+                        }
                         if (state==1 || state == 2)
                         {
                             SendTaskMessage($"收到停止锁付信号...", MessageLevel.Debug);
@@ -1426,6 +1519,14 @@ namespace TeamAAS_VP.Core
                 {
                     if (tuple.value is Int16 state)
                     {
+                        if (_LastRequestPosition != state)
+                        {
+                            _LastRequestPosition = state;
+                        }
+                        else
+                        {
+                            return;
+                        }
                         if (state == 1)
                         {
                             SendTaskMessage($"收到多相机坐标合并请求，开始合并...", MessageLevel.Debug);
@@ -1474,6 +1575,14 @@ namespace TeamAAS_VP.Core
                 {
                     if (tuple.value is Int16 state)
                     {
+                        if (_LastMesCheck != state)
+                        {
+                            _LastMesCheck = state;
+                        }
+                        else
+                        {
+                            return;
+                        }
                         if (state == 1)
                         {
                             SendTaskMessage($"收到过站检查请求（当站是否生产）...", MessageLevel.Debug);
@@ -1501,6 +1610,14 @@ namespace TeamAAS_VP.Core
                 {
                     if (tuple.value is Int16 state)
                     {
+                        if (_LastPickINC != state)
+                        {
+                            _LastPickINC = state;
+                        }
+                        else
+                        {
+                            return;
+                        }
                         if (state!=0)
                         {
                             SendTaskMessage($"螺丝供料器...", MessageLevel.Info);