update

TeamAAS-VM/Core/Robots/XYZU_Robot.cs

@@ -491,19 +491,61 @@ namespace TeamAAS_VP.Core.Robots
             return isSucceed;
         }
         public Task<bool> CalibMotionAsync(RPoint position, double? LimZ) => Task.Run(() => CalibMotion(position, LimZ));
-        public bool CalibOutIO(bool state) => false;
-        public Task<bool> CalibOutIOAsync(bool state) => Task.FromResult(false);
+        public bool CalibOutIO(bool state)
+        {
+            if (Plc == null || !Plc.IsConnected) return false;
+            string openNodeId = "ns=4;s=DB_DriveControl|VacCtrl[{0}].Cmd.ManuToWork";
+            string closeNodeId = "ns=4;s=DB_DriveControl|VacCtrl[{0}].Cmd.ManuToHome";
+            try
+            {
+                if (state)
+                {
+                    string node = string.Format(openNodeId, _PickInfo.Inhal);
+                    if (!Plc.WriteNode<bool>(node,true))
+                    {
+                        return false;
+                    }
+                    Thread.Sleep(_WaitSuction);
+                    return true;
+                }
+                else
+                {
+                    string node = string.Format(closeNodeId, _PickInfo.Blow);
+                    if (!Plc.WriteNode<bool>(node, true))
+                    {
+                        return false;
+                    }
+                    Thread.Sleep(_WaitBlow);
+                    return true;
+                }
+                
+            }
+            catch (Exception ex)
+            {
+                LogHelper.WriteLogError("执行XYZU平台，真空操作时出错！", ex);
+                return false;
+            }
+        }
+        public Task<bool> CalibOutIOAsync(bool state)
+        {
+            return Task.Run(() => CalibOutIO(state));
+        }
         public bool CalibParame(PickInfo Pick, int Speed, int Accel, bool Power, int WaitSuction, int WaitBlow)
         {
             return false;
 
         }
 
+        private PickInfo _PickInfo = new PickInfo();
+        private int _WaitSuction=100, _WaitBlow=100;
         public async Task<bool> CalibParameAsync(PickInfo Pick, int Speed, int Accel, bool Power, int WaitSuction, int WaitBlow)
         {
             if (Plc == null || !Plc.IsConnected) return false;
             try
             {
+                _PickInfo = Pick;
+                _WaitSuction = WaitSuction;
+                _WaitBlow=WaitBlow;
                 Dictionary<string, object> keyValues = new Dictionary<string, object>();
                 foreach (var axis in Axes)
                 {

TeamAAS-VM/ViewModels/Calibration/CalibrationTeachCenterPointViewModel.cs

@@ -150,7 +150,7 @@ namespace TeamAAS_VP.ViewModels.Calibration
 
             if (SelectCalibration.CameraMount == Enums.CameraMount.MobileDown_XYPlatform)
             {
-                if (SelectCalibration.CalibTechP0Mode == Enums.CalibTechP0Mode.CameraFindP0)
+                if (SelectCalibration.CalibTechP0Mode == Enums.CalibTechP0Mode.CameraFindP0|| SelectCalibration.CalibTechP0Mode == Enums.CalibTechP0Mode.DownCameraMoveFindP0)
                 {
                     _regionManager.RequestNavigate("CalibrationRegionContext", "FixedUpCameraFindP0", param);
                     return;

TeamAAS-VM/Views/Calibration/FixedUpCameraFindP0.xaml

@@ -332,7 +332,7 @@
                                     <Style.Triggers>
                                         <!-- 当 SelectedIndex == 0 时显示此面板 -->
                                         <DataTrigger Binding="{Binding SelectCalibration.CalibTechP0Mode}"
-                                                     Value="{x:Static enums:CalibTechP0Mode.CameraFindP0}">
+                                                     Value="{x:Static enums:CalibTechP0Mode.DownCameraMoveFindP0}">
                                             <Setter Property="Visibility"
                                                     Value="Visible" />
                                         </DataTrigger>

TeamAAS-VM/Views/Calibration/FixedUpCameraFindP0.xaml.cs

@@ -13,9 +13,15 @@ namespace TeamAAS_VP.Views.Calibration
         {
             InitializeComponent();
             VM = DataContext as FixedUpCameraFindP0ViewModel;
-
+            VM.PropertyChanged += VM_PropertyChanged;
             ((FixedUpCameraFindP0ViewModel)DataContext).ToolBlockEdit = this.ToolBlockEditV2;
         }
-        
+        private void VM_PropertyChanged(object sender, System.ComponentModel.PropertyChangedEventArgs e)
+        {
+            if (e.PropertyName == "Robot")
+            {
+                this.robotManual.Robot = VM.Robot;
+            }
+        }
     }
 }

TeamAAS-VM/Views/Product/PlcPointParams.xaml

@@ -443,7 +443,7 @@
                                 </StackPanel>-->
 
                                 <!--锁付拍照面板-->
-                                <StackPanel x:Name="LockCameraPanel"
+                                <!--<StackPanel x:Name="LockCameraPanel"
                                             Orientation="Vertical"
                                             d:Visibility="Visible">
                                     <StackPanel.Style>
@@ -451,7 +451,7 @@
                                             <Setter Property="Visibility"
                                                     Value="Collapsed" />
                                             <Style.Triggers>
-                                                <!-- 当 SelectedIndex == 4 时显示此面板 -->
+                                                --><!-- 当 SelectedIndex == 4 时显示此面板 --><!--
                                                 <DataTrigger Binding="{Binding SelectedIndex}"
                                                              Value="3">
                                                     <Setter Property="Visibility"
@@ -480,7 +480,7 @@
                                                     <RowDefinition Height="Auto" />
                                                     <RowDefinition Height="Auto" />
                                                 </Grid.RowDefinitions>
-                                                <!--拍照1-->
+                                                --><!--拍照1--><!--
                                                 <TextBlock Grid.Row="0"
                                                            Grid.Column="0"
                                                            Text="拍照1："
@@ -537,7 +537,7 @@
                                                                    VerticalAlignment="Center"
                                                                    Margin="0"
                                                                    Padding="2" />
-                                                <!--拍照2-->
+                                                --><!--拍照2--><!--
                                                 <TextBlock Grid.Row="1"
                                                            Grid.Column="0"
                                                            Text="拍照2："
@@ -594,7 +594,7 @@
                                                                    VerticalAlignment="Center"
                                                                    Margin="0"
                                                                    Padding="2" />
-                                                <!--通过CAD导入点位按钮-->
+                                                --><!--通过CAD导入点位按钮--><!--
                                                 <Button Content="通过CAD导入点位"
                                                         Grid.Row="0"
                                                         Grid.Column="7"
@@ -604,7 +604,7 @@
                                                         HorizontalAlignment="Left"
                                                         materialDesign:ButtonAssist.CornerRadius="5"
                                                         Command="{Binding ImportCadLockCameraPointCommand}" />
-                                                <!--通过相机自动矫正锁附点位-->
+                                                --><!--通过相机自动矫正锁附点位--><!--
                                                 <Button Content="通过相机自动矫正锁附点位"
                                                         Grid.Row="0"
                                                         Grid.Column="8"
@@ -618,10 +618,10 @@
                                             </Grid>
                                         </StackPanel>
                                     </ScrollViewer>
-                                </StackPanel>
+                                </StackPanel>-->
 
                                 <!--锁付点位面板-->
-                                <StackPanel x:Name="LockPointPanel"
+                                <!--<StackPanel x:Name="LockPointPanel"
                                             Orientation="Vertical"
                                             d:Visibility="Visible">
                                     <StackPanel.Style>
@@ -629,7 +629,7 @@
                                             <Setter Property="Visibility"
                                                     Value="Collapsed" />
                                             <Style.Triggers>
-                                                <!-- 当 SelectedIndex == 4 时显示此面板 -->
+                                                --><!-- 当 SelectedIndex == 4 时显示此面板 --><!--
                                                 <DataTrigger Binding="{Binding SelectedIndex}"
                                                              Value="4">
                                                     <Setter Property="Visibility"
@@ -662,7 +662,7 @@
                                                 <TextBlock Margin="0"
                                                            VerticalAlignment="Center"
                                                            Text="mm" />
-                                                <!--应用按钮-->
+                                                --><!--应用按钮--><!--
                                                 <Button Content="应用"
                                                         Margin="10,0,0,0"
                                                         MinWidth="60"
@@ -690,7 +690,7 @@
                                                 <TextBlock Margin="0"
                                                            VerticalAlignment="Center"
                                                            Text="mm" />
-                                                <!--应用按钮-->
+                                                --><!--应用按钮--><!--
                                                 <Button Content="应用"
                                                         Margin="10,0,0,0"
                                                         MinWidth="60"
@@ -766,7 +766,7 @@
                                                 <TextBlock Margin="0"
                                                            VerticalAlignment="Center"
                                                            Text="mm/s" />
-                                                <!--应用按钮-->
+                                                --><!--应用按钮--><!--
                                                 <Button Content="应用"
                                                         Margin="10,0,0,0"
                                                         MinWidth="60"
@@ -774,7 +774,7 @@
                                                         materialDesign:ButtonAssist.CornerRadius="5"
                                                         Command="{Binding ApplyLockPointSpeedCommand}" />
                                             </StackPanel>
-                                            <!--批量设置所有锁付点的供料器编号和电批程序编号-->
+                                            --><!--批量设置所有锁付点的供料器编号和电批程序编号--><!--
                                             <StackPanel Orientation="Horizontal"
                                                         HorizontalAlignment="Left">
                                                 <TextBlock Text="批量设置所有锁付点的供料器编号和电批程序编号："
@@ -805,7 +805,7 @@
                                                                    VerticalAlignment="Center"
                                                                    Margin="0"
                                                                    Padding="2" />
-                                                <!--应用按钮-->
+                                                --><!--应用按钮--><!--
                                                 <Button Content="应用"
                                                         Margin="10,0,0,0"
                                                         MinWidth="60"
@@ -816,7 +816,7 @@
 
                                         </StackPanel>
                                     </ScrollViewer>
-                                </StackPanel>
+                                </StackPanel>-->
 
 
                             </StackPanel>
@@ -1210,7 +1210,7 @@
                                         </DataGridTemplateColumn.CellEditingTemplate>
                                     </DataGridTemplateColumn>
                                     <!--供料器-->
-                                    <DataGridTemplateColumn Header="供料器"
+                                    <!--<DataGridTemplateColumn Header="供料器"
                                                             MinWidth="60"
                                                             Width="Auto">
                                         <DataGridTemplateColumn.CellTemplate>
@@ -1233,9 +1233,9 @@
                                                                    Padding="2" />
                                             </DataTemplate>
                                         </DataGridTemplateColumn.CellEditingTemplate>
-                                    </DataGridTemplateColumn>
+                                    </DataGridTemplateColumn>-->
                                     <!--电批程序号-->
-                                    <DataGridTemplateColumn Header="电批程序号"
+                                    <!--<DataGridTemplateColumn Header="电批程序号"
                                                             MinWidth="60"
                                                             Width="Auto">
                                         <DataGridTemplateColumn.CellTemplate>
@@ -1258,7 +1258,7 @@
                                                                    Padding="2" />
                                             </DataTemplate>
                                         </DataGridTemplateColumn.CellEditingTemplate>
-                                    </DataGridTemplateColumn>
+                                    </DataGridTemplateColumn>-->
 
                                     <DataGridTextColumn Header="{lex:Loc 描述}"
                                                         MinWidth="100"