修改模组移动问题

TeamAAS-VM/Core/PLCs/OPCuaClientPLC.cs

@@ -65,6 +65,7 @@ namespace TeamAAS_VP.Core.PLCs
             Id = plcInfo.Id;
             Index=plcInfo.Index;
             Name = plcInfo.Name;
+            NodeHeader=plcInfo.NodeHeader;
             EndpointUrl = plcInfo.EndpointUrl;
             CommunicationType = plcInfo.CommunicationType;
             OpcUaClient = new OpcUaClient();

TeamAAS-VM/Core/Robots/XYZU_Robot.cs

@@ -511,9 +511,9 @@ namespace TeamAAS_VP.Core.Robots
             bool result = Plc.WriteNodes(keyValues);
 
             // 异步等待100ms后复位停止命令
-            Task.Run(async () =>
-            {
-                await Task.Delay(100);
+            //Task.Run(async () =>
+            //{
+            //    await Task.Delay(100);
                 Dictionary<string, object> resetValues = new Dictionary<string, object>();
                 foreach (var axis in Axes)
                 {
@@ -523,7 +523,7 @@ namespace TeamAAS_VP.Core.Robots
                     }
                 }
                 Plc.WriteNodes(resetValues);
-            });
+            //});
             return result;
         }
 

TeamAAS-VM/Models/PLC/PlcInfo.cs

@@ -54,5 +54,12 @@ namespace TeamAAS_VP.Models
             get { return _EndpointUrl; }
             set { SetProperty(ref _EndpointUrl, value); }
         }
+
+        private string _NodeHeader= "ns=4;s=";
+        public string NodeHeader
+        {
+            get { return _NodeHeader; }
+            set { SetProperty(ref _NodeHeader, value); }
+        }
     }
 }

TeamAAS-VM/Services/RobotService.cs

@@ -366,6 +366,16 @@ namespace TeamAAS_VP.Services
             else if (robotInfo.RobotBrand == Enums.RobotBrand.XYZ_Platform || robotInfo.RobotBrand == Enums.RobotBrand.XYZU_Platform)
             {
                 var plc= _plcService.GetPlc(robotInfo.PLC) as OpcUaClientPLC;
+                if (robotInfo.PlcRobotParameter == null)
+                    robotInfo.PlcRobotParameter = new Models.PLC.PlcRobotParameter();
+                if (robotInfo.PlcRobotParameter.AxixList == null)
+                {
+                    robotInfo.PlcRobotParameter.AxixList = new List<Axis>();
+                    robotInfo.PlcRobotParameter.AxixList.Add(new Axis() { Index=1,Name="X", Command=new AxisCommand(),Parameter=new AxisParameter(),State=new AxisState()});
+                    robotInfo.PlcRobotParameter.AxixList.Add(new Axis() { Index = 2, Name = "Y", Command = new AxisCommand(), Parameter = new AxisParameter(), State = new AxisState() });
+                    robotInfo.PlcRobotParameter.AxixList.Add(new Axis() { Index = 3, Name = "Z", Command = new AxisCommand(), Parameter = new AxisParameter(), State = new AxisState() });
+                }
+
                 robot = new XYZU_Robot(robotInfo, plc);
             }
             else

TeamAAS-VM/ViewModels/SettingViewModel.cs

@@ -100,26 +100,28 @@ namespace TeamAAS_VP.ViewModels
         public RobotInfo SelectRobot
         {
             get { return _SelectRobot; }
-            set { SetProperty(ref _SelectRobot, value);
-                if (value!=null && (value.RobotBrand == RobotBrand.XYZ_Platform || value.RobotBrand == RobotBrand.XYZU_Platform))
+            set
+            {
+                SetProperty(ref _SelectRobot, value);
+                if (value != null && (value.RobotBrand == RobotBrand.XYZ_Platform || value.RobotBrand == RobotBrand.XYZU_Platform))
                 {
-                    RobotSelectedPlc = PlcList.FirstOrDefault(p=>p.Id==value.PLC);
-                  var root=  _robotService.GetRobot(SelectRobot.Id);
-                    if (root != null) 
+                    RobotSelectedPlc = PlcList.FirstOrDefault(p => p.Id == value.PLC);
+                    var root = _robotService.GetRobot(SelectRobot.Id);
+                    if (root != null)
                     {
-                        ResultsValues.Clear();
-                        var res= root.GetNodesValue();
-                        for (int i = 0; i < res.Count; i++)
-                        {
-                            if (res[i].StatusCode.Code != 2150891520)
-                            {
-                                ResultsValues.Add(res[i].Value.ToString());
-                            }
-                            else 
-                            {
-                                break;
-                            }
-                        }
+                        //ResultsValues.Clear();
+                        //var res = root.GetNodesValue();
+                        //for (int i = 0; i < res.Count; i++)
+                        //{
+                        //    if (res[i].StatusCode.Code != 2150891520)
+                        //    {
+                        //        ResultsValues.Add(res[i].Value.ToString());
+                        //    }
+                        //    else
+                        //    {
+                        //        break;
+                        //    }
+                        //}
                     }
                 }
             }
@@ -142,7 +144,7 @@ namespace TeamAAS_VP.ViewModels
             set { SetProperty(ref _SelectPlc, value); }
         }
 
-        private  ObservableCollection<string> _ResultsValues = new ObservableCollection<string>();
+        private ObservableCollection<string> _ResultsValues = new ObservableCollection<string>();
 
         public ObservableCollection<string> ResultsValues { get => _ResultsValues; set => _ResultsValues = value; }
 
@@ -256,19 +258,21 @@ namespace TeamAAS_VP.ViewModels
         public PlcInfo RobotSelectedPlc
         {
             get { return _RobotSelectedPlc; }
-            set { SetProperty(ref _RobotSelectedPlc, value);
+            set
+            {
+                SetProperty(ref _RobotSelectedPlc, value);
                 if (SelectRobot != null)
                 {
                     if (value != null)
                     {
-                        SelectRobot.PLC=value.Id;
+                        SelectRobot.PLC = value.Id;
                     }
                     else
                     {
                         SelectRobot.PLC = Guid.Empty;
                     }
                 }
-                
+
             }
         }
 
@@ -357,9 +361,9 @@ namespace TeamAAS_VP.ViewModels
 
         #endregion
 
-        public SettingViewModel(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IDialogService dialogService, 
+        public SettingViewModel(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IDialogService dialogService,
             IConfigService configService, IRobotService robotService, ICameraService cameraService, IFeederService feederService, IPlcService plcService,
-            IProductService productService,ISystemDatabaseService systemDatabaseService)
+            IProductService productService, ISystemDatabaseService systemDatabaseService)
         {
             _regionManager = regionManager;
             _eventAggregator = ea;
@@ -370,8 +374,8 @@ namespace TeamAAS_VP.ViewModels
             _cameraService = cameraService;
             _feederService = feederService;
             _plcService = plcService;
-            _productService= productService;
-            _systemDatabaseService= systemDatabaseService;
+            _productService = productService;
+            _systemDatabaseService = systemDatabaseService;
             management = _container.Resolve<Management>();
             LoadedCommand = new DelegateCommand(OnLoad);
 
@@ -404,7 +408,7 @@ namespace TeamAAS_VP.ViewModels
                     };
                     RobotList.Add(robot);
                     _configService.AddOrUpdateRobot(robot);
-                    _robotService.CreateRobot(robot.Id,robot);
+                    _robotService.CreateRobot(robot.Id, robot);
                     //对所有产品也进行添加
                     _productService.AddRobotPointToProduct(robot.Id, robot.RobotName);
                     _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.添加完成}", Duration = 1 });
@@ -485,7 +489,7 @@ namespace TeamAAS_VP.ViewModels
                 {
                     _configService.RemoveCamera(cameraToRemove.Id);
                     _cameraService.RemoveCamera(cameraToRemove.Id);
-                    var root= _configService.GetAllCameras();
+                    var root = _configService.GetAllCameras();
                     CameraList = new ObservableCollection<CameraInfo>(root);
                     foreach (var item in CameraList)
                     {
@@ -586,7 +590,7 @@ namespace TeamAAS_VP.ViewModels
                     SelectCamera.CameraIp = param.CameraIp;
                     _configService.AddOrUpdateCamera(SelectCamera);
 
-                    if (oldCameraName!= param.CameraName)
+                    if (oldCameraName != param.CameraName)
                     {
                         //对所有产品也进行修改
                         _productService.UpdateCameraNameInProduct(SelectCamera.Id, SelectCamera.CameraName);
@@ -671,7 +675,7 @@ namespace TeamAAS_VP.ViewModels
                 if (result1 == ButtonResult.OK)
                 {
                     var param = rst.Parameters.GetValue<CameraInfo>("Camera");
-                    var camera= new CameraInfo()
+                    var camera = new CameraInfo()
                     {
                         Id = param.Id,
                         CameraName = param.CameraName,
@@ -684,7 +688,7 @@ namespace TeamAAS_VP.ViewModels
                     };
                     CameraList.Add(camera);
                     _configService.AddOrUpdateCamera(camera);
-                    _cameraService.CreateCamera(camera.Id,camera);
+                    _cameraService.CreateCamera(camera.Id, camera);
                     //对所有产品也进行添加
                     _productService.AddCameraToProduct(camera.Id, camera.CameraName);
                     _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 1 });
@@ -887,8 +891,8 @@ namespace TeamAAS_VP.ViewModels
         {
             if (string.Equals(language, "ChineseSimplified"))
             {
-                CurrentLanguage= Enums.Language.ChineseSimplified;
-                var sysConfig=_configService.GetSystemConfiguration();
+                CurrentLanguage = Enums.Language.ChineseSimplified;
+                var sysConfig = _configService.GetSystemConfiguration();
                 sysConfig.CurrentLanguage = CurrentLanguage;
                 _configService.SaveSystemConfiguration(sysConfig);
                 var culture = new CultureInfo("zh-CN");
@@ -946,7 +950,7 @@ namespace TeamAAS_VP.ViewModels
 
         private void OnLoad()
         {
-            
+
         }
 
         private void OnPropertyChanged(object sender, PropertyChangedEventArgs e)
@@ -1032,7 +1036,7 @@ namespace TeamAAS_VP.ViewModels
                 }
             }
 
-            if (CameraList==null)
+            if (CameraList == null)
             {
                 CameraList = new ObservableCollection<CameraInfo>();
                 var cameras = _configService.GetAllCameras();
@@ -1042,7 +1046,7 @@ namespace TeamAAS_VP.ViewModels
                 }
             }
 
-            if (FeederList==null)
+            if (FeederList == null)
             {
                 FeederList = new ObservableCollection<FeederInfo>();
                 var feeders = _configService.GetAllFeeders();
@@ -1052,7 +1056,7 @@ namespace TeamAAS_VP.ViewModels
                 }
             }
 
-            if (PlcList==null)
+            if (PlcList == null)
             {
                 PlcList = new ObservableCollection<PlcInfo>();
                 var plcs = _configService.GetAllPlcs();
@@ -1062,7 +1066,7 @@ namespace TeamAAS_VP.ViewModels
                 }
             }
 
-            if (BgTcp==null)
+            if (BgTcp == null)
             {
                 BgTcp = _configService.GetBgTcp();
             }
@@ -1072,7 +1076,7 @@ namespace TeamAAS_VP.ViewModels
                 BgModbus = _configService.GetBgModbusTcp();
             }
 
-            CurrentLanguage=_configService.GetSystemConfiguration().CurrentLanguage;
+            CurrentLanguage = _configService.GetSystemConfiguration().CurrentLanguage;
 
             if (isFirstLoad)
             {