update

TeamAAS-VM/Core/Management.cs

@@ -1139,6 +1139,7 @@ namespace TeamAAS_VP.Core
                                     }
                                     if (visionResult.IsSucceed)
                                     {
+
                                         float toolX = (float)(visionResult.X - currentPosition.X);
                                         float toolY = (float)(visionResult.Y - currentPosition.Y);
 
@@ -1149,6 +1150,11 @@ namespace TeamAAS_VP.Core
                                     }
                                     else
                                     {
+                                        if (isDryMode)
+                                        {
+                                            await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1);
+                                            return;
+                                        }
                                         await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2);
                                         return;
                                     }
@@ -1202,6 +1208,11 @@ namespace TeamAAS_VP.Core
                             }
                             else if (downCameraNum == 2)
                             {
+                                if (isDryMode)
+                                {
+                                    await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1);
+                                    return;
+                                }
                                 //如果下相机2的流程id为空，则表示只有一个下相机
                                 if (currentProduct.FixedUpCamera2ProcedureId == Guid.Empty)
                                 {
@@ -1399,6 +1410,11 @@ 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);
+                                if (isDryMode)
+                                {
+                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)1);
+                                    return;
+                                }
                                 if (visionResult.IsSucceed)
                                 {
                                     currentProduct.PickPoints[0].X_Position = (float)visionResult.X;
@@ -1437,6 +1453,11 @@ namespace TeamAAS_VP.Core
                                 var task1 = _remoteCommandService.ExecutePhotoGetSinglePoint(process1, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token);
                                 var task2 = _remoteCommandService.ExecutePhotoGetSinglePoint(process2, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token);
                                 var visionResults = await Task.WhenAll(task1, task2);
+                                if (isDryMode)
+                                {
+                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)1);
+                                    return;
+                                }
                                 if (visionResults[0].IsSucceed && visionResults[1].IsSucceed)
                                 {
                                     float tool1X = (float)(visionResults[0].X - visionResults[0].X);
@@ -1521,6 +1542,7 @@ namespace TeamAAS_VP.Core
                                 }
                                 else
                                 {
+                                    
                                     await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)2);
                                     return;
                                 }
@@ -1587,7 +1609,11 @@ namespace TeamAAS_VP.Core
                             //相机的编号
                             //Int16 cameraIndex = plc.ReadNode<Int16>(addressConfig.Out_UPCameracheckNum.Address);
 
-
+                            if (isDryMode)
+                            {
+                                await plc.WriteNodeAsync(addressConfig.Out_UPCameracheckStatus.Address, (Int16)1);
+                                return;
+                            }
 
                             await plc.WriteNodeAsync(addressConfig.Out_UPCameracheckStatus.Address, (Int16)1);
                         }
@@ -1609,7 +1635,11 @@ namespace TeamAAS_VP.Core
                             //相机的编号
                             //Int16 cameraIndex = plc.ReadNode<Int16>(addressConfig.In_FixedCameraPickNum.Address);
 
-
+                            if (isDryMode)
+                            {
+                                await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)1);
+                                return;
+                            }
 
                             await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)1);
                         }
@@ -1665,6 +1695,11 @@ namespace TeamAAS_VP.Core
                             var task4 = _remoteCommandService.ExecutePhotoGetSinglePoint(process4, null, null, _cts.Token);
 
                             var visionResults = await Task.WhenAll(task1, task2, task3, task4);
+                            if (isDryMode)
+                            {
+                                await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPutStatus.Address, (Int16)1);
+                                return;
+                            }
                             if (visionResults[0].IsSucceed && visionResults[1].IsSucceed && visionResults[2].IsSucceed && visionResults[3].IsSucceed)
                             {
                                 Vector<double> p1=Vector<double>.Build.Dense(new double[] { visionResults[0].X, visionResults[0].Y });
@@ -1679,11 +1714,6 @@ namespace TeamAAS_VP.Core
                             }
                             else
                             {
-                                if (isDryMode)
-                                {
-                                    await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)1);
-                                    return;
-                                }
                                 await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPutStatus.Address, (Int16)2);
                                 return;
                             }
@@ -1743,6 +1773,11 @@ namespace TeamAAS_VP.Core
                             var task4 = _remoteCommandService.ExecutePhotoGetSinglePoint(process4, null, null, _cts.Token);
 
                             var visionResults = await Task.WhenAll(task1, task2, task3, task4);
+                            if (isDryMode)
+                            {
+                                await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)1);
+                                return;
+                            }
                             if (visionResults[0].IsSucceed && visionResults[1].IsSucceed && visionResults[2].IsSucceed && visionResults[3].IsSucceed)
                             {
                                 Vector<double> p1 = Vector<double>.Build.Dense(new double[] { visionResults[0].X, visionResults[0].Y });
@@ -1757,11 +1792,7 @@ namespace TeamAAS_VP.Core
                             }
                             else
                             {
-                                if (isDryMode)
-                                {
-                                    await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)1);
-                                    return;
-                                }
+                                
                                 await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)2);
                                 return;
                             }