using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
using MathNet.Numerics.LinearAlgebra;
using Microsoft.CodeAnalysis.Scripting;
using NPOI.SS.Formula.Functions;
using Org.BouncyCastle.Tls;
using Prism.Events;
using Prism.Ioc;
using Prism.Regions;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.ComponentModel;
using System.IO;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Shapes;
using Team.FFFeederService;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP.Core;
using TeamAAS_VP.Data;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.Calibration;
using TeamAAS_VP.Models.Feeder;
using TeamAAS_VP.Models.Product;
using TeamAAS_VP.Resources.Languages;

namespace TeamAAS_VP.Services
{
    /// <summary>
    /// 远程命令服务：
    /// 负责解析并执行外部传入的命令字符串（例如 LoadProduct、视觉流程触发、清料任务等）。
    /// 该类封装了原 Management.ExecuteRemoteCommand 的精简迁移实现，依赖于领域服务（产品、配置、校准、Feeder、相机、机器人、系统数据库等）。
    /// 线程安全：通过内部计数器和 ConcurrentDictionary 跟踪正在运行的任务。
    /// </summary>
    public class RemoteCommandService : IRemoteCommandService, INotifyPropertyChanged
    {
        // 依赖服务，由构造函数注入
        private readonly IEventAggregator _eventAggregator;
        private readonly IProductService _productService;
        private readonly IConfigService _configService;
        private readonly ICalibrationService _calibrationService;
        private readonly IFeederService _feederService;
        private readonly ICameraService _cameraService;
        private readonly IRobotService _robotService;
        private readonly IContainerProvider _container;
        private readonly IRegionManager _regionManager;
        private readonly ISystemDatabaseService _systemDatabaseService;
        private readonly ILightManagerService _lightManagerService;

        /// <summary>
        /// 节拍计时任务的取消令牌，用于 StartCycleTiming/StopCycleTiming。
        /// </summary>
        private CancellationTokenSource _cycleTimingCts;

        /// <summary>
        /// 清料任务的取消令牌字典，Key 为任务编号（TaskCode）。
        /// 当需要取消特定清料任务时，通过该字典查找并调用 Cancel。
        /// </summary>
        private readonly ConcurrentDictionary<int, CancellationTokenSource> _clearMaterialCtsDict = new ConcurrentDictionary<int, CancellationTokenSource>();

        // 内部执行状态计数器和任务跟踪集合
        private int _activeCount;
        private int _visionActiveCount;
        private readonly ConcurrentDictionary<Guid, Task> _runningTasks = new ConcurrentDictionary<Guid, Task>();

        // INotifyPropertyChanged 实现
        public event PropertyChangedEventHandler PropertyChanged;
        private void OnPropertyChanged(string name) => PropertyChanged?.Invoke(this, new PropertyChangedEventArgs(name));

        /// <summary>
        /// 标识是否存在任意正在执行的命令（非视觉与视觉命令）。
        /// 由 TrackExecutionAsync 自动维护。
        /// </summary>
        public bool IsExecuting => Volatile.Read(ref _activeCount) > 0;

        /// <summary>
        /// 标识是否存在正在执行的视觉指令。
        /// 由 TrackExecutionAsync 在 isVision 参数为 true 时自动维护。
        /// </summary>
        public bool IsExecutingVisionCommand => Volatile.Read(ref _visionActiveCount) > 0;

        /// <summary>
        /// 当执行状态发生变化（开始/结束）时触发（便于传统事件订阅）。
        /// </summary>
        public event EventHandler ExecutionStateChanged;

        /// <summary>
        /// 节拍计时的定时回调事件，通知订阅者当前已用时。
        /// </summary>
        public event EventHandler<TimeSpan> CycleTimingTicked;

        /// <summary>
        /// 构造函数，注入必要的系统服务。
        /// </summary>
        /// <param name="eventAggregator">事件聚合器，用于发布 UI 渲染/消息等事件。</param>
        /// <param name="regionManager">区域管理器，用于 UI 区域导航（在脚本中可能使用）。</param>
        /// <param name="productService">产品服务，用于加载/查询产品信息。</param>
        /// <param name="configService">配置服务，用于读取机器人/任务/Feeder 等配置。</param>
        /// <param name="calibrationService">校准服务，用于像素到机器人坐标的转换。</param>
        /// <param name="feederService">Feeder 服务，控制料仓/振动等。</param>
        /// <param name="cameraService">相机服务，用于图像采集。</param>
        /// <param name="robotService">机器人服务，提供机器人状态码/调试模式等信息。</param>
        /// <param name="container">IOC 容器提供者，用于脚本执行时解析依赖。</param>
        /// <param name="systemDatabaseService">系统数据库服务，用于记录产量/报警等。</param>
        public RemoteCommandService(IEventAggregator eventAggregator, IRegionManager regionManager, IProductService productService, IConfigService configService, ICalibrationService calibrationService,
            IFeederService feederService, ICameraService cameraService, IRobotService robotService, IContainerProvider container, ISystemDatabaseService systemDatabaseService, ILightManagerService lightManagerService)
        {
            _eventAggregator = eventAggregator;
            _regionManager = regionManager;
            _productService = productService;
            _configService = configService;
            _calibrationService = calibrationService;
            _feederService = feederService;
            _cameraService = cameraService;
            _robotService = robotService;
            _container = container;
            _systemDatabaseService = systemDatabaseService;
            _lightManagerService = lightManagerService;
        }

        /// <summary>
        /// 占位 Dispose 方法（当前无资源释放逻辑）。
        /// </summary>
        public void Dispose() { }

        /// <summary>
        /// 通用的异步执行包装器。该方法：
        /// - 为每次执行生成唯一 id 并加入运行任务集合以便跟踪
        /// - 维护 _activeCount 和 _visionActiveCount
        /// - 在任务开始/结束时触发属性变化和 ExecutionStateChanged 事件
        /// - 返回工作 delegate 的结果
        /// </summary>
        /// <typeparam name="T">工作返回类型</typeparam>
        /// <param name="work">以 CancellationToken 为参数的异步工作委托</param>
        /// <param name="isVision">指示该工作是否为视觉命令（影响视觉计数器）</param>
        /// <param name="ct">外部取消令牌，传递给工作委托</param>
        /// <returns>工作委托的返回值</returns>
        private async Task<T> TrackExecutionAsync<T>(Func<CancellationToken, Task<T>> work, bool isVision, CancellationToken ct)
        {
            var id = Guid.NewGuid();

            Interlocked.Increment(ref _activeCount);
            if (isVision) Interlocked.Increment(ref _visionActiveCount);
            OnPropertyChanged(nameof(IsExecuting));
            OnPropertyChanged(nameof(IsExecutingVisionCommand));
            ExecutionStateChanged?.Invoke(this, EventArgs.Empty);

            try
            {
                var task = work(ct);
                _runningTasks.TryAdd(id, task);
                var result = await task.ConfigureAwait(false);
                return result;
            }
            finally
            {
                Interlocked.Decrement(ref _activeCount);
                if (isVision) Interlocked.Decrement(ref _visionActiveCount);
                _runningTasks.TryRemove(id, out _);
                OnPropertyChanged(nameof(IsExecuting));
                OnPropertyChanged(nameof(IsExecutingVisionCommand));
                ExecutionStateChanged?.Invoke(this, EventArgs.Empty);
            }
        }

        /// <summary>
        /// 解析并执行传入的命令字符串。命令以逗号分隔，第一个字段为命令名称，后续为参数。
        /// 支持多种内建命令（示例：LoadProduct、GetProductName、CycleTime、Record、StartClearMaterial 等），以及映射到产品 CameraProcedures 的自定义视觉触发命令。
        /// </summary>
        /// <param name="command">原始命令字符串</param>
        /// <param name="cancellationToken">外部取消令牌</param>
        /// <param name="callback">用于将执行结果回传（比如发送到调用方）的回调，参数为单行响应字符串</param>
        /// <returns>完成任务</returns>
        public async Task ExecuteAsync(string command, CancellationToken cancellationToken, Action<string> callback)
        {
            var items = (command ?? string.Empty).Split(new[] { ',' }, StringSplitOptions.None).Select(s => s.Trim()).ToArray();
            if (items.Length == 0) return;

            string triggerCommand = items[0];
            string[] commandParams = items.Skip(1).ToArray();

            string response = string.Empty;
            switch (triggerCommand)
            {
                case "LoadProduct":
                    if (commandParams.Length < 1)
                    {
                        callback?.Invoke("InvalidParameters");
                        return;
                    }
                    response = await TrackExecutionAsync(async ct =>
                    {
                        var ok = await LoadProductAsync(commandParams[0], ct);
                        return ok ? "OK" : "NG";
                    }, isVision: false, cancellationToken);
                    callback?.Invoke($"LoadProduct,{response}");
                    break;
                case "GetProductName":
                    if (commandParams.Length < 1)
                    {
                        response = await TrackExecutionAsync(async ct =>
                        {
                            return await GetCurrentProductNameAsync(ct);
                        }, isVision: false, cancellationToken);
                        if (string.IsNullOrEmpty(response))
                        {
                            callback?.Invoke("GetProductName,NG");
                        }
                        else
                        {
                            callback?.Invoke($"GetProductName,{response}");
                        }
                        break;
                    }
                    else if (commandParams.Length == 1)
                    {
                        if (!int.TryParse(commandParams[0], out int productNumber))
                        {
                            callback?.Invoke("InvalidParameters");
                            return;
                        }
                        response = await TrackExecutionAsync(async ct =>
                        {
                            return await GetProductNameByNumberAsync(productNumber, ct);
                        }, isVision: false, cancellationToken);
                        if (string.IsNullOrEmpty(response))
                        {
                            callback?.Invoke($"GetProductName,NG");
                        }
                        else
                        {
                            callback?.Invoke($"GetProductName,{response}");
                        }
                        break;
                    }
                    else
                    {
                        callback?.Invoke("InvalidParameters");
                        return;
                    }
                case "GetProductID":
                    if (commandParams.Length < 1)
                    {
                        response = await TrackExecutionAsync(async ct =>
                        {
                            int productNum = await GetCurrentProductNumberAsync(ct);
                            return productNum.ToString();
                        }, isVision: false, cancellationToken);
                        if (response == "-1")
                        {
                            callback?.Invoke("GetProductID,NG");
                        }
                        else
                        {
                            callback?.Invoke($"GetProductID,{response}");
                        }
                        break;
                    }
                    else if (commandParams.Length == 1)
                    {
                        response = await TrackExecutionAsync(async ct =>
                        {
                            int productNum = await GetProductNumberByNameAsync(commandParams[0], ct);
                            return productNum.ToString();
                        }, isVision: false, cancellationToken);
                        if (response == "-1")
                        {
                            callback?.Invoke($"GetProductID,NG");
                        }
                        else
                        {
                            callback?.Invoke($"GetProductID,{response}");
                        }
                        break;
                    }
                    else
                    {
                        callback?.Invoke("InvalidParameters");
                        return;
                    }
                case "GetRobotPointsCountById":
                    if (commandParams.Length < 2 || !int.TryParse(commandParams[0], out int robotNumber) || !int.TryParse(commandParams[1], out int pointNumber))
                    {
                        callback?.Invoke("InvalidParameters");
                        return;
                    }
                    response = await TrackExecutionAsync(async ct =>
                    {
                        return await GetRobotPointInfoAsync(robotNumber, pointNumber, ct);
                    }, isVision: false, cancellationToken);
                    if (string.IsNullOrEmpty(response))
                    {
                        callback?.Invoke($"GetRobotPointsCountById,NG");
                    }
                    else
                    {
                        callback?.Invoke($"GetRobotPointsCountById,{response}");
                    }
                    break;
                case "GetPalletPoint":
                    if (commandParams.Length < 2 || !int.TryParse(commandParams[0], out int robotNumber1) || !int.TryParse(commandParams[1], out int palletNumber1) || !int.TryParse(commandParams[2], out int pointNumber1))
                    {
                        callback?.Invoke("InvalidParameters");
                        return;
                    }
                    response = await TrackExecutionAsync(async ct =>
                    {
                        return await GetRobotPalletPointInfoAsync(robotNumber1, palletNumber1, pointNumber1, ct);
                    }, isVision: false, cancellationToken);
                    if (string.IsNullOrEmpty(response))
                    {
                        callback?.Invoke($"GetPalletPoint,NG");
                    }
                    else
                        callback?.Invoke($"GetPalletPoint,{response}");
                    break;
                case "CycleTime":
                    if (commandParams.Length < 1)
                    {
                        callback?.Invoke("InvalidParameters");
                        return;
                    }
                    if (int.Parse(commandParams[0]) == 1)
                    {
                        response = await TrackExecutionAsync(async ct =>
                        {
                            bool cycleResult = await StartCycleTimingAsync(ct);
                            return cycleResult ? "OK" : "NG";
                        }, isVision: false, cancellationToken);
                        callback?.Invoke($"CycleTime,{response}");
                        break;
                    }
                    else
                    {
                        response = await TrackExecutionAsync(async ct =>
                        {
                            bool cycleResult = await StopCycleTimingAsync(ct);
                            return cycleResult ? "OK" : "NG";
                        }, isVision: false, cancellationToken);
                        callback?.Invoke($"CycleTime,{response}");
                        break;
                    }
                case "Record":
                    if (commandParams.Length < 1)
                    {
                        callback?.Invoke("InvalidParameters");
                        return;
                    }
                    response = await TrackExecutionAsync(async ct =>
                    {
                        bool recordResult = await CreateProductionCountAsync(commandParams[0].Trim(), ct);
                        return recordResult ? "OK" : "NG";
                    }, isVision: false, cancellationToken);
                    callback?.Invoke($"Record,{response}");
                    break;
                case "RecordQuery":
                    if (commandParams.Length < 1)
                    {
                        callback?.Invoke("InvalidParameters");
                        return;
                    }
                    response = await TrackExecutionAsync(async ct =>
                    {
                        int recordCount = await GetCurrentProductionCountAsync(commandParams[0].Trim(), ct);
                        return recordCount.ToString();
                    }, isVision: false, cancellationToken);
                    callback?.Invoke($"RecordQuery,{response}");
                    break;
                case "RecordReset":
                    if (commandParams.Length < 1)
                    {
                        callback?.Invoke("InvalidParameters");
                        return;
                    }
                    response = await TrackExecutionAsync(async ct =>
                    {
                        bool recordResetResult = await ResetProductionCountAsync(commandParams[0].Trim(), ct);
                        return recordResetResult ? "OK" : "NG";
                    }, isVision: false, cancellationToken);
                    callback?.Invoke($"RecordReset,{response}");
                    break;
                case "Err":
                    if (commandParams.Length < 2)
                    {
                        callback?.Invoke("InvalidParameters");
                        return;
                    }
                    response = await TrackExecutionAsync(async ct =>
                    {
                        bool errResult = await CreateAlarmRecordAsync(commandParams[0].Trim(), commandParams[1].Trim(), ct);
                        return errResult ? "OK" : "NG";
                    }, isVision: false, cancellationToken);
                    callback?.Invoke($"Err,{response}");
                    break;
                case "Info":
                    if (commandParams.Length < 1)
                    {
                        callback?.Invoke("InvalidParameters");
                        return;
                    }
                    response = await TrackExecutionAsync(async ct =>
                    {
                        bool infoResult = await CreateOperationLogAsync(commandParams[0].Trim(), ct);
                        return infoResult ? "OK" : "NG";
                    }, isVision: false, cancellationToken);
                    callback?.Invoke($"Info,{response}");
                    break;
                case "GetGlobalParam":
                    if (commandParams.Length == 1)
                    {
                        response = await TrackExecutionAsync(async ct =>
                        {
                            return await GetGlobalParameterAsync(int.Parse(commandParams[0]), -1, ct);
                        }, isVision: false, cancellationToken);
                        if (string.IsNullOrEmpty(response))
                        {
                            callback?.Invoke("GetGlobalParam,NG");
                        }

                        else
                        {
                            callback?.Invoke($"GetGlobalParam,{response}");
                        }
                        break;
                    }
                    else if (commandParams.Length == 2)
                    {
                        response = await TrackExecutionAsync(async ct =>
                        {
                            return await GetGlobalParameterAsync(int.Parse(commandParams[0]), int.Parse(commandParams[1]), ct);
                        }, isVision: false, cancellationToken);
                        if (string.IsNullOrEmpty(response))
                        {
                            callback?.Invoke("GetGlobalParam,NG");
                        }

                        else
                        {
                            callback?.Invoke($"GetGlobalParam,{response}");
                        }
                        break;
                    }
                    else
                    {
                        callback?.Invoke("InvalidParameters");
                        return;
                    }
                case "GetSpeed":
                    response = await TrackExecutionAsync(async ct =>
                    {
                        return await GetOperationSpeedAsync(ct);
                    }, isVision: false, cancellationToken);
                    if (string.IsNullOrEmpty(response))
                    {
                        callback?.Invoke("GetSpeed,NG");
                        return;
                    }
                    else
                        callback?.Invoke($"GetSpeed,{response}");
                    break;
                case "GetToolParam":
                    if (commandParams.Length < 2)
                    {
                        callback?.Invoke("InvalidParameters");
                        return;
                    }
                    response = await TrackExecutionAsync(async ct =>
                    {
                        return await GetToolParamAsync(commandParams[0], int.Parse(commandParams[1]), ct);
                    }, isVision: false, cancellationToken);
                    if (string.IsNullOrEmpty(response))
                    {
                        callback?.Invoke("GetToolParam,NG");
                        return;
                    }
                    else
                        callback?.Invoke($"GetToolParam,{response}");
                    break;
                case "GetProcedureParam":
                    if (commandParams.Length < 1)
                    {
                        callback?.Invoke("InvalidParameters");
                        return;
                    }
                    response = await TrackExecutionAsync(async ct =>
                    {
                        return await GetProcessParamAsync(commandParams[0], ct);
                    }, isVision: false, cancellationToken);
                    if (string.IsNullOrEmpty(response))
                    {
                        callback?.Invoke("GetProcedureParam,NG");
                        return;
                    }
                    else
                        callback?.Invoke($"GetProcedureParam,{response}");
                    break;
                case "StartClearMaterial":
                    if (commandParams.Length < 1)
                    {
                        callback?.Invoke("InvalidParameters");
                        return;
                    }
                    response = await TrackExecutionAsync(async ct =>
                    {
                        bool startClearResult = await ExecuteClearMaterialTaskAsync(int.Parse(commandParams[0]), ct);
                        return startClearResult ? "OK" : "NG";
                    }, isVision: false, cancellationToken);
                    callback?.Invoke($"StartClearMaterial,{response}");
                    break;
                case "StopClearMaterial":
                    if (commandParams.Length < 1)
                    {
                        callback?.Invoke("InvalidParameters");
                        return;
                    }
                    response = await TrackExecutionAsync(async ct =>
                    {
                        bool stopClearResult = await StopClearMaterialTaskAsync(int.Parse(commandParams[0]), ct);
                        return stopClearResult ? "OK" : "NG";
                    }, isVision: false, cancellationToken);
                    callback?.Invoke($"StopClearMaterial,{response}");
                    break;
                case "RobotIsDebugMode":
                    if (commandParams.Length < 1)
                    {
                        callback?.Invoke("InvalidParameters");
                        return;
                    }
                    response = await TrackExecutionAsync(async ct =>
                    {
                        bool isDebugMode = await IsRobotInDebugModeAsync(int.Parse(commandParams[0]), ct);
                        return isDebugMode ? "1" : "0";
                    }, isVision: false, cancellationToken);
                    callback?.Invoke($"RobotIsDebugMode,{response}");
                    break;
                default:
                    var currentProduct = _productService.GetCurrentProduct();
                    if (currentProduct == null) return;

                    var procedure = currentProduct.CameraProcedures
                        .SelectMany(cp => cp.ProcedureModels)
                        .FirstOrDefault(p => p.TriggerCommand == triggerCommand);
                    if (procedure == null) return;

                    var visionResult = await TrackExecutionAsync(async ct =>
                    {
                        var r = await ExecuteVisionTaskAsync(procedure, commandParams, ct);
                        return Tuple.Create(r.IsSucceed, r.Response);
                    }, isVision: true, cancellationToken);
                    if (visionResult.Item1)
                    {
                        foreach (var item in visionResult.Item2)
                        {
                            callback?.Invoke($"{triggerCommand},OK,{item}");
                        }
                    }
                    else
                    {
                        string msg = string.Empty;
                        if (visionResult.Item2 != null && visionResult.Item2.Length > 0)
                        {
                            msg = visionResult.Item2[0];
                        }
                        callback?.Invoke($"{triggerCommand},NG,{msg}");
                    }
                    break;

            }
        }

        /// <summary>
        /// 根据产品名称或编号加载并设置当前产品。
        /// 若传入字符串可解析为 int，则先按编号查找产品，否则按名称查找。
        /// </summary>
        /// <param name="productName">产品名称或编号字符串</param>
        /// <param name="cancellationToken">取消令牌</param>
        /// <returns>加载成功返回 true，否则 false</returns>
        public async Task<bool> LoadProductAsync(string productName, CancellationToken cancellationToken)
        {
            bool exists = _productService.ContainsProductByName(productName);
            if (exists)
            {
                var product = _productService.GetAllProducts().FirstOrDefault(p => p.Name == productName);
                await _productService.LoadProductAsync(product.ID);
                _productService.SetCurrentProduct(product.ID);
                return true;
            }
            if (int.TryParse(productName, out int productNumber))
            {
                var product = _productService.GetAllProducts().FirstOrDefault(p => p.NumberCode == productNumber);
                if (product != null)
                {
                    await _productService.LoadProductAsync(product.ID);
                    _productService.SetCurrentProduct(product.ID);
                    return true;
                }
            }
            return false;
        }

        /// <summary>
        /// 通过产品编号获取产品名称。
        /// </summary>
        public Task<string> GetProductNameByNumberAsync(int productNumber, CancellationToken cancellationToken)
        {
            var product = _productService.GetAllProducts().FirstOrDefault(p => p.NumberCode == productNumber);
            if (product != null)
            {
                return Task.FromResult(product.Name);
            }

            return Task.FromResult(string.Empty);
        }

        /// <summary>
        /// 获取当前被设置为活动的产品名称。如果没有则返回空字符串。
        /// </summary>
        public Task<string> GetCurrentProductNameAsync(CancellationToken cancellationToken)
        {
            var currentProduct = _productService.GetCurrentProduct();
            if (currentProduct != null)
            {
                return Task.FromResult(currentProduct.Name);
            }
            return Task.FromResult(string.Empty);
        }

        /// <summary>
        /// 通过产品名称获取其编号（NumberCode）。找不到则返回 -1。
        /// </summary>
        public Task<int> GetProductNumberByNameAsync(string productName, CancellationToken cancellationToken)
        {
            bool exists = _productService.ContainsProductByName(productName);
            if (exists)
            {
                var product = _productService.GetAllProducts().FirstOrDefault(p => p.Name == productName);
                return Task.FromResult(product.NumberCode);
            }
            return Task.FromResult(-1);
        }

        /// <summary>
        /// 获取当前产品编号（NumberCode）。找不到则返回 -1。
        /// </summary>
        public Task<int> GetCurrentProductNumberAsync(CancellationToken cancellationToken)
        {
            var currentProduct = _productService.GetCurrentProduct();
            if (currentProduct != null)
            {
                return Task.FromResult(currentProduct.NumberCode);
            }
            return Task.FromResult(-1);
        }

        /// <summary>
        /// 根据机器人编号和点位编号获取点位信息（字符串表示），查找逻辑基于当前产品的 RobotPoint 配置。
        /// </summary>
        public Task<string> GetRobotPointInfoAsync(int robotNumber, int pointNumber, CancellationToken cancellationToken)
        {
            var currentProduct = _productService.GetCurrentProduct();
            if (currentProduct == null) return Task.FromResult(string.Empty);
            var robot = _configService.GetAllRobots().FirstOrDefault(r => r.RobotNo == robotNumber);
            if (robot == null) return Task.FromResult(string.Empty);
            var robotPoint = currentProduct.RobotPoint.Robots.FirstOrDefault(rp => rp.Id == robot.Id);
            if (robotPoint == null) return Task.FromResult(string.Empty);
            var point = robotPoint.Points.FirstOrDefault(p => p.Number == pointNumber);
            if (point == null) return Task.FromResult(string.Empty);
            return Task.FromResult(point.ToString());
        }

        /// <summary>
        /// 通过机器人编号、托盘编号和点编号获取托盘点位信息，返回格式化字符串。
        /// </summary>
        public Task<string> GetRobotPalletPointInfoAsync(int robotNumber, int palletNumber, int pointNumber, CancellationToken cancellationToken)
        {
            var currentProduct = _productService.GetCurrentProduct();
            if (currentProduct == null) return Task.FromResult(string.Empty);
            var robot = _configService.GetAllRobots().FirstOrDefault(r => r.RobotNo == robotNumber);
            if (robot == null) return Task.FromResult(string.Empty);
            var robotPoint = currentProduct.RobotPoint.Robots.FirstOrDefault(rp => rp.Id == robot.Id);
            if (robotPoint == null) return Task.FromResult(string.Empty);
            var pallet = robotPoint.Pallets.FirstOrDefault(p => p.PalletNo == palletNumber);
            if (pallet == null) return Task.FromResult(string.Empty);
            PalletTool palletTool = new PalletTool(pallet);
            if (pointNumber > palletTool.Points.Length || pointNumber < 1) return Task.FromResult(string.Empty);
            var pos = palletTool.Points[pointNumber - 1];
            string response = $"{robotNumber},{palletNumber},{palletTool.Points.Length},{pos.Number},{pos.X:F3},{pos.Y:F3},{pos.Z:F3},{pos.U:F3},{pos.V:F3},{pos.W:F3},{pos.Local},{pos.Tool},{pos.Hand}";
            return Task.FromResult(response);
        }

        /// <summary>
        /// 开始节拍计时。返回是否成功（始终 true）。
        /// 会启动后台定时任务并周期性触发 CycleTimingTicked 事件。
        /// </summary>
        public Task<bool> StartCycleTimingAsync(CancellationToken cancellationToken)
        {
            if (_cycleTimingCts != null)
            {
                _cycleTimingCts.Cancel();
                _cycleTimingCts.Dispose();
            }
            _cycleTimingCts = new CancellationTokenSource();
            var token = _cycleTimingCts.Token;
            Task.Run(async () =>
            {
                var startTime = DateTime.UtcNow;
                while (!token.IsCancellationRequested)
                {
                    var elapsed = DateTime.UtcNow - startTime;
                    OnCycleTimingTicked(elapsed);
                    await Task.Delay(100, token);
                }
            }, token);
            return Task.FromResult(true);
        }

        /// <summary>
        /// 停止节拍计时并清理取消令牌。
        /// </summary>
        public Task<bool> StopCycleTimingAsync(CancellationToken cancellationToken)
        {
            if (_cycleTimingCts != null)
            {
                _cycleTimingCts.Cancel();
                _cycleTimingCts.Dispose();
                _cycleTimingCts = null;
            }
            return Task.FromResult(true);
        }

        /// <summary>
        /// 新增一条生产计数记录，数量固定为 1。
        /// </summary>
        public Task<bool> CreateProductionCountAsync(string countItem, CancellationToken cancellationToken)
        {
            _systemDatabaseService.RecordProductionAsync(new ProductionRecord
            {
                Category = countItem,
                ProductName = _productService.GetCurrentProduct()?.Name ?? "Unknown",
                Quantity = 1,
                Timestamp = DateTime.UtcNow
            });
            return Task.FromResult(true);
        }

        /// <summary>
        /// 查询当前产品在指定分类下的累计产量。
        /// </summary>
        public async Task<int> GetCurrentProductionCountAsync(string countItem, CancellationToken cancellationToken)
        {
            var currentProduct = _productService.GetCurrentProduct();
            if (currentProduct == null) return 0;
            var records = _systemDatabaseService.GetProductCategoriesAsync(currentProduct.Name);
            int totalCount = await _systemDatabaseService.GetTotalProductionAsync(currentProduct.Name, new List<string> { countItem });
            return totalCount;
        }

        /// <summary>
        /// 重置当前产品的生产统计（通过系统 DB 服务）。
        /// </summary>
        public async Task<bool> ResetProductionCountAsync(string countItem, CancellationToken cancellationToken)
        {
            var currentProduct = _productService.GetCurrentProduct();
            if (currentProduct == null) return false;
            await _systemDatabaseService.ResetProductionAsync(currentProduct.Name);
            return true;
        }

        /// <summary>
        /// 记录一条报警信息到系统数据库，并通过事件发布错误级别的任务消息。
        /// </summary>
        public Task<bool> CreateAlarmRecordAsync(string alarmCode, string alarmDescription, CancellationToken cancellationToken)
        {
            SendTaskMessage(alarmDescription, MessageLevel.Error);
            _systemDatabaseService.RecordAlarmAsync(new AlarmRecord
            {
                Code = alarmCode,
                Message = alarmDescription,
                Source = "Unknown",
                Time = DateTime.UtcNow
            });
            return Task.FromResult(true);
        }

        /// <summary>
        /// 发布运行信息日志（仅消息推送，不持久化）。
        /// </summary>
        public Task<bool> CreateOperationLogAsync(string logMessage, CancellationToken cancellationToken)
        {
            SendTaskMessage(logMessage, MessageLevel.Info);
            return Task.FromResult(true);
        }

        /// <summary>
        /// 获取当前产品的全局参数，支持按索引（1-4）返回指定子项，或返回完整 ToString。
        /// </summary>
        public Task<string> GetGlobalParameterAsync(int parameterNumber, int itemIndex, CancellationToken cancellationToken)
        {
            var currentProduct = _productService.GetCurrentProduct();
            if (currentProduct == null) return Task.FromResult(string.Empty);
            if (currentProduct.GlobalParamListCollection == null) return Task.FromResult(string.Empty);
            var globalParam = currentProduct.GlobalParamListCollection.FirstOrDefault(p => p.Number == parameterNumber);
            if (globalParam == null) return Task.FromResult(string.Empty);
            string response = string.Empty;
            if (itemIndex == 1)
            {
                response = $"{globalParam.Number},{globalParam.Name},{globalParam.Param1}";
            }
            else if (itemIndex == 2)
            {
                response = $"{globalParam.Number},{globalParam.Name},{globalParam.Param2}";
            }
            else if (itemIndex == 3)
            {
                response = $"{globalParam.Number},{globalParam.Name},{globalParam.Param3}";
            }
            else if (itemIndex == 4)
            {
                response = $"{globalParam.Number},{globalParam.Name},{globalParam.Param4}";
            }
            else
            {
                response = globalParam.ToString();
            }
            return Task.FromResult(response);
        }

        /// <summary>
        /// 返回当前产品的速度/加速度等运行参数的格式化字符串。
        /// </summary>
        public Task<string> GetOperationSpeedAsync(CancellationToken cancellationToken)
        {
            var currentProduct = _productService.GetCurrentProduct();
            if (currentProduct == null) return Task.FromResult(string.Empty);
            string response = $"{currentProduct.Speed},{currentProduct.Accel},{currentProduct.Speeds},{currentProduct.Accels},{Convert.ToInt16(currentProduct.Power)},{Convert.ToInt16(currentProduct.IsUserUpCamera)}";
            return Task.FromResult(response);
        }

        /// <summary>
        /// 获取某流程指定工具编号的工具参数（格式化字符串），找不到返回空字符串。
        /// </summary>
        public Task<string> GetToolParamAsync(string triggerCommand, int toolNumber, CancellationToken cancellationToken)
        {
            var currentProduct = _productService.GetCurrentProduct();
            if (currentProduct == null) return Task.FromResult(string.Empty);
            ProcedureModel procedure = currentProduct.CameraProcedures
                .SelectMany(cp => cp.ProcedureModels)
                .FirstOrDefault(p => p.TriggerCommand == triggerCommand);
            if (procedure == null || procedure.ToolInfo == null) return Task.FromResult(string.Empty);
            var tool = procedure.ToolInfo.FirstOrDefault(t => t.Number == toolNumber);
            if (tool == null) return Task.FromResult(string.Empty);
            if (tool.Tool == null) return Task.FromResult(string.Empty);
            string response = $"{tool.Tool.Number},{tool.Tool.X:F3},{tool.Tool.Y:F3},{tool.OffsetX:F3},{tool.OffsetY:F3},{tool.OffsetZ:F3},{tool.OffsetU:F3}";
            return Task.FromResult(response);
        }

        /// <summary>
        /// 获取流程参数（例如 WaitPhoto 与用户自定义参数等），以逗号分隔的字符串返回。
        /// </summary>
        public Task<string> GetProcessParamAsync(string triggerCommand, CancellationToken cancellationToken)
        {
            var currentProduct = _productService.GetCurrentProduct();
            if (currentProduct == null) return Task.FromResult(string.Empty);
            ProcedureModel procedure = currentProduct.CameraProcedures
                .SelectMany(cp => cp.ProcedureModels)
                .FirstOrDefault(p => p.TriggerCommand == triggerCommand);
            if (procedure == null || procedure.ToolInfo == null) return Task.FromResult(string.Empty);
            StringBuilder response = new StringBuilder();
            response.Append($"{procedure.WaitPhoto}");
            if (procedure.UserDefineParameters != null)
            {
                foreach (var param in procedure.UserDefineParameters)
                {
                    response.Append("," + param.ToString());
                }
            }
            return Task.FromResult(response.ToString());
        }

        /// <summary>
        /// 执行指定编号的清料任务（异步）。流程：
        /// - 根据配置获取任务
        /// - 检查 Feeder 连接性
        /// - 使用专用 CancellationTokenSource 跟踪任务并支持停止
        /// - 循环执行开挡板、振动、关闭挡板等步骤，检查取消状态
        /// </summary>
        public async Task<bool> ExecuteClearMaterialTaskAsync(int taskNumber, CancellationToken cancellationToken)
        {
            var feederClearWork = _configService.GetClearanceTaskByNumber(taskNumber);
            if (feederClearWork == null)
            {
                return false;
            }

            IVoiceCoilMotorFeeder Feeder = _feederService.GetFeeder(feederClearWork.FeederId);

            if (!Feeder.IsConnected)
            {
                return false;
            }
            if (_clearMaterialCtsDict.ContainsKey(feederClearWork.TaskCode))
            {
                return false;
            }

            _clearMaterialCtsDict[feederClearWork.TaskCode] = new CancellationTokenSource();
            if (cancellationToken != null)
            {
                cancellationToken.Register(() =>
                {
                    if (_clearMaterialCtsDict.ContainsKey(feederClearWork.TaskCode))
                    {
                        _clearMaterialCtsDict[feederClearWork.TaskCode].Cancel();
                    }
                });
            }
            var token = _clearMaterialCtsDict[feederClearWork.TaskCode].Token;

            for (int i = 0; i < feederClearWork.ClearCount; i++)
            {
                await Feeder.OutputAsync((int)feederClearWork.BeforeOutput + 1, 0);
                await Task.Delay(200, token);
                if ((cancellationToken != null && cancellationToken.IsCancellationRequested) || (token != null && token.IsCancellationRequested))
                {
                    await Feeder.StopOutputAsync();
                    if (_clearMaterialCtsDict.ContainsKey(feederClearWork.TaskCode))
                    {
                        _clearMaterialCtsDict[feederClearWork.TaskCode].Cancel();
                        _clearMaterialCtsDict.TryRemove(feederClearWork.TaskCode, out _);
                    }
                    return false;
                }

                for (int j = 0; j < feederClearWork.VibrationCount; j++)
                {
                    await ExecuteFeederWorks(Feeder, feederClearWork.FeederWorks, token, true);
                    if ((cancellationToken != null && cancellationToken.IsCancellationRequested) || (token != null && token.IsCancellationRequested))
                    {
                        await Feeder.StopOutputAsync();
                        if (_clearMaterialCtsDict.ContainsKey(feederClearWork.TaskCode))
                        {
                            _clearMaterialCtsDict[feederClearWork.TaskCode].Cancel();
                            _clearMaterialCtsDict.TryRemove(feederClearWork.TaskCode, out _);
                        }
                        return false;
                    }

                    if (!await Feeder.GetOutputStatusAsync())
                    {
                        await Feeder.OutputAsync((int)feederClearWork.BeforeOutput + 1, 0);
                    }
                    if ((cancellationToken != null && cancellationToken.IsCancellationRequested) || (token != null && token.IsCancellationRequested))
                    {
                        await Feeder.StopOutputAsync();
                        if (_clearMaterialCtsDict.ContainsKey(feederClearWork.TaskCode))
                        {
                            _clearMaterialCtsDict[feederClearWork.TaskCode].Cancel();
                            _clearMaterialCtsDict.TryRemove(feederClearWork.TaskCode, out _);
                        }
                        return false;
                    }
                }

                if ((cancellationToken != null && cancellationToken.IsCancellationRequested) || (token != null && token.IsCancellationRequested))
                {
                    await Feeder.StopOutputAsync();
                    if (_clearMaterialCtsDict.ContainsKey(feederClearWork.TaskCode))
                    {
                        _clearMaterialCtsDict[feederClearWork.TaskCode].Cancel();
                        _clearMaterialCtsDict.TryRemove(feederClearWork.TaskCode, out _);
                    }
                    return false;
                }

                await Feeder.StopOutputAsync();
                await Task.Delay(300, token);
                if ((cancellationToken != null && cancellationToken.IsCancellationRequested) || (token != null && token.IsCancellationRequested))
                {
                    await Feeder.StopOutputAsync();
                    if (_clearMaterialCtsDict.ContainsKey(feederClearWork.TaskCode))
                    {
                        _clearMaterialCtsDict[feederClearWork.TaskCode].Cancel();
                        _clearMaterialCtsDict.TryRemove(feederClearWork.TaskCode, out _);
                    }
                    return false;
                }
            }

            await Feeder.StopOutputAsync();
            await Task.Delay(300, token);
            if ((cancellationToken != null && cancellationToken.IsCancellationRequested) || (token != null && token.IsCancellationRequested))
            {
                await Feeder.StopOutputAsync();
                if (_clearMaterialCtsDict.ContainsKey(feederClearWork.TaskCode))
                {
                    _clearMaterialCtsDict[feederClearWork.TaskCode].Cancel();
                    _clearMaterialCtsDict.TryRemove(feederClearWork.TaskCode, out _);
                }
                return false;
            }
            if (_clearMaterialCtsDict.ContainsKey(feederClearWork.TaskCode))
            {
                _clearMaterialCtsDict[feederClearWork.TaskCode].Cancel();
                _clearMaterialCtsDict.TryRemove(feederClearWork.TaskCode, out _);
            }
            return true;
        }

        /// <summary>
        /// 停止指定编号的清料任务（如果正在运行）。
        /// </summary>
        public Task<bool> StopClearMaterialTaskAsync(int taskNumber, CancellationToken cancellationToken)
        {
            var feederClearWork = _configService.GetClearanceTaskByNumber(taskNumber);
            if (feederClearWork == null)
            {
                return Task.FromResult(false);
            }
            if (_clearMaterialCtsDict.ContainsKey(feederClearWork.TaskCode))
            {
                _clearMaterialCtsDict[feederClearWork.TaskCode].Cancel();
                _clearMaterialCtsDict.TryRemove(feederClearWork.TaskCode, out _);
            }

            return Task.FromResult(true);
        }

        /// <summary>
        /// 判断指定编号的机器人是否处于调试模式。
        /// </summary>
        public Task<bool> IsRobotInDebugModeAsync(int robotNumber, CancellationToken cancellationToken)
        {
            var robotInfo = _configService.GetAllRobots().FirstOrDefault(r => r.RobotNo == robotNumber);
            if (robotInfo == null)
            {
                return Task.FromResult(false);
            }
            var robot = _robotService.GetRobot(robotInfo.Id);
            if (robot != null) return Task.FromResult(robot.EnterDebugMode);
            return Task.FromResult(false);
        }

        /// <summary>
        /// 执行视觉任务的统一入口：
        /// - 如果为产品局部脚本存在，则调用脚本
        /// - 否则根据 procedure.FeederId 调用 Feeder 引导的视觉任务或普通视觉任务
        /// 返回是否成功以及字符串数组形式的响应（用于发送多条结果）。
        /// </summary>
        public async Task<(bool IsSucceed, string[] Response)> ExecuteVisionTaskAsync(ProcedureModel procedure, string[] items, CancellationToken cancellationToken)
        {
            var currentProduct = _productService.GetCurrentProduct();
            string scriptFilePath = FilePath.ProductsPath + "//" + currentProduct.Name + "//" + procedure.CameraName + "//" + procedure.Name + ".cs";
            if (File.Exists(scriptFilePath))
            {
                try
                {
                    string script = FileHelper.ReadFile(scriptFilePath);
                    SendTaskMessage(Lang.执行视觉处理脚本, MessageLevel.Debug);
                    Tuple<bool, string[]> rstn = null;
                    var rst1 = await ScriptHelper.ExecuteVisionScriptingAsync(script, _regionManager, _eventAggregator, _container, procedure, items, rst =>
                    {
                        rstn = rst;
                    });
                    if (!rst1.Item1)
                    {
                        SendTaskMessage(Lang.视觉处理脚本出错, MessageLevel.Error);
                        foreach (var item in rst1.Item2)
                        {
                            SendTaskMessage(item, MessageLevel.Error);
                        }
                        return (false, new string[] { "ScriptError" });
                    }
                    return (rstn.Item1, rstn.Item2);
                }
                catch (Exception ex)
                {
                    SendTaskMessage(ex.Message, MessageLevel.Error);
                    LogHelper.WriteLogError(Lang.执行视觉处理脚本时出错, ex);
                    return (false, new string[] { "ScriptException" });
                }
            }
            else
            {
                IVoiceCoilMotorFeeder Feeder = null;
                if (procedure.FeederId != Guid.Empty)
                {
                    Feeder = _feederService.GetFeeder(procedure.FeederId);
                    return await ExecuteFeederVisionTaskAsync(Feeder, procedure, items, cancellationToken);
                }
                else
                {
                    var result = await ExecuteNormalVisionTaskAsync(procedure, items, cancellationToken);
                    return (result.IsSucceed, new string[] { result.Response });
                }
            }
        }

        /// <summary>
        /// 内部：触发节拍计时回调。
        /// </summary>
        private void OnCycleTimingTicked(TimeSpan elapsed)
        {
            CycleTimingTicked?.Invoke(this, elapsed);
        }

        /// <summary>
        /// 发布任务消息到事件聚合器（通过 UI Dispatcher 保证线程安全）。
        /// </summary>
        private void SendTaskMessage(string msg, MessageLevel level)
        {
            App.Current.Dispatcher.Invoke(() =>
            {
                _eventAggregator.GetEvent<TaskMessageNotification>().Publish(new Models.MessageStruct() { Message = msg, level = level });
            });
        }

        #region 执行视觉任务辅助方法

        /// <summary>
        /// 执行 Feeder 引导的视觉任务。负责：
        /// - 解析输入命令（是否先振动/先拍照、SetInputs）
        /// - 在拍照前后执行对应的 Feeder 操作（开灯、振动、供料等）
        /// - 多次尝试拍照并运行视觉工具，直到成功或达到失败次数上限
        /// - 返回布尔成功标记及字符串数组形式的响应项
        /// </summary>
        public async Task<(bool IsSucceed, string[] Response)> ExecuteFeederVisionTaskAsync(IVoiceCoilMotorFeeder feeder, ProcedureModel procedure, string[] items, CancellationToken cancellationToken)
        {
            // 如果输入的items中是否包含Vibration和NoVibration，这两个分别对应是否先振动和是否先拍照
            bool doVibrateFirst = items != null && items.Contains("VibrateFirst");
            bool doCaptureFirst = items != null && items.Contains("CaptureFirst");
            if (doVibrateFirst && doCaptureFirst) doCaptureFirst = false; // 如果两个都包含，则以振动优先为准

            // 触发命令传入的输入终端
            Dictionary<string, string> InputTerminal = null;

            // 解析触发命令传入的输入终端参数
            //判断传入参数中是否存在“SetInputs”
            if (items != null && items.Length > 1 && items[0] == "SetInputs")
            {
                //依次从索引1开始解析参数，格式为 key=value,直到遇到非key=value格式的参数为止
                InputTerminal = new Dictionary<string, string>();
                for (int i = 1; i < items.Length; i++)
                {
                    var pair = items[i].Split('=');
                    if (pair.Length == 2)
                    {
                        InputTerminal[pair[0]] = pair[1];
                    }
                    else
                    {
                        break; // 遇到非key=value格式的参数，停止解析
                    }
                }
            }

            await SetLightBeforePhoto(procedure);
            //执行Feeder相机拍照前的任务
            await ExecuteFeederForPhotoBefore(feeder, procedure, doVibrateFirst, doCaptureFirst, cancellationToken);

            // 如果遇到取消令牌，则直接返回失败
            if (cancellationToken != null && cancellationToken.IsCancellationRequested)
            {
                await feeder.CloseLightAsync();
                return (false, new string[] { "FeederTaskCancelled" });
            }

            DateTime nowtime = DateTime.Now;
            //拍照失败时，需要多次拍照
            for (int i = 0; i < procedure.FeederFailLimit; i++)
            {
                if (cancellationToken != null && cancellationToken.IsCancellationRequested)
                {
                    await feeder.CloseLightAsync();
                    await TurnOffLightAfterPhoto(procedure);
                    return (false, new string[] { "VisionTaskCancelled" });
                }

                SendTaskMessage(Lang.开始执行视觉流程.Replace("{0}", $"{i + 1}").Replace("{1}", procedure.Name), MessageLevel.Info);

                // 1. 执行相机拍照并运行视觉工具
                bool visionSucceed = ExecutePhoto(procedure, InputTerminal, out CogToolBlockTerminalCollection outputCollection);
                if (!visionSucceed)
                {
                    SendTaskMessage(Lang.视觉任务执行失败, MessageLevel.Error);
                    continue;
                }

                if (!outputCollection.Contains("Found"))
                {
                    SendTaskMessage(Lang.未找到视觉输出结果, MessageLevel.Error);
                    return (false, new string[] { "NoFoundOutput" });
                }
                procedure.LastBlobArea = Convert.ToDouble(outputCollection["BlobTotalArea"].Value);

                // 2. 获取视觉输出结果
                bool Found = (bool)(outputCollection["Found"].Value);
                if (!Found)
                {
                    SendTaskMessage(Lang.拍照NG, MessageLevel.Debug);
                    await TurnOffLightAfterPhoto(procedure);
                    await ExecuteFeederForPhotoLater(feeder, procedure, cancellationToken);
                    continue;
                }

                SendTaskMessage(Lang.拍照OK, MessageLevel.Debug);


                if (procedure.ProcedureOutputs == null)
                {
                    SendTaskMessage(Lang.视觉流程未配置输出项, MessageLevel.Alarm);
                    return (false, new string[] { "NoOutputConfigured" });
                }

                // 3. 获取视觉输出结果
                LogHelper.WriteLogInfo(Lang.开始获取视觉输出结果);
                var (IsSucceed, ErrMsg, Output) = GetVisionOutput(procedure, outputCollection, null);
                if (!IsSucceed)
                {
                    SendTaskMessage(Lang.获取视觉输出结果失败, MessageLevel.Error);
                    return (false, new string[] { ErrMsg });
                }

                // 4. 组织返回结果
                int outputPointCount = 0;//输出点的数量
                List<double[]> currentPoints = new List<double[]>(); //点位数据
                List<string> outputItems = new List<string>();    //多项输出结果集合
                foreach (var output in procedure.ProcedureOutputs)
                {
                    if (Output.ContainsKey(output.Name))
                    {
                        var (IsPoint, Value) = Output[output.Name];
                        if (IsPoint)
                        {
                            //Value是点位数据，类型：List<string[]>，string[]是一个点位，里面是X、Y,U等数据

                            //将所有点位数据和单个点位数据中的坐标之间都用逗号分隔，多个点位之间用逗号分隔
                            List<string[]> points = Value as List<string[]>;
                            List<string> allpoints = new List<string>();
                            for (int j = 0; j < points.Count; j++)
                            {

                                //如果当前流程开启了剔除重复点功能，则进行剔除
                                if (procedure.IsExcludeNearPoint && procedure.LastRunPoints != null && procedure.LastRunPoints.Count > 0)
                                {
                                    //当前点的坐标数据
                                    double px = double.Parse(points[j][0]);
                                    double py = double.Parse(points[j][1]);
                                    double pu = double.Parse(points[j][2]);

                                    //检查当前点是否与上次运行的点过于接近
                                    //使用linq来检测上一次的点位集合中，是否存在某个点与当前点的x,y,u的差值小于设定的阈值
                                    bool isNear = procedure.LastRunPoints.Any(lp =>
                                        Math.Abs(lp[0] - px) < procedure.ExcludeNearPointThreshol &&
                                        Math.Abs(lp[1] - py) < procedure.ExcludeNearPointThreshol &&
                                        Math.Abs(lp[2] - pu) < procedure.ExcludeNearPointThreshol);
                                    if (isNear) continue;       //如果存在接近的点，则跳过当前点，不进行添加
                                }

                                //单个点位内坐标之间逗号分隔
                                allpoints.Add(string.Join(",", points[j]));

                                //如果输出模式是AllAtOnce或者BatchedUntilTerminator，则需要检查是否达到最大点位数量限制
                                if (procedure.OutputPointMode == OutputPointMode.AllAtOnce || procedure.OutputPointMode == OutputPointMode.BatchedUntilTerminator)
                                {
                                    //如果当前总点位数量已经达到最大限制，则停止添加更多点位
                                    if (allpoints.Count >= procedure.OutputPointCountMax)
                                    {
                                        break;
                                    }
                                }
                                currentPoints.Add(new double[] { double.Parse(points[j][0]), double.Parse(points[j][1]), double.Parse(points[j][2]) });
                            }


                            //多个点位之间逗号分隔
                            string pointstr = allpoints.Count + "," + string.Join(",", allpoints);
                            if (procedure.OutputPointMode == OutputPointMode.UntilTerminator || procedure.OutputPointMode == OutputPointMode.BatchedUntilTerminator)
                            {
                                outputItems.AddRange(allpoints);
                            }
                            else
                            {
                                outputItems.Add(pointstr);
                            }
                            outputPointCount += allpoints.Count;
                        }
                        else
                        {
                            string itemstr = Value != null ? Value.ToString() : string.Empty;
                            outputItems.Add(itemstr);
                        }
                    }
                }
                procedure.LastRunPoints = currentPoints;

                //关闭Feeder灯光
                if (feeder.IsConnected)
                {
                    await feeder.CloseLightAsync();
                }
                await TurnOffLightAfterPhoto(procedure);

                //如果输出模式是AllAtOnce或者BatchedUntilTerminator,则分次发送数据
                if (procedure.OutputPointMode == OutputPointMode.UntilTerminator || procedure.OutputPointMode == OutputPointMode.BatchedUntilTerminator)
                {
                    //将outputItems按照procedure.OutputSeparator进行拼接，得到最终返回结果
                    string finalResponse = string.Join(procedure.OutputSeparator, outputItems);

                    return (true, outputItems.ToArray());
                }
                else
                {
                    //否则，一次发送所有数据
                    //将outputItems按照procedure.OutputSeparator进行拼接，得到最终返回结果
                    string finalResponse = string.Join(procedure.OutputSeparator, outputItems);
                    return (true, new string[] { finalResponse });
                }
            }

            //关闭Feeder灯光
            if (feeder.IsConnected)
            {
                await feeder.CloseLightAsync();
            }
            await TurnOffLightAfterPhoto(procedure);
            SendTaskMessage(Lang.多次拍照失败, MessageLevel.Alarm);
            return (false, new string[] { "VisionFailed" });
        }

        /// <summary>
        /// 执行非 Feeder 引导的普通视觉任务，返回单字符串响应。
        /// </summary>
        public async Task<(bool IsSucceed, string Response)> ExecuteNormalVisionTaskAsync(ProcedureModel procedure, string[] items, CancellationToken cancellationToken)
        {
            // 开始执行前的时间点
            DateTime startTime = DateTime.Now;
            try
            {
                await SetLightBeforePhoto(procedure);
                // 触发命令传入的输入终端
                Dictionary<string, string> InputTerminal = null;

                // 解析触发命令传入的输入终端参数
                //判断传入参数中是否存在“SetInputs”
                if (items != null && items.Length > 1 && items[0] == "SetInputs")
                {
                    InputTerminal = items.Skip(1)
                        .Select(x => x.Split('='))
                        .Where(y => y.Length == 2)
                        .ToDictionary(z => z[0], z => z[1]);
                }

                // 机器人当前坐标
                double[] currentpos = null;
                // 判断传入参数长度是否3，并且是否都是double
                if (items != null && items.Length >= 3 && double.TryParse(items[0], out double _x) && double.TryParse(items[1], out double _y) && double.TryParse(items[2], out double _u))
                {
                    currentpos = new double[] { _x, _y, _u };
                }

                //拍照失败时，需要多次拍照
                for (int i = 0; i < procedure.FeederFailLimit; i++)
                {
                    if (cancellationToken != null && cancellationToken.IsCancellationRequested)
                    {
                        return (false, "VisionTaskCancelled");
                    }
                    // 1. 执行相机拍照并运行视觉工具
                    LogHelper.WriteLogInfo(Lang.开始执行相机拍照并运行视觉工具);
                    bool visionSucceed = ExecutePhoto(procedure, InputTerminal, out CogToolBlockTerminalCollection outputCollection);
                    if (!visionSucceed)
                    {
                        SendTaskMessage(Lang.视觉任务执行失败, MessageLevel.Error);
                        continue;
                    }
                    if (!outputCollection.Contains("Found"))
                    {
                        SendTaskMessage(Lang.未找到视觉输出结果, MessageLevel.Error);
                        return (false, "NoFoundOutput");
                    }
                    bool Found = (bool)(outputCollection["Found"].Value);
                    if (!Found)
                    {
                        SendTaskMessage(Lang.拍照NG, MessageLevel.Debug);
                        continue;
                    }

                    SendTaskMessage(Lang.拍照OK, MessageLevel.Debug);

                    // 2. 获取视觉输出结果
                    LogHelper.WriteLogInfo(Lang.开始获取视觉输出结果);
                    var (IsSucceed, ErrMsg, Output) = GetVisionOutput(procedure, outputCollection, currentpos);
                    if (!IsSucceed)
                    {
                        SendTaskMessage(Lang.获取视觉输出结果失败, MessageLevel.Error);
                        return (false, ErrMsg);
                    }
                    // 3. 组织返回结果

                    List<string> outputItems = new List<string>();    //多项输出结果集合
                    foreach (var output in procedure.ProcedureOutputs)
                    {
                        if (Output.ContainsKey(output.Name))
                        {
                            var (IsPoint, Value) = Output[output.Name];
                            if (IsPoint)
                            {
                                List<string[]> points = Value as List<string[]>;
                                List<string> allpoints = new List<string>();
                                for (int j = 0; j < points.Count; j++)
                                {
                                    allpoints.Add(string.Join(",", points[j]));
                                }
                                //多个点位之间逗号分隔
                                string pointstr = allpoints.Count + "," + string.Join(",", allpoints);
                                outputItems.Add(pointstr);
                            }
                            else
                            {
                                string itemstr = Value != null ? Value.ToString() : string.Empty;
                                outputItems.Add(itemstr);
                            }
                        }
                    }

                    //将outputItems按照procedure.OutputSeparator进行拼接，得到最终返回结果
                    string finalResponse = string.Join(procedure.OutputSeparator, outputItems);
                    return (true, finalResponse);
                }
                return (false, "VisionFailed");
            }
            catch (Exception ex)
            {
                SendTaskMessage(ex.Message, MessageLevel.Error);
                LogHelper.WriteLogError(Lang.执行普通视觉任务时出错, ex);
                return (false, "Exception");
            }
            finally
            {
                await TurnOffLightAfterPhoto(procedure);
            }
        }

        /// <summary>
        /// 执行相机拍照并运行 ToolBlock，返回是否成功并通过 out 参数返回 Outputs。
        /// 该方法会发布 RenderUpdateNotification 以更新 UI。
        /// </summary>
        public bool ExecutePhoto(ProcedureModel procedure, Dictionary<string, string> InputTerminal, out CogToolBlockTerminalCollection outputCollection)
        {
            try
            {
                // 1. 采集图像
                var camera = _cameraService.GetCamera(procedure.CameraId);
                bool succed = camera.SetExposureTime(procedure.ExposureTime);
                if (!succed)
                {
                    SendTaskMessage(Lang.相机曝光设置失败, MessageLevel.Error);
                }
                succed = camera.SetGain(procedure.Gain);
                if (!succed)
                {
                    SendTaskMessage(Lang.相机增益设置失败, MessageLevel.Error);
                }
                DateTime nowtime = DateTime.Now;
                LogHelper.WriteLogInfo(Lang.开始采集图像);
                var image = camera.Grab();
                if (image == null)
                {

                    SendTaskMessage(Lang.图像采集失败, MessageLevel.Error);
                    outputCollection = null;
                    return false;
                }
                procedure.ToolBlock.Inputs["InputImage"].Value = image;
                LogHelper.WriteLogInfo(string.Format(Lang.采集图像完成用时0ms, (DateTime.Now - nowtime).Milliseconds));

                // 2. 为ToolBlock传入其他输入终端
                if (InputTerminal != null)
                {
                    LogHelper.WriteLogInfo(Lang.为ToolBlock传入输入终端);
                    foreach (var item in InputTerminal)
                    {
                        if (procedure.ToolBlock.Inputs.Contains(item.Key))
                        {
                            LogHelper.WriteLogInfo(string.Format(Lang.传入01, item.Key, item.Value));
                            procedure.ToolBlock.Inputs[item.Key].Value = item.Value;
                        }
                        else
                        {
                            LogHelper.WriteLogInfo(string.Format(Lang.创建并传入01, item.Key, item.Value));
                            procedure.ToolBlock.Inputs.Add(new CogToolBlockTerminal(item.Key, item.Value));
                        }
                    }
                }

                // 3. 运行视觉工具
                LogHelper.WriteLogInfo(Lang.开始运行视觉工具);
                procedure.ToolBlock.Run();      //运行ToolBlock

                if (procedure.ToolBlock.RunStatus.Result == CogToolResultConstants.Accept)
                {
                    SendTaskMessage(Lang.视觉流程执行耗时.Replace("{0}", procedure.Name).Replace("{1}", $"{procedure.ToolBlock.RunStatus.ProcessingTime:F1}"), MessageLevel.Info);
                    outputCollection = procedure.ToolBlock.Outputs;     //获取输出终端集合
                    DatabaseHelper.AddCameraRecords(_productService.GetCurrentProduct().Name, procedure.Name, outputCollection);
                    ICogRecord record = null;
                    foreach (CogToolBlockTerminal item in outputCollection)
                    {
                        if (item.Value is ICogRecord)
                            record = item.Value as ICogRecord;
                    }
                    _eventAggregator.GetEvent<RenderUpdateNotification>().Publish(new ShowRender()
                    {
                        Id = procedure.Id,
                        Image = (ICogImage)procedure.ToolBlock.Inputs["InputImage"].Value,
                        Graphic = outputCollection["Graphic"].Value as CogGraphicCollection,
                        Record = record,
                        Result = (bool)(outputCollection["Found"].Value),
                        IsShow = true,
                        IsSaveImage = procedure.IsSaveImage,
                        SaveImageModel = procedure.SaveImageModel,
                        SaveImagePathModel = procedure.SaveImagePathModel,
                        SavePath = procedure.SavePath,
                        IsCompress = procedure.IsCompress,
                        ProceductName = procedure.Name
                    });
                    SendTaskMessage($"{procedure.CameraName},{procedure.CameraId}", MessageLevel.Info);
                    return true;
                }
                else
                {
                    SendTaskMessage(Lang.视觉流程执行出错耗时.Replace("{0}", procedure.Name).Replace("{1}", $"{procedure.ToolBlock.RunStatus.ProcessingTime:F1}"), MessageLevel.Error);
                    SendTaskMessage(procedure.ToolBlock.RunStatus.Message, MessageLevel.Error);
                    outputCollection = null;
                    _eventAggregator.GetEvent<RenderUpdateNotification>().Publish(new ShowRender()
                    {
                        Id = procedure.Id,
                        Image = (ICogImage)procedure.ToolBlock.Inputs["InputImage"].Value,
                        Graphic = new CogGraphicCollection(),
                        Result = false,
                        IsShow = true,
                        IsSaveImage = procedure.IsSaveImage,
                        SaveImageModel = procedure.SaveImageModel,
                        SaveImagePathModel = procedure.SaveImagePathModel,
                        SavePath = procedure.SavePath,
                        ProceductName = procedure.Name,
                    });
                    return false;
                }
            }
            catch (Exception ex)
            {
                SendTaskMessage(ex.Message, MessageLevel.Error);
                LogHelper.WriteLogError(Lang.执行相机取图并执行视觉工具组时出错, ex);
                outputCollection = null;
                return false;
            }
        }
        /// <summary>
        /// 执行拍照二维码流程运行
        /// </summary>
        /// <param name="procedure"></param>
        /// <param name="outputCollection"></param>
        /// <returns></returns>
        public bool ExecutePhoto(ProcedureModel procedure, out CogToolBlockTerminalCollection outputCollection)
        {
            try
            {
                SetLightBeforePhoto(procedure);
                // 1. 采集图像
                var camera = _cameraService.GetCamera(procedure.CameraId);
                bool succed = camera.SetExposureTime(procedure.ExposureTime);
                if (!succed)
                {
                    SendTaskMessage(Lang.相机曝光设置失败, MessageLevel.Error);
                }
                succed = camera.SetGain(procedure.Gain);
                if (!succed)
                {
                    SendTaskMessage(Lang.相机增益设置失败, MessageLevel.Error);
                }
                DateTime nowtime = DateTime.Now;
                LogHelper.WriteLogInfo(Lang.开始采集图像);
                var image = camera.Grab();
                if (image == null)
                {

                    SendTaskMessage(Lang.图像采集失败, MessageLevel.Error);
                    outputCollection = null;
                    return false;
                }
                procedure.ToolBlock.Inputs["InputImage"].Value = image;
                LogHelper.WriteLogInfo(string.Format(Lang.采集图像完成用时0ms, (DateTime.Now - nowtime).Milliseconds));

                // 3. 运行视觉工具
                LogHelper.WriteLogInfo(Lang.开始运行视觉工具);
                procedure.ToolBlock.Run();      //运行ToolBlock

                if (procedure.ToolBlock.RunStatus.Result == CogToolResultConstants.Accept)
                {
                    SendTaskMessage(Lang.视觉流程执行耗时.Replace("{0}", procedure.Name).Replace("{1}", $"{procedure.ToolBlock.RunStatus.ProcessingTime:F1}"), MessageLevel.Info);
                    outputCollection = procedure.ToolBlock.Outputs;     //获取输出终端集合
                    DatabaseHelper.AddCameraRecords(_productService.GetCurrentProduct().Name, procedure.Name, outputCollection);
                    ICogRecord record = null;
                    foreach (CogToolBlockTerminal item in outputCollection)
                    {
                        if (item.Value is ICogRecord)
                            record = item.Value as ICogRecord;
                    }
                    _eventAggregator.GetEvent<RenderUpdateNotification>().Publish(new ShowRender()
                    {
                        Id = procedure.Id,
                        Image = (ICogImage)procedure.ToolBlock.Inputs["InputImage"].Value,
                        Graphic = outputCollection["Graphic"].Value as CogGraphicCollection,
                        Record = record,
                        Result = (bool)(outputCollection["Found"].Value),
                        IsShow = true,
                        IsSaveImage = procedure.IsSaveImage,
                        SaveImageModel = procedure.SaveImageModel,
                        SaveImagePathModel = procedure.SaveImagePathModel,
                        SavePath = procedure.SavePath,
                        IsCompress = procedure.IsCompress,
                        ProceductName = procedure.Name
                    });
                    SendTaskMessage($"{procedure.CameraName},{procedure.CameraId}", MessageLevel.Info);
                    return true;
                }
                else
                {
                    SendTaskMessage(Lang.视觉流程执行出错耗时.Replace("{0}", procedure.Name).Replace("{1}", $"{procedure.ToolBlock.RunStatus.ProcessingTime:F1}"), MessageLevel.Error);
                    SendTaskMessage(procedure.ToolBlock.RunStatus.Message, MessageLevel.Error);
                    outputCollection = null;
                    _eventAggregator.GetEvent<RenderUpdateNotification>().Publish(new ShowRender()
                    {
                        Id = procedure.Id,
                        Image = (ICogImage)procedure.ToolBlock.Inputs["InputImage"].Value,
                        Graphic = new CogGraphicCollection(),
                        Result = false,
                        IsShow = true,
                        IsSaveImage = procedure.IsSaveImage,
                        SaveImageModel = procedure.SaveImageModel,
                        SaveImagePathModel = procedure.SaveImagePathModel,
                        SavePath = procedure.SavePath,
                        ProceductName = procedure.Name,
                    });
                    return false;
                }
            }
            catch (Exception ex)
            {
                SendTaskMessage(ex.Message, MessageLevel.Error);
                LogHelper.WriteLogError(Lang.执行相机取图并执行视觉工具组时出错, ex);
                outputCollection = null;
                return false;
            }
        }

        /// <summary>
        /// 执行相机拍照并运行 ToolBlock,返回是否成功并通过 out 参数返回 Outputs、图像和图形集合。
        /// </summary>
        /// <param name="procedure"></param>
        /// <param name="InputTerminal"></param>
        /// <param name="outputCollection"></param>
        /// <param name="outImage"></param>
        /// <param name="outGraphicCollection"></param>
        /// <returns></returns>
        public bool ExecutePhotoEx(ProcedureModel procedure, Dictionary<string, string> InputTerminal, out CogToolBlockTerminalCollection outputCollection, out ICogImage outImage, out CogGraphicCollection outGraphicCollection)
        {
            outImage = null;
            outGraphicCollection = null;
            try
            {

                // 1. 采集图像
                var camera = _cameraService.GetCamera(procedure.CameraId);
                bool succed = camera.SetExposureTime(procedure.ExposureTime);
                if (!succed)
                {
                    SendTaskMessage(Lang.相机曝光设置失败, MessageLevel.Error);
                }
                succed = camera.SetGain(procedure.Gain);
                if (!succed)
                {
                    SendTaskMessage(Lang.相机增益设置失败, MessageLevel.Error);
                }
                DateTime nowtime = DateTime.Now;
                LogHelper.WriteLogInfo(Lang.开始采集图像);
                var image = camera.Grab();
                if (image == null)
                {

                    SendTaskMessage(Lang.图像采集失败, MessageLevel.Error);
                    outputCollection = null;
                    return false;
                }
                outImage = image;
                procedure.ToolBlock.Inputs["InputImage"].Value = image;
                LogHelper.WriteLogInfo(string.Format(Lang.采集图像完成用时0ms, (DateTime.Now - nowtime).Milliseconds));

                // 2. 为ToolBlock传入其他输入终端
                if (InputTerminal != null)
                {
                    LogHelper.WriteLogInfo(Lang.为ToolBlock传入输入终端);
                    foreach (var item in InputTerminal)
                    {
                        if (procedure.ToolBlock.Inputs.Contains(item.Key))
                        {
                            LogHelper.WriteLogInfo($"传入[{item.Key}]={item.Value}");
                            procedure.ToolBlock.Inputs[item.Key].Value = item.Value;
                        }
                        else
                        {
                            LogHelper.WriteLogInfo($"创建并传入[{item.Key}]={item.Value}");
                            procedure.ToolBlock.Inputs.Add(new CogToolBlockTerminal(item.Key, item.Value));
                        }
                    }
                }

                // 3. 运行视觉工具
                LogHelper.WriteLogInfo(Lang.开始运行视觉工具);
                procedure.ToolBlock.Run();      //运行ToolBlock

                if (procedure.ToolBlock.RunStatus.Result == CogToolResultConstants.Accept)
                {
                    SendTaskMessage(Lang.视觉流程执行耗时.Replace("{0}", procedure.Name).Replace("{1}", $"{procedure.ToolBlock.RunStatus.ProcessingTime:F1}"), MessageLevel.Info);
                    outputCollection = procedure.ToolBlock.Outputs;     //获取输出终端集合
                    DatabaseHelper.AddCameraRecords(_productService.GetCurrentProduct().Name, procedure.Name, outputCollection);
                    ICogRecord record = null;
                    foreach (CogToolBlockTerminal item in outputCollection)
                    {
                        if (item.Value is ICogRecord)
                            record = item.Value as ICogRecord;
                    }
                    outGraphicCollection = outputCollection["Graphic"].Value as CogGraphicCollection;
                    return true;
                }
                else
                {
                    SendTaskMessage(Lang.视觉流程执行出错耗时.Replace("{0}", procedure.Name).Replace("{1}", $"{procedure.ToolBlock.RunStatus.ProcessingTime:F1}"), MessageLevel.Error);
                    SendTaskMessage(procedure.ToolBlock.RunStatus.Message, MessageLevel.Error);
                    outputCollection = null;
                    outGraphicCollection = outputCollection["Graphic"].Value as CogGraphicCollection;
                    return false;
                }
            }
            catch (Exception ex)
            {
                SendTaskMessage(ex.Message, MessageLevel.Error);
                LogHelper.WriteLogError(Lang.执行相机取图并执行视觉工具组时出错, ex);
                outputCollection = null;
                return false;
            }
        }

        /// <summary>
        /// 执行相机拍照获取单个点位结果
        /// </summary>
        /// <param name="procedure"></param>
        /// <param name="InputTerminal"></param>
        /// <param name="robotCoord"></param>
        /// <param name="cancellationToken"></param>
        /// <param name="positionIndex"></param>
        /// <param name="remark"></param>
        /// <returns></returns>
        public async Task<(bool IsSucceed, double X, double Y, double U)> ExecutePhotoGetSinglePoint(ProcedureModel procedure, Dictionary<string, string> InputTerminal, double[] robotCoord, CancellationToken cancellationToken, int positionIndex, string remark)
        {
            DateTime nowtime = DateTime.Now;
            await SetLightBeforePhoto(procedure);
            try
            {
                //拍照失败时，需要多次拍照
                for (int i = 0; i < procedure.FeederFailLimit; i++)
                {
                    SendTaskMessage(Lang.开始执行视觉流程.Replace("{0}", $"{i + 1}").Replace("{1}", procedure.Name), MessageLevel.Info);

                    // 1. 执行相机拍照并运行视觉工具
                    bool visionSucceed = ExecutePhoto(procedure, InputTerminal, out CogToolBlockTerminalCollection outputCollection);
                    if (!visionSucceed)
                    {
                        SendTaskMessage(Lang.视觉任务执行失败, MessageLevel.Error);
                        continue;
                    }

                    if (!outputCollection.Contains("Found"))
                    {
                        SendTaskMessage(Lang.未找到视觉输出结果, MessageLevel.Error);
                        await RecordPhotoCaptureAsync(procedure, robotCoord, false, new double[] { 0, 0, 0 }, new double[] { 0, 0, 0 }, string.Empty, positionIndex, remark);
                        return (false, 0, 0, 0);
                    }

                    // 2. 获取视觉输出结果
                    bool Found = (bool)(outputCollection["Found"].Value);
                    if (!Found)
                    {
                        SendTaskMessage(Lang.拍照NG, MessageLevel.Debug);
                        continue;
                    }

                    SendTaskMessage(Lang.拍照OK, MessageLevel.Debug);

                    if (procedure.CalibrationId== Guid.Empty)
                    {
                        //没有关联校准时，则执行检测任务
                        await RecordPhotoCaptureAsync(procedure, robotCoord, true, new double[] { 0, 0, 0 }, new double[] { 0, 0, 0 }, string.Empty, positionIndex, remark);
                        return (true, 0, 0, 0);
                    }

                    // 3. 获取视觉输出结果
                    LogHelper.WriteLogInfo(Lang.开始获取视觉输出结果);
                    //获取相机校准
                    var calib = _calibrationService.GetCalibration(procedure.CalibrationId);
                    string points = (string)(outputCollection["Point"].Value);
                    string[] strpoints = points.Split(';');
                    //先将pos按照逗号进行分隔，拿到数组
                    var posParts = strpoints[0].Split(',');
                    double _pixel_x = double.Parse(posParts[0]);
                    double _pixel_y = double.Parse(posParts[1]);
                    double _pixel_u = double.Parse(posParts[2]);
                    //转换点位-像素转换成机器人绝对坐标
                    var calibResult = _calibrationService.ConvertPixelToPosition((_pixel_x, _pixel_y, _pixel_u), robotCoord, calib, RobotBrand.XYZ_Platform);
                    if (!calibResult.IsSucceed)
                    {
                        await RecordPhotoCaptureAsync(procedure, robotCoord, false, new double[] { _pixel_x, _pixel_y, _pixel_u }, new double[] { 0, 0, 0 }, string.Empty, positionIndex, remark);
                        return (false, 0, 0, 0);
                    }
                    await RecordPhotoCaptureAsync(procedure, robotCoord,true, new double[] { _pixel_x, _pixel_y, _pixel_u }, new double[] { calibResult.X, calibResult.Y, calibResult.U }, string.Empty, positionIndex, remark);
                    return (true, calibResult.X, calibResult.Y, calibResult.U);
                }
                SendTaskMessage(Lang.多次拍照失败, MessageLevel.Alarm);
                await RecordPhotoCaptureAsync(procedure, robotCoord, false, new double[] { 0, 0, 0 }, new double[] { 0, 0, 0 }, string.Empty, positionIndex, remark);
                return (false, 0, 0, 0);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.执行相机取图并获取单点位时出错, ex);
                await RecordPhotoCaptureAsync(procedure, robotCoord, false, new double[] { 0, 0, 0 }, new double[] { 0, 0, 0 }, string.Empty, positionIndex, remark);
                return (false, 0, 0, 0);
            }
            finally
            {
                await TurnOffLightAfterPhoto(procedure);

            }
        }

        /// <summary>
        /// 记录拍照结果数据至数据库
        /// </summary>
        /// <param name="procedure"></param>
        /// <param name="robotCoord"></param>
        /// <param name="isSuccess"></param>
        /// <param name="pixelPosition"></param>
        /// <param name="absolutePosition"></param>
        /// <param name="imagePath"></param>
        /// <param name="positionIndex"></param>
        /// <param name="emarks"></param>
        /// <returns></returns>
        private async Task RecordPhotoCaptureAsync(ProcedureModel procedure, double[] robotCoord, bool isSuccess, double[] pixelPosition, double[] absolutePosition, string imagePath, int positionIndex, string emarks)
        {
            try
            {
                //当前的产品配方名
                string formulaName = _productService.GetCurrentProduct().Name;
                //如果当前产品名称存在非法字符，则替换为下划线
                foreach (char c in System.IO.Path.GetInvalidFileNameChars())
                {
                    formulaName = formulaName.Replace(c, '_');
                }
                //获取当前的产品SN
                string productSN = _productService.CurrentProductCode;
                //如果产品SN存在非法字符，则替换为下划线
                foreach (char c in System.IO.Path.GetInvalidFileNameChars())
                {
                    productSN = productSN.Replace(c, '_');
                }
                //当前用户
                string currentUser = _systemDatabaseService.GetCurrentUser()?.UserName;

                //相机名称
                string cameraName = procedure.CameraName;
                //视觉流程名称
                string procedureName = procedure.Name;
                //如果机器人坐标为空，则获取当前机器人坐标
                if (robotCoord == null)
                {
                    var robot = _robotService.GetAllRobots().FirstOrDefault();
                    if (robot != null)
                    {
                        var pos = await robot.GetRobotPosAsync();
                        robotCoord = new double[] { pos.X, pos.Y, pos.Z };
                    }
                    else
                    {
                        robotCoord = new double[] { 0, 0, 0 };
                    }
                }
                PhotoCaptureRecord photoCaptureRecord = new PhotoCaptureRecord();
                photoCaptureRecord.RecipeName = formulaName;
                photoCaptureRecord.ProductSN = productSN;
                photoCaptureRecord.CameraName = cameraName;
                photoCaptureRecord.ProcessName = procedureName;
                photoCaptureRecord.RobotPosition=string.Join(",", robotCoord);
                photoCaptureRecord.IsSuccess = isSuccess;
                photoCaptureRecord.PixelPosition = string.Join(",", pixelPosition);
                photoCaptureRecord.AbsolutePosition = string.Join(",", absolutePosition);
                photoCaptureRecord.ImagePath = imagePath;
                photoCaptureRecord.Remarks = emarks;
                photoCaptureRecord.OperatorName = currentUser;

                await _systemDatabaseService.RecordPhotoCaptureAsync(photoCaptureRecord);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("记录拍照结果数据至数据库时出错", ex);
            }
        }

        /// <summary>
        /// 执行相机拍照获取单个点位结果，并且返回图像和图形
        /// </summary>
        /// <param name="procedure"></param>
        /// <param name="InputTerminal"></param>
        /// <param name="robotCoord"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        public async Task<(bool IsSucceed, double X, double Y, double U, ICogImage Image, CogGraphicCollection Graphic)> ExecutePhotoGetSinglePointWithImage(ProcedureModel procedure, Dictionary<string, string> InputTerminal, double[] robotCoord, CancellationToken cancellationToken)
        {
            DateTime nowtime = DateTime.Now;
            await SetLightBeforePhoto(procedure);
            ICogImage outImage = null;
            CogGraphicCollection outGraphicCollection = null;
            try
            {
                //拍照失败时，需要多次拍照
                for (int i = 0; i < procedure.FeederFailLimit; i++)
                {
                    SendTaskMessage(Lang.开始执行视觉流程.Replace("{0}", $"{i + 1}").Replace("{1}", procedure.Name), MessageLevel.Info);


                    // 1. 执行相机拍照并运行视觉工具
                    bool visionSucceed = ExecutePhotoEx(procedure, InputTerminal, out CogToolBlockTerminalCollection outputCollection, out outImage, out outGraphicCollection);
                    if (!visionSucceed)
                    {
                        SendTaskMessage(Lang.视觉任务执行失败, MessageLevel.Error);
                        continue;
                    }

                    if (!outputCollection.Contains("Found"))
                    {
                        SendTaskMessage(Lang.未找到视觉输出结果, MessageLevel.Error);
                        return (false, 0, 0, 0, outImage, outGraphicCollection);
                    }

                    // 2. 获取视觉输出结果
                    bool Found = (bool)(outputCollection["Found"].Value);
                    if (!Found)
                    {
                        SendTaskMessage(Lang.拍照NG, MessageLevel.Debug);
                        continue;
                    }

                    SendTaskMessage(Lang.拍照OK, MessageLevel.Debug);

                    // 3. 获取视觉输出结果
                    LogHelper.WriteLogInfo(Lang.开始获取视觉输出结果);
                    //获取相机校准
                    var calib = _calibrationService.GetCalibration(procedure.CalibrationId);
                    string points = (string)(outputCollection["Point"].Value);
                    string[] strpoints = points.Split(';');
                    //先将pos按照逗号进行分隔，拿到数组
                    var posParts = strpoints[0].Split(',');
                    double _pixel_x = double.Parse(posParts[0]);
                    double _pixel_y = double.Parse(posParts[1]);
                    double _pixel_u = double.Parse(posParts[2]);
                    //转换点位-像素转换成机器人绝对坐标
                    var calibResult = _calibrationService.ConvertPixelToPosition((_pixel_x, _pixel_y, _pixel_u), robotCoord, calib, RobotBrand.XYZ_Platform);
                    if (!calibResult.IsSucceed)
                    {
                        return (false, 0, 0, 0, outImage, outGraphicCollection);
                    }
                    return (true, calibResult.X, calibResult.Y, calibResult.U, outImage, outGraphicCollection);
                }
                SendTaskMessage(Lang.多次拍照失败, MessageLevel.Alarm);
                return (false, 0, 0, 0, outImage, outGraphicCollection);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.执行相机取图并获取单点位时出错, ex);
                return (false, 0, 0, 0, outImage, outGraphicCollection);
            }
            finally
            {
                await TurnOffLightAfterPhoto(procedure);

            }
        }

        /// <summary>
        /// 从 ToolBlock 的输出集合中根据 Procedure 配置提取需要发送的输出项并做必要的坐标转换。
        /// 返回元组：是否成功、错误信息（失败时）和名称->(是否点位, 值) 的字典。
        /// </summary>
        public (bool IsSucceed, string ErrMsg, Dictionary<string, (bool IsPoint, object Value)> Output) GetVisionOutput(ProcedureModel procedure, CogToolBlockTerminalCollection outputCollection, double[] robotPos)
        {
            RobotBrand robotBrand = RobotBrand.Default;
            var robot = _configService.GetRobot(procedure.RobotId);
            if (robot != null)
            {
                robotBrand = robot.RobotBrand;
            }
            List<string> SendResults = new List<string>();
            Dictionary<string, (bool IsPoint, object Value)> ResultCollection = new Dictionary<string, (bool IsPoint, object Value)>();
            foreach (var output in procedure.ProcedureOutputs)
            {
                //根据输出类型进行区分输出
                if (output.ValueType == typeof(string))
                {
                    //需要点位转换时，进行点位提取
                    if (output.IsPointTran)
                    {
                        if (outputCollection[output.Name].Value == null || string.IsNullOrEmpty(outputCollection[output.Name].Value.ToString()))
                        {
                            //如果需要输出的项的值为空，即点位数据为空，则输出点位的个数为0
                            ResultCollection.Add(output.Name, (true, null));
                            continue;
                        }
                        string[] strpoints = outputCollection[output.Name].Value.ToString().Split(';');
                        //存储当前输出点位集合
                        List<string[]> currentPointsForFeeder = new List<string[]>();
                        //获取相机校准
                        var calib = _calibrationService.GetCalibration(procedure.CalibrationId);
                        if (calib == null)
                        {
                            SendTaskMessage(Lang.没有相机校准信息, MessageLevel.Alarm);
                            return (false, "NotCalibrations", null);
                        }

                        // 判断相机安装方式，如果是J4移动相机或者XYZ平台时，则需要判断robotPos不能为null
                        if ((calib.CameraMount == CameraMount.MobileJ4 || calib.CameraMount == CameraMount.MobileDown_XYPlatform) && robotPos == null)
                        {
                            SendTaskMessage(Lang.机器人当前位置不能为空, MessageLevel.Alarm);
                            return (false, "RobotPositionNull", null);
                        }

                        List<string> SendDtat = new List<string>();
                        List<string> points = new List<string>();
                        //遍历所有的输出点位
                        foreach (var pos in strpoints)
                        {
                            //先将pos按照逗号进行分隔，拿到数组,判断是否至少包含3个元素，并且前三个元素可以转换为double，确保是有效的点位数据
                            if (string.IsNullOrEmpty(pos))
                            {
                                continue;
                            }

                            //先将pos按照逗号进行分隔，拿到数组
                            var posParts = pos.Split(',');
                            if (posParts.Length < 3 ||
                                !double.TryParse(posParts[0], out double _pixel_x) ||
                                !double.TryParse(posParts[1], out double _pixel_y) ||
                                !double.TryParse(posParts[2], out double _pixel_u))
                            {
                                SendTaskMessage(string.Format(Lang.点位数据格式错误, pos), MessageLevel.Alarm);
                                return (false, "PointDataFormatError", null);
                            }

                            //转换点位-像素转换成机器人绝对坐标

                            var calibResult = _calibrationService.ConvertPixelToPosition((_pixel_x, _pixel_y, _pixel_u), robotPos, calib, robotBrand);

                            if (!calibResult.IsSucceed)
                            {
                                return (false, "CalibrationFailed", null);
                            }

                            //截取posParts数组从索引3开始到结尾的所有元素，得到新新的数组extraInfoArray
                            string[] extraInfoArray = posParts.Skip(3).ToArray();
                            //将rpos转换为字符串数组，保留3位小数
                            string[] strings = new string[] { $"{calibResult.X:F3}", $"{calibResult.Y:F3}", $"{calibResult.U:F3}" };
                            List<string> rposString = new List<string>(strings);
                            if (extraInfoArray.Length > 0)
                            {
                                rposString.AddRange(extraInfoArray);
                            }

                            currentPointsForFeeder.Add(rposString.ToArray());
                        }

                        ResultCollection[output.Name] = (true, currentPointsForFeeder);
                    }
                    //直接输出字符串
                    else
                    {
                        if (outputCollection[output.Name].Value == null || string.IsNullOrEmpty(outputCollection[output.Name].Value.ToString()))
                        {
                            ResultCollection.Add(output.Name, (false, null));
                            continue;
                        }
                        ResultCollection[output.Name] = (false, outputCollection[output.Name].Value.ToString());
                    }
                }
                else
                {
                    if (outputCollection[output.Name].Value == null)
                    {
                        ResultCollection.Add(output.Name, (false, null));
                    }
                    else
                    {
                        ResultCollection[output.Name] = (false, outputCollection[output.Name].Value.ToString());
                    }
                }
            }
            return (true, string.Empty, ResultCollection);
        }

        /// <summary>
        /// 拍照前针对 Feeder 的准备动作：设置灯、必要时供料或振动等。
        /// </summary>
        public async Task ExecuteFeederForPhotoBefore(IVoiceCoilMotorFeeder Feeder, ProcedureModel procedure, bool doVibrateFirst, bool doCaptureFirst, CancellationToken cancellationToken)
        {
            // 1. 设置Feeder光源亮度、打开光源
            if (Feeder.FeederBrand == FeederBrand.AFAG)
            {
                await Feeder.SetLightValueAsync((ushort)procedure.LightValue);
            }
            else
            {
                //Feeder光源亮度设置
                if (procedure.LightValue > 3)
                {
                    var light = await Feeder.GetLightBrightnessAsync();
                    if (procedure.LightValue != light)
                    {
                        await Feeder.SetLightValueAsync((ushort)procedure.LightValue);
                    }
                    //获取光源的超时时间
                    int lightTimeout = await Feeder.GetLightTimeoutAsync();
                    if (lightTimeout < 10000)
                    {
                        await Feeder.SetLightTimeOutAsync(10000);
                    }

                    //打开光源
                    await Feeder.OpenLightAsync();
                }
            }

            if (doCaptureFirst)//如果不振动，等待光源稳定时间
            {
                if (procedure.WaitPhoto > 0) await Task.Delay(procedure.WaitPhoto);
                return;
            }

            //先振后拍时
            if (procedure.VibrationModel == VibrationModel.VibrationPhoto || doVibrateFirst)
            {
                if (procedure.FeederWorks != null && procedure.FeederWorks.FeederWorkList != null)
                {
                    bool flog = false;
                    //如果上次的Blob面积小于设定的最小值，则触发供料
                    if (procedure.LastBlobArea <= procedure.MinArea)
                    {
                        flog = true;
                        SendTaskMessage(Lang.执行料仓供料, MessageLevel.Info);
                        await ExecuteFeederStockWorks(Feeder, procedure.FeederStockWorks, cancellationToken);
                        if (procedure.WaitFeederStop > 0) await Task.Delay(procedure.WaitFeederStop);
                        SendTaskMessage(Lang.料仓供料结束, MessageLevel.Info);
                    }
                    if (!flog)
                    {
                        //执行配置的Feeder振动任务
                        await ExecuteFeederWorks(Feeder, procedure.FeederWorks, cancellationToken, false);
                        if (procedure.WaitFeederStop > 0) await Task.Delay(procedure.WaitFeederStop);
                    }
                }
            }
            else
            {
                if (procedure.LightValue > 3)
                {
                    if (procedure.WaitPhoto > 0) await Task.Delay(procedure.WaitPhoto);
                }

                //如果上次的Blob面积小于设定的最小值，则触发供料
                if (procedure.LastBlobArea <= procedure.MinArea)
                {
                    SendTaskMessage(Lang.执行料仓供料, MessageLevel.Info);
                    await ExecuteFeederStockWorks(Feeder, procedure.FeederStockWorks, cancellationToken);
                    if (procedure.WaitFeederStop > 0) await Task.Delay(procedure.WaitFeederStop);
                    SendTaskMessage(Lang.料仓供料结束, MessageLevel.Info);
                }
            }
        }

        /// <summary>
        /// 拍照后在 NG 情况下的 Feeder 后处理，例如供料或振动。
        /// </summary>
        public async Task ExecuteFeederForPhotoLater(IVoiceCoilMotorFeeder Feeder, ProcedureModel procedure, CancellationToken cancellationToken)
        {
            //根据斑点面积决定是否料仓供料
            if (procedure.LastBlobArea <= procedure.MinArea)
            {
                SendTaskMessage(Lang.执行料仓供料, MessageLevel.Info);
                await ExecuteFeederStockWorks(Feeder, procedure.FeederStockWorks, cancellationToken);
                if (cancellationToken != null && cancellationToken.IsCancellationRequested) return;
                if (procedure.WaitFeederStop > 0) await Task.Delay(procedure.WaitFeederStop, cancellationToken);
                SendTaskMessage(Lang.料仓供料结束, MessageLevel.Info);
            }
            else
            {
                if (procedure.FeederWorks != null && procedure.FeederWorks.FeederWorkList != null)
                {
                    SendTaskMessage(Lang.执行Feeder振动, MessageLevel.Info);
                    //执行配置的Feeder振动任务
                    await ExecuteFeederWorks(Feeder, procedure.FeederWorks, cancellationToken);
                    if (cancellationToken != null && cancellationToken.IsCancellationRequested) return;
                    if (procedure.WaitFeederStop > 0) await Task.Delay(procedure.WaitFeederStop, cancellationToken);
                    SendTaskMessage(Lang.Feeder振动结束, MessageLevel.Info);
                }
            }
        }

        /// <summary>
        /// 并行执行料仓供料和振动任务。
        /// </summary>
        public async Task ExecuteFeederStockWorks(IVoiceCoilMotorFeeder feeder, FeederStockWorks works, CancellationToken cancellationToken, bool isUpdateParame = true)
        {
            //同时执行料仓供料和Feeder振动任务
            var stockTask = ExecuteFeederStockWorksOnly(feeder, works.FeederStockWorkList.ToArray(), cancellationToken);
            var vibrationTask = ExecuteFeederWorkOnly(feeder, works.FeederWorkList.ToArray(), cancellationToken);
            await Task.WhenAll(stockTask, vibrationTask);
        }

        /// <summary>
        /// 执行料仓振动任务序列（仅料仓相关动作）。
        /// </summary>
        public async Task ExecuteFeederStockWorksOnly(IVoiceCoilMotorFeeder feeder, FeederStockWork[] works, CancellationToken cancellationToken)
        {
            //执行配置的料仓振动任务
            if (feeder.FeederBrand == FeederBrand.AFAG)
            {
                foreach (var stockwork in works)
                {
                    if (stockwork.RegisterIndex == 0)
                    {
                        if (stockwork.Duration > 0) await Task.Delay(stockwork.Duration, cancellationToken);

                    }
                    else if (stockwork.RegisterIndex == 1)
                    {
                        // 保留原注释的位置给 Modbus 操作
                    }
                    if (cancellationToken != null && cancellationToken.IsCancellationRequested)
                    {
                        return;
                    }
                }
            }
            else
            {
                foreach (var stockwork in works)
                {
                    if (stockwork.Function == VibrationFunction.Delay)
                    {
                        if (stockwork.Duration > 0) await Task.Delay(stockwork.Duration, cancellationToken);
                    }
                    else
                    {
                        await feeder.OutputAsync(((int)stockwork.Function) + 1, stockwork.Duration);
                        if (stockwork.Duration > 0) await Task.Delay(stockwork.Duration, cancellationToken);
                    }
                    if (cancellationToken != null && cancellationToken.IsCancellationRequested)
                    {
                        return;
                    }
                }
            }
        }

        /// <summary>
        /// 执行单独的 Feeder 振动动作序列（仅振动相关）。
        /// </summary>
        public async Task ExecuteFeederWorkOnly(IVoiceCoilMotorFeeder feeder, FeederWork[] works, CancellationToken cancellationToken, bool isUpdateParame = true)
        {
            if (works == null)
            {
                return;
            }
            if (feeder.FeederBrand == FeederBrand.AFAG)
            {
                //执行配置的Feeder振动任务
                foreach (var feederwork in works)
                {
                    if (feederwork.ConfigIndex < 0)
                    {
                        continue;
                    }
                    if (feederwork.ConfigIndex == 0)
                    {
                        if (feederwork.Duration > 0) await Task.Delay(feederwork.Duration, cancellationToken);
                    }
                    else
                    {
                        ((AfagFeeder)feeder).LoadConfiguration(feederwork.ConfigIndex);
                        ((AfagFeeder)feeder).SetIntensity(feederwork.Intensity);
                        ((AfagFeeder)feeder).SetDirection(feederwork.Direction);
                        if (feederwork.Duration > 0) await Task.Delay(feederwork.Duration, cancellationToken);
                        if (cancellationToken != null && cancellationToken.IsCancellationRequested)
                        {
                            return;
                        }
                        ((AfagFeeder)feeder).SetIntensity(0);
                    }
                    if (cancellationToken != null && cancellationToken.IsCancellationRequested)
                    {
                        return;
                    }
                }
            }
            else
            {
                //执行配置的Feeder振动任务
                foreach (var feederwork in works)
                {
                    if (feederwork.Function == VibrationFunction.Delay)
                    {
                        if (feederwork.Duration > 0) await Task.Delay(feederwork.Duration, cancellationToken);
                    }
                    else
                    {
                        if (feederwork.SingleAction != null && isUpdateParame)
                        {
                            await feeder.SetShakeParametersAsync((int)feederwork.Function, feederwork.SingleAction);
                        }
                        await feeder.StartAction((int)feederwork.Function, feederwork.Duration);
                        if (feederwork.Duration > 0) await Task.Delay(feederwork.Duration, cancellationToken);
                    }
                    if (cancellationToken != null && cancellationToken.IsCancellationRequested)
                    {
                        return;
                    }
                }
            }
        }

        /// <summary>
        /// 执行 Feeder 振动集合（逐个执行 FeederWorkList 中的动作）。
        /// </summary>
        public async Task ExecuteFeederWorks(IVoiceCoilMotorFeeder feeder, FeederWorks works, CancellationToken cancellationToken, bool isUpdateParame = true)
        {
            if (feeder.FeederBrand == FeederBrand.AFAG)
            {
                foreach (var feederwork in works.FeederWorkList)
                {
                    if (feederwork.ConfigIndex < 0)
                    {
                        continue;
                    }
                    if (feederwork.ConfigIndex == 0)
                    {
                        await Task.Delay(feederwork.Duration, cancellationToken);
                    }
                    else
                    {
                        ((AfagFeeder)feeder).LoadConfiguration(feederwork.ConfigIndex);
                        ((AfagFeeder)feeder).SetIntensity(feederwork.Intensity);
                        ((AfagFeeder)feeder).SetDirection(feederwork.Direction);
                        await Task.Delay(feederwork.Duration, cancellationToken);
                        if (cancellationToken != null && cancellationToken.IsCancellationRequested)
                        {
                            return;
                        }
                        ((AfagFeeder)feeder).SetIntensity(0);
                    }
                    if (cancellationToken != null && cancellationToken.IsCancellationRequested)
                    {
                        return;
                    }
                }
            }
            else
            {
                foreach (var feederwork in works.FeederWorkList)
                {
                    if (feederwork.Function == VibrationFunction.Delay)
                    {
                        if (feederwork.Duration > 0) await Task.Delay(feederwork.Duration, cancellationToken);
                    }
                    else
                    {
                        if (feederwork.SingleAction != null && isUpdateParame)
                        {
                            await feeder.SetShakeParametersAsync((int)feederwork.Function, feederwork.SingleAction);
                        }

                        await feeder.StartAction((int)feederwork.Function, feederwork.Duration);
                        if (feederwork.Duration > 0) await Task.Delay(feederwork.Duration, cancellationToken);
                    }
                    if (cancellationToken != null && cancellationToken.IsCancellationRequested)
                    {
                        return;
                    }
                }
            }
        }

        /// <summary>
        /// 在拍照前设置光源亮度和打开光源
        /// </summary>
        /// <param name="procedure">流程模型</param>
        /// <returns></returns>
        public async Task SetLightBeforePhoto(ProcedureModel procedure)
        {
            //判断当前流程是否启用光源控制
            if (procedure.IsControlLightChannels)
            {
                //打开所有需要控制的光源通道
                foreach (var lightChannel in procedure.LightChannels)
                {
                    bool isSucceed = false;
                    isSucceed = await _lightManagerService.TurnOnGlobalChannelAsync(lightChannel.GlobalIndex);
                    if (!isSucceed)
                    {
                        LogHelper.WriteLogInfo(string.Format(Lang.设置光源通道0打开失败, lightChannel.GlobalIndex));
                        //"设置光源通道{lightChannel.GlobalIndex}打开失败！");
                    }
                    isSucceed = await _lightManagerService.SetGlobalChannelBrightnessAsync(lightChannel.GlobalIndex, lightChannel.DefaultBrightness);
                    if (!isSucceed)
                    {
                        LogHelper.WriteLogInfo(string.Format(Lang.设置光源通道0亮度1失败, lightChannel.GlobalIndex, lightChannel.DefaultBrightness));
                    }
                }
                if (procedure.LightChannels.Count > 0)
                {
                    await Task.Delay(50);
                }
            }
        }

        /// <summary>
        /// 在拍照后关闭光源
        /// </summary>
        /// <param name="procedure">流程模型</param>
        /// <returns></returns>
        public async Task TurnOffLightAfterPhoto(ProcedureModel procedure)
        {
            //判断当前流程是否启用光源控制
            if (procedure.IsControlLightChannels)
            {
                //关闭所有需要控制的光源通道
                foreach (var lightChannel in procedure.LightChannels)
                {
                    bool isSucceed = false;
                    isSucceed = await _lightManagerService.TurnOffGlobalChannelAsync(lightChannel.GlobalIndex);
                    if (!isSucceed)
                    {
                        LogHelper.WriteLogInfo(string.Format(Lang.设置光源通道0关闭失败, lightChannel.GlobalIndex));
                    }
                }
            }
        }

        #endregion
    }
}