Display_D_HP/TeamAAS-VM/Core/Management.cs

using Cognex.VisionPro;
using CSScripting;
using Prism.Events;
using Prism.Ioc;
using Prism.Mvvm;
using Prism.Regions;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Media;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP.Core.PLCs;
using TeamAAS_VP.Core.ScrewDriver;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Resources.Languages;
using TeamAAS_VP.ViewModels;
using TeamAAS_VP.ViewModels.Home;
using TouchSocket.Core;
using TouchSocket.Sockets;

namespace TeamAAS_VP.Core
{
    public class Management : BindableBase
    {
        #region 字段
        IRegionManager _regionManager;
        IEventAggregator _eventAggregator;
        IContainerProvider _container;
        IConfigService _configService;
        IRobotService _robotService;
        ICameraService _cameraService;
        IFeederService _feederService;
        IPlcService _plcService;
        ILightManagerService _lightManagerService;
        IProductService _productService;
        ICalibrationService _calibrationService;
        IRemoteCommandService _remoteCommandService;
        ISystemDatabaseService _systemDatabaseService;
        IMesService _mesService;

        Timer yieldtimer;
        private DateTime StartTime = DateTime.Now;
        /// <summary>
        /// 产品主sn
        /// </summary>
        string ProductMainSN = "";
        string wo = "";

        #endregion

        #region 属性
        public string[] CsvData = new string[50];
        public int[] ResultData = new int[200];
        public string code = "";
        List<LockResult> lockResultsAll = new List<LockResult>();//一个产品的总结果
        private ObservableCollection<ShowRender> _Renders;
        private double _CTtime;
        public int ResultDataCount;


        private bool _ShowMes_Query;
        /// <summary>
        /// 显示查询结果
        /// </summary>
        public bool ShowMes_Query
        {
            get { return _ShowMes_Query; }
            set { SetProperty(ref _ShowMes_Query, value); }
        }

        private bool _ShowMes_Result;
        /// <summary>
        /// 显示上传结果
        /// </summary>
        public bool ShowMes_Result
        {
            get { return _ShowMes_Result; }
            set { SetProperty(ref _ShowMes_Result, value); }
        }

        /// <summary>
        /// ct
        /// </summary>
        public double CTtime
        {
            get { return _CTtime; }
            set { SetProperty(ref _CTtime, value); }
        }
        /// <summary>
        /// 显示界面
        /// </summary>
        public ObservableCollection<ShowRender> Renders
        {
            get { return _Renders; }
            set { SetProperty(ref _Renders, value); }
        }

        private ProductModel _CurrentProduct;

        /// <summary>
        /// 当前产品
        /// </summary>
        public ProductModel CurrentProduct
        {
            get { return _CurrentProduct; }
            set { SetProperty(ref _CurrentProduct, value); }
        }

        public BgCommunicate BgCommunicate { get; private set; }

        public BgModbusTcpCommunicate BgModbusTcpCommunicate { get; private set; }

        private ObservableCollection<StatusInfo> _Status = new ObservableCollection<StatusInfo>();

        /// <summary>
        /// 状态栏集合
        /// </summary>
        public ObservableCollection<StatusInfo> Status
        {
            get { return _Status; }
            set { SetProperty(ref _Status, value); }
        }

        private Int64 _TotalQuantity;
        /// <summary>
        /// 总产量
        /// </summary>
        public Int64 TotalQuantity
        {
            get { return _TotalQuantity; }
            set { SetProperty(ref _TotalQuantity, value); }
        }

        private Int64 _TotalQuantityToday;
        /// <summary>
        /// 当天的总产量
        /// </summary>
        public Int64 TotalQuantityToday
        {
            get { return _TotalQuantityToday; }
            set { SetProperty(ref _TotalQuantityToday, value); }
        }

        private Int64 _CurrentUPH;
        /// <summary>
        /// 当前的UPH
        /// </summary>
        public Int64 CurrentUPH
        {
            get { return _CurrentUPH; }
            set { SetProperty(ref _CurrentUPH, value); }
        }

        private Int64 _NgNumber;
        /// <summary>
        /// 当前的NG数量
        /// </summary>
        public Int64 NgNumber
        {
            get { return _NgNumber; }
            set { SetProperty(ref _NgNumber, value); }
        }
        private double _Yield;
        /// <summary>
        /// 当前的NG数量
        /// </summary>
        public double Yield
        {
            get { return _Yield; }
            set { SetProperty(ref _Yield, value); }
        }
        private XYD_ScrewDriver _ScrewDriver;
        public XYD_ScrewDriver ScrewDriver
        {
            get { return _ScrewDriver; }
            set { SetProperty(ref _ScrewDriver, value); }
        }

        public Dictionary<string, object> BackupObject { get; set; } = new Dictionary<string, object>();

        #endregion

        #region 命令

        #endregion

        #region 事件

        #endregion

        public Management(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IConfigService configService,
            IRobotService robotService, ICameraService cameraService, IFeederService feederService, IPlcService plcService, IProductService productService,
            ICalibrationService calibrationService, IRemoteCommandService remoteCommandService, ISystemDatabaseService systemDatabaseService, ILightManagerService lightManagerService, IMesService mesService)
        {

            _regionManager = regionManager;
            _eventAggregator = ea;
            _container = container;
            _configService = configService;
            _robotService = robotService;
            _cameraService = cameraService;
            _feederService = feederService;
            _plcService = plcService;
            _calibrationService = calibrationService;
            yieldtimer = new Timer(DoYieldTime, null, 10000, 1000);
            Renders = new ObservableCollection<ShowRender>();
            _configService = configService;
            _productService = productService;
            _remoteCommandService = remoteCommandService;
            _systemDatabaseService = systemDatabaseService;
            _lightManagerService = lightManagerService;
            _mesService = mesService;
        }

        #region 初始化硬件模块

        /// <summary>
        /// 初始化Feeder
        /// </summary>
        /// <returns></returns>
        public async Task<(bool IsSucceed, string Msg)> InitFeeders()
        {
            var feeders = _configService.GetAllFeeders();
            StringBuilder sb = new StringBuilder();
            foreach (var item in feeders)
            {
                _feederService.CreateFeeder(item.Id, item.FeederNo, item.FeederName, item.IP, item.Port, item.FeederBrand);
                var feeder = _feederService.GetFeeder(item.Id);
                Status.Add(new StatusInfo(item.Id, item.FeederName + $"{Lang.未连接}", new SolidColorBrush(Colors.Red)));
                try
                {
                    feeder.FeederConnectionStatusChanged += Management_FeederConnectionStatusChanged;
                    await feeder.ConnectAsync();     //连接Feeder
                    //SendTaskMessage($"{item.FeederName}已连接!", MessageLevel.Debug);
                }
                catch (Exception ex)
                {
                    sb.AppendLine($"{item.FeederName}:{Lang.断开连接}![{ex.Message}]");
                    SendTaskMessage($"{item.FeederName}{Lang.断开连接}!", MessageLevel.Alarm);
                }
            }
            if (sb.Length == 0)
            {
                return (true, "");
            }
            else
            {
                return (false, sb.ToString());
            }
        }

        /// <summary>
        /// 初始化机器人
        /// </summary>
        /// <returns></returns>
        public async Task<(bool IsSucceed, string Msg)> InitRobots()
        {
            var robots = _configService.GetAllRobots();
            StringBuilder sb = new StringBuilder();
            foreach (var item in robots)
            {
                _robotService.CreateRobot(item.Id, item);

                try
                {
                    Status.Add(new StatusInfo(item.Id, item.RobotName + $"{Lang.未连接}", new SolidColorBrush(Colors.Red)));
                    var robot = _robotService.GetRobot(item.Id);
                    robot.ReceivedEvent += Management_ReceivedEvent;
                    robot.SendEvent += Management_SendEvent;
                    robot.ConnectedEvent += Management_ConnectedEvent;
                    robot.DisconnectedEvent += Management_DisconnectedEvent;
                    await robot.ConnectAsync();     //连接Robot
                    SendTaskMessage($"{item.RobotName}{Lang.已连接}!", MessageLevel.Debug);
                }
                catch (Exception ex)
                {
                    sb.AppendLine($"{item.RobotName}:{Lang.断开连接}![{ex.Message}]");
                    SendTaskMessage($"{item.RobotName}{Lang.断开连接}!", MessageLevel.Alarm);
                }
            }
            if (sb.Length == 0)
            {
                return (true, "");
            }
            else
            {
                return (false, sb.ToString());
            }
        }

        /// <summary>
        /// 初始化PLC
        /// </summary>
        /// <returns></returns>
        public async Task<(bool IsSucceed, string Msg)> InitPlc()
        {
            var plcs = _configService.GetAllPlcs();
            StringBuilder sb = new StringBuilder();
            foreach (var item in plcs)
            {
                try
                {
                    _plcService.CreatePlc(item.Id, item);
                    var plc = _plcService.GetPlc(item.Id);
                    Status.Add(new StatusInfo(item.Id, item.Name + $"{Lang.未连接}", new SolidColorBrush(Colors.Red)));
                    plc.ConnectChangedEvent += Management_PlcConnectChangedEvent;
                    await plc.ConnectAsync();     //连接PLC
                    //SendTaskMessage($"{item.Name}{Lang.已连接}!", MessageLevel.Debug);
                }
                catch (Exception ex)
                {
                    sb.AppendLine($"{item.Name}:{Lang.断开连接}![{ex.Message}]");
                    SendTaskMessage($"{item.Name}{Lang.断开连接}!", MessageLevel.Alarm);
                }
            }
            try
            {
                await WriteSystemParameterToPlcAsync(_configService.GetSystemConfiguration());
                RegisterPlcMonitorAddress();
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("为PLC写入系统参数和订阅变量时出错", ex);
            }
            if (sb.Length == 0)
            {
                return (true, "");
            }
            else
            {
                return (false, sb.ToString());
            }
        }

        /// <summary>
        /// 初始化相机
        /// </summary>
        /// <returns></returns>
        public async Task<(bool IsSucceed, string Msg)> InitCameras()
        {
            var cameras = _configService.GetAllCameras();
            StringBuilder sb = new StringBuilder();
            foreach (var item in cameras)
            {
                if (item.DisplatConfigs != null)
                {
                    foreach (var item1 in item.DisplatConfigs)
                    {
                        Renders.Add(new ShowRender() { Id = item1.Id, DisplayName = item1.DisplayName });
                    }
                }
                _cameraService.CreateCamera(item.Id, item);
                try
                {
                    var camera = _cameraService.GetCamera(item.Id);
                    Status.Add(new StatusInfo(item.Id, item.CameraName + $"{Lang.未连接}", new SolidColorBrush(Colors.Red)));
                    camera.CameraConnectChangedEvent += Management_CameraConnectChangedEvent;
                    camera.ImageCallbackEvent += Camera_ImageCallbackEvent;
                    try
                    {
                        if (await camera.OpenDeviceAsync())
                        {
                            SendTaskMessage($"{item.CameraName}{Lang.已连接}!", MessageLevel.Debug);
                        }
                        else
                        {
                            SendTaskMessage($"{item.CameraName}{Lang.连接失败}!", MessageLevel.Alarm);
                            sb.AppendLine($"{item.CameraName}:{Lang.连接失败}!");
                        }
                    }
                    catch (Exception ex)
                    {
                        SendTaskMessage($"{item.CameraName}{ex.Message}!", MessageLevel.Alarm);
                        sb.AppendLine($"{item.CameraName}:{ex.Message}!");
                    }

                }
                catch (Exception ex)
                {
                    SendTaskMessage($"{item.CameraName}{Lang.连接失败}!", MessageLevel.Alarm);
                    sb.AppendLine($"{item.CameraName}:{Lang.连接失败}!:{ex.Message}");
                }
            }
            _container.Resolve<ShowVisionRenderViewModel>().Renders = Renders;

            if (sb.Length == 0)
            {
                return (true, "");
            }
            else
            {
                return (false, sb.ToString());
            }
        }

        private void Camera_ImageCallbackEvent(ICogImage arg1, TimeSpan arg2, string arg3, Guid cameraId)
        {

            var camera = _configService.GetCamera(cameraId);
            SendTaskMessage($"相机[{camera.CameraName}]图像接收完成！", MessageLevel.Info);

            //if (camera.CameraNo == 1)
            //{
            //    ImageData[1] = 1;
            //}
            //else if (camera.CameraNo == 2)
            //{
            //    ImageData[2] = 1;
            //}
            //else if (camera.CameraNo == 3)
            //{
            //    ImageData[3] = 1;
            //    ImageData[4] = 1;
            //}

            //_eventAggregator.GetEvent<RenderUpdateNotification>().Publish(new ShowRender()
            //{
            //    CameraName = camera.CameraName,
            //    Id = cameraId,
            //    Image = arg1,
            //    Graphic = null,
            //    Record = null,
            //    Result = false,
            //    IsShow = true,
            //});

            // 通知等待方：该相机新图到达
            //SignalImageArrived(cameraId, arg1);
        }

        /// <summary>
        /// 初始化光源控制器
        /// </summary>
        /// <returns></returns>
        public async Task<(bool IsSucceed, string Msg)> InitLightControllers()
        {
            var lightcontrollers = _configService.GetAllLightControllers();
            StringBuilder sb = new StringBuilder();
            foreach (var item in lightcontrollers)
            {
                try
                {
                    var lishtCtr = await _lightManagerService.RegisterControllerAsync(item.Id, item);
                    //var lightcontroller = _cameraService.GetLightController(item.Id);
                    //await lightcontroller.ConnectAsync();     //连接光源控制器
                    //SendTaskMessage($"{item.LightControllerName}{Lang.已连接}!", MessageLevel.Debug);
                }
                catch (Exception ex)
                {
                    //sb.AppendLine($"{item.LightControllerName}:{Lang.断开连接}![{ex.Message}]");
                    //SendTaskMessage($"{item.LightControllerName}{Lang.断开连接}!", MessageLevel.Alarm);
                }
            }
            if (lightcontrollers.Count > 0)
            {
                var result = await _lightManagerService.ConnectAllAsync();
                if (result)
                {
                    return (true, "");
                }
                else
                {
                    return (false, "Light Controller Connect Failed!");
                }
            }
            return (true, "");
            //if (sb.Length == 0)
            //{
            //    return (true, "");
            //}
            //else
            //{
            //    return (false, sb.ToString());
            //}
        }

        /// <summary>
        /// 初始化后台TCP服务器通讯
        /// </summary>
        public void InitBgTcp()
        {
            var config = _configService.GetBgTcp();
            try
            {
                BgCommunicate = new BgCommunicate(config);
                BgCommunicate.ConnectedEvent += BgCommunicate_ConnectedEvent;
                BgCommunicate.DisconnectedEvent += BgCommunicate_DisconnectedEvent;
                BgCommunicate.ReceivedEvent += BgCommunicate_ReceivedEvent;
                BgCommunicate.SendEvent += BgCommunicate_SendEvent;
                BgCommunicate.StartListening();
                SendTaskMessage($"{Lang.已开启监听端口}：{config.Port}", MessageLevel.Debug);
            }
            catch (Exception ex)
            {
                SendTaskMessage($"{Lang.未开启监听端口}：{config.Port}", MessageLevel.Error);
                LogHelper.WriteLogError("开启后台服务器通讯时出错!", ex);
            }
        }

        /// <summary>
        /// 初始化后台ModbusTCP从站
        /// </summary>
        public void InitModbusTcp()
        {
            try
            {
                var config = _configService.GetBgModbusTcp();
                BgModbusTcpCommunicate = new BgModbusTcpCommunicate(config);
                if (config.IsEnabled)
                {
                    BgModbusTcpCommunicate.Listen();
                    SendTaskMessage($"Start Modbus Tcp Slave：{BgModbusTcpCommunicate.IP}:{BgModbusTcpCommunicate.Port}:{BgModbusTcpCommunicate.SlaveID}", MessageLevel.Debug);
                }
            }
            catch (Exception ex)
            {
                SendTaskMessage($"No Start Modbus Tcp Slave：{ex.Message}", MessageLevel.Alarm);
                LogHelper.WriteLogError("开启后台Modbus TCP通讯时出错!", ex);
            }
        }

        /// <summary>
        /// 初始化后台脚本
        /// </summary>
        public void InitBackgroundcript()
        {
            try
            {
                if (!Directory.Exists(FilePath.BackgroundScriptPath))
                {
                    Directory.CreateDirectory(FilePath.BackgroundScriptPath);
                }

                try
                {
                    string[] files = Directory.GetFiles(FilePath.BackgroundScriptPath);
                    List<string> ScriptFilesCollection = new List<string>();
                    foreach (string file in files)
                    {
                        string fileName = Path.GetFileName(file);
                        string fileExtension = Path.GetExtension(file);
                        if (fileExtension == ".cs")
                        {
                            ScriptFilesCollection.Add(file);
                        }
                    }
                    foreach (var item in ScriptFilesCollection)
                    {
                        try
                        {
                            string script = FileHelper.ReadFile(item);
                            SendTaskMessage($"{Lang.执行脚本}:{item}", MessageLevel.Info);
                            Task.Factory.StartNew(() =>
                            {
                                ScriptHelper.ExecuteScriptingAsync(script, _regionManager, _eventAggregator, _container, rst =>
                            {
                                if (!rst.Item1)
                                {
                                    foreach (var err in rst.Item2)
                                    {
                                        SendTaskMessage($"{Lang.后台脚本出错}:{err}", MessageLevel.Error);
                                    }
                                }
                            });
                            });
                        }
                        catch (Exception ex)
                        {
                            LogHelper.WriteLogError($"开启脚本时出错：{item}", ex);
                        }
                    }
                }
                catch (Exception ex)
                {
                    LogHelper.WriteLogError("读取本地脚本文件列表时出错", ex);
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("开启后台脚本时出错!", ex);
            }
        }

        /// <summary>
        /// 初始化电批
        /// </summary>
        /// <returns></returns>
        public async Task InitScrewDriver()
        {
            try
            {

                var screwDriverConfig = _configService.GetScrewDriverConfig();
                ScrewDriver = new XYD_ScrewDriver(screwDriverConfig.IPAdress, screwDriverConfig.Port);
                Status.Add(new StatusInfo(ScrewDriver.Id, "电批未连接", new SolidColorBrush(Colors.Red)));
                ScrewDriver.ConnectStateChangedEvent += ScrewDriver_ConnectStateChangedEvent;
                ScrewDriver.SendTimeout = screwDriverConfig.SendTimeout;
                screwDriverConfig.ReceiveTimeout = screwDriverConfig.ReceiveTimeout;
                var isConnected = await ScrewDriver.ConnectAsync();
                if (isConnected)
                {
                    SendTaskMessage($"电批已连接", MessageLevel.Debug);
                }
                else
                {
                    SendTaskMessage($"电批连接失败", MessageLevel.Error);
                }
            }
            catch (Exception ex)
            {
                SendTaskMessage($"电批连接失败:{ex.Message}", MessageLevel.Alarm);
                LogHelper.WriteLogError("连接电批时出错!", ex);
            }
        }
        #endregion

        #region 机器人指令执行

        public Dictionary<Guid, CancellationTokenSource> RobotTCPCollection = new Dictionary<Guid, CancellationTokenSource>();
        /// <summary>
        /// 机器人TCP接收
        /// </summary>
        /// <param name="arg1"></param>
        /// <param name="arg2"></param>
        /// <param name="arg3"></param>
        private async void Management_ReceivedEvent(Guid robotid, object arg2, TouchSocket.Sockets.ReceivedDataEventArgs e)
        {
            try
            {
                if (!RobotTCPCollection.ContainsKey(robotid))
                    RobotTCPCollection.Add(robotid, new CancellationTokenSource());
                else
                {
                    if (RobotTCPCollection[robotid].IsCancellationRequested)
                    {
                        RobotTCPCollection[robotid] = new CancellationTokenSource();
                    }
                }
                var robot = await _robotService.GetRobotAsync(robotid);
                //从服务器收到信息。但是一般byteBlock和requestInfo会根据适配器呈现不同的值。
                var buffer = e.ByteBlock.Span.ToString(robot.GetEncoding());
                SendTaskMessage($"{robot.Name}Received:{buffer}", MessageLevel.Info);

                var _ = _remoteCommandService.ExecuteAsync(buffer, RobotTCPCollection[robotid].Token, async msg =>
                {
                    try
                    {
                        if (robot.ConnectType == TCPConnectType.Client)
                        {
                            if (robot.IsConnected)
                            {
                                await robot.SendAsync($"{msg}");
                            }
                        }
                        else
                        {
                            var cient = (ITcpSessionClient)arg2;
                            if (cient.Online)
                            {
                                await robot.SendAsync(cient, $"{msg}");
                            }
                        }
                    }
                    catch (Exception ex)
                    {
                        LogHelper.WriteLogError("TCP发送数据时出错！", ex);
                        SendTaskMessage(ex.Message, MessageLevel.Alarm);
                    }
                });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("处理机器人接收的命令时出错！", ex);
                SendTaskMessage(ex.Message, MessageLevel.Alarm);
            }
        }

        #endregion

        #region 机器人&Feeder&相机连接状态事件
        /// <summary>
        /// 机器人发送事件
        /// </summary>
        /// <param name="arg1"></param>
        /// <param name="arg2"></param>
        /// <param name="arg3"></param>
        /// <exception cref="NotImplementedException"></exception>
        private void Management_SendEvent(Guid robotid, object arg2, string arg3)
        {
            var r = _robotService.GetRobot(robotid);
            SendTaskMessage($"{r.Name}Send:{arg3}", MessageLevel.Info);
        }

        /// <summary>
        /// 机器人断开连接时
        /// </summary>
        /// <param name="arg1"></param>
        /// <param name="arg2"></param>
        /// <param name="arg3"></param>
        /// <exception cref="NotImplementedException"></exception>
        private void Management_DisconnectedEvent(Guid robotid, object arg2, ClosedEventArgs arg3)
        {
            if (RobotTCPCollection.ContainsKey(robotid))
            {
                RobotTCPCollection[robotid].Cancel();
            }
            var r = _configService.GetRobot(robotid);
            if (r.ConnectType == TCPConnectType.Server)
            {
                ITcpSessionClient socketClient = arg2 as ITcpSessionClient;
                SendTaskMessage($"{r.RobotName}[{socketClient.Id}:{socketClient.IP}]{Lang.断开连接}！", MessageLevel.Error);

                var robot = _robotService.GetRobot(robotid);
                if (robot.TcpService.Count < 1)
                {
                    var sta = Status.FirstOrDefault(s => s.ID == robotid);
                    App.Current.Dispatcher.Invoke(new
                         Action(() =>
                         {
                             sta.Message = $"{r.RobotName}{Lang.未连接}";
                             sta.Background = new SolidColorBrush(Colors.Red);
                         }));

                }
            }
            else
            {
                SendTaskMessage($"{r.RobotName}{Lang.断开连接}！", MessageLevel.Error);
                var sta = Status.FirstOrDefault(s => s.ID == robotid);
                App.Current.Dispatcher.Invoke(new
                         Action(() =>
                         {
                             sta.Message = $"{r.RobotName}{Lang.断开连接}";
                             sta.Background = new SolidColorBrush(Colors.Red);
                         }));

            }
        }

        /// <summary>
        /// 机器人连接成功时
        /// </summary>
        /// <param name="arg1"></param>
        /// <param name="arg2"></param>
        /// <param name="arg3"></param>
        /// <exception cref="NotImplementedException"></exception>
        private void Management_ConnectedEvent(Guid robotid, object arg2, ConnectedEventArgs arg3)
        {
            var r = _configService.GetRobot(robotid);
            if (r.ConnectType == TCPConnectType.Server)
            {
                ITcpSessionClient socketClient = arg2 as ITcpSessionClient;
                SendTaskMessage($"{r.RobotName}[{socketClient.Id}:{socketClient.IP}]{Lang.已连接}！", MessageLevel.Debug);

                var robot = _robotService.GetRobot(robotid);
                if (robot.TcpService.Count > 0)
                {
                    var sta = Status.FirstOrDefault(s => s.ID == robotid);
                    App.Current.Dispatcher.Invoke(new
                         Action(() =>
                         {
                             sta.Message = $"{r.RobotName}{Lang.已连接}";
                             sta.Background = new SolidColorBrush(Colors.Green);
                         }));

                }
            }
            else
            {
                SendTaskMessage($"{r.RobotName}{Lang.已连接}！", MessageLevel.Debug);
                var sta = Status.FirstOrDefault(s => s.ID == robotid);
                App.Current.Dispatcher.Invoke(new
                         Action(() =>
                         {
                             sta.Message = $"{r.RobotName}{Lang.已连接}";
                             sta.Background = new SolidColorBrush(Colors.Green);
                         }));

            }
        }

        /// <summary>
        /// Feeder连接状态改变时
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="state"></param>
        private void Management_FeederConnectionStatusChanged(object sender, bool state)
        {
            IFeeder feeder = sender as IFeeder;
            var sta = Status.FirstOrDefault(s => s.ID == feeder.Id);
            if (state)
            {
                App.Current.Dispatcher.Invoke(new
                         Action(() =>
                         {
                             sta.Message = $"{feeder.Name}{Lang.已连接}";
                             sta.Background = new SolidColorBrush(Colors.Green);
                         }));

                SendTaskMessage($"{feeder.Name}{Lang.已连接}！", MessageLevel.Debug);
            }
            else
            {
                App.Current.Dispatcher.Invoke(new
                         Action(() =>
                         {
                             sta.Message = $"{feeder.Name}{Lang.未连接}";
                             sta.Background = new SolidColorBrush(Colors.Red);
                         }));

                SendTaskMessage($"{feeder.Name}{Lang.断开连接}！", MessageLevel.Error);
            }
        }

        /// <summary>
        /// 相机连接或者断开时
        /// </summary>
        /// <param name="id"></param>
        /// <param name="state"></param>
        private void Management_CameraConnectChangedEvent(Guid id, bool state)
        {
            var sta = Status.FirstOrDefault(s => s.ID == id);
            var camera = _configService.GetCamera(id);
            if (sta != null && camera != null)
            {
                if (state)
                {
                    App.Current.Dispatcher.Invoke(new Action(() =>
                    {
                        sta.Message = $"{camera.CameraName}{Lang.已连接}";
                        sta.Background = new SolidColorBrush(Colors.Green);
                    }));

                }
                else
                {
                    App.Current.Dispatcher.Invoke(new Action(() =>
                    {
                        sta.Message = $"{camera.CameraName}{Lang.断开连接}";
                        sta.Background = new SolidColorBrush(Colors.Red);
                    }));
                }
            }
        }

        /// <summary>
        /// PLC连接状态改变事件
        /// </summary>
        /// <param name="plc"></param>
        /// <param name="isconnected"></param>
        private void Management_PlcConnectChangedEvent(object sender, bool isconnected)
        {
            IPlc plc = sender as IPlc;
            var sta = Status.FirstOrDefault(s => s.ID == plc.Id);
            if (plc.IsConnected)
            {
                SendTaskMessage($"{plc.Name}{Lang.已连接}！", MessageLevel.Debug);
                if (sta == null) return;
                App.Current.Dispatcher.Invoke(new
                         Action(() =>
                         {
                             sta.Message = $"{plc.Name}{Lang.已连接}";
                             sta.Background = new SolidColorBrush(Colors.Green);
                         }));
            }
            else
            {
                SendTaskMessage($"{plc.Name}{Lang.断开连接}！", MessageLevel.Error);
                if (sta == null) return;
                App.Current.Dispatcher.Invoke(new
                         Action(() =>
                         {
                             sta.Message = $"{plc.Name}{Lang.未连接}";
                             sta.Background = new SolidColorBrush(Colors.Red);
                         }));
            }
        }

        /// <summary>
        /// 电批连接状态改变时
        /// </summary>
        /// <param name="screwDevice"></param>
        /// <param name="state"></param>
        private void ScrewDriver_ConnectStateChangedEvent(object screwDevice, bool state)
        {
            try
            {
                XYD_ScrewDriver screwDriver = screwDevice as XYD_ScrewDriver;
                if (state)
                {
                    SendTaskMessage($"电批{Lang.已连接}！", MessageLevel.Debug);
                    var sta = Status.FirstOrDefault(s => s.ID == screwDriver.Id);
                    App.Current.Dispatcher.Invoke(new
                         Action(() =>
                         {
                             sta.Message = $"电批{Lang.已连接}";
                             sta.Background = new SolidColorBrush(Colors.Green);
                         }));
                }
                else
                {
                    SendTaskMessage($"电批{Lang.未连接}！", MessageLevel.Error);
                    var sta = Status.FirstOrDefault(s => s.ID == screwDriver.Id);
                    App.Current.Dispatcher.Invoke(new
                         Action(() =>
                         {
                             sta.Message = $"电批{Lang.未连接}";
                             sta.Background = new SolidColorBrush(Colors.Red);
                         }));
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("电批连接状态改变时出错了", ex);
            }
        }
        #endregion

        #region 后台服务器通讯事件
        private void BgCommunicate_SendEvent(ITcpSessionClient client, string msg)
        {
            SendTaskMessage($"{Lang.服务器}[{client.ServicePort}] Send To {Lang.客户端}[{client.Id}:{client.IP}]:{msg}", MessageLevel.Info);
        }

        public Dictionary<string, CancellationTokenSource> BgCommunicateollection = new Dictionary<string, CancellationTokenSource>();
        private async void BgCommunicate_ReceivedEvent(ITcpSessionClient client, string msg)
        {

            try
            {
                if (!BgCommunicateollection.ContainsKey(client.Id))
                {
                    BgCommunicateollection.Add(client.Id, new CancellationTokenSource());
                }

                SendTaskMessage($"{Lang.服务器}[{client.ServicePort}]ReceiveFor{Lang.客户端}[{client.Id}:{client.IP}]:{msg}", MessageLevel.Info);
                var _ = _remoteCommandService.ExecuteAsync(msg, BgCommunicateollection[client.Id].Token, async response =>
                {
                    try
                    {
                        if (!client.Online)
                        {
                            return;
                        }
                        await BgCommunicate.SendAsync(client, $"{response}");
                    }
                    catch (Exception ex)
                    {
                        LogHelper.WriteLogError("后台TCP发送数据时出错！", ex);
                        SendTaskMessage(ex.Message, MessageLevel.Alarm);
                    }
                });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("处理后台服务器接收的命令时出错！", ex);
                SendTaskMessage(ex.Message, MessageLevel.Alarm);
            }
        }

        private void BgCommunicate_DisconnectedEvent(ITcpSessionClient client, ClosedEventArgs e)
        {
            SendTaskMessage($"{Lang.服务器}[{client.ServicePort}]{Lang.客户端}[{client.Id}:{client.IP}]{Lang.断开连接}!", MessageLevel.Alarm);
            if (BgCommunicateollection.ContainsKey(client.Id))
            {
                BgCommunicateollection[client.Id].Cancel();
            }
        }

        private void BgCommunicate_ConnectedEvent(ITcpSessionClient client, ConnectedEventArgs e)
        {
            SendTaskMessage($"{Lang.服务器}[{client.ServicePort}]{Lang.客户端}[{client.Id}:{client.IP}]{Lang.连接成功}!", MessageLevel.Debug);
        }
        #endregion

        #region PLC
        /// <summary>
        /// 将系统参数写入PLC
        /// </summary>
        /// <param name="systemConfiguration"></param>
        /// <returns></returns>
        public async Task WriteSystemParameterToPlcAsync(SystemConfiguration systemConfiguration)
        {
            var addressConfig = _configService.GetPlcAddresses();
            var plc = _plcService.GetPlcByNumber(addressConfig.PlcNo) as OpcUaClientPLC;
            if (plc == null || !plc.IsConnected) return;
            Dictionary<string, object> nodeValues = new Dictionary<string, object>();
            nodeValues.Add(addressConfig.Out_WorkMode.Address, (Int16)systemConfiguration.WorkMode);
            nodeValues.Add(addressConfig.Out_PickPointNum.Address, (Int16)systemConfiguration.PickPointNum);
            nodeValues.Add(addressConfig.Out_DowmCameraNum.Address, (Int16)systemConfiguration.DowmCameraNum);
            nodeValues.Add(addressConfig.Out_UpCameraPickNum.Address, (Int16)systemConfiguration.UpCameraPickNum);
            nodeValues.Add(addressConfig.Out_UpCameraPutNum.Address, (Int16)systemConfiguration.UpCameraPutNum);
            nodeValues.Add(addressConfig.Out_UPCameracheckNum.Address, (Int16)systemConfiguration.UPCameracheckNum);
            nodeValues.Add(addressConfig.Out_FixedCameraPickNum.Address, (Int16)systemConfiguration.FixedCameraPickNum);
            nodeValues.Add(addressConfig.Out_FixedCameraPutNum.Address, (Int16)systemConfiguration.FixedCameraPutNum);
            nodeValues.Add(addressConfig.Out_FixedCameracheckNum.Address, (Int16)systemConfiguration.FixedCameracheckNum);

            var res = await plc.WriteNodesAsync(nodeValues);
        }

        /// <summary>
        /// 注册需要监控的PLC地址
        /// </summary>
        public void RegisterPlcMonitorAddress()
        {
            var addressConfig = _configService.GetPlcAddresses();
            var plc = _plcService.GetPlcByNumber(addressConfig.PlcNo) as OpcUaClientPLC;
            if (plc == null || !plc.IsConnected) return;

            //PLC地址数组
            List<string> monitorNodeIds = new List<string>()
            {
                addressConfig.In_DowmCameraExe.Address,
                addressConfig.In_UpCameraPickExe.Address,
                addressConfig.In_UpCameraPutExe.Address,
                addressConfig.In_UPCameracheckExe.Address,
                addressConfig.In_FixedCameraPickExe.Address,
                addressConfig.In_FixedCameraPutExe.Address,
                addressConfig.In_FixedCameracheckExe.Address,
                addressConfig.In_WorkStart.Address,
                addressConfig.In_WorkDone.Address,
                addressConfig.In_MesCheck.Address,
                addressConfig.In_RequestPosition.Address,
            };
            for (int i = 0; i < 10; i++)
            {
                monitorNodeIds.Add(string.Format(addressConfig.In_MesCheck.Address, i));
            }
            //订阅PLC地址变化
            plc.SubscribeNodes("AutoSensor", monitorNodeIds, PlcCommandTrigger);
        }

        /// <summary>
        /// 写入点位信息给PLC
        /// </summary>
        /// <returns></returns>
        public async Task WritePositionToPlcAsync()
        {
            var addressConfig = _configService.GetPlcAddresses();
            var plc = _plcService.GetPlcByNumber(addressConfig.PlcNo) as OpcUaClientPLC;
            if (plc == null || !plc.IsConnected) return;
            var current = _productService.GetCurrentProduct();
            if (current == null) return;
            if (current.PickCameraPoints != null && current.PickCameraPoints.Count > 0)
            {
                foreach (var item in current.PickCameraPoints)
                {
                    await item.WriteToPlcAddress(addressConfig.Out_PickCamera, plc);
                }
            }

            if (current.PickPoints != null && current.PickPoints.Count > 0)
            {
                foreach (var item in current.PickPoints)
                {
                    await item.WriteToPlcAddress(addressConfig.Out_Pick, plc);
                }
            }
            if (current.SecPosCameraPoints != null && current.SecPosCameraPoints.Count > 0)
            {
                foreach (var item in current.SecPosCameraPoints)
                {
                    await item.WriteToPlcAddress(addressConfig.Out_SecPosCamera, plc);
                }
            }
            if (current.ScrewCameraPoints != null && current.ScrewCameraPoints.Count > 0)
            {
                foreach (var item in current.ScrewCameraPoints)
                {
                    await item.WriteToPlcAddress(addressConfig.Out_ScrewCamera, plc);
                }
            }
            //if (current.ScrewPoints != null && current.ScrewPoints.Count > 0)
            //{
            //    foreach (var item in current.ScrewPoints)
            //    {
            //        await item.WriteToPlcAddress(addressConfig.Out_Screw, plc);
            //    }
            //    await plc.WriteNodeAsync(addressConfig.Out_WorkNum.Address, (Int16)current.ScrewPoints.Count);
            //}
            if (current.CheckCameraPoints != null && current.CheckCameraPoints.Count > 0)
            {
                foreach (var item in current.CheckCameraPoints)
                {
                    await item.WriteToPlcAddress(addressConfig.Out_CheckCamera, plc);
                }
            }

            if (current.AoiPoints != null && current.AoiPoints.Count > 0)
            {
                await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickNum.Address, (Int16)current.AoiPoints.Count);
                foreach (var item in current.AoiPoints)
                {
                    await item.WriteToPlcAddress(addressConfig.Out_AoiCamera, plc);
                }
            }
            else
            {
                await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickNum.Address, 0);
            }

        }

        PointF[] DowmCameraResults = new PointF[10];
        PointF[] UpCameraPutResults = new PointF[10];

        bool _LastDowmCameraExe = false;
        bool _LastScrewTeachExe = false;
        bool _LastUpCameraPickExe = false;
        bool _LastUpCameraPutExe = false;
        bool _LastUPCameracheckExe = false;
        bool _LastFixedCameraPickExe = false;
        bool _LastFixedCameraPutExe = false;
        bool _LastFixedCameracheckExe = false;
        Int16 _LastWorkStart = 0;
        Int16 _LastWorkDone = 0;
        Int16 _LastRequestPosition = 0;
        Int16[] _LastMesCheck = new Int16[10];
        Int16 _LastPickINC = 0;
        DateTime[] _LastMesCheckTime = new DateTime[10];
        List<Task<(bool IsSucceed, bool[] Result, string Message)>> _PrcTaskList = new List<Task<(bool IsSucceed, bool[] Result, string Message)>>();

        private readonly object _stateLock = new object();

        /// <summary>
        /// PLC命令触发时
        /// </summary>
        /// <param name="tuple"></param>
        private async void PlcCommandTrigger((string key, string nodeId, object value) tuple)
        {
            try
            {
                if (tuple.key != "AutoSensor")
                {
                    return;
                }

                var addressConfig = _configService.GetPlcAddresses();
                var plc = _plcService.GetPlcByNumber(addressConfig.PlcNo) as OpcUaClientPLC;
                if (plc == null || !plc.IsConnected) return;
                // 获取当前产品
                var currentProduct = _productService.GetCurrentProduct();
                if (currentProduct == null)
                {
                    return;
                }

                ////获取产品编码
                //_productService.CurrentProductCode = currentProduct.Name;
                //string productCode = plc.ReadNode<string>(addressConfig.In_Code.Address);
                ////如果产品编码为空，则以当前的时间戳作为编码
                //if (string.IsNullOrEmpty(productCode))
                //{
                //    productCode = DateTime.Now.ToString("yyyyMMddHHmmssfff");
                //}

                // 写入3D相机长度
                if (addressConfig.In_UPCameracheckExe.Address.Contains(tuple.nodeId))
                {
                    if (tuple.value is bool state)
                    {
                        if (_LastUPCameracheckExe != state)
                        {
                            _LastUPCameracheckExe = state;
                        }
                        else
                        {
                            return;
                        }

                        if (state)
                        {
                            SendTaskMessage($"写入3D相机长度...", MessageLevel.Debug);
                            //相机的编号
                            //Int16 cameraIndex = plc.ReadNode<Int16>(addressConfig.In_FixedCameracheckNum.Address);
                            // 读取相机编号

                            Int16 cameraIndex = plc.ReadNode<Int16>(addressConfig.In_FixedCameracheckNum.Address);
                            SendTaskMessage($"编号：{cameraIndex}", MessageLevel.Info);

                            // 找到对应编号的 PlcPoint
                            var targetPoint = currentProduct.AoiPoints?.FirstOrDefault(p => p.Number == cameraIndex);
                            if (targetPoint == null)
                            {
                                SendTaskMessage($"未找到 AOI 点位，编号：{cameraIndex}", MessageLevel.Alarm);
                                await plc.WriteNodeAsync(addressConfig.Out_UPCameracheckStatus.Address, (Int16)2);
                                return;
                            }
                            SetBatchPoints(new int[] { targetPoint.Camera_Data1, targetPoint.Camera_Data2, targetPoint.Camera_Data3, targetPoint.Camera_Data4 });

                            await plc.WriteNodeAsync(addressConfig.Out_UPCameracheckStatus.Address, (Int16)1);
                        }
                        else
                        {
                            SendTaskMessage($"写入3D相机长度信号已关闭", MessageLevel.Alarm);
                            await plc.WriteNodeAsync(addressConfig.Out_UPCameracheckStatus.Address, (Int16)0);
                        }
                    }
                }
                // 发送点位个数
                else if (addressConfig.In_RequestPosition.Address.Contains(tuple.nodeId))
                {
                    if (tuple.value is Int16 state)
                    {
                        if (_LastRequestPosition != state)
                        {
                            _LastRequestPosition = state;
                        }
                        else
                        {
                            return;
                        }
                        if (state == 1)
                        {
                            var current = _productService.GetCurrentProduct();
                            if (current == null) return;
                            await plc.WriteNodeAsync(addressConfig.Out_CameraDone.Address, (Int16)1);
                            await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickNum.Address, (Int16)current.AoiPoints.Count);
                        }
                        else
                        {
                            SendTaskMessage($"多相机坐标合并请求已结束或被取消，state={state}", MessageLevel.Alarm);
                            await plc.WriteNodeAsync(addressConfig.Out_CameraDone.Address, (Int16)0);
                        }
                    }
                }

                // 固定相机检测拍照
                else if (addressConfig.In_FixedCameracheckExe.Address.Contains(tuple.nodeId))
                {
                    if (tuple.value is bool state)
                    {
                        if (_LastFixedCameracheckExe != state)
                        {
                            _LastFixedCameracheckExe = state;
                        }
                        else
                        {
                            return;
                        }
                        if (state)
                        {
                            LockResult lockResult = new LockResult();
                            lockResult.TimeStart = DateTime.Now;
                            SendTaskMessage($"触发固定相机检测拍照...", MessageLevel.Debug);
                            // 读取相机编号
                            Int16 cameraIndex = plc.ReadNode<Int16>(addressConfig.In_FixedCameracheckNum.Address);
                            SendTaskMessage($"编号：{cameraIndex}", MessageLevel.Info);

                            // 找到对应编号的 PlcPoint
                            var targetPoint = currentProduct.AoiPoints?.FirstOrDefault(p => p.Number == cameraIndex);
                            if (targetPoint == null)
                            {
                                SendTaskMessage($"未找到 AOI 点位，编号：{cameraIndex}", MessageLevel.Alarm);
                                await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)2);
                                return;
                            }

                            // 收集要执行的流程 id（仅添加大于0的）
                            var procIds = new List<Guid>();
                            try
                            {
                                if (targetPoint.CameraProcedureId1 != Guid.Empty) procIds.Add(targetPoint.CameraProcedureId1);
                            }
                            catch { }
                            try
                            {
                                if (targetPoint.CameraProcedureId2 != Guid.Empty) procIds.Add(targetPoint.CameraProcedureId2);
                            }
                            catch { }
                            try
                            {
                                if (targetPoint.CameraProcedureId3 != Guid.Empty) procIds.Add(targetPoint.CameraProcedureId3);
                            }
                            catch { }
                            try
                            {
                                if (targetPoint.CameraProcedureId4 != Guid.Empty) procIds.Add(targetPoint.CameraProcedureId4);
                            }
                            catch { }
                            try
                            {
                                if (targetPoint.CameraProcedureId5 != Guid.Empty) procIds.Add(targetPoint.CameraProcedureId5);
                            }
                            catch { }
                            try
                            {
                                if (targetPoint.CameraProcedureId6 != Guid.Empty) procIds.Add(targetPoint.CameraProcedureId6);
                            }
                            catch { }
                            try
                            {
                                if (targetPoint.CameraProcedureId7 != Guid.Empty) procIds.Add(targetPoint.CameraProcedureId7);
                            }
                            catch { }
                            try
                            {
                                if (targetPoint.CameraProcedureId8 != Guid.Empty) procIds.Add(targetPoint.CameraProcedureId8);
                            }
                            catch { }

                            if (procIds.Count == 0)
                            {
                                SendTaskMessage($"Point#{cameraIndex} 未配置任何视觉流程 (CameraProcedureId1/2/3)", MessageLevel.Alarm);
                                await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)2);
                                return;
                            }

                            var cameraProcedures = currentProduct.CameraProcedures;
                            if (cameraProcedures == null || cameraProcedures.Count == 0)
                            {
                                SendTaskMessage($"当前产品未配置 CameraProcedures，无法执行视觉流程", MessageLevel.Alarm);
                                await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)2);
                                return;
                            }

                            if (cameraIndex == currentProduct.PhotoCount)
                            {
                                _PrcTaskList.Clear();
                                
                                lock (_stateLock)
                                {
                                    lockResultsAll.Clear();
                                }
                                App.Current.Dispatcher.Invoke(() =>
                                {
                                    _eventAggregator.GetEvent<LockResetNotification>().Publish();
                                });
                            }

                            var sysConfig = _configService.GetSystemConfiguration();
                            if (sysConfig.CodeUse==true && cameraIndex == 1)
                            {
                                var cts = new CancellationTokenSource();
                                // CameraProcedureId 存储的是具体的视觉流程 Id（ProcedureModel.Id），
                                // 需要在所有 CameraProcedures 的 ProcedureModels 中查找匹配的流程。
                                ProcedureModel selectedProcedure = null;
                                try
                                {
                                    cameraProcedures = currentProduct.CameraProcedures;
                                   
                                    if (cameraProcedures != null)
                                    {
                                        foreach (var cp in cameraProcedures)
                                        {
                                            if (cp?.ProcedureModels == null) continue;
                                            selectedProcedure = cp.ProcedureModels.FirstOrDefault(pm => pm.Id == targetPoint.CameraProcedureId1);
                                            if (selectedProcedure != null) break;
                                        }
                                    }
                                }
                                catch (Exception ex)
                                {
                                    LogHelper.WriteLogError("查找 AOI 点位对应视觉流程时出错", ex);
                                }

                                if (selectedProcedure == null)
                                {
                                    SendTaskMessage($"未找到 AOI 点位对应的视觉流程，Point#{cameraIndex} ProcedureId={targetPoint.CameraProcedureId1}", MessageLevel.Alarm);
                                    await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)2);
                                    return;
                                }
                                
                                if (selectedProcedure.Id == currentProduct.FixedDownCameraProcedureId && sysConfig.TurnOnAllLightUse == true)
                                {
                                    await _remoteCommandService.SetLightBeforePhoto(selectedProcedure);
                                }
                                var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint2(selectedProcedure, null, null, cts.Token);

                                if (visionResult.IsSucceed)
                                {
                                    code = visionResult.X.ToUpper();

                                    SendTaskMessage($"扫码成功，SN:{code}", MessageLevel.Info);
                                    //这里缺少从MES获取产品配方的内容，需要补充
                                    _LastMesCheckTime[0] = (await _mesService.GetServerTimeAsync(code, 2)).Now;
                                    LogHelper.WriteLogMes($"【mes开始QUERY】");
                                    SendTaskMessage($"mes开始QUERY", MessageLevel.Info);
                                    //(bool isSuccess, string response) = await _mesService.StationGetAsync(code, "", 2);//询问mes
                                    (bool isSuccess, string response) = await _mesService.StationGetExAsync(code, "", 2);//基于电池的SN获取产品SN，询问mes
                                    if (isSuccess)
                                    {
                                        //产品发生改变并且供料器发生了变化时，需要通知PLC进行取料更改


                                        string ProductMainSN_Temp = "";
                                        LogHelper.WriteLogMes($"询问mes成功");
                                        SendTaskMessage($"询问mes成功:{response}", MessageLevel.Debug);

                                        if (response != "MES功能未启用!")
                                        {
                                            string[] item = response.Split('\n');
                                            if (item[2].Contains("sn="))
                                            {
                                                ProductMainSN_Temp = item[2].Replace("sn=", "");
                                                SendTaskMessage($"sn：{ProductMainSN_Temp}", MessageLevel.Info);
                                            }
                                        }
                                        LogHelper.WriteLogMes($"询问mes成功");
                                        SendTaskMessage($"询问mes成功:{response}", MessageLevel.Debug);

                                        //20260214,特别版（电池组装）
                                        (bool isSuccess2, string response2) = await _mesService.StationGetAsync(ProductMainSN_Temp, "", 2);//询问mes
                                        if (isSuccess2)
                                        {
                                            LogHelper.WriteLogMes($"询问mes成功");
                                            SendTaskMessage($"询问mes成功:{response2}", MessageLevel.Debug);

                                            if (response2 != "MES功能未启用!")
                                            {
                                                string[] item = response2.Split('\n');
                                                if (item[3].Contains("sn="))
                                                {
                                                    ProductMainSN = item[3].Replace("sn=", "");
                                                    _productService.CurrentProductCode = ProductMainSN;
                                                    SendTaskMessage($"产品主sn：{ProductMainSN}", MessageLevel.Info);
                                                }
                                                if (item[5].Contains("wo="))
                                                {
                                                    wo = item[5].Replace("wo=", "");
                                                    SendTaskMessage($"产品主wo：{wo}", MessageLevel.Info);
                                                }
                                            }
                                            LogHelper.WriteLogMes($"第二次询问mes成功");
                                            SendTaskMessage($"第二次询问mes成功:{response2}", MessageLevel.Debug);

                                            await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)1);
                                        }
                                        else
                                        {
                                            LogHelper.WriteLogMes($"第二次询问mes失败");
                                            SendTaskMessage($"第二次询问mes失败:{response2}", MessageLevel.Error);

                                            await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)3);
                                        }
                                    }
                                    else
                                    {
                                        //产品发生改变并且供料器发生了变化时，需要通知PLC进行取料更改

                                        await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)3);

                                        LogHelper.WriteLogMes($"询问mes失败");
                                        SendTaskMessage($"询问mes失败:{response}", MessageLevel.Error);
                                    }
                                }
                                else
                                {
                                    SendTaskMessage($"扫码失败", MessageLevel.Alarm);
                                    await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)3);
                                }

                                return;
                            }

                            if (sysConfig.CodeUse2 == true && cameraIndex == 1)
                            {
                                var cts = new CancellationTokenSource();
                                // CameraProcedureId 存储的是具体的视觉流程 Id（ProcedureModel.Id），
                                // 需要在所有 CameraProcedures 的 ProcedureModels 中查找匹配的流程。
                                ProcedureModel selectedProcedure = null;
                                try
                                {
                                    cameraProcedures = currentProduct.CameraProcedures;

                                    if (cameraProcedures != null)
                                    {
                                        foreach (var cp in cameraProcedures)
                                        {
                                            if (cp?.ProcedureModels == null) continue;
                                            selectedProcedure = cp.ProcedureModels.FirstOrDefault(pm => pm.Id == targetPoint.CameraProcedureId1);
                                            if (selectedProcedure != null) break;
                                        }
                                    }
                                }
                                catch (Exception ex)
                                {
                                    LogHelper.WriteLogError("查找 AOI 点位对应视觉流程时出错", ex);
                                }

                                if (selectedProcedure == null)
                                {
                                    SendTaskMessage($"未找到 AOI 点位对应的视觉流程，Point#{cameraIndex} ProcedureId={targetPoint.CameraProcedureId1}", MessageLevel.Alarm);
                                    await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)2);
                                    return;
                                }
                                var ctsAll = new CancellationTokenSource();
                                
                                if (selectedProcedure.Id == currentProduct.FixedDownCameraProcedureId && sysConfig.TurnOnAllLightUse == true)
                                {
                                    await _remoteCommandService.SetLightBeforePhoto(selectedProcedure);
                                }
                                var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint2(selectedProcedure, null, null, ctsAll.Token);
                                if (visionResult.IsSucceed)
                                {
                                    code = visionResult.X;
                                    ProductMainSN = visionResult.X;
                                    SendTaskMessage($"扫码成功，SN:{code}", MessageLevel.Info);
                                    //这里缺少从MES获取产品配方的内容，需要补充
                                    _LastMesCheckTime[0] = (await _mesService.GetServerTimeAsync(code, 2)).Now;
                                    //_LastMesCheckTime[1] = DateTime.Now;
                                    LogHelper.WriteLogMes($"【mes开始QUERY】");
                                    SendTaskMessage($"mes开始QUERY", MessageLevel.Info);
                                    (bool isSuccess, string response) = await _mesService.StationGetAsync(code, "", 2);//询问mes

                                    if (isSuccess)
                                    {
                                        //产品发生改变并且供料器发生了变化时，需要通知PLC进行取料更改

                                        LogHelper.WriteLogMes($"询问mes成功");
                                        SendTaskMessage($"询问mes成功:{response}", MessageLevel.Debug);
                                        if (response != "MES功能未启用!")
                                        {
                                            string[] items = response.Split('\n');
                                            if (items[3].Contains("sn="))
                                            {
                                                ProductMainSN = items[3].Replace("sn=", "");
                                                _productService.CurrentProductCode = ProductMainSN;
                                            }
                                            SendTaskMessage($"产品主sn:{ProductMainSN}", MessageLevel.Info);
                                            if (items[5].Contains("wo="))
                                            {
                                                wo = items[5].Replace("wo=", "");
                                            }
                                            SendTaskMessage($"产品wo:{wo}", MessageLevel.Info);
                                        }
                                        LogHelper.WriteLogMes($"【mes结束QUERY】");
                                        SendTaskMessage($"mes结束QUERY", MessageLevel.Info);
                                        await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)1);
                                        return;
                                    }
                                    else
                                    {
                                        //产品发生改变并且供料器发生了变化时，需要通知PLC进行取料更改

                                        await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)3);

                                        LogHelper.WriteLogMes($"询问mes失败");
                                        SendTaskMessage($"询问mes失败:{response}", MessageLevel.Error);
                                    }
                                }
                                else
                                {
                                    SendTaskMessage($"扫码失败", MessageLevel.Alarm);
                                    await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)3);
                                }

                                return;
                            }



                            foreach (var prcId in procIds)
                            {
                                if (Is3D(prcId))
                                {
                                    _PrcTaskList.Add(ExecuteProcedureAsync(cameraIndex, prcId));
                                }
                                else
                                {
                                    //2d相机时，需要先等待图像采集完成
                                    var imageData = await GrabImage(cameraIndex, prcId);
                                    if (imageData.IsSucceed)
                                    {
                                        _PrcTaskList.Add(ExecuteProcedureAsync(cameraIndex, prcId, imageData.imges));
                                    }
                                    else
                                    {
                                        SendTaskMessage($"图像采集失败！{cameraIndex}: {prcId}", MessageLevel.Alarm);
                                    }
                                }
                            }

                            //如果最后一个拍照点，则需要等待前面所有的拍照处理完成
                            if (cameraIndex == currentProduct.PhotoCountStop)
                            {
                                //等待所有的图像处理流程处理完成
                                var results = await Task.WhenAll(_PrcTaskList);

                                //结果输出
                                bool resultFlog = true;
                                foreach (var item in results)
                                {
                                    if (!item.IsSucceed || item.Result == null)
                                    {
                                        resultFlog = false;
                                    }
                                    else
                                    {
                                        foreach (var item_1 in item.Result)
                                        {
                                            if (!item_1)
                                            {
                                                resultFlog = false;
                                                break;
                                            }
                                        }
                                    }
                                }

                                //全部OK
                                if (resultFlog)
                                {
                                    SendTaskMessage($"检测执行成功", MessageLevel.Debug);
                                    await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)1);
                                }
                                //存在NG
                                else
                                {
                                    SendTaskMessage($"检测执行失败", MessageLevel.Alarm);
                                    await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)2);
                                }
                            }
                            else
                            {
                                //直接放行，执行下一个检测点
                                //SendTaskMessage($"流程执行成功", MessageLevel.Info);
                                await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)1);
                            }
                        }
                        else
                        {
                            SendTaskMessage($"触发固定相机检测拍照信号已关闭", MessageLevel.Alarm);
                            await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)0);
                        }
                    }
                }


                // 过站检查
                else
                {
                    for (int i = 0; i < 10; i++)
                    {
                        if (string.Format(addressConfig.In_MesCheck.Address, i).Contains(tuple.nodeId))
                        {
                            if (tuple.value is Int16 state)
                            {
                                if (_LastMesCheck[i] != state)
                                {
                                    _LastMesCheck[i] = state;
                                }
                                else
                                {
                                    return;
                                }
                                var sysConfig = _configService.GetSystemConfiguration();
                                if (sysConfig.CodeUse == true && state == 1)
                                {
                                    await plc.WriteNodeAsync(string.Format(addressConfig.Out_MesStatus.Address, i), (Int16)1);
                                    return;
                                }
                                if (sysConfig.CodeUse2 == true && state == 1)
                                {
                                    await plc.WriteNodeAsync(string.Format(addressConfig.Out_MesStatus.Address, i), (Int16)1);
                                    return;
                                }
                                if (sysConfig.CodeUse == false && sysConfig.CodeUse2 == false)
                                {
                                    code = plc.ReadNode<string>(string.Format(addressConfig.In_Code.Address, i));
                                }
                                var homeview = _container.Resolve<HomeViewModel>();
                                
                                //过站检查
                                if (state == 1)
                                {
                                    //这里缺少从MES获取产品配方的内容，需要补充
                                    _LastMesCheckTime[i] = (await _mesService.GetServerTimeAsync(code, 2)).Now;

                                    LogHelper.WriteLogMes($"【mes开始QUERY】");
                                    SendTaskMessage($"mes开始QUERY", MessageLevel.Info);
                                    ShowMes_Query = false;
                                    (bool isSuccess, string response) = await _mesService.StationGetAsync(code, "", 2);//询问mes


                                    if (i == 0)
                                    {
                                        SendTaskMessage($"收到当前过站检查请求（当站是否生产）...", MessageLevel.Debug);
                                    }
                                    else
                                    {
                                        SendTaskMessage($"收到{i}过站检查请求（当站是否生产）...", MessageLevel.Debug);
                                    }
                                    if (isSuccess)
                                    {

                                        string[] item = response.Split('\n');
                                        //获取产品主sn和wo用于后续上传数据使用
                                        string snItem = item.FirstOrDefault(f => f.Contains("sn="));
                                        if (snItem != null)
                                        {
                                            ProductMainSN = snItem.Replace("sn=", "").Trim();
                                            if (i == 0)
                                            {
                                                _productService.CurrentProductCode = ProductMainSN;
                                            }
                                            SendTaskMessage($"产品主sn：{ProductMainSN[i]}", MessageLevel.Info);
                                        }
                                        string woItem = item.FirstOrDefault(f => f.Contains("wo="));
                                        if (woItem != null)
                                        {
                                            wo = woItem.Replace("wo=", "").Trim();
                                            SendTaskMessage($"工单信息：{wo[i]}", MessageLevel.Info);
                                        }
                                        ShowMes_Query = true;
                                        //产品发生改变并且供料器发生了变化时，需要通知PLC进行取料更改

                                        await plc.WriteNodeAsync(string.Format(addressConfig.Out_MesStatus.Address, i), (Int16)1);

                                        LogHelper.WriteLogMes($"【mes结束QUERY】");
                                        SendTaskMessage($"mes结束QUERY", MessageLevel.Info);
                                        return;
                                    }
                                    else
                                    {
                                        //产品发生改变并且供料器发生了变化时，需要通知PLC进行取料更改

                                        await plc.WriteNodeAsync(string.Format(addressConfig.Out_MesStatus.Address, i), (Int16)2);

                                        LogHelper.WriteLogMes($"询问mes失败");
                                        SendTaskMessage($"询问mes失败:{response}", MessageLevel.Error);
                                    }
                                    LogHelper.WriteLogMes($"【mes结束QUERY】");
                                    SendTaskMessage($"mes结束QUERY", MessageLevel.Info);
                                }
                                // 上传本站数据
                                else if (state == 2)
                                {
                                    //获取当前工位的配置
                                    var stationConfig = _configService.GetDeviceInfo();

                                    List<DataFormCtq> DFC = new List<DataFormCtq>();
                                    SendTaskMessage($"收到{i}上传本站数据请求...", MessageLevel.Debug);

                                    //这里缺少上传MES的本站数据结果及开始和结束时间，需要补充
                                    //从服务器中获取当前时间
                                    var serverTimeResult = await _mesService.GetServerTimeAsync(code, 2);

                                    double ct = serverTimeResult.Now.Subtract(_LastMesCheckTime[i]).TotalSeconds;
                                    if (i == 0)
                                    {
                                        CTtime = ct;
                                    }

                                    //读取产品结果

                                    Int16 resultIndex = plc.ReadNode<Int16>(string.Format(addressConfig.In_Result.Address, i));
                                    if (homeview.IsResultTrue == false)
                                    {
                                        resultIndex = 1;
                                    }
                                    //Int16 resultIndex = 1;

                                    //目前只记录当前站
                                    if (i == 0)
                                        await _systemDatabaseService.RecordProductionAsync(new ProductionRecord()
                                        {
                                            ProductName = currentProduct.Name,
                                            ProductCode = code,
                                            DeviceId = i,
                                            DeviceName = "",
                                            Category = resultIndex == 1 ? "OK" : "NG",
                                            Quantity = 1,
                                            Remark = $"TotalSeconds:{DateTime.UtcNow.Subtract(_LastMesCheckTime[i]).TotalSeconds.ToString("F2")}",
                                        });

                                    LogHelper.WriteLogMes($"【mes开始ADD】");
                                    SendTaskMessage($"mes开始ADD", MessageLevel.Info);

                                    StringBuilder submitData = new StringBuilder();
                                    foreach (var item in lockResultsAll)
                                    {
                                        submitData.Append($"{item.PhotoName}-{item.ResultData}");
                                    }
                                    ShowMes_Result = resultIndex == 1 ? true : false;
                                    //(bool isSuccess, string response) = await _mesService.SubmitGetAsync(ProductMainSN, "", MesData.Replace("--", "-"), resultIndex == 1 ? true : false, _LastMesCheckTime[i], DateTime.UtcNow);
                                    (bool isSuccess, string response) = await _mesService.SubmitGetAsync(ProductMainSN, "", submitData.ToString(), resultIndex == 1 ? true : false, _LastMesCheckTime[i], serverTimeResult.Now);
                                    if (isSuccess)
                                    {
                                        LogHelper.WriteLogMes($"上传mes成功");
                                        SendTaskMessage($"上传mes成功", MessageLevel.Debug);
                                        //ProductMainSN = "";
                                    }
                                    else
                                    {
                                        LogHelper.WriteLogMes($"上传mes失败");
                                        SendTaskMessage($"上传mes失败", MessageLevel.Error);
                                        //ProductMainSN = "";
                                    }
                                    await plc.WriteNodeAsync(string.Format(addressConfig.Out_MesStatus.Address, i), (Int16)3);


                                    //是否保存当前的产品记录至CSV?
                                    if (stationConfig.SaveCsv)
                                    {
                                        //判断锁付路径字符串是否为空，如果不为空则保存，否则不保存
                                        if (!string.IsNullOrEmpty(stationConfig.SaveCsvPath))
                                        {
                                            foreach (var item in lockResultsAll)
                                            {
                                                DFC.Add(new DataFormCtq
                                                {
                                                    PPID = ProductMainSN,
                                                    PROCESS_NAME = stationConfig.DataInfo.PROCESS_NAME,
                                                    PROCESS_START_TIME = _LastMesCheckTime[i].ToString(),
                                                    CTQ_NAME = item.PhotoName,
                                                    CTQ_VALUE = item.ResultData.Replace(",", ";"),
                                                    CTQ_LSL = item.DownLimit,
                                                    CTQ_USL = item.UpLimit,
                                                    PROCESS_END_TIME = serverTimeResult.Now.ToString(),
                                                    SUPPLIER_NAME = stationConfig.DataInfo.SUPPLIER_NAME,
                                                    COMMODITY_TYPE = stationConfig.DataInfo.COMMODITY_TYPE,
                                                    REVISION = stationConfig.DataInfo.REVISION,
                                                    WO = wo,
                                                    MFG_LOT = stationConfig.DataInfo.MFG_LOT,
                                                    MFG_ASSY_LINE = stationConfig.DataInfo.MFG_ASSY_LINE,
                                                    PROCESS_OUTCOME = item.PhotoPassed == "OK" ? "PASS" : "FAIL",
                                                    PROCESS_MACHINE_ID = stationConfig.DataInfo.PROCESS_MACHINE_ID,
                                                    CTQ_UNIT_OF_MEASURE = "mm",
                                                    ERROR_MESSAGE = item.PhotoPassed == "OK" ? "" : $"{item.PhotoName} OOS",
                                                    PD_ATTR_01= "xxxxxxxx1",
                                                    PD_ATTR_02 = item.MidLimit,
                                                    PD_ATTR_03 = "",
                                                    PD_ATTR_04 = "",
                                                    PD_ATTR_05 = ""
                                                });
                                            }

                                            bool recordResult = RecordStationResult(i, DFC, ProductMainSN, serverTimeResult.Now.Subtract(_LastMesCheckTime[i]).TotalSeconds, _LastMesCheckTime[i], stationConfig.SaveCsvPath);
                                            if (recordResult)
                                            {
                                                SendTaskMessage($"{i}:{stationConfig.DeviceName}产品记录保存成功", MessageLevel.Debug);
                                            }
                                            else
                                            {
                                                SendTaskMessage($"{i}:{stationConfig.DeviceName}产品记录保存失败", MessageLevel.Error);
                                            }
                                        }
                                        else
                                        {
                                            SendTaskMessage($"{i}:{stationConfig.DeviceName}工位未配置保存路径，无法保存产品记录", MessageLevel.Error);
                                        }
                                    }
                                    else
                                    {
                                        SendTaskMessage($"{i}:{stationConfig.DeviceName}工位未配置保存产品记录", MessageLevel.Debug);
                                    }

                                    //WriteProductLog(lockResultsAll, code, CTtime);
                                    lock (_stateLock)
                                    {
                                        lockResultsAll.Clear();
                                    }
                                    
                                    ProductMainSN = "";
                                    LogHelper.WriteLogMes($"【mes结束ADD】");
                                    SendTaskMessage($"mes结束ADD", MessageLevel.Info);
                                }
                                else
                                {
                                    SendTaskMessage($"{i}过站检查信号：state={state}，处理为默认状态", MessageLevel.Alarm);
                                    await plc.WriteNodeAsync(string.Format(addressConfig.Out_MesStatus.Address, i), (Int16)0);
                                }
                            }
                        }
                    }
                }
            }
            catch (Exception ex)
            {
                SendTaskMessage(ex.Message, MessageLevel.Error);
            }
        }

        /// <summary>
        /// 异步执行流程拍照
        /// </summary>
        /// <param name="pointIndex"></param>
        /// <param name="procedureId"></param>
        /// <returns></returns>
        private Task<(bool IsSucceed, bool[] Result, string Message)> ExecuteProcedureAsync(int pointIndex, Guid procedureId)
        {
            return Task.Run(async () =>
            {
                List<bool> results = new List<bool>();
                // 获取当前产品
                var currentProduct = _productService.GetCurrentProduct();
                if (currentProduct == null)
                {
                    return (false, null, "当前产品为空，未加载产品！");
                }

                var cameraProcedures = currentProduct.CameraProcedures;
                if (cameraProcedures == null || cameraProcedures.Count == 0)
                {
                    SendTaskMessage($"当前产品未配置 CameraProcedures，无法执行视觉流程", MessageLevel.Alarm);
                    return (false, null, $"当前产品未配置 CameraProcedures，无法执行视觉流程");
                }


                var ctsAll = new CancellationTokenSource();

                try
                {
                    ProcedureModel selectedProcedure = null;
                    try
                    {
                        foreach (var cp in cameraProcedures)
                        {
                            if (cp?.ProcedureModels == null) continue;
                            selectedProcedure = cp.ProcedureModels.FirstOrDefault(pm => pm.Id == procedureId);

                            if (selectedProcedure != null) break;
                        }
                    }
                    catch (Exception ex)
                    {
                        LogHelper.WriteLogError("查找 AOI 点位对应视觉流程时出错", ex);
                    }

                    if (selectedProcedure == null)
                    {
                        SendTaskMessage($"未找到 AOI 点位对应的视觉流程，Point#{pointIndex} ProcedureId={pointIndex}", MessageLevel.Alarm);
                        return (false, null, $"未找到 AOI 点位对应的视觉流程，Point#{pointIndex} ProcedureId={procedureId}");
                    }

                    SendTaskMessage($"开始执行 AOI 流程 (Point#{pointIndex}) 流程Id={pointIndex}", MessageLevel.Debug);
                    try
                    {
                        //1. 执行拍照，图像处理
                        var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint1(selectedProcedure, null, null, ctsAll.Token);
                        if (visionResult.Count == 0)
                        {
                            SendTaskMessage("Count值为0", MessageLevel.Alarm);
                            return (false, null, $"未找到 AOI 点位对应的视觉流程，Point#{pointIndex} ProcedureId={procedureId}");
                        }

                        //2. 结果分析
                        for (int i = 1; i <= visionResult.Count; i++)
                        {

                            LockResult lockResult1 = new LockResult();
                            //if (pointIndex == currentProduct.PhotoCount && selectedProcedure.Id == currentProduct.FixedUpCamera1ProcedureId && i == 1)
                            //{
                            //    lockResult1.Number = 1;
                            //}

                            string[] strpoints1 = visionResult.Items[i].Split(',');
                            lockResult1.PhotoName = strpoints1[0];
                            lockResult1.ResultData = strpoints1[1];
                            lockResult1.PhotoCode = ProductMainSN;
                            var globalParam = currentProduct.GlobalParamListCollection.FirstOrDefault(p => p.Name == strpoints1[0]);
                            if (globalParam != null)
                            {
                                lockResult1.UpLimit = globalParam.Param1;
                                lockResult1.DownLimit = globalParam.Param2;
                                lockResult1.MidLimit = globalParam.Param5;
                                string ResData = strpoints1[1];
                                if (ResData.Contains("NA"))
                                {
                                    ResData = "-1000";
                                }
                                string[] body = ResData.Split(";");
                                bool resultflog = true;
                                foreach (var item in body)
                                {
                                    if (Convert.ToDouble(item) >= Convert.ToDouble(globalParam.Param2) && Convert.ToDouble(item) <= Convert.ToDouble(globalParam.Param1))
                                    {

                                    }
                                    else
                                    {
                                        resultflog = false;
                                    }
                                }
                                if (resultflog)
                                {
                                    lockResult1.PhotoPassed = "OK";
                                    results.Add(true);
                                }
                                else
                                {
                                    lockResult1.PhotoPassed = "NG";
                                    results.Add(false);
                                }
                            }

                            lock (_stateLock)
                            {
                                lockResultsAll.Add(lockResult1);
                            }
                            
                            
                            App.Current.Dispatcher.Invoke(() =>
                            {
                                _eventAggregator.GetEvent<LockFinishNotification>().Publish(lockResult1);
                            });
                        }

                        //排序
                        //lock (_stateLock)
                        //{
                        //    var bf1 = lockResultsAll.OrderBy(p => p.Number);
                        //    lockResultsAll = new List<LockResult>(bf1);
                        //}
                        
                    }
                    catch (Exception ex)
                    {
                        LogHelper.WriteLogError("执行 AOI 视觉流程时出错", ex);
                        SendTaskMessage($"执行 AOI 视觉流程异常: {ex.Message}", MessageLevel.Alarm);
                    }

                    return (true, results.ToArray(), $"成功");
                }
                catch (Exception ex)
                {
                    LogHelper.WriteLogError("处理固定相机检测拍照时出错", ex);
                    return (false, null, $"处理固定相机检测拍照时出错");
                }
            });
        }

        /// <summary>
        /// 异步执行流程拍照
        /// </summary>
        /// <param name="pointIndex"></param>
        /// <param name="procedureId"></param>
        /// <returns></returns>
        private Task<(bool IsSucceed, bool[] Result, string Message)> ExecuteProcedureAsync(int pointIndex, Guid procedureId, ICogImage[] images)
        {
            return Task.Run(async () =>
            {
                List<bool> results = new List<bool>();
                // 获取当前产品
                var currentProduct = _productService.GetCurrentProduct();
                if (currentProduct == null)
                {
                    return (false, null, "当前产品为空，未加载产品！");
                }

                var cameraProcedures = currentProduct.CameraProcedures;
                if (cameraProcedures == null || cameraProcedures.Count == 0)
                {
                    SendTaskMessage($"当前产品未配置 CameraProcedures，无法执行视觉流程", MessageLevel.Alarm);
                    return (false, null, $"当前产品未配置 CameraProcedures，无法执行视觉流程");
                }


                var ctsAll = new CancellationTokenSource();

                try
                {
                    ProcedureModel selectedProcedure = null;
                    try
                    {
                        foreach (var cp in cameraProcedures)
                        {
                            if (cp?.ProcedureModels == null) continue;
                            selectedProcedure = cp.ProcedureModels.FirstOrDefault(pm => pm.Id == procedureId);

                            if (selectedProcedure != null) break;
                        }
                    }
                    catch (Exception ex)
                    {
                        LogHelper.WriteLogError("查找 AOI 点位对应视觉流程时出错", ex);
                    }

                    if (selectedProcedure == null)
                    {
                        SendTaskMessage($"未找到 AOI 点位对应的视觉流程，Point#{pointIndex} ProcedureId={pointIndex}", MessageLevel.Alarm);
                        return (false, null, $"未找到 AOI 点位对应的视觉流程，Point#{pointIndex} ProcedureId={procedureId}");
                    }

                    SendTaskMessage($"开始执行 AOI 流程 (Point#{pointIndex}) 流程Id={pointIndex}", MessageLevel.Debug);
                    try
                    {
                        var sysConfig = _configService.GetSystemConfiguration();
                        if (selectedProcedure.Id == currentProduct.MoveDownCameraLockPhotoProcedureId && sysConfig.TurnOffAllLightUse == true)
                        {
                            await _remoteCommandService.TurnOffLightAfterPhoto(selectedProcedure);
                        }
                        //1. 执行拍照，图像处理
                        var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint1(selectedProcedure, images, null, null, ctsAll.Token);
                        if (visionResult.Count == 0)
                        {
                            SendTaskMessage("Count值为0", MessageLevel.Alarm);
                            return (false, null, $"未找到 AOI 点位对应的视觉流程，Point#{pointIndex} ProcedureId={procedureId}");
                        }

                        //2. 结果分析
                        for (int i = 1; i <= visionResult.Count; i++)
                        {

                            LockResult lockResult1 = new LockResult();
                            //if (pointIndex == currentProduct.PhotoCount && selectedProcedure.Id == currentProduct.FixedUpCamera1ProcedureId && i == 1)
                            //{
                            //    lockResult1.Number = 1;
                            //    lock (_stateLock)
                            //    {
                            //        lockResultsAll.Clear();
                            //    }
                                
                            //}

                            string[] strpoints1 = visionResult.Items[i].Split(',');
                            lockResult1.PhotoName = strpoints1[0];
                            lockResult1.ResultData = strpoints1[1];
                            lockResult1.PhotoCode = ProductMainSN;
                            var globalParam = currentProduct.GlobalParamListCollection.FirstOrDefault(p => p.Name == strpoints1[0]);
                            if (globalParam != null)
                            {
                                lockResult1.UpLimit = globalParam.Param1;
                                lockResult1.DownLimit = globalParam.Param2;
                                lockResult1.MidLimit = globalParam.Param5;
                                string ResData = strpoints1[1];
                                if (ResData.Contains("NA"))
                                {
                                    ResData = "-1000";
                                }
                                string[] body = ResData.Split(";");
                                bool resultflog = true;
                                foreach (var item in body)
                                {
                                    if (Convert.ToDouble(item) >= Convert.ToDouble(globalParam.Param2) && Convert.ToDouble(item) <= Convert.ToDouble(globalParam.Param1))
                                    {

                                    }
                                    else
                                    {
                                        resultflog = false;
                                    }
                                }
                                if (resultflog)
                                {
                                    lockResult1.PhotoPassed = "OK";
                                    results.Add(true);
                                }
                                else
                                {
                                    lockResult1.PhotoPassed = "NG";
                                    results.Add(false);
                                }
                            }

                            lock (_stateLock)
                            {
                                lockResultsAll.Add(lockResult1);
                            }
                            
                            App.Current.Dispatcher.Invoke(() =>
                            {
                                _eventAggregator.GetEvent<LockFinishNotification>().Publish(lockResult1);
                            });
                        }

                        ////排序
                        //lock (_stateLock)
                        //{
                        //    var bf1 = lockResultsAll.OrderBy(p => int.Parse(p.PhotoName));
                        //    lockResultsAll = new List<LockResult>(bf1);
                        //}
                    }
                    catch (Exception ex)
                    {
                        LogHelper.WriteLogError("执行 AOI 视觉流程时出错", ex);
                        SendTaskMessage($"执行 AOI 视觉流程异常: {ex.Message}", MessageLevel.Alarm);
                    }

                    return (true, results.ToArray(), $"成功");
                }
                catch (Exception ex)
                {
                    LogHelper.WriteLogError("处理固定相机检测拍照时出错", ex);
                    return (false, null, $"处理固定相机检测拍照时出错");
                }
            });
        }

        /// <summary>
        /// 是否是3D相机
        /// </summary>
        /// <param name="procedureId"></param>
        /// <returns></returns>
        private bool Is3D(Guid procedureId)
        {
            // 获取当前产品
            var currentProduct = _productService.GetCurrentProduct();
            if (currentProduct == null)
            {
                return false;
            }

            var cameraProcedures = currentProduct.CameraProcedures;
            if (cameraProcedures == null || cameraProcedures.Count == 0)
            {
                return false;
            }
            ProcedureModel selectedProcedure = null;
            try
            {
                foreach (var cp in cameraProcedures)
                {
                    if (cp?.ProcedureModels == null) continue;
                    selectedProcedure = cp.ProcedureModels.FirstOrDefault(pm => pm.Id == procedureId);

                    if (selectedProcedure != null) break;
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("查找 AOI 点位对应视觉流程时出错", ex);
            }
            if (selectedProcedure == null)
            {
                return false;
            }
            var camera = _cameraService.GetCamera(selectedProcedure.CameraId);
            if (camera == null)
            {
                return false;
            }
            return camera.Is3D;
        }

        /// <summary>
        /// 2D相机先采集图像
        /// </summary>
        /// <param name="procedureId"></param>
        /// <returns></returns>
        private async Task<(bool IsSucceed, ICogImage[] imges, string Message)> GrabImage(int pointIndex, Guid procedureId)
        {
            // 获取当前产品
            var currentProduct = _productService.GetCurrentProduct();
            if (currentProduct == null)
            {
                return (false, null, "当前产品为空，未加载产品！");
            }

            var cameraProcedures = currentProduct.CameraProcedures;
            if (cameraProcedures == null || cameraProcedures.Count == 0)
            {
                SendTaskMessage($"当前产品未配置 CameraProcedures，无法执行视觉流程", MessageLevel.Alarm);
                return (false, null, $"当前产品未配置 CameraProcedures，无法执行视觉流程");
            }

            try
            {
                ProcedureModel selectedProcedure = null;
                try
                {
                    foreach (var cp in cameraProcedures)
                    {
                        if (cp?.ProcedureModels == null) continue;
                        selectedProcedure = cp.ProcedureModels.FirstOrDefault(pm => pm.Id == procedureId);

                        if (selectedProcedure != null) break;
                    }
                }
                catch (Exception ex)
                {
                    LogHelper.WriteLogError("查找 AOI 点位对应视觉流程时出错", ex);
                }

                if (selectedProcedure == null)
                {
                    SendTaskMessage($"未找到 AOI 点位对应的视觉流程，Point#{pointIndex} ProcedureId={pointIndex}", MessageLevel.Alarm);
                    return (false, null, $"未找到 AOI 点位对应的视觉流程，Point#{pointIndex} ProcedureId={procedureId}");
                }

                SendTaskMessage($"开始执行 AOI 流程 (Point#{pointIndex}) 流程Id={pointIndex}", MessageLevel.Debug);
                try
                {
                    var sysConfig = _configService.GetSystemConfiguration();
                    if (selectedProcedure.Id == currentProduct.FixedDownCameraProcedureId && sysConfig.TurnOnAllLightUse == true)
                    {
                        await _remoteCommandService.SetLightBeforePhoto(selectedProcedure);
                    }
                    //1. 执行拍照                
                    return await _remoteCommandService.ExecuteGrabImageAsync(selectedProcedure);
                }
                catch (Exception ex)
                {
                    LogHelper.WriteLogError("执行 AOI 视觉图像采集时出错", ex);
                    SendTaskMessage($"执行 AOI 视觉图像采集时出错: {ex.Message}", MessageLevel.Alarm);
                }

                return (false, null, $"图像采集失败");
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("处理固定相机检测拍照时出错", ex);
                return (false, null, $"处理固定相机检测拍照时出错");
            }
        }

        /// <summary>
        /// 为所有相机设置批处理点数（会调用具体相机实现的 SetBatchPoints）
        /// </summary>
        /// <param name="points"></param>
        public void SetBatchPoints(int CameraNum, int points)
        {
            try
            {
                if (points == 0 || points < 0)
                {
                    return;
                }
                var cameras = _cameraService.GetCameraByNumber(CameraNum);
                if (cameras == null) return;
                try
                {
                    // 优先针对已知的 SSZNCamera 类型直接调用
                    if (cameras is TeamAAS_VP.Core.Cameras.SSZNCamera sszn)
                    {
                        sszn.CameraRevFinish = false;
                        sszn.SetBatchPoints(points);
                    }
                }
                catch (Exception ex)
                {
                    LogHelper.WriteLogError($"SetBatchPoints to camera {cameras?.Name} failed", ex);
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("SetBatchPoints failed", ex);
            }
        }

        public void SetBatchPoints(int[] CameraSpoints)
        {
            try
            {
                for (int i = 0; i < CameraSpoints.Length; i++)
                {
                    SetBatchPoints(i + 1, CameraSpoints[i]);
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("SetBatchPoints failed", ex);
            }
        }
        #endregion

        #region 方法

        private void SendTaskMessage(string msg, MessageLevel level)
        {
            App.Current.Dispatcher.Invoke(() =>
            {
                _eventAggregator.GetEvent<TaskMessageNotification>().Publish(new Models.MessageStruct() { Message = msg, level = level });
            });
        }

        private async void DoYieldTime(object state)
        {
            try
            {
                //获取当前产品
                CurrentProduct= _productService.GetCurrentProduct();
                var currentproduct = _productService.GetCurrentProduct();
                if (currentproduct == null) return;
                TotalQuantity = await _systemDatabaseService.GetOverallProductionAsync(currentproduct.Name);
                TotalQuantityToday = await _systemDatabaseService.GetTodayProductionAsync(currentproduct.Name);
                CurrentUPH = await _systemDatabaseService.GetLastHourProductionAsync(currentproduct.Name);
                NgNumber = await _systemDatabaseService.GetNGProductionAsync (currentproduct.Name);
                Yield = ((double)TotalQuantityToday - (double)NgNumber) / (double)TotalQuantityToday * 100;
            }
            catch (Exception)
            {

            }
        }

        #region vm启动检测

        /// <summary>
        /// 杀死所有VM有关进程
        /// </summary>
        public void KillVMProcess()
        {
            KillProcess("VisionMasterServerApp");
            KillProcess("VisionMaster");
            KillProcess("VmModuleProxy.exe");
            KillProcess("vServerApp.exe");
        }

        /// <summary>
        /// 杀死指定进程名的进程
        /// </summary>
        /// <param name="strKillName"></param>
        public void KillProcess(string strKillName)
        {
            foreach (System.Diagnostics.Process p in System.Diagnostics.Process.GetProcesses())
            {
                if (p.ProcessName.Contains(strKillName))
                {
                    try
                    {
                        p.Kill();
                        p.WaitForExit();
                    }
                    catch (Exception ex)
                    {
                        LogHelper.WriteLogError($"杀死进程:{strKillName}时失败！", ex);
                    }
                }
            }
        }
        #endregion


        /// <summary>
        /// 记录工位的结果，其他工位要存储的数据项按照键值对集合的形式传入，键为数据项名称，值为数据项的值
        /// </summary>
        /// <param name="stationIndex"></param>
        /// <param name="dfcs"></param>
        /// <param name="productMainSN"></param>
        /// <param name="ct"></param>
        /// <param name="timestamp"></param>
        /// <param name="savePath"></param>
        /// <param name="isFirstEnter"></param>
        /// <returns></returns>
        private bool RecordStationResult(int stationIndex, IEnumerable<DataFormCtq> dfcs, string productMainSN, double ct, DateTime timestamp, string savePath, bool isFirstEnter = true)
        {
            try
            {
                //获取当前工位的配置
                var stationConfig = _configService.GetDeviceInfo();
                if (stationConfig == null) return false;
                //如果保存路径为空，则不保存
                if (string.IsNullOrEmpty(savePath)) return false;
                string fullPath = savePath;
                //如果保存路径是一个文件路径，则直接保存，否则按照工位和日期进行保存
                if (File.Exists(savePath) || Path.HasExtension(savePath))
                {
                    fullPath = savePath;
                    //如果路径不存在，则创建
                    // 创建目录
                    string directory = Path.GetDirectoryName(fullPath);
                    if (!string.IsNullOrEmpty(directory) && !Directory.Exists(directory))
                    {
                        Directory.CreateDirectory(directory);
                    }
                }
                else
                {
                    //结果保存至CSV文件，文件名格式：savePath\yyyy-MM\工位编号_工位名称_yyyy-MM-dd.csv
                    string datePath = timestamp.ToString("yyyy-MM") + "\\";
                    string dirPath = Path.Combine(savePath, datePath);
                    if (!Directory.Exists(dirPath)) Directory.CreateDirectory(dirPath);
                    string fileName = $"{stationIndex}_{stationConfig.DeviceName}_{timestamp.ToString("yyyy-MM-dd")}.csv";
                    fullPath = Path.Combine(dirPath, fileName);
                }
                StringBuilder sb = new StringBuilder();
                if (!File.Exists(fullPath))
                {
                    sb.Append("PPID,PROCESS_NAME,PROCESS_START_TIME,CTQ_NAME,CTQ_VALUE,CTQ_LSL,CTQ_USL,PROCESS_END_TIME,SUPPLIER_NAME,COMMODITY_TYPE,REVISION,WO#,MFG_LOT#," +
                        "MFG_ASSY_LINE,PROCESS_OUTCOME,PROCESS_MACHINE_ID,CTQ_UNIT_OF_MEASURE,ERROR_MESSAGE,PD_ATTR_01,PD_ATTR_02,PD_ATTR_03,PD_ATTR_04,PD_ATTR_05");
                    sb.AppendLine();
                }
                if (dfcs == null || dfcs.Count() == 0)
                {
                    return false;
                }
                foreach (var dfc in dfcs)
                {
                    sb.Append($"{dfc.PPID},{dfc.PROCESS_NAME},{dfc.PROCESS_START_TIME},{dfc.CTQ_NAME},{dfc.CTQ_VALUE},{dfc.CTQ_LSL},{dfc.CTQ_USL},{dfc.PROCESS_END_TIME},{dfc.SUPPLIER_NAME},{dfc.COMMODITY_TYPE},{dfc.REVISION},{dfc.WO},{dfc.MFG_LOT},{dfc.MFG_ASSY_LINE},{dfc.PROCESS_OUTCOME},{dfc.PROCESS_MACHINE_ID},{dfc.CTQ_UNIT_OF_MEASURE},{dfc.ERROR_MESSAGE},{dfc.PD_ATTR_01},{dfc.PD_ATTR_02},{dfc.PD_ATTR_03},{dfc.PD_ATTR_04},{dfc.PD_ATTR_05}");
                    sb.AppendLine();
                }
                // 使用 StreamWriter 以追加模式打开文件
                StreamWriter sw = new StreamWriter(fullPath, true, Encoding.UTF8);
                sw.Write(sb.ToString());
                sw.Close();
                sw.Dispose();
                return true;
            }
            catch (Exception ex)
            {
                if (!isFirstEnter)
                {
                    return false;
                }
                LogHelper.WriteLogError("记录其他工位结果时出错!", ex);
                //我希望在这里生成一个临时文件来保存这次的记录，因为如果本地文件被打开时可能会导致无法写入，如果不保存的话可能会丢失这次的记录，所以我想在这里生成一个临时文件来保存这次的记录
                //生成临时文件的路径，格式为savePath\yyyy-MM\工位编号_yyyy-MM-dd_temp\工位编号_yyyy-MM-dd_HH-mm-ss-fff_temp.csv
                string datePath = timestamp.ToString("yyyy-MM") + "\\";
                string tempDirPath = Path.Combine(savePath, datePath, $"{stationIndex}_{timestamp.ToString("yyyy-MM-dd")}_temp");
                string tempFileName = $"{stationIndex}_{timestamp.ToString("yyyy-MM-dd_HH-mm-ss-fff")}_temp.csv";
                RecordStationResult(stationIndex, dfcs, productMainSN, ct, timestamp, tempFileName, false);
                return false;
            }
        }
        #endregion

        // 用于等待“指定相机的下一张图到达”
        private readonly object _imageSyncLock = new object();
        private readonly Dictionary<Guid, TaskCompletionSource<ICogImage>> _nextImageTcsByCamera =
            new Dictionary<Guid, TaskCompletionSource<ICogImage>>();

        private Task<ICogImage> PrepareNextImageWait(Guid cameraId)
        {
            lock (_imageSyncLock)
            {
                var tcs = new TaskCompletionSource<ICogImage>(TaskCreationOptions.RunContinuationsAsynchronously);
                _nextImageTcsByCamera[cameraId] = tcs;
                return tcs.Task;
            }
        }
        public async Task SignalImageArrived(Guid cameraId, ICogImage image)
        {
            await Task.Delay(500);
            TaskCompletionSource<ICogImage> tcs = null;
            lock (_imageSyncLock)
            {
                _nextImageTcsByCamera.TryGetValue(cameraId, out tcs);
            }
            tcs?.TrySetResult(image);
        }

        public async Task<ICogImage> WaitNextImageAsync(Guid cameraId, int timeoutMs, CancellationToken token)
        {
            var waitTask = PrepareNextImageWait(cameraId);
            var completed = await Task.WhenAny(waitTask, Task.Delay(timeoutMs, token)).ConfigureAwait(false);
            if (completed != waitTask) return null;
            return await waitTask.ConfigureAwait(false);
        }

        //public async Task<bool> WaitImageFlagAsync(int cameraNo, int timeoutMs, CancellationToken token)
        //{
        //    if (cameraNo < 0 || cameraNo >= ImageData.Length)
        //    {
        //        SendTaskMessage($"等待相机图像失败：CameraNo={cameraNo} 越界", MessageLevel.Alarm);
        //        return false;
        //    }

        //    var start = DateTime.UtcNow;
        //    while (ImageData[cameraNo] == 0)
        //    {
        //        token.ThrowIfCancellationRequested();

        //        if ((DateTime.UtcNow - start).TotalMilliseconds >= timeoutMs)
        //        {
        //            SendTaskMessage($"等待相机图像超时：CameraNo={cameraNo} Timeout={timeoutMs}ms", MessageLevel.Alarm);
        //            return false;
        //        }

        //        await Task.Delay(100, token).ConfigureAwait(false);
        //    }

        //    return true;
        //}

    }
}