Display_D_HP/TeamAAS-VM/Core/Management.cs

using Basler.Pylon;
using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
using CSScripting;
using MathNet.Numerics.Distributions;
using MathNet.Numerics.LinearAlgebra;
using MathNet.Numerics.RootFinding;
using NPOI.SS.Formula.Functions;
using NPOI.Util;
using Opc.Ua;
using OpenCvSharp;
using OpenCvSharp.Flann;
using Prism.Events;
using Prism.Ioc;
using Prism.Mvvm;
using Prism.Regions;
using Prism.Services.Dialogs;
using System;
using System.Collections;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.ComponentModel;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Net.Sockets;
using System.Reflection.Metadata;
using System.Security.Cryptography;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Documents;
using System.Windows.Interop;
using System.Windows.Media;
using System.Windows.Media.Media3D;
using Team.FFFeederService;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP;
using TeamAAS_VP.Core.PLCs;
using TeamAAS_VP.Core.Robots;
using TeamAAS_VP.Core.ScrewDriver;
using TeamAAS_VP.Data;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.Calibration;
using TeamAAS_VP.Models.Feeder;
using TeamAAS_VP.Models.Product;
using TeamAAS_VP.Resources.Languages;
using TeamAAS_VP.Services;
using TeamAAS_VP.ViewModels.Home;
using TouchSocket.Core;
using TouchSocket.Sockets;
using static MaterialDesignThemes.Wpf.Theme.ToolBar;
using static Org.BouncyCastle.Math.EC.ECCurve;
using static System.Windows.Forms.AxHost;

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;

        Timer yieldtimer;
        private DateTime StartTime = DateTime.Now;

        #endregion

        #region 属性

        private ObservableCollection<ShowRender> _Renders;

        /// <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 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)
        {
            _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;
        }

        #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)
            {

                try
                {
                    Renders.Add(new ShowRender() { Id = item.Id, CameraName = item.CameraName });
                    _cameraService.CreateCamera(item.Id, item);
                    var camera = _cameraService.GetCamera(item.Id);
                    Status.Add(new StatusInfo(item.Id, item.CameraName + $"{Lang.未连接}", new SolidColorBrush(Colors.Red)));
                    camera.CameraConnectChangedEvent += Management_CameraConnectChangedEvent;
                    try
                    {
                        if (await camera.OpenDeviceAsync())
                        {
                            SendTaskMessage($"{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());
            }
        }

        /// <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);
            nodeValues.Add(addressConfig.Out_ScrewTeachNum.Address, (Int16)systemConfiguration.ScrewTeachNum);

            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_RequestPosition.Address,
                addressConfig.In_ScrewTeachExe.Address,
                addressConfig.In_PickINC.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.WriteToPlcAddressEx(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);
                }
            }
        }

        /// <summary>
        /// 固定向上相机拍照结果
        /// </summary>
        OpenCvSharp.Point3f[] DowmCameraResults = new OpenCvSharp.Point3f[10];
        /// <summary>
        /// 移动向下相机拍照结果
        /// </summary>
        OpenCvSharp.Point3f[] UpCameraPutResults = new OpenCvSharp.Point3f[10];



        /// <summary>
        /// 二次定位相机的工具坐标
        /// </summary>
        PointF DownTool = new PointF();
        double _FixedUpCameraAngle = 0;
        double _MoveCameraAngle = 0;

        /// <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 = plc.ReadNode<string>(string.Format(addressConfig.In_Code.Address, 0));
                //如果产品编码为空，则以当前的时间戳作为编码
                if (string.IsNullOrEmpty(_productService.CurrentProductCode))
                {
                    _productService.CurrentProductCode = DateTime.Now.ToString("yyyyMMddHHmmssfff");
                }


                bool isDryMode = plc.ReadNode<bool>(addressConfig.In_DryMode.Address);

                // 触发下相机拍照
                if (addressConfig.In_DowmCameraExe.Address.Contains(tuple.nodeId))
                {
                    if (tuple.value is bool state)
                    {
                        if (state)
                        {
                            SendTaskMessage($"触发下相机拍照...", MessageLevel.Debug);
                            //相机的编号
                            Int16 cameraIndex = plc.ReadNode<Int16>(addressConfig.In_DowmCameraNum.Address);
                            SendTaskMessage($"编号：{cameraIndex}", MessageLevel.Info);

                            // 获取机器人当前坐标
                            var robot = _robotService.GetAllRobots().FirstOrDefault();
                            if (robot == null)
                            {
                                SendTaskMessage($"未找到机器人，无法执行上相机锁附/组装拍照视觉任务", MessageLevel.Alarm);
                                await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2);
                                return;

                            }
                            var currentPosition = robot.GetRobotPos();

                            //如果下相机拍照的次数是1，则判断用时拍照的相机是几个
                            int downCameraNum = _configService.GetSystemConfiguration().DowmCameraNum;
                            if (downCameraNum == 1)
                            {
                                //如果下相机2的流程id为空，则表示只有一个下相机
                                if (currentProduct.FixedUpCamera2ProcedureId == Guid.Empty)
                                {
                                    //获取固定向上相机1的流程
                                    var process = _productService.GetCurrentProductProcedureModelById(currentProduct.FixedUpCamera1ProcedureId);
                                    if (process == null)
                                    {
                                        SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.FixedUpCamera1ProcedureId}", MessageLevel.Alarm);
                                        await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2);
                                        return;
                                    }
                                    // 执行视觉任务
                                    var _cts = new CancellationTokenSource();
                                    var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint(process, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token);
                                    if (isDryMode)
                                    {
                                        await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1);
                                        return;
                                    }
                                    if (visionResult.IsSucceed)
                                    {
                                        float toolX = (float)(visionResult.X - currentPosition.X);
                                        float toolY = (float)(visionResult.Y - currentPosition.Y);

                                        DowmCameraResults[cameraIndex] = new OpenCvSharp.Point3f(toolX, toolX, (float)visionResult.U);
                                        DownTool = new PointF(toolX, toolX);
                                        await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1);
                                        return;
                                    }
                                    else
                                    {
                                        await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2);
                                        return;
                                    }
                                }
                                else
                                {
                                    //获取固定向上相机1的流程
                                    var process1 = _productService.GetCurrentProductProcedureModelById(currentProduct.FixedUpCamera1ProcedureId);
                                    if (process1 == null)
                                    {
                                        SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.FixedUpCamera1ProcedureId}", MessageLevel.Alarm);
                                        await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2);
                                        return;
                                    }
                                    //获取固定向上相机2的流程
                                    var process2 = _productService.GetCurrentProductProcedureModelById(currentProduct.FixedUpCamera2ProcedureId);
                                    if (process2 == null)
                                    {
                                        SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.FixedUpCamera2ProcedureId}", MessageLevel.Alarm);
                                        await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2);
                                        return;
                                    }
                                    // 执行视觉任务
                                    var _cts = new CancellationTokenSource();
                                    var task1 = _remoteCommandService.ExecutePhotoGetSinglePoint(process1, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token);
                                    var task2 = _remoteCommandService.ExecutePhotoGetSinglePoint(process2, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token);
                                    var visionResults = await Task.WhenAll(task1, task2);
                                    if (isDryMode)
                                    {
                                        await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1);
                                        return;
                                    }
                                    if (visionResults[0].IsSucceed && visionResults[1].IsSucceed)
                                    {
                                        float toolX = (float)(visionResults[0].X + visionResults[1].X) / 2;
                                        float toolY = (float)(visionResults[0].Y + visionResults[1].Y) / 2;
                                        _FixedUpCameraAngle = Common.CalculateAngleBetweenPointsDegrees(new PointF((float)visionResults[0].X, (float)visionResults[0].Y), new PointF((float)visionResults[1].X, (float)visionResults[1].Y));
                                        DowmCameraResults[cameraIndex] = new OpenCvSharp.Point3f(toolX, toolX, (float)_FixedUpCameraAngle);
                                        DownTool = new PointF(toolX, toolX);
                                        await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1);
                                        return;
                                    }
                                    else
                                    {
                                        await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2);
                                        return;

                                    }

                                }
                            }
                            else if (downCameraNum == 2)
                            {
                                //如果下相机2的流程id为空，则表示只有一个下相机
                                if (currentProduct.FixedUpCamera2ProcedureId == Guid.Empty)
                                {
                                    //获取固定向上相机1的流程
                                    //var process = _productService.GetCurrentProductProcedureModelById(currentProduct.FixedUpCamera1ProcedureId);
                                    //if (process == null)
                                    //{
                                    //    SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.FixedUpCamera1ProcedureId}", MessageLevel.Alarm);
                                    //    await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2);
                                    //    return;
                                    //}
                                    //// 执行视觉任务
                                    //var _cts = new CancellationTokenSource();
                                    //var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint(process, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token);
                                    //if (visionResult.IsSucceed)
                                    //{
                                    //    float toolX = (float)(visionResult.X - currentPosition.X);
                                    //    float toolY = (float)(visionResult.Y - currentPosition.Y);

                                    //    DowmCameraResults[cameraIndex] = new PointF(toolX, toolX);

                                    //    if (cameraIndex == downCameraNum)
                                    //    {
                                    //        //求取多个DowmCameraResults的中心点


                                    //        DownTool = new PointF(toolX, toolX);
                                    //    }

                                    //    await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1);
                                    //    return;
                                    //}
                                    //else
                                    //{
                                    //    await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2);
                                    //    return;
                                    //}

                                    //暂时没有应用场景，不支持
                                    await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2);
                                    return;
                                }
                                else
                                {
                                    //获取固定向上相机1的流程
                                    var process1 = _productService.GetCurrentProductProcedureModelById(currentProduct.FixedUpCamera1ProcedureId);
                                    if (process1 == null)
                                    {
                                        SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.FixedUpCamera1ProcedureId}", MessageLevel.Alarm);
                                        await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2);
                                        return;
                                    }
                                    //获取固定向上相机2的流程
                                    var process2 = _productService.GetCurrentProductProcedureModelById(currentProduct.FixedUpCamera2ProcedureId);
                                    if (process2 == null)
                                    {
                                        SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.FixedUpCamera2ProcedureId}", MessageLevel.Alarm);
                                        await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2);
                                        return;
                                    }
                                    // 执行视觉任务
                                    var _cts = new CancellationTokenSource();
                                    var task1 = _remoteCommandService.ExecutePhotoGetSinglePoint(process1, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token);
                                    var task2 = _remoteCommandService.ExecutePhotoGetSinglePoint(process2, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token);
                                    var visionResults = await Task.WhenAll(task1, task2);
                                    if (isDryMode)
                                    {
                                        await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1);
                                        return;
                                    }
                                    if (visionResults[0].IsSucceed && visionResults[1].IsSucceed)
                                    {
                                        float toolX = (float)(visionResults[0].X + visionResults[1].X) / 2;
                                        float toolY = (float)(visionResults[0].Y + visionResults[1].Y) / 2;
                                        _FixedUpCameraAngle = Common.CalculateAngleBetweenPointsDegrees(new PointF((float)visionResults[0].X, (float)visionResults[0].Y), new PointF((float)visionResults[1].X, (float)visionResults[1].Y));
                                        DowmCameraResults[cameraIndex] = new OpenCvSharp.Point3f(toolX, toolX, (float)_FixedUpCameraAngle);
                                        DownTool = new PointF(toolX, toolX);
                                        await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)1);
                                        return;
                                    }
                                    else
                                    {
                                        await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2);
                                        return;
                                    }

                                }
                            }
                            else
                            {
                                //暂时没有应用场景，不支持
                                await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2);
                                return;
                            }
                        }
                        else
                        {
                            SendTaskMessage($"触发下相机拍照信号已关闭", MessageLevel.Alarm);
                            await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)0);
                        }
                    }
                }
                // 触发下相机拍照披头
                if (addressConfig.In_ScrewTeachExe.Address.Contains(tuple.nodeId))
                {
                    if (tuple.value is bool state)
                    {
                        if (state)
                        {
                            SendTaskMessage($"触发下相机拍照...", MessageLevel.Debug);
                            //相机的编号
                            Int16 cameraIndex = plc.ReadNode<Int16>(addressConfig.In_DowmCameraNum.Address);
                            SendTaskMessage($"编号：{cameraIndex}", MessageLevel.Info);

                            // 获取流程
                            //var process = _productService.GetCurrentProductProcedureModelById(currentProduct.FixedUpCamera1ProcedureId);
                            //if (process == null)
                            //{
                            //    SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.FixedUpCamera1ProcedureId}", MessageLevel.Alarm);
                            //    await plc.WriteNodeAsync(addressConfig.Out_ScrewTeachOk.Address, (Int16)2);
                            //    return;
                            //}

                            //// 获取机器人当前坐标
                            //var robot = _robotService.GetAllRobots().FirstOrDefault();
                            //if (robot == null)
                            //{
                            //    SendTaskMessage($"未找到机器人，无法执行上相机锁附/组装拍照视觉任务", MessageLevel.Alarm);
                            //    await plc.WriteNodeAsync(addressConfig.Out_ScrewTeachOk.Address, (Int16)2);
                            //    return;

                            //}
                            //var currentPosition = robot.GetRobotPos();

                            //// 执行视觉任务
                            //var _cts = new CancellationTokenSource();
                            //var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint(process, null, null, _cts.Token);
                            //if (visionResult.IsSucceed)
                            //{
                            //    //披头偏差
                            //    float offsetX = (float)(visionResult.X - currentPosition.X);
                            //    float offsetY = (float)(visionResult.Y - currentPosition.Y);

                            //    DowmCameraResults[cameraIndex] = new PointF(offsetX, offsetY);
                            //    await plc.WriteNodeAsync(addressConfig.Out_ScrewTeachOk.Address, (Int16)1);
                            //    return;
                            //}
                            //else
                            //{
                            //    await plc.WriteNodeAsync(addressConfig.Out_ScrewTeachOk.Address, (Int16)2);
                            //    return;
                            //}
                        }
                        else
                        {
                            SendTaskMessage($"触发下相机拍照信号已关闭", MessageLevel.Alarm);
                            await plc.WriteNodeAsync(addressConfig.Out_ScrewTeachOk.Address, (Int16)0);
                        }
                    }
                }
                // 触发上相机取料拍照
                else if (addressConfig.In_UpCameraPickExe.Address.Contains(tuple.nodeId))
                {
                    if (tuple.value is bool state)
                    {
                        if (state)
                        {
                            SendTaskMessage($"触发上相机取料拍照...", MessageLevel.Debug);
                            //相机的编号
                            Int16 cameraIndex = plc.ReadNode<Int16>(addressConfig.In_UpCameraPickNum.Address);
                            SendTaskMessage($"编号：{cameraIndex}", MessageLevel.Info);

                            // 获取机器人当前坐标
                            var robot = _robotService.GetAllRobots().FirstOrDefault();
                            if (robot == null)
                            {
                                SendTaskMessage($"未找到机器人，无法执行上相机锁附/组装拍照视觉任务", MessageLevel.Alarm);
                                await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2);
                                return;

                            }
                            var currentPosition = robot.GetRobotPos();

                            //如果上相机2的流程id为空，则表示只有一个下相机
                            if (currentProduct.MoveDownCamer2PickPhotoProcedureId == Guid.Empty)
                            {
                                //获取移动向下相机1的流程
                                var process = _productService.GetCurrentProductProcedureModelById(currentProduct.MoveDownCamer1PickPhotoProcedureId);
                                if (process == null)
                                {
                                    SendTaskMessage($"移动向下相机1视觉流程，流程ID：{currentProduct.MoveDownCamer1PickPhotoProcedureId}", MessageLevel.Alarm);
                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)2);
                                    return;
                                }
                                // 执行视觉任务
                                var _cts = new CancellationTokenSource();
                                var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint(process, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token);
                                if (visionResult.IsSucceed)
                                {
                                    currentProduct.PickPoints[0].X_Position = (float)visionResult.X;
                                    currentProduct.PickPoints[0].Y_Position = (float)visionResult.Y;
                                    //currentProduct.PickPoints[0].U_Position += (float)visionResult.U;
                                    await currentProduct.ScrewPoints[0].WriteToPlcAddress(addressConfig.Out_Pick, plc);
                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)1);
                                    return;
                                }
                                else
                                {
                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)2);
                                    return;
                                }
                            }
                            else
                            {
                                //获取固定向上相机1的流程
                                var process1 = _productService.GetCurrentProductProcedureModelById(currentProduct.MoveDownCamer1PickPhotoProcedureId);
                                if (process1 == null)
                                {
                                    SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.MoveDownCamer1PickPhotoProcedureId}", MessageLevel.Alarm);
                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)2);
                                    return;
                                }
                                //获取固定向上相机2的流程
                                var process2 = _productService.GetCurrentProductProcedureModelById(currentProduct.MoveDownCamer2PickPhotoProcedureId);
                                if (process2 == null)
                                {
                                    SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.MoveDownCamer2PickPhotoProcedureId}", MessageLevel.Alarm);
                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)2);
                                    return;
                                }
                                // 执行视觉任务
                                var _cts = new CancellationTokenSource();
                                var task1 = _remoteCommandService.ExecutePhotoGetSinglePoint(process1, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token);
                                var task2 = _remoteCommandService.ExecutePhotoGetSinglePoint(process2, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token);
                                var visionResults = await Task.WhenAll(task1, task2);
                                if (visionResults[0].IsSucceed && visionResults[1].IsSucceed)
                                {
                                    float tool1X = (float)(visionResults[0].X - visionResults[0].X);
                                    float tool1Y = (float)(visionResults[0].Y - visionResults[0].Y);
                                    float tool2X = (float)(visionResults[1].Y - visionResults[1].Y);
                                    float tool2Y = (float)(visionResults[1].Y - visionResults[1].Y);
                                    float toolX = (tool1X + tool2X) / 2;
                                    float toolY = (tool1Y + tool2Y) / 2;

                                    //计算两个点的线角度

                                    currentProduct.PickPoints[0].X_Position = (float)toolX;
                                    currentProduct.PickPoints[0].Y_Position = (float)toolY;
                                    //currentProduct.PickPoints[0].U_Position += (float)visionResult.U;
                                    await currentProduct.ScrewPoints[0].WriteToPlcAddress(addressConfig.Out_Pick, plc);
                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)1);
                                    return;
                                }
                                else
                                {
                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)2);
                                    return;
                                }
                            }
                        }
                        else
                        {
                            SendTaskMessage($"触发上相机取料拍照信号已关闭", MessageLevel.Alarm);
                            await plc.WriteNodeAsync(addressConfig.Out_UpCameraPickStatus.Address, (Int16)0);
                        }
                    }
                }
                // 上相机锁附/组装拍照
                else if (addressConfig.In_UpCameraPutExe.Address.Contains(tuple.nodeId))
                {
                    if (tuple.value is bool state)
                    {
                        if (state)
                        {
                            SendTaskMessage($"触发上相机锁附/组装拍照...", MessageLevel.Debug);
                            //相机的编号
                            Int16 cameraIndex = plc.ReadNode<Int16>(addressConfig.In_UpCameraPutNum.Address);
                            SendTaskMessage($"编号：{cameraIndex}", MessageLevel.Info);


                            // 获取机器人当前坐标
                            var robot = _robotService.GetAllRobots().FirstOrDefault();
                            if (robot == null)
                            {
                                SendTaskMessage($"未找到机器人，无法执行上相机锁附/组装拍照视觉任务", MessageLevel.Alarm);
                                await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)2);
                                return;

                            }
                            var currentPosition = robot.GetRobotPos();


                            //如果上相机2的流程id为空，则表示只有一个上相机
                            if (currentProduct.MoveDownCamera2LockPhotoProcedureId == Guid.Empty)
                            {
                                //获取移动向下相机1的流程
                                var process = _productService.GetCurrentProductProcedureModelById(currentProduct.MoveDownCamera1LockPhotoProcedureId);
                                if (process == null)
                                {
                                    SendTaskMessage($"移动向下相机1视觉流程，流程ID：{currentProduct.MoveDownCamera1LockPhotoProcedureId}", MessageLevel.Alarm);
                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)2);
                                    return;
                                }
                                // 执行视觉任务
                                var _cts = new CancellationTokenSource();
                                var visionResult = await _remoteCommandService.ExecutePhotoGetSinglePoint(process, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token);
                                if (isDryMode)
                                {
                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)1);
                                    return;
                                }
                                if (visionResult.IsSucceed)
                                {
                                    UpCameraPutResults[cameraIndex] = new OpenCvSharp.Point3f((float)visionResult.X, (float)visionResult.Y, (float)visionResult.U);
                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)1);
                                    return;
                                }
                                else
                                {
                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)2);
                                    return;
                                }
                            }
                            else
                            {
                                //获取移动向下相机1的流程
                                var process1 = _productService.GetCurrentProductProcedureModelById(currentProduct.MoveDownCamera1LockPhotoProcedureId);
                                if (process1 == null)
                                {
                                    SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.MoveDownCamera1LockPhotoProcedureId}", MessageLevel.Alarm);
                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)2);
                                    return;
                                }
                                //获取移动向下相机2的流程
                                var process2 = _productService.GetCurrentProductProcedureModelById(currentProduct.MoveDownCamera2LockPhotoProcedureId);
                                if (process2 == null)
                                {
                                    SendTaskMessage($"固定向上相机1视觉流程，流程ID：{currentProduct.MoveDownCamera2LockPhotoProcedureId}", MessageLevel.Alarm);
                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)2);
                                    return;
                                }
                                // 执行视觉任务
                                var _cts = new CancellationTokenSource();
                                var task1 = _remoteCommandService.ExecutePhotoGetSinglePoint(process1, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token);
                                var task2 = _remoteCommandService.ExecutePhotoGetSinglePoint(process2, null, new double[] { currentPosition.X, currentPosition.Y, currentPosition.U }, _cts.Token);
                                var visionResults = await Task.WhenAll(task1, task2);
                                if (isDryMode)
                                {
                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)1);
                                    return;
                                }
                                if (visionResults[0].IsSucceed && visionResults[1].IsSucceed)
                                {
                                    float centerX = (float)(visionResults[0].X + visionResults[1].X) / 2;
                                    float centerY = (float)(visionResults[0].Y + visionResults[1].Y) / 2;
                                    _MoveCameraAngle = Common.CalculateAngleBetweenPointsDegrees(new PointF((float)visionResults[0].X, (float)visionResults[0].Y), new PointF((float)visionResults[1].X, (float)visionResults[1].Y));
                                    UpCameraPutResults[cameraIndex] = new OpenCvSharp.Point3f(centerX, centerY, (float)_MoveCameraAngle);
                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)1);
                                    return;
                                }
                                else
                                {
                                    await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)2);
                                    return;
                                }
                            }
                        }
                        else
                        {
                            SendTaskMessage($"触发上相机锁附/组装拍照信号已关闭", MessageLevel.Alarm);
                            await plc.WriteNodeAsync(addressConfig.Out_UpCameraPutStatus.Address, (Int16)0);
                        }
                    }
                }
                // 上相机检测拍照
                else if (addressConfig.In_UPCameracheckExe.Address.Contains(tuple.nodeId))
                {
                    if (tuple.value is bool state)
                    {
                        if (state)
                        {
                            SendTaskMessage($"触发上相机检测拍照...", MessageLevel.Debug);
                            //相机的编号
                            //Int16 cameraIndex = plc.ReadNode<Int16>(addressConfig.Out_UPCameracheckNum.Address);



                            await plc.WriteNodeAsync(addressConfig.Out_UPCameracheckStatus.Address, (Int16)1);
                        }
                        else
                        {
                            SendTaskMessage($"触发上相机检测拍照信号已关闭", MessageLevel.Alarm);
                            await plc.WriteNodeAsync(addressConfig.Out_UPCameracheckStatus.Address, (Int16)0);
                        }
                    }
                }
                // 固定相机取料拍照
                else if (addressConfig.In_FixedCameraPickExe.Address.Contains(tuple.nodeId))
                {
                    if (tuple.value is bool state)
                    {
                        if (state)
                        {
                            SendTaskMessage($"触发固定相机取料拍照...", MessageLevel.Debug);
                            //相机的编号
                            //Int16 cameraIndex = plc.ReadNode<Int16>(addressConfig.In_FixedCameraPickNum.Address);



                            await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)1);
                        }
                        else
                        {
                            SendTaskMessage($"触发固定相机取料拍照信号已关闭", MessageLevel.Alarm);
                            await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPickStatus.Address, (Int16)0);
                        }
                    }
                }
                // 固定相机锁附/组装拍照
                else if (addressConfig.In_FixedCameraPutExe.Address.Contains(tuple.nodeId))
                {
                    if (tuple.value is bool state)
                    {
                        if (state)
                        {
                            SendTaskMessage($"触发固定相机锁附/组装拍照...", MessageLevel.Debug);
                            //相机的编号
                            //Int16 cameraIndex = plc.ReadNode<Int16>(addressConfig.In_FixedCameraPutNum.Address);
                            if (currentProduct.IndependentCamer1ProductProcedureId == Guid.Empty)
                            {
                                await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPutStatus.Address, (Int16)2);
                                return;
                            }
                            if (currentProduct.IndependentCamer2ProductProcedureId == Guid.Empty)
                            {
                                await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPutStatus.Address, (Int16)2);
                                return;
                            }
                            if (currentProduct.IndependentCamer3ProductProcedureId == Guid.Empty)
                            {
                                await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPutStatus.Address, (Int16)2);
                                return;
                            }
                            if (currentProduct.IndependentCamer4ProductProcedureId == Guid.Empty)
                            {
                                await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPutStatus.Address, (Int16)2);
                                return;
                            }

                            //获取四个独立相机的流程id
                            var process1 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer1ProductProcedureId);
                            var process2 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer2ProductProcedureId);
                            var process3 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer3ProductProcedureId);
                            var process4 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer4ProductProcedureId);

                            // 执行视觉任务
                            var _cts = new CancellationTokenSource();
                            var task1 = _remoteCommandService.ExecutePhotoGetSinglePoint(process1, null, null, _cts.Token);
                            var task2 = _remoteCommandService.ExecutePhotoGetSinglePoint(process2, null, null, _cts.Token);
                            var task3 = _remoteCommandService.ExecutePhotoGetSinglePoint(process3, null, null, _cts.Token);
                            var task4 = _remoteCommandService.ExecutePhotoGetSinglePoint(process4, null, null, _cts.Token);

                            var visionResults = await Task.WhenAll(task1, task2, task3, task4);
                            if (visionResults[0].IsSucceed && visionResults[1].IsSucceed && visionResults[2].IsSucceed && visionResults[3].IsSucceed)
                            {
                                Vector<double> p1=Vector<double>.Build.Dense(new double[] { visionResults[0].X, visionResults[0].Y });
                                Vector<double> p2=Vector<double>.Build.Dense(new double[] { visionResults[1].X, visionResults[1].Y });
                                Vector<double> p3=Vector<double>.Build.Dense(new double[] { visionResults[2].X, visionResults[2].Y });
                                Vector<double> p4=Vector<double>.Build.Dense(new double[] { visionResults[3].X, visionResults[3].Y });

                                var center = RectangleCenterCalculator.CalculateByPCAWithKnownOrder(new List<Vector<double>> { p1, p2, p4, p3 });
                                UpCameraPutResults[0].X = (float)center.Center[0];
                                UpCameraPutResults[0].Y = (float)center.Center[1];
                                UpCameraPutResults[0].Z= (float)center.MajorAxisAngle;
                            }
                            else
                            {
                                if (isDryMode)
                                {
                                    await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)1);
                                    return;
                                }
                                await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPutStatus.Address, (Int16)2);
                                return;
                            }

                            await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPutStatus.Address, (Int16)1);
                        }
                        else
                        {
                            SendTaskMessage($"触发固定相机锁附/组装拍照信号已关闭", MessageLevel.Alarm);
                            await plc.WriteNodeAsync(addressConfig.Out_FixedCameraPutStatus.Address, (Int16)0);
                        }
                    }
                }
                // 固定相机检测拍照
                else if (addressConfig.In_FixedCameracheckExe.Address.Contains(tuple.nodeId))
                {
                    if (tuple.value is bool state)
                    {
                        if (state)
                        {
                            SendTaskMessage($"触发固定相机检测拍照...", MessageLevel.Debug);
                            //相机的编号
                            //Int16 cameraIndex = plc.ReadNode<Int16>(addressConfig.In_FixedCameracheckNum.Address);

                            if (currentProduct.IndependentCamer1AuxProcedureId == Guid.Empty)
                            {
                                await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)2);
                                return;
                            }
                            if (currentProduct.IndependentCamer2AuxProcedureId == Guid.Empty)
                            {
                                await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)2);
                                return;
                            }
                            if (currentProduct.IndependentCamer3AuxProcedureId == Guid.Empty)
                            {
                                await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)2);
                                return;
                            }
                            if (currentProduct.IndependentCamer4AuxProcedureId == Guid.Empty)
                            {
                                await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)2);
                                return;
                            }

                            //获取四个独立相机的流程id
                            var process1 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer1AuxProcedureId);
                            var process2 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer2AuxProcedureId);
                            var process3 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer3AuxProcedureId);
                            var process4 = _productService.GetCurrentProductProcedureModelById(currentProduct.IndependentCamer4AuxProcedureId);

                            // 执行视觉任务
                            var _cts = new CancellationTokenSource();
                            var task1 = _remoteCommandService.ExecutePhotoGetSinglePoint(process1, null, null, _cts.Token);
                            var task2 = _remoteCommandService.ExecutePhotoGetSinglePoint(process2, null, null, _cts.Token);
                            var task3 = _remoteCommandService.ExecutePhotoGetSinglePoint(process3, null, null, _cts.Token);
                            var task4 = _remoteCommandService.ExecutePhotoGetSinglePoint(process4, null, null, _cts.Token);

                            var visionResults = await Task.WhenAll(task1, task2, task3, task4);
                            if (visionResults[0].IsSucceed && visionResults[1].IsSucceed && visionResults[2].IsSucceed && visionResults[3].IsSucceed)
                            {
                                Vector<double> p1 = Vector<double>.Build.Dense(new double[] { visionResults[0].X, visionResults[0].Y });
                                Vector<double> p2 = Vector<double>.Build.Dense(new double[] { visionResults[1].X, visionResults[1].Y });
                                Vector<double> p3 = Vector<double>.Build.Dense(new double[] { visionResults[2].X, visionResults[2].Y });
                                Vector<double> p4 = Vector<double>.Build.Dense(new double[] { visionResults[3].X, visionResults[3].Y });

                                var center = RectangleCenterCalculator.CalculateByPCAWithKnownOrder(new List<Vector<double>> { p1, p2, p4, p3 });
                                UpCameraPutResults[1].X = (float)center.Center[0];
                                UpCameraPutResults[1].Y = (float)center.Center[1];
                                UpCameraPutResults[1].Z = (float)center.MajorAxisAngle;
                            }
                            else
                            {
                                if (isDryMode)
                                {
                                    await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)1);
                                    return;
                                }
                                await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)2);
                                return;
                            }

                            await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)1);
                        }
                        else
                        {
                            SendTaskMessage($"触发固定相机检测拍照信号已关闭", MessageLevel.Alarm);
                            await plc.WriteNodeAsync(addressConfig.Out_FixedCameracheckStatus.Address, (Int16)0);
                        }
                    }
                }
                // 开始锁付
                else if (addressConfig.In_WorkStart.Address.Contains(tuple.nodeId))
                {
                    if (tuple.value is Int16 state)
                    {
                        if (state == 1)
                        {
                            SendTaskMessage($"收到开始锁付信号...", MessageLevel.Debug);
                            //位置编号
                            Int16 positionIndex = plc.ReadNode<Int16>(addressConfig.In_ProductNum.Address);
                            SendTaskMessage($"编号：{positionIndex}", MessageLevel.Info);
                        }
                        else
                        {
                            SendTaskMessage($"开始锁付信号已关闭", MessageLevel.Alarm);
                            // 关闭时的处理（如需）可放在这里
                        }
                    }
                }
                // 停止锁付
                else if (addressConfig.In_WorkDone.Address.Contains(tuple.nodeId))
                {
                    if (tuple.value is Int16 state)
                    {
                        if (state == 1 || state == 2)
                        {
                            SendTaskMessage($"收到停止锁付信号...", MessageLevel.Debug);
                            //位置编号
                            Int16 positionIndex = plc.ReadNode<Int16>(addressConfig.In_ProductNum.Address);
                            SendTaskMessage($"编号：{positionIndex}", MessageLevel.Info);
                            //获取当前锁付点
                            var screwPoint = currentProduct.ScrewPoints.FirstOrDefault(p => p.Number == positionIndex);
                            //获取当前的机器人点位
                            var robot = _robotService.GetAllRobots().FirstOrDefault();
                            var currentPosition = robot.GetRobotPos();
                            //读取压力值
                            float pressure = plc.ReadNode<float>(addressConfig.In_PressureValue.Address);


                            await Task.Delay(60);
                            //获取电批结果
                            bool isSucced = ScrewDriver.GetData();
                            LockResult lockResult = new LockResult();
                            lockResult.ScrewdriverGetDataSucceed = isSucced;
                            lockResult.Number = positionIndex;
                            lockResult.LockPassed = ScrewDriver.Success;
                            lockResult.ProductNumber = _productService.CurrentProductCode;
                            lockResult.LockTurns = (float)ScrewDriver.Truns;
                            lockResult.LockTorque = (float)ScrewDriver.TorqueValue;
                            lockResult.LockDuration = (float)ScrewDriver.FinalTime;
                            lockResult.ScrewdriverProgramNumber = ScrewDriver.ProgramNumber;
                            lockResult.ResultDetails = ScrewDriver.ErrorInfo;
                            lockResult.Pressure = pressure;
                            lockResult.TargetTorque = ScrewDriver.TargetTorque;
                            lockResult.TargetTurnsUpperLimit = ScrewDriver.TargetTurnsUpperLimit;
                            lockResult.TargetTurnsLowerLimit = ScrewDriver.TargetTurnsLowerLimit;
                            lockResult.TargetLockSpeed = ScrewDriver.TargetLockSpeed;
                            lockResult.StartPositionX = currentPosition.X;
                            lockResult.StartPositionY = currentPosition.Y;
                            lockResult.StartPositionZ = screwPoint.Z_Position_Start;
                            lockResult.EndPositionZ = currentPosition.Z;
                            lockResult.LockDescentSpeed = screwPoint.Z_Velocity_Stop;
                            lockResult.FeederNumber = screwPoint != null ? screwPoint.Feeder : 0;
                            lockResult.NozzleNumber = "";
                            lockResult.OperatorName = _systemDatabaseService.GetCurrentUser().UserName;
                            lockResult.ProductImagePath = "";
                            lockResult.WaveDatas = ScrewDriver.WaveDatas;
                            App.Current.Dispatcher.Invoke(() =>
                            {
                                _eventAggregator.GetEvent<LockFinishNotification>().Publish(lockResult);
                            });
                            await _systemDatabaseService.RecordLockResultAsync(lockResult);
                            await plc.WriteNodeAsync(addressConfig.In_WorkDone.Address, (Int16)0);
                        }
                        else
                        {
                            SendTaskMessage($"停止锁付信号已关闭", MessageLevel.Alarm);
                        }
                    }
                }
                // 多相机坐标合并
                else if (addressConfig.In_RequestPosition.Address.Contains(tuple.nodeId))
                {
                    if (tuple.value is Int16 state)
                    {
                        if (state == 1)
                        {
                            SendTaskMessage($"收到多相机坐标合并请求，开始合并...", MessageLevel.Debug);

                            if (isDryMode)
                            {
                                var point1 = currentProduct.ScrewPoints[0].Clone();
                                SendTaskMessage($"点：1，{point1.X_Position:F3}，{point1.Y_Position:F4}，{point1.U_Position:F4}", MessageLevel.Info);
                                await point1.WriteToPlcAddress(addressConfig.Out_Screw, plc);
                                await plc.WriteNodeAsync(addressConfig.Out_WorkNum.Address, (Int16)1);
                                await plc.WriteNodeAsync(addressConfig.Out_CameraDone.Address, (Int16)1);
                                return;
                            }

                            // 获取机器人当前坐标
                            var robot = _robotService.GetAllRobots().FirstOrDefault();
                            if (robot == null)
                            {
                                SendTaskMessage($"未找到机器人，无法执行上相机锁附/组装拍照视觉任务", MessageLevel.Alarm);
                                await plc.WriteNodeAsync(addressConfig.Out_DownCameraStatus.Address, (Int16)2);
                                return;

                            }
                            var currentPosition = robot.GetRobotPos();

                            //以LCD的中线创建工具坐标
                            ToolCoord toolCoord = new ToolCoord();
                            toolCoord.SetTool(UpCameraPutResults[1].X, UpCameraPutResults[1].Y);

                            
                            //计算放料角度
                            double angle= currentPosition.U - DowmCameraResults[1].Z + DowmCameraResults[0].Z;

                            //将产品的中心点坐标转换为Tool0下的坐标
                            var point = currentProduct.ScrewPoints[0].Clone();
                            var pn = Vector<double>.Build.Dense(new double[] { DowmCameraResults[0].X, DowmCameraResults[0].Y });
                            var p0 = toolCoord.GetTool0Coord(pn, angle);
                            point.X_Position = (float)p0[0];
                            point.Y_Position = (float)p0[1];
                            point.U_Position = (float)angle;

                            SendTaskMessage($"点：1，{point.X_Position:F3}，{point.Y_Position:F4}，{point.U_Position:F4}", MessageLevel.Info);
                            await point.WriteToPlcAddress(addressConfig.Out_Screw, plc);
                            await plc.WriteNodeAsync(addressConfig.Out_WorkNum.Address, (Int16)1);
                            await plc.WriteNodeAsync(addressConfig.Out_CameraDone.Address, (Int16)1);
                        }
                        else
                        {
                            SendTaskMessage($"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);
                        }
                    }
                }
                // 螺丝供料器螺丝递减
                else if (addressConfig.In_PickINC.Address.Contains(tuple.nodeId))
                {
                    if (tuple.value is Int16 state)
                    {
                        if (state != 0)
                        {
                            SendTaskMessage($"螺丝供料器...", MessageLevel.Info);
                            await plc.WriteNodeAsync(addressConfig.In_PickINC.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 (state == 1)
                                {
                                    if (i == 0)
                                    {
                                        SendTaskMessage($"收到当前站过站检查请求（当站是否生产）...", MessageLevel.Debug);
                                    }
                                    else
                                    {
                                        SendTaskMessage($"收到 {i} 过站检查请求（当站是否生产）...", MessageLevel.Debug);
                                    }

                                    //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_ScrewFeederIsChanged.Address, (Int16)1); //不发生改变

                                    await plc.WriteNodeAsync(string.Format(addressConfig.Out_MesStatus.Address, i), (Int16)1);
                                }
                                // 上传本站数据
                                else if (state == 2)
                                {
                                    SendTaskMessage($"收到上传{i}站数据请求...", MessageLevel.Debug);
                                    await plc.WriteNodeAsync(string.Format(addressConfig.Out_MesStatus.Address, i), (Int16)3);
                                }
                                else
                                {
                                    SendTaskMessage($"{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);
            }
        }

        #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
            {
                if (CurrentProduct == null) return;
                //获取当前产品
                var currentproduct = _productService.GetCurrentProduct();
                TotalQuantity = await _systemDatabaseService.GetOverallProductionAsync(CurrentProduct.Name);
                TotalQuantityToday = await _systemDatabaseService.GetTodayProductionAsync(CurrentProduct.Name);
                CurrentUPH = await _systemDatabaseService.GetLastHourProductionAsync(CurrentProduct.Name);
            }
            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

        #endregion
    }
}