Display_D_HP/TeamAAS-VM/Interfaces/IRemoteCommandService.cs

using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
using System;
using System.Collections.Generic;
using System.Threading;
using System.Threading.Tasks;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.Feeder;

namespace TeamAAS_VP.Interfaces
{
    public interface IRemoteCommandService : IDisposable
    {
        /// <summary>
        /// 是否正在执行命令
        /// </summary>
        bool IsExecuting { get; }

        /// <summary>
        /// 是否正在执行视觉命令
        /// </summary>
        bool IsExecutingVisionCommand { get; }

        /// <summary>
        /// 节拍计时通知事件
        /// </summary>
        event EventHandler<TimeSpan> CycleTimingTicked;

        /// <summary>
        /// Execute a remote command string
        /// </summary>
        /// <param name="command"></param>
        /// <param name="cancellationToken"></param>
        /// <param name="callback"></param>
        /// <returns></returns>
        Task ExecuteAsync(string command, CancellationToken cancellationToken, Action<string> callback);

        /// <summary>
        /// 加载产品
        /// </summary>
        /// <param name="productName"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<bool> LoadProductAsync(string productName, CancellationToken cancellationToken);

        /// <summary>
        /// 通过产品编号获取产品名称
        /// </summary>
        /// <param name="productNumber"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<string> GetProductNameByNumberAsync(int productNumber, CancellationToken cancellationToken);

        /// <summary>
        /// 通过产品名称获取产品编号
        /// </summary>
        /// <param name="productName"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<int> GetProductNumberByNameAsync(string productName, CancellationToken cancellationToken);

        /// <summary>
        /// 获取当前产品名称
        /// </summary>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<string> GetCurrentProductNameAsync(CancellationToken cancellationToken);

        /// <summary>
        /// 获取当前产品编号
        /// </summary>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<int> GetCurrentProductNumberAsync(CancellationToken cancellationToken);

        /// <summary>
        /// 通过机器人编号和点位编号获取机器人点位信息
        /// </summary>
        /// <param name="robotNumber"></param>
        /// <param name="pointNumber"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<string> GetRobotPointInfoAsync(int robotNumber, int pointNumber, CancellationToken cancellationToken);

        /// <summary>
        /// 通过机器人编号和托盘编号、点编号获取机器人托盘点位信息
        /// </summary>
        /// <param name="robotNumber">机器人编号</param>
        /// <param name="palletNumber">托盘编号</param>
        /// <param name="pointNumber">点编号</param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<string> GetRobotPalletPointInfoAsync(int robotNumber, int palletNumber, int pointNumber, CancellationToken cancellationToken);

        /// <summary>
        /// 开始节拍计时
        /// </summary>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<bool> StartCycleTimingAsync(CancellationToken cancellationToken);

        /// <summary>
        /// 停止节拍计时
        /// </summary>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<bool> StopCycleTimingAsync(CancellationToken cancellationToken);

        /// <summary>
        /// 新增一条生产计数记录
        /// </summary>
        /// <param name="countItem"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<bool> CreateProductionCountAsync(string countItem, CancellationToken cancellationToken);

        /// <summary>
        /// 获取当前生产计数
        /// </summary>
        /// <param name="countItem"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<int> GetCurrentProductionCountAsync(string countItem, CancellationToken cancellationToken);

        /// <summary>
        /// 重置生产计数
        /// </summary>
        /// <param name="countItem"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<bool> ResetProductionCountAsync(string countItem, CancellationToken cancellationToken);

        /// <summary>
        /// 记录一条报警信息
        /// </summary>
        /// <param name="alarmCode"></param>
        /// <param name="alarmDescription"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<bool> CreateAlarmRecordAsync(string alarmCode, string alarmDescription, CancellationToken cancellationToken);

        /// <summary>
        /// 记录一条操作信息日志
        /// </summary>
        /// <param name="logMessage"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<bool> CreateOperationLogAsync(string logMessage, CancellationToken cancellationToken);

        /// <summary>
        /// 获取当前产品指定编号的全局参数
        /// </summary>
        /// <param name="parameterNumber"></param>
        /// <param name="itemIndex"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<string> GetGlobalParameterAsync(int parameterNumber, int itemIndex, CancellationToken cancellationToken);

        /// <summary>
        /// 获取当前产品运行速度参数
        /// </summary>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<string> GetOperationSpeedAsync(CancellationToken cancellationToken);

        /// <summary>
        /// 获取末端工具参数信息,包括流程触发命令和工具编号
        /// </summary>
        /// <param name="triggerCommand"></param>
        /// <param name="toolNumber"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<string> GetToolParamAsync(string triggerCommand, int toolNumber, CancellationToken cancellationToken);

        /// <summary>
        /// 获取流程参数信息,包括流程触发命令
        /// </summary>
        /// <param name="triggerCommand"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<string> GetProcessParamAsync(string triggerCommand, CancellationToken cancellationToken);

        /// <summary>
        /// 执行清料任务
        /// </summary>
        /// <param name="taskNumber"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<bool> ExecuteClearMaterialTaskAsync(int taskNumber, CancellationToken cancellationToken);

        /// <summary>
        /// 停止清料任务
        /// </summary>
        /// <param name="taskNumber"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<bool> StopClearMaterialTaskAsync(int taskNumber, CancellationToken cancellationToken);

        /// <summary>
        /// 获取机器人是否处于调试模式
        /// </summary>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<bool> IsRobotInDebugModeAsync(int robotNumber, CancellationToken cancellationToken);

        /// <summary>
        /// 执行视觉任务
        /// </summary>
        /// <param name="procedure">流程</param>
        /// <param name="items">命令参数</param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<(bool IsSucceed, string[] Response)> ExecuteVisionTaskAsync(ProcedureModel procedure, string[] items, CancellationToken cancellationToken);

        /// <summary>
        /// 执行Feeder视觉引导任务
        /// </summary>
        /// <param name="feeder"></param>
        /// <param name="procedure"></param>
        /// <param name="items"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<(bool IsSucceed, string[] Response)> ExecuteFeederVisionTaskAsync(IVoiceCoilMotorFeeder feeder, ProcedureModel procedure, string[] items, CancellationToken cancellationToken);

        /// <summary>
        /// 执行普通视觉任务
        /// </summary>
        /// <param name="procedure"></param>
        /// <param name="items"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<(bool IsSucceed, string Response)> ExecuteNormalVisionTaskAsync(ProcedureModel procedure, string[] items, CancellationToken cancellationToken);

        /// <summary>
        /// 执行相机拍照
        /// </summary>
        /// <param name="procedure"></param>
        /// <param name="InputTerminal"></param>
        /// <param name="outputCollection"></param>
        /// <returns></returns>
        Task<(bool Success, CogToolBlockTerminalCollection OutputCollection)> ExecutePhotoAsync(ProcedureModel procedure, Dictionary<string, string> InputTerminal);

        /// <summary>
        /// 执行相机拍照流程运行
        /// </summary>
        /// <param name="procedure"></param>
        /// <returns></returns>
        Task<(bool Success, CogToolBlockTerminalCollection OutputCollection)> ExecutePhotoAsync(ProcedureModel procedure);

        /// <summary>
        /// 执行相机拍照并运行 ToolBlock
        /// </summary>
        /// <param name="procedure"></param>
        /// <param name="InputTerminal"></param>
        /// <returns></returns>
        Task<(bool Success, CogToolBlockTerminalCollection OutputCollection)> ExecutePhoto2Async(ProcedureModel procedure, Dictionary<string, string> InputTerminal);

        /// <summary>
        /// 执行相机拍照获取单个点位结果
        /// </summary>
        /// <param name="procedure"></param>
        /// <param name="InputTerminal"></param>
        /// <param name="robotCoord"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<(bool IsSucceed, double X, double Y, double U)> ExecutePhotoGetSinglePoint(ProcedureModel procedure, Dictionary<string, string> InputTerminal, double[] robotCoord, CancellationToken cancellationToken);

        /// <summary>
        /// 采集图像
        /// </summary>
        /// <param name="procedure"></param>
        /// <returns></returns>
        Task<(bool IsSucceed, ICogImage[] Image, string Msg)> ExecuteGrabImageAsync(ProcedureModel procedure,bool Is3dPhoto, SystemConfiguration sysConfig);

        /// <summary>
        /// 执行相机拍照获取多个点位结果
        /// </summary>
        /// <param name="procedure"></param>
        /// <param name="InputTerminal"></param>
        /// <param name="robotCoord"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<(bool IsSucceed, string[] Items, double Count)> ExecutePhotoGetSinglePoint1(ProcedureModel procedure, ICogImage[] imges, Dictionary<string, string> InputTerminal, double[] robotCoord, CancellationToken cancellationToken,bool is3dmodel, float confThreshold = 0.25f, float iouThreshold = 0.45f);

        /// <summary>
        /// 执行相机拍照获取多个点位结果
        /// </summary>
        /// <param name="procedure"></param>
        /// <param name="InputTerminal"></param>
        /// <param name="robotCoord"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<(bool IsSucceed, string[] Items, double Count)> ExecutePhotoGetSinglePoint1(ProcedureModel procedure, Dictionary<string, string> InputTerminal, double[] robotCoord, CancellationToken cancellationToken);


        /// <summary>
        /// 执行相机拍照获取单个点位结果
        /// </summary>
        /// <param name="procedure"></param>
        /// <param name="InputTerminal"></param>
        /// <param name="robotCoord"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<(bool IsSucceed, string X, double Y, double U)> ExecutePhotoGetSinglePoint2(ProcedureModel procedure, Dictionary<string, string> InputTerminal, double[] robotCoord, CancellationToken cancellationToken);
        /// <summary>
        /// 执行相机拍照获取单个点位结果,并且返回图像和图形
        /// </summary>
        /// <param name="procedure"></param>
        /// <param name="InputTerminal"></param>
        /// <param name="robotCoord"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task<(bool IsSucceed, double X, double Y, double U, ICogImage Image, CogGraphicCollection Graphic)> ExecutePhotoGetSinglePointWithImage(ProcedureModel procedure, Dictionary<string, string> InputTerminal, double[] robotCoord, CancellationToken cancellationToken);

        /// <summary>
        /// 获取视觉输出
        /// </summary>
        /// <param name="procedure"></param>
        /// <param name="outputCollection"></param>
        /// <param name="robotPos"></param>
        /// <returns></returns>
        (bool IsSucceed, string ErrMsg, Dictionary<string, (bool IsPoint, object Value)> Output) GetVisionOutput(ProcedureModel procedure, CogToolBlockTerminalCollection outputCollection, double[] robotPos);

        /// <summary>
        /// Feeder拍照前的准备动作
        /// </summary>
        /// <param name="Feeder"></param>
        /// <param name="procedure"></param>
        /// <param name="doVibrateFirst"></param>
        /// <param name="doCaptureFirst"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task ExecuteFeederForPhotoBefore(IVoiceCoilMotorFeeder Feeder, ProcedureModel procedure, bool doVibrateFirst, bool doCaptureFirst, CancellationToken cancellationToken);

        /// <summary>
        /// Feeder拍照后且失败时,执行Feeder
        /// </summary>
        /// <param name="Feeder"></param>
        /// <param name="procedure"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task ExecuteFeederForPhotoLater(IVoiceCoilMotorFeeder Feeder, ProcedureModel procedure, CancellationToken cancellationToken);

        /// <summary>
        /// 执行Feeder料仓供料及振动任务
        /// </summary>
        /// <param name="feeder"></param>
        /// <param name="works"></param>
        /// <param name="cancellationToken"></param>
        /// <param name="isUpdateParame"></param>
        /// <returns></returns>
        Task ExecuteFeederStockWorks(IVoiceCoilMotorFeeder feeder, FeederStockWorks works, CancellationToken cancellationToken, bool isUpdateParame = true);

        /// <summary>
        /// 执行料仓振动任务
        /// </summary>
        /// <param name="feeder"></param>
        /// <param name="works"></param>
        /// <param name="cancellationToken"></param>
        /// <returns></returns>
        Task ExecuteFeederStockWorksOnly(IVoiceCoilMotorFeeder feeder, FeederStockWork[] works, CancellationToken cancellationToken);

        /// <summary>
        /// 执行Feeder振动动作
        /// </summary>
        /// <param name="feeder"></param>
        /// <param name="works"></param>
        /// <param name="cancellationToken"></param>
        /// <param name="isUpdateParame"></param>
        /// <returns></returns>
        Task ExecuteFeederWorkOnly(IVoiceCoilMotorFeeder feeder, FeederWork[] works, CancellationToken cancellationToken, bool isUpdateParame = true);

        /// <summary>
        /// 执行Feeder振动集合
        /// </summary>
        /// <param name="feeder"></param>
        /// <param name="works"></param>
        /// <param name="cancellationToken"></param>
        /// <param name="isUpdateParame"></param>
        /// <returns></returns>
        Task ExecuteFeederWorks(IVoiceCoilMotorFeeder feeder, FeederWorks works, CancellationToken cancellationToken, bool isUpdateParame = true);

        /// <summary>
        /// 拍照前设置光源亮度和打开光源
        /// </summary>
        /// <param name="procedure">流程模型</param>
        /// <returns></returns>
        Task SetLightBeforePhoto(ProcedureModel procedure);

        /// <summary>
        /// 拍照后关闭光源
        /// </summary>
        /// <param name="procedure">流程模型</param>
        /// <returns></returns>
        Task TurnOffLightAfterPhoto(ProcedureModel procedure);
    }
}