using Autofac;
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using Bro.Common.Helper;
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using Bro.Common.Model;
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using Bro.Common.Model.Interface;
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using Bro.Device.HikCamera;
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using System;
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using System.Collections.Generic;
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using System.ComponentModel;
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using System.Drawing.Design;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace A032.Process
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{
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public enum PathPositionDefinition
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{
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[Description("无地点")]
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None = 0,
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[Description("上空Tray地点")]
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LoadEmptyTray = 1,
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[Description("卸载空Tray地点")]
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UnloadEmptyTray = 2,
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[Description("上满Tray地点")]
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LoadFullTray = 3,
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[Description("卸载满Tray地点")]
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UnloadFullTray = 4,
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[Description("充电地点")]
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Charge = 5,
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}
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public class PathPosition : IComplexDisplay
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{
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[Category("导航路径")]
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[Description("AGV路径节点代码")]
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public string PositionCode { get; set; }
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[Category("导航路径")]
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[Description("Robot路径节点数字")]
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public int PositionNo { get; set; }
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[Category("导航路径")]
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[Description("路径节点描述")]
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public PathPositionDefinition Description { get; set; } = PathPositionDefinition.None;
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[Category("归属设备")]
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[Description("归属设备编号")]
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[TypeConverter(typeof(PLCDeviceConverter))]
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public string DeviceOwner { get; set; }
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public string GetDisplayText()
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{
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return $"{PositionCode}-{Description}";
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}
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}
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public class PositionVisionConfig : IComplexDisplay, IHalconToolPath
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{
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[Category("关联配置")]
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[Description("位置代码")]
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[TypeConverter(typeof(PositionCodeConverter))]
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public string PositionCode { get; set; }
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[Category("关联配置")]
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[Description("适用相机编号")]
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[TypeConverter(typeof(CameraDeviceConverter))]
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public string CameraId { get; set; }
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[Category("视觉配置")]
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[Description("该位置标定矩阵，用于从相机像素坐标转换到机器人的运动二维坐标系，只计算偏移")]
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[TypeConverter(typeof(SimpleCollectionConvert<double>))]
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public List<double> Matrix { get; set; } = new List<double>();
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[Category("视觉配置")]
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[Description("该位置标准点位信息")]
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[TypeConverter(typeof(ComplexObjectConvert))]
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[Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
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public CustomizedPointWithAngle StandardPoint { get; set; } = new CustomizedPointWithAngle();
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[Category("视觉配置")]
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[Description("该位置拍摄配置")]
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[TypeConverter(typeof(ComplexObjectConvert))]
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[Editor(typeof(PropertyObjectEditor), typeof(UITypeEditor))]
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public HikCameraOperationConfig CameraOpConfig { get; set; } = new HikCameraOperationConfig();
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public string GetDisplayText()
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{
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return $"{PositionCode}:曝光：{CameraOpConfig.Exposure};标定矩阵：{string.Join(",", Matrix)}";
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}
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public List<string> GetHalconToolPathList()
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{
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return new List<string>() { CameraOpConfig.AlgorithemPath };
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}
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}
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public class PositionCodeConverter : ComboBoxItemTypeConvert
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{
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public override void GetConvertHash()
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{
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using (var scope = GlobalVar.Container.BeginLifetimeScope())
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{
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var config = scope.Resolve<ProcessConfig>();
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config.PositionCollection.ForEach(p =>
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{
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_hash[p.PositionCode] = $"{p.PositionCode}-{p.PositionNo}-{p.Description.GetEnumDescription()}";
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});
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}
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}
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}
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public class PositionNoConverter : ComboBoxItemTypeConvert
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{
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public override void GetConvertHash()
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{
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using (var scope = GlobalVar.Container.BeginLifetimeScope())
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{
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var config = scope.Resolve<ProcessConfig>();
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config.PositionCollection.ForEach(p =>
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{
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_hash[p.PositionNo] = $"{p.PositionNo}-{p.PositionCode}-{p.Description.GetEnumDescription()}";
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});
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}
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}
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}
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}
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