1. 添加标定操作及界面 2. 修改配置界面方法调用参数 3. SeerAGV添加电池信息监听 4. 添加AGV电池充电操作 5. 修改AGV状态变化...

patrick

2019-10-22 7971d855ba2cf9772b46a7f67e2b669c0afcb91b

 src/A032.Process/Calibration/CtrlCalib9PDynamic.cs

@@ -20,7 +20,7 @@
namespace A032.Process.Calibration
{
    [Device("Calibration_9P_Dynamic", "动态9点标定", EnumHelper.DeviceAttributeType.OperationConfigCtrl)]
    public partial class CtrlCalib9PDynamic : UserControl, IConfigCtrl<CameraBase, CalibrationConfigCollection>
    public partial class CtrlCalib9PDynamic : UserControl//, IConfigCtrl<CameraBase, CalibrationConfigCollection>
    {
        PubSubCenter PubSubCenter = PubSubCenter.GetInstance();
        AutoResetEvent _confirmHandle = new AutoResetEvent(false);
@@ -30,20 +30,29 @@
            InitializeComponent();
        }

        public CtrlCalib9PDynamic(ProcessControl process, IDevice device, IOperationConfig config, Action<List<CalibrationConfig>> finalCalculation)
        public CtrlCalib9PDynamic(ProcessControl process, CalibrationConfigCollection calibConfig, AGVBindUnit bind, PathPosition position, Action<AGVBindUnit, int, int> commuAction, Action<CalibrationConfigCollection, AGVBindUnit, PathPosition> finalCalculation)
        {
            InitializeComponent();

            ProcessControl = process;
            Camera = device as CameraBase;
            Config = config as CalibrationConfigCollection;

            Config = calibConfig as CalibrationConfigCollection;

            Camera = bind.Camera as CameraBase;

            Bind = bind;
            Position = position;
            CommuAction = commuAction;
            FinalCalculation = finalCalculation;
        }

        public CalibrationConfigCollection Config { get; set; }
        public CameraBase Camera { get; set; }
        public ProcessControl ProcessControl { get; set; }
        public Action<List<CalibrationConfig>> FinalCalculation { get; set; }
        AGVBindUnit Bind { get; set; }
        PathPosition Position { get; set; }
        Action<AGVBindUnit, int, int> CommuAction;
        CalibrationConfigCollection Config { get; set; }
        CameraBase Camera { get; set; }
        ProcessControl ProcessControl { get; set; }
        Action<CalibrationConfigCollection, AGVBindUnit, PathPosition> FinalCalculation { get; set; }

        public CalibrationConfigCollection GetConfig()
        {
@@ -188,14 +197,16 @@

        private void btnStartCalib_Click(object sender, EventArgs e)
        {
            if (chkOfflineCalib.Checked)
            {
                //ProcessControl.Calibration_Pick_9P_Dynamic_Offline(Config.Configs);
            }
            else
            {
                //ProcessControl.SendCalibStartSignal(Config.TriggerAddress);
            }
            //if (chkOfflineCalib.Checked)
            //{
            //    //ProcessControl.Calibration_Pick_9P_Dynamic_Offline(Config.Configs);
            //}
            //else
            //{
            //    //ProcessControl.SendCalibStartSignal(Config.TriggerAddress);
            //}

            ProcessControl.MultipleStepsProcess(Config, Bind, CommuAction);
        }

        private void btnLoadOfflineImages_Click(object sender, EventArgs e)
@@ -213,7 +224,7 @@

        private void btnStepRun_Click(object sender, EventArgs e)
        {
            //CalibrationConfig config = propGridConfig.SelectedObject as CalibrationConfig;
            CalibrationConfig config = propGridConfig.SelectedObject as CalibrationConfig;
            //if (!chkOfflineRun.Checked)
            //{
            //    ProcessControl.CalibMarkPoint(Camera, config, _selectedStepIndex + 1);
@@ -224,11 +235,14 @@
            //}

            //tsslInfo.Text = $"单步运算完成。标记点坐标：{config.ImageMarkPoint.X},{config.ImageMarkPoint.Y}";

            ProcessControl.SingleStepProcess(config, CommuAction, Bind, Position.PositionNo, _selectedStepIndex);
            tsslInfo.Text = $"单步运算完成。标记点坐标：{config.ImageMarkPoint.X},{config.ImageMarkPoint.Y}";
        }

        private void btnCalcuMatrix_Click(object sender, EventArgs e)
        {
            FinalCalculation.Invoke(Config.Configs);
            FinalCalculation.Invoke(Config, Bind, Position);
        }

        private void btnSnap_Click(object sender, EventArgs e)