1. 添加部分log信息 2. 修改部分机器人动作流程 3. 开放OperationConfig的InputData参数

patrick

2019-12-05 6428fad15dbe79e30a48ffc9aabe31e03a45426c

 src/A032.Process/Calibration/FrmCalib9PDynamic.cs

@@ -16,25 +16,49 @@
{
    public partial class FrmCalib9PDynamic : Form
    {
        //private CalibrationConfigCollection calibConfig;
        //private AGVBindUnit bind;
        //private PathPosition position;
        //private Action<AGVBindUnit, int, int> sendMessageToRobot_Calibration;
        //private Action<CalibrationConfigCollection, AGVBindUnit, PathPosition> calculateMatrix;

        public FrmCalib9PDynamic()
        {
            InitializeComponent();
        }

        public FrmCalib9PDynamic(ProcessControl process, IDevice device, IOperationConfig config, Action<List<CalibrationConfig>> finalCalculation)
        //public FrmCalib9PDynamic(ProcessControl process, IDevice device, IOperationConfig config, Action<List<CalibrationConfig>> finalCalculation)
        //{
        //    InitializeComponent();

        //    Device = device as CameraBase;
        //    Config = config as CalibrationConfigCollection;
        //    FinalCalculation = finalCalculation;
        //    CtrlCalib9PDynamic = new CtrlCalib9PDynamic(process, device, config, finalCalculation);
        //}

        public FrmCalib9PDynamic(ProcessControl process, CalibrationConfigCollection calibConfig, AGVBindUnit bind, PathPosition position, Action<AGVBindUnit, int, int> commuAction, Action<CalibrationConfigCollection, AGVBindUnit, PathPosition> finalCalculation)
        {
            InitializeComponent();

            Device = device as CameraBase;
            Config = config as CalibrationConfigCollection;
            FinalCalculation = finalCalculation;
            CtrlCalib9PDynamic = new CtrlCalib9PDynamic(process, device, config, finalCalculation);
            //Config = calibConfig;
            //Bind = bind;
            //Camera = Bind.Camera;
            //Position = position;
            //CommuAction = commuAction;
            //FinalCalculation = finalCalculation;

            CtrlCalib9PDynamic = new CtrlCalib9PDynamic(process, calibConfig, bind, position, commuAction, finalCalculation);
        }

        CameraBase Device { get; set; }
        CalibrationConfigCollection Config { get; set; }
        //AGVBindUnit Bind { get; set; }
        //CameraBase Camera { get; set; }
        //CalibrationConfigCollection Config { get; set; }
        //PathPosition Position { get; set; }
        //Action<AGVBindUnit, int, int> CommuAction;
        //Action<CalibrationConfigCollection, AGVBindUnit, PathPosition> FinalCalculation { get; set; }

        CtrlCalib9PDynamic CtrlCalib9PDynamic { get; set; }
        Action<List<CalibrationConfig>> FinalCalculation { get; set; }

        private void FrmCalib9PDynamic_Load(object sender, EventArgs e)
        {