~patrick.xu/A032.git

			@@ -20,9 +20,54 @@
			{
			public partial class ProcessControl
			{
			const int WAITTIME = 5000;

			Dictionary<int, int> machineFullTrayDict = new Dictionary<int, int>();
			Dictionary<int, int> machineEmptyTrayDict = new Dictionary<int, int>();
			List<TaskAssignInfo> taskAssignedList = new List<TaskAssignInfo>();

			#region AGV事件
			private void OnAGVBatteryLvlChanged(SeerAGVDriver agv, float preBatteryLvl, float batteryLvl)
			{
			var bind = Config.AGVBindCollection.FirstOrDefault(u => u.AGVId == agv.Id);
			SeerAGVInitialConfig iConfig = agv.InitialConfig as SeerAGVInitialConfig;
			if (batteryLvl <= iConfig.BatteryLvlToCharge && preBatteryLvl > iConfig.BatteryLvlToCharge)
			{
			Task.Run(() =>
			{
			var position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.Charge);

			if (position == null)
			{
			throw new ProcessException("未找到充电地点");
			}

			while (bind.UnitStatus != TaskStatus.Available)
			{
			if (bind.SetAGVStatus(TaskStatus.Running))
			{
			bind.AGV.TaskOrder(position.PositionCode);
			break;
			}

			Thread.Sleep(WAITTIME);
			}
			});

			return;
			}

			if (batteryLvl >= iConfig.BatteryLvlChargeDone && preBatteryLvl < iConfig.BatteryLvlChargeDone)
			{
			var position = Config.PositionCollection.FirstOrDefault(u => u.PositionCode == agv.CurrentPosition);

			if (position != null && position.Description == PathPositionDefinition.Charge)
			{
			bind.SetAGVStatus(TaskStatus.Available);
			}
			return;
			}
			}

			private void OnAGVTaskStatusChanged(SeerAGVDriver agv, AGVTaskStatus taskStatus)
			{
			@@ -42,7 +87,7 @@
			// bind.RobotStatus = TaskStatus.Running;
			//}

			bind.AGVStatus = TaskStatus.Available;
			bind.SetAGVStatus(TaskStatus.Available);
			}
			}

			@@ -64,20 +109,26 @@
			// bind.RobotStatus = TaskStatus.Running;
			//}

			bind.AGVStatus = TaskStatus.Available;
			bind.SetAGVStatus(TaskStatus.Available);
			LogAsync(DateTime.Now, $"AGV到位{positionCode}", "");

			PathPosition position = Config.PositionCollection.FirstOrDefault(p => p.PositionCode == bind.AGVDest);
			switch (position.Description)
			{
			case PathPositionDefinition.LoadEmptyTray:
			LogAsync(DateTime.Now, $"AGV完成，准备上空Tray", "");
			Robot_LoadEmptyTray(bind.Id, position);
			break;
			case PathPositionDefinition.LoadFullTray:
			LogAsync(DateTime.Now, $"AGV完成，准备上满Tray", "");
			Robot_LoadFullTraySnap(bind.Id, position);
			break;
			case PathPositionDefinition.UnloadEmptyTray:
			LogAsync(DateTime.Now, $"AGV完成，准备下空Tray", "");
			Robot_UnloadEmptyTraySnap(bind.Id, position);
			break;
			case PathPositionDefinition.UnloadFullTray:
			LogAsync(DateTime.Now, $"AGV完成，准备下满Tray", "");
			Robot_UnloadFullTraySnap(bind.Id, position);
			break;
			default:
			@@ -85,6 +136,7 @@
			}
			}
			}
			#endregion

			private void OnRobotMsgReceived(DateTime dt, AuboRobotDriver robot, RobotMsg msg)
			{
			@@ -142,8 +194,11 @@

			if (machineEmptyTrayDict[msg.Para2] < Config.Machine_EmptyTrayNum)
			{
			bind.RobotIOHandle.Reset();
			bind.RobotIOHandle.WaitOne();
			//bind.RobotIOHandle.Reset();
			//bind.RobotIOHandle.WaitOne();
			bind.Robot.MonitorHandle.WaitOne();
			//bind.Robot.IOChangedHandle.WaitOne();
			Thread.Sleep((bind.Robot.InitialConfig as AuboRobotInitialConfig).ScanInterval);

			if (!bind.IsFullTrayFull)
			{
			@@ -165,12 +220,19 @@
			{
			bind.CurrentFullTray = int.Parse(msg.Datas[1]);

			bind.RobotIOHandle.Reset();
			bind.RobotIOHandle.WaitOne();
			//bind.RobotIOHandle.Reset();
			//bind.RobotIOHandle.WaitOne();
			bind.Robot.MonitorHandle.WaitOne();
			//bind.Robot.IOChangedHandle.WaitOne();
			Thread.Sleep((bind.Robot.InitialConfig as AuboRobotInitialConfig).ScanInterval);

			if (!bind.IsFullTrayEmpty)
			{
			Camera_UnloadFullTray(robot.Id, msg.Para2);
			}
			else
			{
			bind.RobotStatus = TaskStatus.Available;
			}
			}
			break;
			@@ -210,12 +272,17 @@
			break;
			case RobotMsgAction.Calibration:
			{
			_calibReply.CalibIndex = int.Parse(msg.Datas[4]);
			_calibReply.CalibPositionNo = msg.Para2;
			_calibReply.RobotPosition = new CustomizedPoint(float.Parse(msg.Datas[0]), float.Parse(msg.Datas[1]));

			_calibReply.CalibHandle.Set();
			}
			break;
			case RobotMsgAction.StandardPoint:
			{

			_calibReply.CalibPositionNo = msg.Para2;
			_calibReply.CalibHandle.Set();
			}
			break;
			default:
			@@ -309,7 +376,7 @@
			while (bind.IsEmptyTrayEmpty && !bind.IsEmptyTrayTaskAssigned)
			{
			//if (bind.TaskList.Count == 0)
			if (bind.AGVStatus == TaskStatus.Available && bind.RobotStatus == TaskStatus.Available)
			if (bind.UnitStatus == TaskStatus.Available)
			{
			//List<AGVTaskModel> models = new List<AGVTaskModel>();
			//models.Add(new AGVTaskModel(TaskAvailableLevel.Both, "AGV_LoadEmptyTray"));
			@@ -317,12 +384,14 @@

			//AddNewTaskToBind(device.Id, models);

			AGV_LoadEmptyTray(bind.Id);
			bind.IsEmptyTrayTaskAssigned = true;
			if (AGV_LoadEmptyTray(bind.Id))
			{
			bind.IsEmptyTrayTaskAssigned = true;
			}
			}
			else
			{
			Thread.Sleep(500);
			Thread.Sleep(WAITTIME);
			}
			}
			});
			@@ -339,6 +408,7 @@
			[ProcessMethod("", "Robot_Monitor_FullTrayFull", "机器人监听事件-满Tray区域放满", true)]
			public ProcessResponse Robot_Monitor_FullTrayFull(IOperationConfig config, IDevice device)
			{
			//(device as AuboRobotDriver).IOChangedHandle.Reset();
			bool isFullTrayFull = config.InputPara[0] == 1;
			var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
			if (isFullTrayFull)
			@@ -351,7 +421,7 @@
			while (bind.IsFullTrayFull && !bind.IsFullTrayTaskAssigned)
			{
			//if (bind.TaskList.Count == 0)
			if (bind.AGVStatus == TaskStatus.Available && bind.RobotStatus == TaskStatus.Available)
			if (bind.UnitStatus == TaskStatus.Available)
			{
			//List<AGVTaskModel> models = new List<AGVTaskModel>();
			//models.Add(new AGVTaskModel(TaskAvailableLevel.Both, "AGV_UnloadFullTray"));
			@@ -359,13 +429,14 @@

			//AddNewTaskToBind(device.Id, models);

			AGV_UnloadFullTray(bind.Id);

			bind.IsFullTrayTaskAssigned = true;
			if (AGV_UnloadFullTray(bind.Id))
			{
			bind.IsFullTrayTaskAssigned = true;
			}
			}
			else
			{
			Thread.Sleep(500);
			Thread.Sleep(WAITTIME);
			}
			}
			});
			@@ -376,7 +447,9 @@
			bind.IsFullTrayTaskAssigned = false;
			}

			bind.RobotIOHandle.Set();
			//(device as AuboRobotDriver).IOChangedHandle.Set();

			//bind.RobotIOHandle.Set();

			return new ProcessResponse(true);
			}
			@@ -384,11 +457,13 @@
			[ProcessMethod("", "Robot_Monitor_FullTrayEmpty", "机器人监听事件-满Tray区域清空", true)]
			public ProcessResponse Robot_Monitor_FullTrayEmpty(IOperationConfig config, IDevice device)
			{
			//(device as AuboRobotDriver).IOChangedHandle.Reset();
			bool isFullTrayEmpty = config.InputPara[0] == 0;
			var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
			bind.IsFullTrayEmpty = isFullTrayEmpty;

			bind.RobotIOHandle.Set();
			//(device as AuboRobotDriver).IOChangedHandle.Set();
			//bind.RobotIOHandle.Set();

			return new ProcessResponse(true);
			}
			@@ -460,7 +535,7 @@
			// return new ProcessResponse(true);
			//}

			public void AGV_LoadEmptyTray(string bindId)
			public bool AGV_LoadEmptyTray(string bindId)
			{
			var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
			PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
			@@ -470,10 +545,17 @@
			throw new ProcessException("路径配置未设置空Tray上料点");
			}

			bind.AGVDest = position.PositionCode;
			bind.AGV.TaskOrder(position.PositionCode);
			if (bind.SetAGVStatus(TaskStatus.Running))
			{
			bind.AGVDest = position.PositionCode;
			bind.AGV.TaskOrder(position.PositionCode);

			bind.AGVStatus = TaskStatus.Running;
			return true;
			}
			else
			{
			return false;
			}
			}

			//[ProcessMethod("", "AfterEmptyTrayPositionArrived", "到达空Tray上料点", true)]
			@@ -589,20 +671,21 @@
			//bind.AddTask(model_AGV);
			//bind.AddTask(model_Robot);

			AGV_UnloadEmptyTray(bind.Id, position);

			taskStatus.IsTaskAssgined = true;
			taskStatus.AgvId = bind.AGVId;
			if (AGV_UnloadEmptyTray(bind.Id, position))
			{
			taskStatus.IsTaskAssgined = true;
			taskStatus.AgvId = bind.AGVId;
			}
			}
			}

			Thread.Sleep(300);
			Thread.Sleep(WAITTIME);
			}
			});
			}

			//[ProcessMethod("", "AGV_UnloadEmptyTray", "AGV去往卸载空Tray料位置", true)]
			public void AGV_UnloadEmptyTray(string bindId, PathPosition position)
			public bool AGV_UnloadEmptyTray(string bindId, PathPosition position)
			{
			var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);

			@@ -611,10 +694,17 @@
			throw new ProcessException("路径配置未设置空Tray下料点");
			}

			bind.AGVDest = position.PositionCode;
			bind.AGV.TaskOrder(position.PositionCode);
			if (bind.SetAGVStatus(TaskStatus.Running))
			{
			bind.AGVDest = position.PositionCode;
			bind.AGV.TaskOrder(position.PositionCode);

			bind.AGVStatus = TaskStatus.Running;
			return true;
			}
			else
			{
			return false;
			}
			}

			//[ProcessMethod("", "Robot_UnloadEmptyTray", "机器人运动至空Tray拍照位置", true)]
			@@ -756,7 +846,7 @@

			adjust_X = (float)dx_Robot.D;
			adjust_Y = (float)dy_Robot.D;
			adjust_Angle = angle;
			adjust_Angle = visionConfig.StandardPoint.Angle - angle;
			}

			//bind.Robot.SendMsg(RobotMsgAction.Unload, RobotMsgParas.EmptyTray, position.PositionNo, new List<float>() { (float)dx_Robot.D, (float)dy_Robot.D, angle });
			@@ -831,10 +921,11 @@
			//bind.AddTask(model_AGV);
			//bind.AddTask(model_Robot);

			AGV_LoadFullTray(bind.Id, position);

			taskStatus.IsTaskAssgined = true;
			taskStatus.AgvId = bind.AGVId;
			if (AGV_LoadFullTray(bind.Id, position))
			{
			taskStatus.IsTaskAssgined = true;
			taskStatus.AgvId = bind.AGVId;
			}
			}
			}

			@@ -844,7 +935,7 @@
			}

			//[ProcessMethod("", "AGV_LoadFullTray", "AGV去往满Tray上料位置", true)]
			public void AGV_LoadFullTray(string bindId, PathPosition position)
			public bool AGV_LoadFullTray(string bindId, PathPosition position)
			{
			var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);

			@@ -855,10 +946,17 @@
			throw new ProcessException("路径配置未设置满Tray上料点");
			}

			bind.AGVDest = position.PositionCode;
			bind.AGV.TaskOrder(position.PositionCode);
			if (bind.SetAGVStatus(TaskStatus.Running))
			{
			bind.AGVDest = position.PositionCode;
			bind.AGV.TaskOrder(position.PositionCode);

			bind.AGVStatus = TaskStatus.Running;
			return true;
			}
			else
			{
			return false;
			}

			//return new ProcessResponse(true);
			}
			@@ -1026,7 +1124,7 @@

			adjust_X = (float)dx_Robot.D;
			adjust_Y = (float)dy_Robot.D;
			adjust_Angle = angle;
			adjust_Angle = visionConfig.StandardPoint.Angle - angle;
			}

			//bind.Robot.SendMsg(RobotMsgAction.Load, RobotMsgParas.FullTray, position.PositionNo, new List<float>() { (float)dx_Robot.D, (float)dy_Robot.D, angle });
			@@ -1060,7 +1158,7 @@
			// return new ProcessResponse(true);
			//}

			public void AGV_UnloadFullTray(string bindId)
			public bool AGV_UnloadFullTray(string bindId)
			{
			var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
			PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadFullTray);
			@@ -1070,10 +1168,17 @@
			throw new ProcessException("路径配置未设置满Tray下料点");
			}

			bind.AGVDest = position.PositionCode;
			bind.AGV.TaskOrder(position.PositionCode);
			if (bind.SetAGVStatus(TaskStatus.Running))
			{
			bind.AGVDest = position.PositionCode;
			bind.AGV.TaskOrder(position.PositionCode);

			bind.AGVStatus = TaskStatus.Running;
			return true;
			}
			else
			{
			return false;
			}
			}

			//[ProcessMethod("", "Robot_UnloadFullTray", "机器人卸载满Tray", true)]
			@@ -1115,6 +1220,7 @@

			bind.RobotStatus = TaskStatus.Running;
			bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.LineSnap, position.PositionNo);
			//LogAsync(DateTime.Now, "Robot运动至下满Tray拍照", "");
			}

			//[ProcessMethod("", "Camera_UnloadFullTray", "相机操作卸载满Tray", true)]