1. 重新整理项目，按照A034模式，将设备异步操作修改为类同步操作。使用任务队列来存储和分配任务。

patrick

2019-12-06 b0a4c47dd74bc41c5df3bab6ddd8de7bcc6a52b0

 src/Bro.Common.Model/Model/CustomizedPoint.cs

@@ -599,4 +599,64 @@
            return data.TrimEnd(new char[] { ',' });
        }
    }

    public class RobotPoint : IComplexDisplay
    {
        [Category("点位信息")]
        [Description("坐标X")]
        public float X { get; set; }

        [Category("点位信息")]
        [Description("坐标Y")]
        public float Y { get; set; }

        [Category("点位信息")]
        [Description("坐标Z")]
        public float Z { get; set; }

        [Category("点位信息")]
        [Description("角度A")]
        public float A { get; set; }

        [Category("点位信息")]
        [Description("角度B")]
        public float B { get; set; }

        [Category("点位信息")]
        [Description("角度C")]
        public float C { get; set; }

        public string GetDisplayText()
        {
            return $"X:{X.ToString()} Y:{Y.ToString()} Z:{Z.ToString()} A:{A.ToString()} B:{B.ToString()} C:{C.ToString()}";
        }

        public double[] GetArray()
        {
            return new double[] { X, Y, Z, A, B, C };
        }

        public static RobotPoint GetRobotPointByArray(double[] array)
        {
            if (array.Length != 6)
            {
                return null;
            }

            RobotPoint point = new RobotPoint();
            point.X = (float)array[0];
            point.Y = (float)array[1];
            point.Z = (float)array[2];
            point.A = (float)array[3];
            point.B = (float)array[4];
            point.C = (float)array[5];

            return point;
        }

        public static float GetDistance(RobotPoint pointA, RobotPoint pointB)
        {
            return (float)Math.Sqrt(Math.Pow(pointA.X - pointB.X, 2) + Math.Pow(pointA.Y - pointB.Y, 2) + Math.Pow(pointA.Z - pointB.Z, 2));
        }
    }
}