1. 修改SeerAGV驱动通信代码 2. 修改机器人通信部分代码 3. 取消原有流程任务队列模式，使用即时方法调用。

patrick

2019-10-20 ff18fa3c007656bd37cad91fac9a9cb03f4070b8

 src/A032.Process/ProcessControl_Method.cs

@@ -8,6 +8,7 @@
using HalconDotNet;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.IO;
using System.Linq;
@@ -64,6 +65,24 @@
                //}

                bind.AGVStatus = TaskStatus.Available;

                PathPosition position = Config.PositionCollection.FirstOrDefault(p => p.PositionCode == bind.AGVDest);
                switch (position.Description)
                {
                    case PathPositionDefinition.LoadEmptyTray:
                        Robot_LoadEmptyTray(bind.Id, position);
                        break;
                    case PathPositionDefinition.LoadFullTray:
                        break;
                    case PathPositionDefinition.UnloadEmptyTray:
                        Robot_UnloadEmptyTraySnap(bind.Id, position);
                        break;
                    case PathPositionDefinition.UnloadFullTray:
                        Robot_UnloadFullTraySnap(bind.Id, position);
                        break;
                    default:
                        break;
                }
            }
        }

@@ -78,7 +97,7 @@
                throw new ProcessException("未能根据机器人信息获取绑定设备信息", null);
            }

            List<AGVTaskModel> models = new List<AGVTaskModel>();
            //List<AGVTaskModel> models = new List<AGVTaskModel>();

            switch (msg.Action)
            {
@@ -130,6 +149,10 @@
                                        {
                                            RobotMsg_UnloadEmptyTray.Para2 = msg.Para2;
                                            robot.SendMsg(RobotMsg_UnloadEmptyTray, true);
                                        }
                                        else
                                        {
                                            bind.RobotStatus = TaskStatus.Available;
                                        }
                                    }
                                    else
@@ -199,17 +222,17 @@
                    break;
            }

            if (models.Count > 0)
            {
                models.ForEach(model =>
                {
                    if (!bind.TaskList.Any(t => t.MethodFunc.Method.Name == model.MethodFunc.Method.Name))
                    {
                        model.OpConfig = new AGVBindOpConfig(bind.Id);
                        bind.TaskList.Add(model);
                    }
                });
            }
            //if (models.Count > 0)
            //{
            //    models.ForEach(model =>
            //    {
            //        if (!bind.TaskList.Any(t => t.MethodName == model.MethodName))
            //        {
            //            model.OpConfig = new AGVBindOpConfig(bind.Id);
            //            bind.AddTask(model);
            //        }
            //    });
            //}
        }

        public void QueryRobotIO()
@@ -220,39 +243,40 @@
            });
        }

        private void OnBindUnitTaskInvoke(AGVBindUnit bind)
        {
            var task = bind.TaskList[0];
            var response = task.MethodFunc.Invoke(task.OpConfig, task.Device);
        }
        //private void OnBindUnitTaskInvoke(AGVTaskModel task)
        //{
        //    InvokeMethodDict[task.MethodName].Invoke(this, new object[] { task.OpConfig, task.Device });

        //    //var response = task.MethodFunc.Invoke(task.OpConfig, task.Device);
        //}

        #region Robot监听事件
        private void AddNewTaskToBind(string robotId, List<AGVTaskModel> models)
        {
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == robotId);
        //private void AddNewTaskToBind(string robotId, List<AGVTaskModel> models)
        //{
        //    var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == robotId);

            if (bind == null)
            {
                throw new ProcessException("未能根据机器人信息获取绑定设备信息", null);
            }
        //    if (bind == null)
        //    {
        //        throw new ProcessException("未能根据机器人信息获取绑定设备信息", null);
        //    }

            AddNewTaskToBind(bind, models);
        }
        //    AddNewTaskToBind(bind, models);
        //}

        private void AddNewTaskToBind(AGVBindUnit bind, List<AGVTaskModel> models)
        {
            if (models.Count > 0)
            {
                models.ForEach(model =>
                {
                    if (!bind.TaskList.Any(t => t.MethodFunc.Method.Name == model.MethodFunc.Method.Name))
                    {
                        model.OpConfig = new AGVBindOpConfig(bind.Id);
                        bind.TaskList.Add(model);
                    }
                });
            }
        }
        //private void AddNewTaskToBind(AGVBindUnit bind, List<AGVTaskModel> models)
        //{
        //    if (models.Count > 0)
        //    {
        //        models.ForEach(model =>
        //        {
        //            if (!bind.TaskList.Any(t => t.MethodName == model.MethodName))
        //            {
        //                model.OpConfig = new AGVBindOpConfig(bind.Id);
        //                bind.AddTask(model);
        //            }
        //        });
        //    }
        //}

        [ProcessMethod("", "Robot_Monitor_Alarm", "机器人监听事件-报警", true)]
        public ProcessResponse Robot_Monitor_Alarm(IOperationConfig config, IDevice device)
@@ -273,7 +297,7 @@
        [ProcessMethod("", "Robot_Monitor_EmptyTrayEmpty", "机器人监听事件-空Tray区域清空", true)]
        public ProcessResponse Robot_Monitor_EmptyTrayEmpty(IOperationConfig config, IDevice device)
        {
            bool isEmptyTrayEmpty = config.InputPara[0] == 1;
            bool isEmptyTrayEmpty = config.InputPara[0] == 0;
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
            if (isEmptyTrayEmpty)
            {
@@ -281,16 +305,20 @@

                Task.Run(() =>
                {
                    Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_LoadEmptyTray;
                    while (bind.IsEmptyTrayEmpty && bind.TaskList.Count == 0 && !bind.TaskList.Any(u => u.MethodFunc.Method.Name == action.Method.Name))
                    //Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_LoadEmptyTray;
                    while (bind.IsEmptyTrayEmpty && !bind.IsEmptyTrayTaskAssigned)
                    {
                        if (bind.TaskList.Count == 0)
                        //if (bind.TaskList.Count == 0)
                        if (bind.AGVStatus == TaskStatus.Available && bind.RobotStatus == TaskStatus.Available)
                        {
                            List<AGVTaskModel> models = new List<AGVTaskModel>();
                            models.Add(new AGVTaskModel(TaskAvailableLevel.Both, AGV_LoadEmptyTray));
                            models.Add(new AGVTaskModel(TaskAvailableLevel.AGV, AfterEmptyTrayPositionArrived));
                            //List<AGVTaskModel> models = new List<AGVTaskModel>();
                            //models.Add(new AGVTaskModel(TaskAvailableLevel.Both, "AGV_LoadEmptyTray"));
                            //models.Add(new AGVTaskModel(TaskAvailableLevel.AGV, "AfterEmptyTrayPositionArrived"));

                            AddNewTaskToBind(device.Id, models);
                            //AddNewTaskToBind(device.Id, models);

                            AGV_LoadEmptyTray(bind.Id);
                            bind.IsEmptyTrayTaskAssigned = true;
                        }
                        else
                        {
@@ -298,11 +326,11 @@
                        }
                    }
                });

            }
            else
            {
                bind.IsEmptyTrayEmpty = false;
                bind.IsEmptyTrayTaskAssigned = false;
            }

            return new ProcessResponse(true);
@@ -319,16 +347,21 @@

                Task.Run(() =>
                {
                    Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_UnloadFullTray;
                    while (bind.IsFullTrayFull && !bind.TaskList.Any(u => u.MethodFunc.Method.Name == action.Method.Name))
                    //Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_UnloadFullTray;
                    while (bind.IsFullTrayFull && !bind.IsFullTrayTaskAssigned)
                    {
                        if (bind.TaskList.Count == 0)
                        //if (bind.TaskList.Count == 0)
                        if (bind.AGVStatus == TaskStatus.Available && bind.RobotStatus == TaskStatus.Available)
                        {
                            List<AGVTaskModel> models = new List<AGVTaskModel>();
                            models.Add(new AGVTaskModel(TaskAvailableLevel.Both, AGV_UnloadFullTray));
                            models.Add(new AGVTaskModel(TaskAvailableLevel.AGV, Robot_UnloadFullTray));
                            //List<AGVTaskModel> models = new List<AGVTaskModel>();
                            //models.Add(new AGVTaskModel(TaskAvailableLevel.Both, "AGV_UnloadFullTray"));
                            //models.Add(new AGVTaskModel(TaskAvailableLevel.AGV, "Robot_UnloadFullTray"));

                            AddNewTaskToBind(device.Id, models);
                            //AddNewTaskToBind(device.Id, models);

                            AGV_UnloadFullTray(bind.Id);

                            bind.IsFullTrayTaskAssigned = true;
                        }
                        else
                        {
@@ -340,6 +373,7 @@
            else
            {
                bind.IsFullTrayFull = false;
                bind.IsFullTrayTaskAssigned = false;
            }

            bind.RobotIOHandle.Set();
@@ -350,7 +384,7 @@
        [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)
        {
            bool isFullTrayEmpty = config.InputPara[0] == 1;
            bool isFullTrayEmpty = config.InputPara[0] == 0;
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.RobotId == device.Id);
            bind.IsFullTrayEmpty = isFullTrayEmpty;

@@ -399,7 +433,7 @@

            taskAssignedList.RemoveAll(u => u.AgvId == device.Id);

            bind.TaskList.Clear();
            //bind.ClearTask();
            bind.RobotStatus = bind.AGVStatus = TaskStatus.Available;

            return new ProcessResponse(true);
@@ -407,10 +441,28 @@
        #endregion

        #region 空Tray上料
        [ProcessMethod("", "AGV_LoadEmptyTray", "AGV去往空Tray上料", true)]
        public ProcessResponse AGV_LoadEmptyTray(IOperationConfig config, IDevice device)
        //[ProcessMethod("", "AGV_LoadEmptyTray", "AGV去往空Tray上料", true)]
        //public ProcessResponse AGV_LoadEmptyTray(IOperationConfig config, IDevice device)
        //{
        //    var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
        //    PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);

        //    if (position == null)
        //    {
        //        throw new ProcessException("路径配置未设置空Tray上料点");
        //    }

        //    bind.AGVDest = position.PositionCode;
        //    bind.AGV.TaskOrder(position.PositionCode);

        //    bind.AGVStatus = TaskStatus.Running;

        //    return new ProcessResponse(true);
        //}

        public void AGV_LoadEmptyTray(string bindId)
        {
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
            PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);

            if (position == null)
@@ -422,15 +474,34 @@
            bind.AGV.TaskOrder(position.PositionCode);

            bind.AGVStatus = TaskStatus.Running;

            return new ProcessResponse(true);
        }

        [ProcessMethod("", "AfterEmptyTrayPositionArrived", "到达空Tray上料点", true)]
        public ProcessResponse AfterEmptyTrayPositionArrived(IOperationConfig config, IDevice device)
        //[ProcessMethod("", "AfterEmptyTrayPositionArrived", "到达空Tray上料点", true)]
        //public ProcessResponse AfterEmptyTrayPositionArrived(IOperationConfig config, IDevice device)
        //{
        //    var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
        //    PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);

        //    if (position == null)
        //    {
        //        throw new ProcessException("路径配置未设置空Tray上料点", null);
        //    }

        //    if (bind.AGV.CurrentPosition != position.PositionCode)
        //    {
        //        throw new ProcessException("AGV尚未到达空Tray上料点", null);
        //    }

        //    bind.Robot.SendMsg(RobotMsgAction.Load, RobotMsgParas.EmptyTray, 0);
        //    bind.RobotStatus = TaskStatus.Running;

        //    return new ProcessResponse(true);
        //}

        public void Robot_LoadEmptyTray(string bindId, PathPosition position)
        {
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
            PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
            //PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadEmptyTray);

            if (position == null)
            {
@@ -444,8 +515,6 @@

            bind.Robot.SendMsg(RobotMsgAction.Load, RobotMsgParas.EmptyTray, 0);
            bind.RobotStatus = TaskStatus.Running;

            return new ProcessResponse(true);
        }

        //[ProcessMethod("", "EmptyTrayReady", "空Tray上料完成", true)]
@@ -489,13 +558,13 @@
                    });
                }

                CheckEmptyTrayTask(position.PositionNo);
                CheckUnloadEmptyTrayTask(position.PositionNo);
            }

            return new ProcessResponse(true);
        }

        private async void CheckEmptyTrayTask(int positionNo)
        private async void CheckUnloadEmptyTrayTask(int positionNo)
        {
            await Task.Run(() =>
            {
@@ -506,19 +575,21 @@

                while (taskStatus.IsTaskNeed && !taskStatus.IsTaskAssgined)
                {
                    Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_UnloadEmptyTray;
                    //Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_UnloadEmptyTray;

                    //if (!Config.AGVBindCollection.Any(b => b.TaskList.Any(t => t.MethodFunc.Method.Name == action.Method.Name)))
                    //if (!Config.AGVBindCollection.Any(b => b.TaskList.Any(t => t.MethodName == "AGV_UnloadEmptyTray")))
                    {
                        var bind = Config.AGVBindCollection.FirstOrDefault(u => u.UnitStatus == TaskStatus.Available);
                        if (bind != null)
                        {
                            var position = Config.PositionCollection.FirstOrDefault(u => u.PositionNo == positionNo);
                            AGVTaskModel model_AGV = new AGVTaskModel(TaskAvailableLevel.Both, action, new AGVBindOpConfig(bind.Id, position));
                            AGVTaskModel model_Robot = new AGVTaskModel(TaskAvailableLevel.AGV, Robot_UnloadEmptyTray, new AGVBindOpConfig(bind.Id));
                            //AGVTaskModel model_AGV = new AGVTaskModel(TaskAvailableLevel.Both, "AGV_UnloadEmptyTray", new AGVBindOpConfig(bind.Id, position));
                            //AGVTaskModel model_Robot = new AGVTaskModel(TaskAvailableLevel.AGV, "Robot_UnloadEmptyTray", new AGVBindOpConfig(bind.Id));

                            bind.TaskList.Add(model_AGV);
                            bind.TaskList.Add(model_Robot);
                            //bind.AddTask(model_AGV);
                            //bind.AddTask(model_Robot);

                            AGV_UnloadEmptyTray(bind.Id, position);

                            taskStatus.IsTaskAssgined = true;
                            taskStatus.AgvId = bind.AGVId;
@@ -531,11 +602,9 @@
        }

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

            PathPosition position = (config as AGVBindOpConfig).Position;
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);

            if (position == null)
            {
@@ -546,15 +615,13 @@
            bind.AGV.TaskOrder(position.PositionCode);

            bind.AGVStatus = TaskStatus.Running;

            return new ProcessResponse(true);
        }

        //[ProcessMethod("", "Robot_UnloadEmptyTray", "机器人运动至空Tray拍照位置", true)]
        public ProcessResponse Robot_UnloadEmptyTray(IOperationConfig config, IDevice device)
        public void Robot_UnloadEmptyTraySnap(string bindId, PathPosition position)
        {
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
            PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadEmptyTray && u.PositionCode == bind.AGV.CurrentPosition);
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
            //PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadEmptyTray && u.PositionCode == bind.AGV.CurrentPosition);

            if (position == null)
            {
@@ -565,8 +632,6 @@

            bind.RobotStatus = TaskStatus.Running;
            bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.UnloadEmptyTraySnap, position.PositionNo);

            return new ProcessResponse(true);
        }

        //[ProcessMethod("", "Camera_UnloadEmptyTray", "相机确认空Tray卸载机器人位置调整", true)]
@@ -645,6 +710,12 @@
                throw new ProcessException("AGV当前未处于空Tray下料点");
            }

            float adjust_X = 0.0f;
            float adjust_Y = 0.0f;
            float adjust_Angle = 0.0f;

            if (Config.IsEnableVisionGuide)
            {
            PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);

            if (visionConfig == null)
@@ -683,11 +754,16 @@

            HOperatorSet.AffineTransPoint2d(new HTuple(visionConfig.Matrix[0], visionConfig.Matrix[1], 0, visionConfig.Matrix[3], visionConfig.Matrix[4], 0), dx, dy, out HTuple dx_Robot, out HTuple dy_Robot);

                adjust_X = (float)dx_Robot.D;
                adjust_Y = (float)dy_Robot.D;
                adjust_Angle = angle;
            }

            //bind.Robot.SendMsg(RobotMsgAction.Unload, RobotMsgParas.EmptyTray, position.PositionNo, new List<float>() { (float)dx_Robot.D, (float)dy_Robot.D, angle });
            RobotMsg_UnloadEmptyTray.Action = RobotMsgAction.Unload;
            RobotMsg_UnloadEmptyTray.Para1 = RobotMsgParas.EmptyTray;
            RobotMsg_UnloadEmptyTray.Para2 = position.PositionNo;
            RobotMsg_UnloadEmptyTray.Datas = new List<float>() { (float)dx_Robot.D, (float)dy_Robot.D, angle }.ConvertAll(s => s.ToString()).ToList();
            RobotMsg_UnloadEmptyTray.Datas = new List<float>() { adjust_X, adjust_Y, 0, adjust_Angle }.ConvertAll(s => s.ToString()).ToList();
            bind.Robot.SendMsg(RobotMsg_UnloadEmptyTray, true);

            return new ProcessResponse(true);
@@ -741,7 +817,7 @@

                while (taskStatus.IsTaskNeed && !taskStatus.IsTaskAssgined)
                {
                    Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_LoadFullTray;
                    //Func<IOperationConfig, IDevice, ProcessResponse> action = AGV_LoadFullTray;

                    //if (!Config.AGVBindCollection.Any(b => b.TaskList.Any(t => t.MethodFunc.Method.Name == action.Method.Name)))
                    {
@@ -749,11 +825,13 @@
                        if (bind != null)
                        {
                            var position = Config.PositionCollection.FirstOrDefault(u => u.PositionNo == positionNo);
                            AGVTaskModel model_AGV = new AGVTaskModel(TaskAvailableLevel.Both, action, new AGVBindOpConfig(bind.Id, position));
                            AGVTaskModel model_Robot = new AGVTaskModel(TaskAvailableLevel.AGV, Robot_LoadFullTray, new AGVBindOpConfig(bind.Id));
                            //AGVTaskModel model_AGV = new AGVTaskModel(TaskAvailableLevel.Both, "AGV_LoadFullTray", new AGVBindOpConfig(bind.Id, position));
                            //AGVTaskModel model_Robot = new AGVTaskModel(TaskAvailableLevel.AGV, "Robot_LoadFullTray", new AGVBindOpConfig(bind.Id));

                            bind.TaskList.Add(model_AGV);
                            bind.TaskList.Add(model_Robot);
                            //bind.AddTask(model_AGV);
                            //bind.AddTask(model_Robot);

                            AGV_LoadFullTray(bind.Id, position);

                            taskStatus.IsTaskAssgined = true;
                            taskStatus.AgvId = bind.AGVId;
@@ -765,12 +843,12 @@
            });
        }

        [ProcessMethod("", "AGV_LoadFullTray", "AGV去往满Tray上料位置", true)]
        public ProcessResponse AGV_LoadFullTray(IOperationConfig config, IDevice device)
        //[ProcessMethod("", "AGV_LoadFullTray", "AGV去往满Tray上料位置", true)]
        public void AGV_LoadFullTray(string bindId, PathPosition position)
        {
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);

            PathPosition position = (config as AGVBindOpConfig).Position;
            //PathPosition position = (config as AGVBindOpConfig).Position;

            if (position == null)
            {
@@ -782,14 +860,35 @@

            bind.AGVStatus = TaskStatus.Running;

            return new ProcessResponse(true);
            //return new ProcessResponse(true);
        }

        [ProcessMethod("", "Robot_LoadFullTray", "机器人运动至满Tray拍照位置", true)]
        public ProcessResponse Robot_LoadFullTray(IOperationConfig config, IDevice device)
        //[ProcessMethod("", "Robot_LoadFullTray", "机器人运动至满Tray拍照位置", true)]
        //public ProcessResponse Robot_LoadFullTray(IOperationConfig config, IDevice device)
        //{
        //    var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
        //    PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadFullTray && u.PositionCode == bind.AGV.CurrentPosition);

        //    if (position == null)
        //    {
        //        throw new ProcessException("路径配置未设置满Tray上料点");
        //    }

        //    //if (bind.AGV.CurrentPosition != position.PositionCode)
        //    //{
        //    //    throw new ProcessException("AGV当前未处于满Tray上料点");
        //    //}

        //    bind.RobotStatus = TaskStatus.Running;
        //    bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.LoadFullTraySnap, position.PositionNo);

        //    return new ProcessResponse(true);
        //}

        public void Robot_LoadFullTraySnap(string bindId, PathPosition position)
        {
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
            PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadFullTray && u.PositionCode == bind.AGV.CurrentPosition);
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
            //PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.LoadFullTray && u.PositionCode == bind.AGV.CurrentPosition);

            if (position == null)
            {
@@ -803,8 +902,6 @@

            bind.RobotStatus = TaskStatus.Running;
            bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.LoadFullTraySnap, position.PositionNo);

            return new ProcessResponse(true);
        }

        //[ProcessMethod("", "Camera_LoadFullTray", "相机确认满Tray上料机器人位置调整", true)]
@@ -883,6 +980,12 @@
                throw new ProcessException("AGV当前未处于满Tray上料点");
            }

            float adjust_X = 0.0f;
            float adjust_Y = 0.0f;
            float adjust_Angle = 0.0f;

            if (Config.IsEnableVisionGuide)
            {
            PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);

            if (visionConfig == null)
@@ -921,11 +1024,16 @@

            HOperatorSet.AffineTransPoint2d(new HTuple(visionConfig.Matrix[0], visionConfig.Matrix[1], 0, visionConfig.Matrix[3], visionConfig.Matrix[4], 0), dx, dy, out HTuple dx_Robot, out HTuple dy_Robot);

                adjust_X = (float)dx_Robot.D;
                adjust_Y = (float)dy_Robot.D;
                adjust_Angle = angle;
            }

            //bind.Robot.SendMsg(RobotMsgAction.Load, RobotMsgParas.FullTray, position.PositionNo, new List<float>() { (float)dx_Robot.D, (float)dy_Robot.D, angle });
            RobotMsg_LoadFullTray.Action = RobotMsgAction.Load;
            RobotMsg_LoadFullTray.Para1 = RobotMsgParas.FullTray;
            RobotMsg_LoadFullTray.Para2 = position.PositionNo;
            RobotMsg_LoadFullTray.Datas = new List<float>() { (float)dx_Robot.D, (float)dy_Robot.D, angle }.ConvertAll(s => s.ToString()).ToList();
            RobotMsg_LoadFullTray.Datas = new List<float>() { adjust_X, adjust_Y, 0, adjust_Angle }.ConvertAll(s => s.ToString()).ToList();
            bind.Robot.SendMsg(RobotMsg_LoadFullTray, true);

            return new ProcessResponse(true);
@@ -933,10 +1041,28 @@
        #endregion

        #region 满Tray产线下料
        [ProcessMethod("", "AGV_UnloadFullTray", "AGV去往卸载满Tray料", true)]
        public ProcessResponse AGV_UnloadFullTray(IOperationConfig config, IDevice device)
        //[ProcessMethod("", "AGV_UnloadFullTray", "AGV去往卸载满Tray料", true)]
        //public ProcessResponse AGV_UnloadFullTray(IOperationConfig config, IDevice device)
        //{
        //    var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
        //    PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadFullTray);

        //    if (position == null)
        //    {
        //        throw new ProcessException("路径配置未设置满Tray下料点");
        //    }

        //    bind.AGVDest = position.PositionCode;
        //    bind.AGV.TaskOrder(position.PositionCode);

        //    bind.AGVStatus = TaskStatus.Running;

        //    return new ProcessResponse(true);
        //}

        public void AGV_UnloadFullTray(string bindId)
        {
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
            PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadFullTray);

            if (position == null)
@@ -948,15 +1074,34 @@
            bind.AGV.TaskOrder(position.PositionCode);

            bind.AGVStatus = TaskStatus.Running;

            return new ProcessResponse(true);
        }

        [ProcessMethod("", "Robot_UnloadFullTray", "机器人卸载满Tray", true)]
        public ProcessResponse Robot_UnloadFullTray(IOperationConfig config, IDevice device)
        //[ProcessMethod("", "Robot_UnloadFullTray", "机器人卸载满Tray", true)]
        //public ProcessResponse Robot_UnloadFullTray(IOperationConfig config, IDevice device)
        //{
        //    var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
        //    PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadFullTray);

        //    if (position == null)
        //    {
        //        throw new ProcessException("路径配置未设置满Tray下料点");
        //    }

        //    if (bind.AGV.CurrentPosition != position.PositionCode)
        //    {
        //        throw new ProcessException("AGV当前未处于满Tray下料点");
        //    }

        //    bind.RobotStatus = TaskStatus.Running;
        //    bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.LineSnap, position.PositionNo);

        //    return new ProcessResponse(true);
        //}

        public void Robot_UnloadFullTraySnap(string bindId, PathPosition position)
        {
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == (config as AGVBindOpConfig).BindId);
            PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadFullTray);
            var bind = Config.AGVBindCollection.FirstOrDefault(u => u.Id == bindId);
            //PathPosition position = Config.PositionCollection.FirstOrDefault(u => u.Description == PathPositionDefinition.UnloadFullTray);

            if (position == null)
            {
@@ -970,8 +1115,6 @@

            bind.RobotStatus = TaskStatus.Running;
            bind.Robot.SendMsg(RobotMsgAction.Move, RobotMsgParas.LineSnap, position.PositionNo);

            return new ProcessResponse(true);
        }

        //[ProcessMethod("", "Camera_UnloadFullTray", "相机操作卸载满Tray", true)]
@@ -991,6 +1134,13 @@
                throw new ProcessException("AGV当前未处于满Tray下料点");
            }

            //float adjust_X = 0.0f;
            //float adjust_Y = 0.0f;
            //float adjust_Angle = 0.0f;
            bool isLineReady = false;

            if (Config.IsEnableVisionGuide)
            {
            PositionVisionConfig visionConfig = Config.VisionConfigCollection.FirstOrDefault(u => u.PositionCode == position.PositionCode && u.CameraId == bind.CameraId);

            if (visionConfig == null)
@@ -998,7 +1148,7 @@
                throw new ProcessException("未配置该相机的满Tray下料点的视觉操作配置");
            }

            bool isLineReady = false;

            int reTryTime = Config.LineBusyRetryTimes;

            do
@@ -1037,6 +1187,11 @@
            //{
            //    bind.Robot.SendMsg(RobotMsgType.Send, -1, true, RobotMsgAction.State, RobotMsgParas.LineSnap, new List<string>() { "1" });
            //}
            }
            else
            {
                isLineReady = true;
            }

            if (isLineReady)
            {
@@ -1052,9 +1207,15 @@
        #endregion
    }

    //[Device("AGVBind", "AGVBind", EnumHelper.DeviceAttributeType.OperationConfig)]
    public class AGVBindOpConfig : OperationConfigBase
    {
        [Category("设备信息")]
        [Description("操作相关的设备编号")]
        public string BindId { get; set; }

        [Category("位置信息")]
        [Description("操作相关的位置")]
        public PathPosition Position { get; set; }

        public AGVBindOpConfig() { }