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BPASmartClient/BPASmartClient.MorkF/ViewModel/MaterialCalibrationViewMode...

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Originale Blame Cronologia 

  1. using BPASmartClient.Helper;

  2. using BPASmartClient.MorkF.Model;

  3. using Google.Protobuf.WellKnownTypes;

  4. using Microsoft.Toolkit.Mvvm.ComponentModel;

  5. using Microsoft.Toolkit.Mvvm.Input;

  6. using System;

  7. using System.Collections.Generic;

  8. using System.Linq;

  9. using System.Text;

  10. using System.Threading.Tasks;

  11. using System.Windows;

  12. 

  13. namespace BPASmartClient.MorkF.ViewModel

  14. {

  15.     internal class MaterialCalibrationViewModel : ObservableObject

  16.     {

  17.         #region 菜品库控制

  18.         #region 点位1

  19.         public bool PositionOne { get { return _PositionOne; } set { _PositionOne = value; OnPropertyChanged(); } }

  20.         private bool _PositionOne;

  21.         public int OneX { get { return _OneX; } set { _OneX = value; OnPropertyChanged(); } }

  22.         private int _OneX;

  23.         public int OneY { get { return _OneY; } set { _OneY = value; OnPropertyChanged(); } }

  24.         private int _OneY;

  25.         #endregion

  26.         #region 点位2

  27.         public bool PositionTwo { get { return _PositionTwo; } set { _PositionTwo = value; OnPropertyChanged(); } }

  28.         private bool _PositionTwo;

  29.         public int TwoX { get { return _TwoX; } set { _TwoX = value; OnPropertyChanged(); } }

  30.         private int _TwoX;

  31.         public int TwoY { get { return _TwoY; } set { _TwoY = value; OnPropertyChanged(); } }

  32.         private int _TwoY;

  33.         #endregion

  34.         #region 点位3

  35.         public bool PositionThree { get { return _PositionThree; } set { _PositionThree = value; OnPropertyChanged(); } }

  36.         private bool _PositionThree;

  37.         public int ThreeX { get { return _ThreeX; } set { _ThreeX = value; OnPropertyChanged(); } }

  38.         private int _ThreeX;

  39.         public int ThreeY { get { return _ThreeY; } set { _ThreeY = value; OnPropertyChanged(); } }

  40.         private int _ThreeY;

  41.         #endregion

  42.         #region 点位4

  43.         public bool PositionFour { get { return _PositionFour; } set { _PositionFour = value; OnPropertyChanged(); } }

  44.         private bool _PositionFour;

  45.         public int FourX { get { return _FourX; } set { _FourX = value; OnPropertyChanged(); } }

  46.         private int _FourX;

  47.         public int FourY { get { return _FourY; } set { _FourY = value; OnPropertyChanged(); } }

  48.         private int _FourY;

  49.         #endregion

  50.         #region 点位5

  51.         public bool PositionFive { get { return _PositionFive; } set { _PositionFive = value; OnPropertyChanged(); } }

  52.         private bool _PositionFive;

  53.         public int FiveX { get { return _FiveX; } set { _FiveX = value; OnPropertyChanged(); } }

  54.         private int _FiveX;

  55.         public int FiveY { get { return _FiveY; } set { _FiveY = value; OnPropertyChanged(); } }

  56.         private int _FiveY;

  57.         #endregion

  58.         #region 点位6

  59.         public bool PositionSix { get { return _PositionSix; } set { _PositionSix = value; OnPropertyChanged(); } }

  60.         private bool _PositionSix;

  61.         public int SixX { get { return _SixX; } set { _SixX = value; OnPropertyChanged(); } }

  62.         private int _SixX;

  63.         public int SixY { get { return _SixY; } set { _SixY = value; OnPropertyChanged(); } }

  64.         private int _SixY;

  65.         #endregion

  66.         #region 点位7

  67.         public bool PositionSeven { get { return _PositionSeven; } set { _PositionSeven = value; OnPropertyChanged(); } }

  68.         private bool _PositionSeven;

  69.         public int SevenX { get { return _SevenX; } set { _SevenX = value; OnPropertyChanged(); } }

  70.         private int _SevenX;

  71.         public int SevenY { get { return _SevenY; } set { _SevenY = value; OnPropertyChanged(); } }

  72.         private int _SevenY;

  73.         #endregion

  74.         #region 点位8

  75.         public bool PositionEight { get { return _PositionEight; } set { _PositionEight = value; OnPropertyChanged(); } }

  76.         private bool _PositionEight;

  77.         public int EightX { get { return _EightX; } set { _EightX = value; OnPropertyChanged(); } }

  78.         private int _EightX;

  79.         public int EightY { get { return _EightY; } set { _EightY = value; OnPropertyChanged(); } }

  80.         private int _EightY;

  81.         #endregion

  82.         #region 点位9

  83.         public bool PositionNine { get { return _PositionNine; } set { _PositionNine = value; OnPropertyChanged(); } }

  84.         private bool _PositionNine;

  85.         public int NineX { get { return _NineX; } set { _NineX = value; OnPropertyChanged(); } }

  86.         private int _NineX;

  87.         public int NineY { get { return _NineY; } set { _NineY = value; OnPropertyChanged(); } }

  88.         private int _NineY;

  89.         #endregion

  90.         #region 点位10

  91.         public bool PositionTen { get { return _PositionTen; } set { _PositionTen = value; OnPropertyChanged(); } }

  92.         private bool _PositionTen;

  93.         public int TenX { get { return _TenX; } set { _TenX = value; OnPropertyChanged(); } }

  94.         private int _TenX;

  95.         public int TenY { get { return _TenY; } set { _TenY = value; OnPropertyChanged(); } }

  96.         private int _TenY;

  97.         #endregion

  98.         #region 点位11

  99.         public bool PositionEleven { get { return _PositionEleven; } set { _PositionEleven = value; OnPropertyChanged(); } }

  100.         private bool _PositionEleven;

  101.         public int ElevenX { get { return _ElevenX; } set { _ElevenX = value; OnPropertyChanged(); } }

  102.         private int _ElevenX;

  103.         public int ElevenY { get { return _ElevenY; } set { _ElevenY = value; OnPropertyChanged(); } }

  104.         private int _ElevenY;

  105.         #endregion

  106.         #region 点位12

  107.         public bool PositionTwelve { get { return _PositionTwelve; } set { _PositionTwelve = value; OnPropertyChanged(); } }

  108.         private bool _PositionTwelve;

  109.         public int TwelveX { get { return _TwelveX; } set { _TwelveX = value; OnPropertyChanged(); } }

  110.         private int _TwelveX;

  111.         public int TwelveY { get { return _TwelveY; } set { _TwelveY = value; OnPropertyChanged(); } }

  112.         private int _TwelveY;

  113.         #endregion

  114.         #region 点位13

  115.         public bool PositionThirteen { get { return _PositionThirteen; } set { _PositionThirteen = value; OnPropertyChanged(); } }

  116.         private bool _PositionThirteen;

  117.         public int ThirteenX { get { return _ThirteenX; } set { _ThirteenX = value; OnPropertyChanged(); } }

  118.         private int _ThirteenX;

  119.         public int ThirteenY { get { return _ThirteenY; } set { _ThirteenY = value; OnPropertyChanged(); } }

  120.         private int _ThirteenY;

  121.         #endregion

  122.         #region 点位14

  123.         public bool PositionFourteen { get { return _PositionFourteen; } set { _PositionFourteen = value; OnPropertyChanged(); } }

  124.         private bool _PositionFourteen;

  125.         public int FourteenX { get { return _FourteenX; } set { _FourteenX = value; OnPropertyChanged(); } }

  126.         private int _FourteenX;

  127.         public int FourteenY { get { return _FourteenY; } set { _FourteenY = value; OnPropertyChanged(); } }

  128.         private int _FourteenY;

  129.         #endregion

  130.         #region 点位15

  131.         public bool PositionFifteen { get { return _PositionFifteen; } set { _PositionFifteen = value; OnPropertyChanged(); } }

  132.         private bool _PositionFifteen;

  133.         public int FifteenX { get { return _FifteenX; } set { _FifteenX = value; OnPropertyChanged(); } }

  134.         private int _FifteenX;

  135.         public int FifteenY { get { return _FifteenY; } set { _FifteenY = value; OnPropertyChanged(); } }

  136.         private int _FifteenY;

  137.         #endregion

  138.         #region 点位16

  139.         public bool PositionSixteen { get { return _PositionSixteen; } set { _PositionSixteen = value; OnPropertyChanged(); } }

  140.         private bool _PositionSixteen;

  141.         public int SixteenX { get { return _SixteenX; } set { _SixteenX = value; OnPropertyChanged(); } }

  142.         private int _SixteenX;

  143.         public int SixteenY { get { return _SixteenY; } set { _SixteenY = value; OnPropertyChanged(); } }

  144.         private int _SixteenY;

  145.         #endregion

  146.         #region 点位17

  147.         public bool PositionSeventeen { get { return _PositionSeventeen; } set { _PositionSeventeen = value; OnPropertyChanged(); } }

  148.         private bool _PositionSeventeen;

  149.         public int SeventeenX { get { return _SeventeenX; } set { _SeventeenX = value; OnPropertyChanged(); } }

  150.         private int _SeventeenX;

  151.         public int SeventeenY { get { return _SeventeenY; } set { _SeventeenY = value; OnPropertyChanged(); } }

  152.         private int _SeventeenY;

  153.         #endregion

  154.         #region 点位18

  155.         public bool PositionEighteen { get { return _PositionEighteen; } set { _PositionEighteen = value; OnPropertyChanged(); } }

  156.         private bool _PositionEighteen;

  157.         public int EighteenX { get { return _EighteenX; } set { _EighteenX = value; OnPropertyChanged(); } }

  158.         private int _EighteenX;

  159.         public int EighteenY { get { return _EighteenY; } set { _EighteenY = value; OnPropertyChanged(); } }

  160.         private int _EighteenY;

  161.         #endregion

  162.         #region 点位19

  163.         public bool PositionNineteen { get { return _PositionNineteen; } set { _PositionNineteen = value; OnPropertyChanged(); } }

  164.         private bool _PositionNineteen;

  165.         public int NineteenX { get { return _NineteenX; } set { _NineteenX = value; OnPropertyChanged(); } }

  166.         private int _NineteenX;

  167.         public int NineteenY { get { return _NineteenY; } set { _NineteenY = value; OnPropertyChanged(); } }

  168.         private int _NineteenY;

  169.         #endregion

  170.         #region 点位20

  171.         public bool PositionTwenty { get { return _PositionTwenty; } set { _PositionTwenty = value; OnPropertyChanged(); } }

  172.         private bool _PositionTwenty;

  173.         public int TwentyX { get { return _TwentyX; } set { _TwentyX = value; OnPropertyChanged(); } }

  174.         private int _TwentyX;

  175.         public int TwentyY { get { return _TwentyY; } set { _TwentyY = value; OnPropertyChanged(); } }

  176.         private int _TwentyY;

  177.         #endregion

  178.         #region 点位21

  179.         public bool PositionTwentyOne { get { return _PositionTwentyOne; } set { _PositionTwentyOne = value; OnPropertyChanged(); } }

  180.         private bool _PositionTwentyOne;

  181.         public int TwentyOneX { get { return _TwentyOneX; } set { _TwentyOneX = value; OnPropertyChanged(); } }

  182.         private int _TwentyOneX;

  183.         public int TwentyOneY { get { return _TwentyOneY; } set { _TwentyOneY = value; OnPropertyChanged(); } }

  184.         private int _TwentyOneY;

  185.         #endregion

  186.         #region 点位22

  187.         public bool PositionTwentyTwo { get { return _PositionTwentyTwo; } set { _PositionTwentyTwo = value; OnPropertyChanged(); } }

  188.         private bool _PositionTwentyTwo;

  189.         public int TwentyTwoX { get { return _TwentyTwoX; } set { _TwentyTwoX = value; OnPropertyChanged(); } }

  190.         private int _TwentyTwoX;

  191.         public int TwentyTwoY { get { return _TwentyTwoY; } set { _TwentyTwoY = value; OnPropertyChanged(); } }

  192.         private int _TwentyTwoY;

  193.         #endregion

  194.         #region 点位23

  195.         public bool PositionTwentyThree { get { return _PositionTwentyThree; } set { _PositionTwentyThree = value; OnPropertyChanged(); } }

  196.         private bool _PositionTwentyThree;

  197.         public int TwentyThreeX { get { return _TwentyThreeX; } set { _TwentyThreeX = value; OnPropertyChanged(); } }

  198.         private int _TwentyThreeX;

  199.         public int TwentyThreeY { get { return _TwentyThreeY; } set { _TwentyThreeY = value; OnPropertyChanged(); } }

  200.         private int _TwentyThreeY;

  201.         #endregion

  202.         #region 点位24

  203.         public bool PositionTwentyFour { get { return _PositionTwentyFour; } set { _PositionTwentyFour = value; OnPropertyChanged(); } }

  204.         private bool _PositionTwentyFour;

  205.         public int TwentyFourX { get { return _TwentyFourX; } set { _TwentyFourX = value; OnPropertyChanged(); } }

  206.         private int _TwentyFourX;

  207.         public int TwentyFourY { get { return _TwentyFourY; } set { _TwentyFourY = value; OnPropertyChanged(); } }

  208.         private int _TwentyFourY;

  209.         #endregion

  210.         #region 点位25

  211.         public bool PositionTwentyFive { get { return _PositionTwentyFive; } set { _PositionTwentyFive = value; OnPropertyChanged(); } }

  212.         private bool _PositionTwentyFive;

  213.         public int TwentyFiveX { get { return _TwentyFiveX; } set { _TwentyFiveX = value; OnPropertyChanged(); } }

  214.         private int _TwentyFiveX;

  215.         public int TwentyFiveY { get { return _TwentyFiveY; } set { _TwentyFiveY = value; OnPropertyChanged(); } }

  216.         private int _TwentyFiveY;

  217.         #endregion

  218.         #region 点位26

  219.         public bool PositionTwentySix { get { return _PositionTwentySix; } set { _PositionTwentySix = value; OnPropertyChanged(); } }

  220.         private bool _PositionTwentySix;

  221.         public int TwentySixX { get { return _TwentySixX; } set { _TwentySixX = value; OnPropertyChanged(); } }

  222.         private int _TwentySixX;

  223.         public int TwentySixY { get { return _TwentySixY; } set { _TwentySixY = value; OnPropertyChanged(); } }

  224.         private int _TwentySixY;

  225.         #endregion

  226.         #region 点位27

  227.         public bool PositionTwentySeven { get { return _PositionTwentySeven; } set { _PositionTwentySeven = value; OnPropertyChanged(); } }

  228.         private bool _PositionTwentySeven;

  229.         public int TwentySevenX { get { return _TwentySevenX; } set { _TwentySevenX = value; OnPropertyChanged(); } }

  230.         private int _TwentySevenX;

  231.         public int TwentySevenY { get { return _TwentySevenY; } set { _TwentySevenY = value; OnPropertyChanged(); } }

  232.         private int _TwentySevenY;

  233.         #endregion

  234.         #region 菜品库高度测距点位

  235.         public bool PositionMaterialHeight { get { return _PositionMaterialHeight; } set { _PositionMaterialHeight = value; OnPropertyChanged(); } }

  236.         private bool _PositionMaterialHeight;

  237.         public int MaterialHeightX { get { return _MaterialHeightX; } set { _MaterialHeightX = value; OnPropertyChanged(); } }

  238.         private int _MaterialHeightX;

  239.         public int MaterialHeightY { get { return _MaterialHeightY; } set { _MaterialHeightY = value; OnPropertyChanged(); } }

  240.         private int _MaterialHeightY;

  241.         #endregion

  242.         #region 炒锅1菜品交互位置

  243.         public bool PositionFrying1 { get { return _PositionFrying1; } set { _PositionFrying1 = value; OnPropertyChanged(); } }

  244.         private bool _PositionFrying1;

  245.         public int Frying1X { get { return _Frying1X; } set { _Frying1X = value; OnPropertyChanged(); } }

  246.         private int _Frying1X;

  247.         public int Frying1Y { get { return _Frying1Y; } set { _Frying1Y = value; OnPropertyChanged(); } }

  248.         private int _Frying1Y;

  249.         #endregion

  250.         #region 炒锅2菜品交互位置

  251.         public bool PositionFrying2 { get { return _PositionFrying2; } set { _PositionFrying2 = value; OnPropertyChanged(); } }

  252.         private bool _PositionFrying2;

  253.         public int Frying2X { get { return _Frying2X; } set { _Frying2X = value; OnPropertyChanged(); } }

  254.         private int _Frying2X;

  255.         public int Frying2Y { get { return _Frying2Y; } set { _Frying2Y = value; OnPropertyChanged(); } }

  256.         private int _Frying2Y;

  257.         #endregion

  258.         #region 第一层菜品库出菜位置

  259.         public bool PositionMaterialOne { get { return _PositionMaterialOne; } set { _PositionMaterialOne = value; OnPropertyChanged(); } }

  260.         private bool _PositionMaterialOne;

  261.         public int MaterialOneX { get { return _MaterialOneX; } set { _MaterialOneX = value; OnPropertyChanged(); } }

  262.         private int _MaterialOneX;

  263.         #endregion

  264.         #region 第二层菜品库出菜位置

  265.         public bool PositionMaterialTwo { get { return _PositionMaterialTwo; } set { _PositionMaterialTwo = value; OnPropertyChanged(); } }

  266.         private bool _PositionMaterialTwo;

  267.         public int MaterialTwoX { get { return _MaterialTwoX; } set { _MaterialTwoX = value; OnPropertyChanged(); } }

  268.         private int _MaterialTwoX;

  269.         #endregion

  270.         #region 第三层菜品库出菜位置

  271.         public bool PositionMaterialThree { get { return _PositionMaterialThree; } set { _PositionMaterialThree = value; OnPropertyChanged(); } }

  272.         private bool _PositionMaterialThree;

  273.         public int MaterialThreeX { get { return _MaterialThreeX; } set { _MaterialThreeX = value; OnPropertyChanged(); } }

  274.         private int _MaterialThreeX;

  275.         #endregion

  276.         #region 菜品库各传感器高度临时值

  277.         public int Distance_1 { get { return _Distance_1; } set { _Distance_1 = value; OnPropertyChanged(); } }

  278.         private int _Distance_1;

  279.         public int Distance_2 { get { return _Distance_2; } set { _Distance_2 = value; OnPropertyChanged(); } }

  280.         private int _Distance_2;

  281.         public int Distance_3 { get { return _Distance_3; } set { _Distance_3 = value; OnPropertyChanged(); } }

  282.         private int _Distance_3;

  283.         #endregion

  284.         public bool Up { get { return _Up; } set { _Up = value; OnPropertyChanged(); } }

  285.         private bool _Up;

  286. 

  287.         public bool Down { get { return _Down; } set { _Down = value; OnPropertyChanged(); } }

  288.         private bool _Down;

  289. 

  290.         public bool Left { get { return _Left; } set { _Left = value; OnPropertyChanged(); } }

  291.         private bool _Left;

  292. 

  293.         public bool Right { get { return _Right; } set { _Right = value; OnPropertyChanged(); } }

  294.         private bool _Right;

  295. 

  296.         public bool Point { get { return _Point; } set { _Point = value; OnPropertyChanged(); } }

  297.         private bool _Point;

  298. 

  299.         public string Str { get { return _str; }set { _str = value;OnPropertyChanged(); } }

  300. 

  301.         private string _str;

  302. 

  303.         /// <summary>

  304.         /// 操作时，x轴移动的距离

  305.         /// </summary>

  306.         public int OperationX { get; set; } = 0;

  307. 

  308.         /// <summary>

  309.         /// 操作时，y轴移动的距离

  310.         /// </summary>

  311.         public int OperationY { get; set; } = 0;

  312. 

  313.         /// <summary>

  314.         /// Y轴大菜品库的间隙

  315.         /// </summary>

  316.         private const int bigMaterialClearanceY = 54000;

  317. 

  318.         /// <summary>

  319.         /// Y轴小菜品库的间隙

  320.         /// </summary>

  321.         private const int smartMaterialClearanceY = 28000;

  322. 

  323.         /// <summary>

  324.         /// X轴菜品库的间隙

  325.         /// </summary>

  326.         private const int materialClearanceX1 = 78000;

  327. 

  328.         /// <summary>

  329.         /// X轴菜品库的间隙

  330.         /// </summary>

  331.         private const int materialClearanceX2 = 88000;

  332. 

  333.         /// <summary>

  334.         /// 移动系数

  335.         /// </summary>

  336.         public int Factor = 1;

  337. 

  338.         /// <summary>

  339.         /// 移动基础点位

  340.         /// </summary>

  341.         private int BasicPosition { get; set; } = 100;

  342. 

  343.         public RelayCommand SetNowPosition { get; set; }//设置机械臂当前坐标

  344. 

  345.         public RelayCommand SaveCoordinate { get; set; }//设置机械臂基于当前坐标往左移动

  346. 

  347.         public RelayCommand ReadCoordinate { get; set; }//设置机械臂基于当前坐标往右移动

  348. 

  349.         public RelayCommand AutoCalculation { get; set; }//设置机械臂基于当前坐标往上移动

  350. 

  351.         public RelayCommand SetNowDownPosition { get; set; }//设置机械臂基于当前坐标往下移动

  352. 

  353.         public RelayCommand FoodLibInit { get; set; }//初始化

  354.         public RelayCommand StartElectromagnetism { get; set; }//电磁阀启动

  355.         public RelayCommand StopElectromagnetism { get; set; }

  356.         public RelayCommand PawTurnFront { get; set; }//夹爪正转

  357.         public RelayCommand PawTurnBack { get; set; }//夹爪反转

  358.         public RelayCommand PawToPoint1 { get; set; }//感应测距1

  359.         public RelayCommand PawToPoint2 { get; set; }//感应测距2

  360.         public RelayCommand PawToPoint3 { get; set; }//感应测距3

  361.         public RelayCommand GetDistance_1 { get; set; }//感应测距1

  362.         public RelayCommand GetDistance_2 { get; set; }//感应测距2

  363.         public RelayCommand GetDistance_3 { get; set; }//感应测距3

  364. 

  365.         private static object saveMaterialCoordinateLock = new object();

  366.         /// <summary>

  367.         /// 保存当前的坐标系

  368.         /// </summary>

  369.         public void SaveMaterialCoordinate()

  370.         {

  371.             MaterialCoordinate materialCoordinate = new MaterialCoordinate();

  372. 

  373.             foreach(var dicNoMaterialCoordinate in materialCoordinate.dicNoMaterialCoordinate)

  374.             {

  375.                 switch(dicNoMaterialCoordinate.Key)

  376.                 {

  377.                     case "1":

  378.                         dicNoMaterialCoordinate.Value.X = OneX;

  379.                         dicNoMaterialCoordinate.Value.Y = OneY;

  380.                         break;

  381.                     case "2":

  382.                         dicNoMaterialCoordinate.Value.X = TwoX;

  383.                         dicNoMaterialCoordinate.Value.Y = TwoY;

  384.                         break;

  385.                     case "3":

  386.                         dicNoMaterialCoordinate.Value.X = ThreeX;

  387.                         dicNoMaterialCoordinate.Value.Y = ThreeY;

  388.                         break;

  389.                     case "4":

  390.                         dicNoMaterialCoordinate.Value.X = FourX;

  391.                         dicNoMaterialCoordinate.Value.Y = FourY;

  392.                         break;

  393.                     case "5":

  394.                         dicNoMaterialCoordinate.Value.X = FiveX;

  395.                         dicNoMaterialCoordinate.Value.Y = FiveY;

  396.                         break;

  397.                     case "6":

  398.                         dicNoMaterialCoordinate.Value.X = SixX;

  399.                         dicNoMaterialCoordinate.Value.Y = SixY;

  400.                         break;

  401.                     case "7":

  402.                         dicNoMaterialCoordinate.Value.X = SevenX;

  403.                         dicNoMaterialCoordinate.Value.Y = SevenY;

  404.                         break;

  405.                     case "8":

  406.                         dicNoMaterialCoordinate.Value.X = EightX;

  407.                         dicNoMaterialCoordinate.Value.Y = EightY;

  408.                         break;

  409.                     case "9":

  410.                         dicNoMaterialCoordinate.Value.X = NineX;

  411.                         dicNoMaterialCoordinate.Value.Y = NineY;

  412.                         break;

  413.                     case "10":

  414.                         dicNoMaterialCoordinate.Value.X = TenX;

  415.                         dicNoMaterialCoordinate.Value.Y = TenY;

  416.                         break;

  417.                     case "11":

  418.                         dicNoMaterialCoordinate.Value.X = ElevenX;

  419.                         dicNoMaterialCoordinate.Value.Y = ElevenY;

  420.                         break;

  421.                     case "12":

  422.                         dicNoMaterialCoordinate.Value.X = TwelveX;

  423.                         dicNoMaterialCoordinate.Value.Y = TwelveY;

  424.                         break;

  425.                     case "13":

  426.                         dicNoMaterialCoordinate.Value.X = ThirteenX;

  427.                         dicNoMaterialCoordinate.Value.Y = ThirteenY;

  428.                         break;

  429.                     case "14":

  430.                         dicNoMaterialCoordinate.Value.X = FourteenX;

  431.                         dicNoMaterialCoordinate.Value.Y = FourteenY;

  432.                         break;

  433.                     case "15":

  434.                         dicNoMaterialCoordinate.Value.X = FifteenX;

  435.                         dicNoMaterialCoordinate.Value.Y = FifteenY;

  436.                         break;

  437.                     case "16":

  438.                         dicNoMaterialCoordinate.Value.X = SixteenX;

  439.                         dicNoMaterialCoordinate.Value.Y = SixteenY;

  440.                         break;

  441.                     case "17":

  442.                         dicNoMaterialCoordinate.Value.X = SeventeenX;

  443.                         dicNoMaterialCoordinate.Value.Y = SeventeenY;

  444.                         break;

  445.                     case "18":

  446.                         dicNoMaterialCoordinate.Value.X = EighteenX;

  447.                         dicNoMaterialCoordinate.Value.Y = EighteenY;

  448.                         break;

  449.                     case "19":

  450.                         dicNoMaterialCoordinate.Value.X = NineteenX;

  451.                         dicNoMaterialCoordinate.Value.Y = NineteenY;

  452.                         break;

  453.                     case "20":

  454.                         dicNoMaterialCoordinate.Value.X = TwentyX;

  455.                         dicNoMaterialCoordinate.Value.Y = TwentyY;

  456.                         break;

  457.                     case "21":

  458.                         dicNoMaterialCoordinate.Value.X = TwentyOneX;

  459.                         dicNoMaterialCoordinate.Value.Y = TwentyOneY;

  460.                         break;

  461.                     case "22":

  462.                         dicNoMaterialCoordinate.Value.X = TwentyTwoX;

  463.                         dicNoMaterialCoordinate.Value.Y = TwentyTwoY;

  464.                         break;

  465.                     case "23":

  466.                         dicNoMaterialCoordinate.Value.X = TwentyThreeX;

  467.                         dicNoMaterialCoordinate.Value.Y = TwentyThreeY;

  468.                         break;

  469.                     case "24":

  470.                         dicNoMaterialCoordinate.Value.X = TwentyFourX;

  471.                         dicNoMaterialCoordinate.Value.Y = TwentyFourY;

  472.                         break;

  473.                     case "25":

  474.                         dicNoMaterialCoordinate.Value.X = TwentyFiveX;

  475.                         dicNoMaterialCoordinate.Value.Y = TwentyFiveY;

  476.                         break;

  477.                     case "26":

  478.                         dicNoMaterialCoordinate.Value.X = TwentySixX;

  479.                         dicNoMaterialCoordinate.Value.Y = TwentySixY;

  480.                         break;

  481.                     case "27":

  482.                         dicNoMaterialCoordinate.Value.X = TwentySevenX;

  483.                         dicNoMaterialCoordinate.Value.Y = TwentySevenY;

  484.                         break;

  485.                     default:

  486.                         break;

  487.                 }

  488.             }

  489. 

  490.             materialCoordinate.frying1.X = Frying1X;

  491.             materialCoordinate.frying1.Y = Frying1Y;

  492.             materialCoordinate.frying2.X = Frying2X;

  493.             materialCoordinate.frying2.Y = Frying2Y;

  494.             materialCoordinate.materialHeight.X = MaterialHeightX;

  495.             materialCoordinate.materialHeight.Y = MaterialHeightY;

  496.             materialCoordinate.distance_1 = Distance_1;

  497.             materialCoordinate.distance_2 = Distance_2;

  498.             materialCoordinate.distance_3 = Distance_3;

  499.             materialCoordinate.MaterialOneX = MaterialOneX;

  500.             materialCoordinate.MaterialTwoX = MaterialTwoX;

  501.             materialCoordinate.MaterialThreeX = MaterialThreeX;

  502. 

  503.             Json<MaterialCoordinate>.Data = materialCoordinate;

  504.             Json<MaterialCoordinate>.Save();

  505.             //更新当前的菜品库数据

  506.             MaterialCoordinate.GetInstance().frying1 = materialCoordinate.frying1;

  507.             MaterialCoordinate.GetInstance().frying2 = materialCoordinate.frying2;

  508.             MaterialCoordinate.GetInstance().materialHeight = materialCoordinate.materialHeight;

  509.             MaterialCoordinate.GetInstance().dicNoMaterialCoordinate = materialCoordinate.dicNoMaterialCoordinate;

  510.             MaterialCoordinate.GetInstance().MaterialOneX = materialCoordinate.MaterialOneX;

  511.             MaterialCoordinate.GetInstance().MaterialTwoX = materialCoordinate.MaterialTwoX;

  512.             MaterialCoordinate.GetInstance().MaterialThreeX = materialCoordinate.MaterialThreeX;

  513.         }

  514. 

  515.         /// <summary>

  516.         /// 读取坐标系

  517.         /// </summary>

  518.         /// <returns></returns>

  519.         private MaterialCoordinate ReadMaterialCoordinate()

  520.         {

  521.             try

  522.             {

  523.                 Json<MaterialCoordinate>.Read();

  524.                 MaterialCoordinate materialCoordinate = Json<MaterialCoordinate>.Data;

  525.                 return materialCoordinate;

  526.             }

  527.             catch (Exception ex)

  528.             {

  529.                 return null;

  530.             }

  531.         }

  532. 

  533.         /// <summary>

  534.         /// 从json文件中读取菜品库坐标系数据

  535.         /// </summary>

  536.         private void PhysicalMaterialCoordinate()

  537.         {

  538.             MaterialCoordinate materialCoordinate = ReadMaterialCoordinate();

  539. 

  540.             if(materialCoordinate == null)

  541.             {

  542.                 return;

  543.             }

  544. 

  545.             if (materialCoordinate.dicNoMaterialCoordinate.Count == 27)

  546.             {

  547.                 foreach (var dicNoMaterialCoordinate in materialCoordinate.dicNoMaterialCoordinate)

  548.                 {

  549.                     switch (dicNoMaterialCoordinate.Key)

  550.                     {

  551.                         case "1":

  552.                             OneX = dicNoMaterialCoordinate.Value.X;

  553.                             OneY = dicNoMaterialCoordinate.Value.Y;

  554.                             break;

  555.                         case "2":

  556.                             TwoX = dicNoMaterialCoordinate.Value.X;

  557.                             TwoY = dicNoMaterialCoordinate.Value.Y;

  558.                             break;

  559.                         case "3":

  560.                             ThreeX = dicNoMaterialCoordinate.Value.X;

  561.                             ThreeY = dicNoMaterialCoordinate.Value.Y;

  562.                             break;

  563.                         case "4":

  564.                             FourX = dicNoMaterialCoordinate.Value.X;

  565.                             FourY = dicNoMaterialCoordinate.Value.Y;

  566.                             break;

  567.                         case "5":

  568.                             FiveX = dicNoMaterialCoordinate.Value.X;

  569.                             FiveY = dicNoMaterialCoordinate.Value.Y;

  570.                             break;

  571.                         case "6":

  572.                             SixX = dicNoMaterialCoordinate.Value.X;

  573.                             SixY = dicNoMaterialCoordinate.Value.Y;

  574.                             break;

  575.                         case "7":

  576.                             SevenX = dicNoMaterialCoordinate.Value.X;

  577.                             SevenY = dicNoMaterialCoordinate.Value.Y;

  578.                             break;

  579.                         case "8":

  580.                             EightX = dicNoMaterialCoordinate.Value.X;

  581.                             EightY = dicNoMaterialCoordinate.Value.Y;

  582.                             break;

  583.                         case "9":

  584.                             NineX = dicNoMaterialCoordinate.Value.X;

  585.                             NineY = dicNoMaterialCoordinate.Value.Y;

  586.                             break;

  587.                         case "10":

  588.                             TenX = dicNoMaterialCoordinate.Value.X;

  589.                             TenY = dicNoMaterialCoordinate.Value.Y;

  590.                             break;

  591.                         case "11":

  592.                             ElevenX = dicNoMaterialCoordinate.Value.X;

  593.                             ElevenY = dicNoMaterialCoordinate.Value.Y;

  594.                             break;

  595.                         case "12":

  596.                             TwelveX = dicNoMaterialCoordinate.Value.X;

  597.                             TwelveY = dicNoMaterialCoordinate.Value.Y;

  598.                             break;

  599.                         case "13":

  600.                             ThirteenX = dicNoMaterialCoordinate.Value.X;

  601.                             ThirteenY = dicNoMaterialCoordinate.Value.Y;

  602.                             break;

  603.                         case "14":

  604.                             FourteenX = dicNoMaterialCoordinate.Value.X;

  605.                             FourteenY = dicNoMaterialCoordinate.Value.Y;

  606.                             break;

  607.                         case "15":

  608.                             FifteenX = dicNoMaterialCoordinate.Value.X;

  609.                             FifteenY = dicNoMaterialCoordinate.Value.Y;

  610.                             break;

  611.                         case "16":

  612.                             SixteenX = dicNoMaterialCoordinate.Value.X;

  613.                             SixteenY = dicNoMaterialCoordinate.Value.Y;

  614.                             break;

  615.                         case "17":

  616.                             SeventeenX = dicNoMaterialCoordinate.Value.X;

  617.                             SeventeenY = dicNoMaterialCoordinate.Value.Y;

  618.                             break;

  619.                         case "18":

  620.                             EighteenX = dicNoMaterialCoordinate.Value.X;

  621.                             EighteenY = dicNoMaterialCoordinate.Value.Y;

  622.                             break;

  623.                         case "19":

  624.                             NineteenX = dicNoMaterialCoordinate.Value.X;

  625.                             NineteenY = dicNoMaterialCoordinate.Value.Y;

  626.                             break;

  627.                         case "20":

  628.                             TwentyX = dicNoMaterialCoordinate.Value.X;

  629.                             TwentyY = dicNoMaterialCoordinate.Value.Y;

  630.                             break;

  631.                         case "21":

  632.                             TwentyOneX = dicNoMaterialCoordinate.Value.X;

  633.                             TwentyOneY = dicNoMaterialCoordinate.Value.Y;

  634.                             break;

  635.                         case "22":

  636.                             TwentyTwoX = dicNoMaterialCoordinate.Value.X;

  637.                             TwentyTwoY = dicNoMaterialCoordinate.Value.Y;

  638.                             break;

  639.                         case "23":

  640.                             TwentyThreeX = dicNoMaterialCoordinate.Value.X;

  641.                             TwentyThreeY = dicNoMaterialCoordinate.Value.Y;

  642.                             break;

  643.                         case "24":

  644.                             TwentyFourX = dicNoMaterialCoordinate.Value.X;

  645.                             TwentyFourY = dicNoMaterialCoordinate.Value.Y;

  646.                             break;

  647.                         case "25":

  648.                             TwentyFiveX = dicNoMaterialCoordinate.Value.X;

  649.                             TwentyFiveY = dicNoMaterialCoordinate.Value.Y;

  650.                             break;

  651.                         case "26":

  652.                             TwentySixX = dicNoMaterialCoordinate.Value.X;

  653.                             TwentySixY = dicNoMaterialCoordinate.Value.Y;

  654.                             break;

  655.                         case "27":

  656.                             TwentySevenX = dicNoMaterialCoordinate.Value.X;

  657.                             TwentySevenY = dicNoMaterialCoordinate.Value.Y;

  658.                             break;

  659.                         case "MaterialHeight":

  660.                             MaterialHeightX = materialCoordinate.materialHeight.X;

  661.                             MaterialHeightY = materialCoordinate.materialHeight.Y;

  662.                             break;

  663.                         case "Frying1":

  664.                             Frying1X = materialCoordinate.frying1.X;

  665.                             Frying1Y = materialCoordinate.frying1.Y;

  666.                             break;

  667.                         case "Frying2":

  668.                             Frying2X = materialCoordinate.frying2.X;

  669.                             Frying2Y = materialCoordinate.frying2.Y;

  670.                             break;

  671.                         default:

  672.                             break;

  673.                     }

  674.                 }

  675.             }

  676. 

  677.             MaterialOneX = materialCoordinate.MaterialOneX;

  678.             MaterialTwoX = materialCoordinate.MaterialTwoX;

  679.             MaterialThreeX = materialCoordinate.MaterialThreeX;

  680.             MaterialHeightX = materialCoordinate.materialHeight.X;

  681.             MaterialHeightY = materialCoordinate.materialHeight.Y;

  682.             Frying1X = materialCoordinate.frying1.X;

  683.             Frying1Y = materialCoordinate.frying1.Y;

  684.             Frying2X = materialCoordinate.frying2.X;

  685.             Frying2Y = materialCoordinate.frying2.Y;

  686.             Distance_1 = materialCoordinate.distance_1;

  687.             Distance_2 = materialCoordinate.distance_2;

  688.             Distance_3 = materialCoordinate.distance_3;

  689.         }

  690. 

  691.         /// <summary>

  692.         /// 

  693.         /// </summary>

  694.         /// <param name="Num"></param>

  695.         private void Calibration(string Num)

  696.         {

  697.             switch (Num)

  698.             {

  699.                 case "1":

  700.                     OneX = OneX + OperationX;

  701.                     OneY = OneY + OperationX;

  702.                     break;

  703.                 case "2":

  704.                     TwoX = TwoX + OperationX;

  705.                     TwoY = TwoY + OperationY;

  706.                     break;

  707.                 case "3":

  708.                     ThreeX = ThreeX + OperationX;

  709.                     ThreeY = ThreeY + OperationY;

  710.                     break;

  711.                 case "4":

  712.                     FourX = FourX + OperationX;

  713.                     FourY = FourY + OperationY;

  714.                     break;

  715.                 case "5":

  716.                     FiveX = FiveX + OperationX;

  717.                     FiveY = FiveY + OperationY;

  718.                     break;

  719.                 case "6":

  720.                     SixX = SixX + OperationX;

  721.                     SixY = SixY + OperationY;

  722.                     break;

  723.                 case "7":

  724.                     SevenX = SevenX + OperationX;

  725.                     SevenY = SevenY + OperationY;

  726.                     break;

  727.                 case "8":

  728.                     EightX = EightX + OperationX;

  729.                     EightY = EightY + OperationY;

  730.                     break;

  731.                 case "9":

  732.                     NineX = NineX + OperationX;

  733.                     NineY = NineY + OperationY;

  734.                     break;

  735.                 case "10":

  736.                     TenX = TenX + OperationX;

  737.                     TenY = TenY + OperationY;

  738.                     break;

  739.                 case "11":

  740.                     ElevenX = ElevenX + OperationX;

  741.                     ElevenY = ElevenY + OperationY;

  742.                     break;

  743.                 case "12":

  744.                     TwelveX = TwelveX + OperationX;

  745.                     TwelveY = TwelveY + OperationY;

  746.                     break;

  747.                 case "13":

  748.                     ThirteenX = ThirteenX + OperationX;

  749.                     ThirteenY = ThirteenY + OperationY;

  750.                     break;

  751.                 case "14":

  752.                     FourteenX = FourteenX + OperationX;

  753.                     FourteenY = FourteenY + OperationY;

  754.                     break;

  755.                 case "15":

  756.                     FifteenX = FifteenX + OperationX;

  757.                     FifteenY = FifteenY + OperationY;

  758.                     break;

  759.                 case "16":

  760.                     SixteenX = SixteenX + OperationX;

  761.                     SixteenY = SixteenY + OperationY;

  762.                     break;

  763.                 case "17":

  764.                     SeventeenX = SeventeenX + OperationX;

  765.                     SeventeenY = SeventeenY + OperationY;

  766.                     break;

  767.                 case "18":

  768.                     EighteenX = EighteenX + OperationX;

  769.                     EighteenY = EighteenY + OperationY;

  770.                     break;

  771.                 case "19":

  772.                     NineteenX = NineteenX + OperationX;

  773.                     NineteenY = NineteenY + OperationY;

  774.                     break;

  775.                 case "20":

  776.                     TwentyX = TwentyX + OperationX;

  777.                     TwentyY = TwentyY + OperationY;

  778.                     break;

  779.                 case "21":

  780.                     TwentyOneX = TwentyOneX + OperationX;

  781.                     TwentyOneY = TwentyOneY + OperationY;

  782.                     break;

  783.                 case "22":

  784.                     TwentyTwoX = TwentyTwoX + OperationX;

  785.                     TwentyTwoY = TwentyTwoY + OperationY;

  786.                     break;

  787.                 case "23":

  788.                     TwentyThreeX = TwentyThreeX + OperationX;

  789.                     TwentyThreeY = TwentyThreeY + OperationY;

  790.                     break;

  791.                 case "24":

  792.                     TwentyFourX = TwentyFourX + OperationX;

  793.                     TwentyFourY = TwentyFourY + OperationY;

  794.                     break;

  795.                 case "25":

  796.                     TwentyFiveX = TwentyFiveX + OperationX;

  797.                     TwentyFiveY = TwentyFiveY + OperationY;

  798.                     break;

  799.                 case "26":

  800.                     TwentySixX = TwentySixX + OperationX;

  801.                     TwentySixY = TwentySixY + OperationY;

  802.                     break;

  803.                 case "27":

  804.                     TwentySevenX = TwentySevenX + OperationX;

  805.                     TwentySevenY = TwentySevenY + OperationY;

  806.                     break;

  807.                 case "MaterialHeight":

  808.                     MaterialHeightX = MaterialHeightX + OperationX;

  809.                     MaterialHeightY = MaterialHeightY + OperationY;

  810.                     break;

  811.                 case "Frying1":

  812.                     Frying1X = Frying1X + OperationX;

  813.                     Frying1Y = Frying1Y + OperationY;

  814.                     break;

  815.                 case "Frying2":

  816.                     Frying2X = Frying2X + OperationX;

  817.                     Frying2Y = Frying2Y + OperationY;

  818.                     break;

  819.                 case "MaterialOne":

  820.                     MaterialOneX = MaterialOneX + OperationX;

  821.                     break;

  822.                 case "MaterialTwo":

  823.                     MaterialTwoX = MaterialTwoX + OperationX;

  824.                     break;

  825.                 case "MaterialThree":

  826.                     MaterialThreeX = MaterialThreeX + OperationX;

  827.                     break;

  828.                 default:

  829.                     break;

  830.             }

  831.             OperationX = 0;

  832.             OperationY = 0;

  833.         }

  834. 

  835.         private void SetPosition()

  836.         {

  837.             //判断是否有选择下发的设备

  838.             if (!PositionOne && !PositionTwo && !PositionThree && !PositionFour && !PositionFive && !PositionSix && !PositionSeven && !PositionEight && !PositionNine

  839.             && !PositionTen && !PositionEleven && !PositionTwelve && !PositionThirteen && !PositionFourteen && !PositionFifteen && !PositionSixteen && !PositionSeventeen && !PositionEighteen

  840.             && !PositionNineteen && !PositionTwenty && !PositionTwentyOne && !PositionTwentyTwo && !PositionTwentyThree && !PositionTwentyFour && !PositionTwentyFive && !PositionTwentySix && !PositionTwentySeven

  841.             && !PositionMaterialHeight && !PositionFrying1 && !PositionFrying2 && !PositionMaterialOne && !PositionMaterialThree &&!PositionMaterialTwo)

  842.             {

  843.                 MessageBox.Show("未选择点位");

  844.                 return;

  845.             }

  846. 

  847.             if (PositionOne)

  848.             {

  849.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> {"1", OneX + OperationX, OneY + OperationY });//设定机械臂当前位置

  850.             }

  851.             if (PositionTwo)

  852.             {

  853.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "2", TwoX + OperationX, TwoY + OperationY });//设定机械臂当前位置

  854.             }

  855.             if (PositionThree)

  856.             {

  857.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "3", ThreeX + OperationX, ThreeY + OperationY });//设定机械臂当前位置

  858.             }

  859.             if (PositionFour)

  860.             {

  861.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "4", FourX + OperationX, FourY + OperationY });//设定机械臂当前位置

  862.             }

  863.             if (PositionFive)

  864.             {

  865.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "5", FiveX + OperationX, FiveY + OperationY });//设定机械臂当前位置

  866.             }

  867.             if (PositionSix)

  868.             {

  869.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "6", SixX + OperationX, SixY + OperationY });//设定机械臂当前位置

  870.             }

  871.             if (PositionSeven)

  872.             {

  873.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "7", SevenX + OperationX, SevenY + OperationY });//设定机械臂当前位置

  874.             }

  875.             if (PositionEight)

  876.             {

  877.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "8", EightX + OperationX, EightY + OperationY });//设定机械臂当前位置

  878.             }

  879.             if (PositionNine)

  880.             {

  881.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "9", NineX + OperationX, NineY + OperationY });//设定机械臂当前位置

  882.             }

  883.             if (PositionTen)

  884.             {

  885.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "10", TenX + OperationX, TenY + OperationY });//设定机械臂当前位置

  886.             }

  887.             if (PositionEleven)

  888.             {

  889.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "11", ElevenX + OperationX, ElevenY + OperationY });//设定机械臂当前位置

  890.             }

  891.             if (PositionTwelve)

  892.             {

  893.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "12", TwelveX + OperationX, TwelveY + OperationY });//设定机械臂当前位置

  894.             }

  895.             if (PositionThirteen)

  896.             {

  897.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "13", ThirteenX + OperationX, ThirteenY + OperationY });//设定机械臂当前位置

  898.             }

  899.             if (PositionFourteen)

  900.             {

  901.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "14", FourteenX + OperationX, FourteenY + OperationY });//设定机械臂当前位置

  902.             }

  903.             if (PositionFifteen)

  904.             {

  905.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "15", FifteenX + OperationX, FifteenY + OperationY });//设定机械臂当前位置

  906.             }

  907.             if (PositionSixteen)

  908.             {

  909.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "16", SixteenX + OperationX, SixteenY + OperationY });//设定机械臂当前位置

  910.             }

  911.             if (PositionSeventeen)

  912.             {

  913.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "17", SeventeenX + OperationX, SeventeenY + OperationY });//设定机械臂当前位置

  914.             }

  915.             if (PositionEighteen)

  916.             {

  917.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "18", EighteenX + OperationX, EighteenY + OperationY });//设定机械臂当前位置

  918.             }

  919.             if (PositionNineteen)

  920.             {

  921.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "19", NineteenX + OperationX, NineteenY + OperationY });//设定机械臂当前位置

  922.             }

  923.             if (PositionTwenty)

  924.             {

  925.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "20", TwentyX + OperationX, TwentyY + OperationY });//设定机械臂当前位置

  926.             }

  927.             if (PositionTwentyOne)

  928.             {

  929.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "21", TwentyOneX + OperationX, TwentyOneY + OperationY });//设定机械臂当前位置

  930.             }

  931.             if (PositionTwentyTwo)

  932.             {

  933.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "22", TwentyTwoX + OperationX, TwentyTwoY + OperationY });//设定机械臂当前位置

  934.             }

  935.             if (PositionTwentyThree)

  936.             {

  937.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "23", TwentyThreeX + OperationX, TwentyThreeY + OperationY });//设定机械臂当前位置

  938.             }

  939.             if (PositionTwentyFour)

  940.             {

  941.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "24", TwentyFourX + OperationX, TwentyFourY + OperationY });//设定机械臂当前位置

  942.             }

  943.             if (PositionTwentyFive)

  944.             {

  945.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "25", TwentyFiveX + OperationX, TwentyFiveY + OperationY });//设定机械臂当前位置

  946.             }

  947.             if (PositionTwentySix)

  948.             {

  949.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "26", TwentySixX + OperationX, TwentySixY + OperationY });//设定机械臂当前位置

  950.             }

  951.             if (PositionTwentySeven)

  952.             {

  953.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "27", TwentySevenX + OperationX, TwentySevenY + OperationY });//设定机械臂当前位置

  954.             }

  955.             if (PositionMaterialHeight)

  956.             {

  957.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "MaterialHeight", MaterialHeightX + OperationX, MaterialHeightY + OperationY });//设定机械臂当前位置

  958.             }

  959.             if (PositionFrying1)

  960.             {

  961.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "Frying1", Frying1X + OperationX, Frying1Y + OperationY });//设定机械臂当前位置

  962.             }

  963.             if (PositionFrying2)

  964.             {

  965.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "Frying2", Frying2X + OperationX, Frying2Y + OperationY });//设定机械臂当前位置

  966.             }

  967.             if(PositionMaterialOne)

  968.             {

  969.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "MaterialOne", MaterialOneX + OperationX, 0 });//设定机械臂当前位置

  970.             }

  971.             if (PositionMaterialTwo)

  972.             {

  973.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "MaterialTwo", MaterialTwoX + OperationX, 0 });//设定机械臂当前位置

  974.             }

  975.             if (PositionMaterialThree)

  976.             {

  977.                 ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "MaterialThree", MaterialThreeX + OperationX, 0 });//设定机械臂当前位置

  978.             }

  979.         }

  980. 

  981.         public MaterialCalibrationViewModel()

  982.         {

  983.             StartElectromagnetism = new RelayCommand(() => { ActionManage.GetInstance.Send("Electromagnetism", new List<bool> { false }); });//电磁阀启动

  984.             StopElectromagnetism = new RelayCommand(() => { ActionManage.GetInstance.Send("Electromagnetism", new List<bool> { true }); });//电磁阀关闭

  985. 

  986.             FoodLibInit = new RelayCommand(() => { ActionManage.GetInstance.Send("FoodLibInit"); });//菜品库初始化

  987.             PawToPoint1 = new RelayCommand(() => { ActionManage.GetInstance.Send("PawToPoint1"); });//爪子去1号位

  988.             PawToPoint2 = new RelayCommand(() => { ActionManage.GetInstance.Send("PawToPoint2"); });//爪子去2号位

  989.             PawToPoint3 = new RelayCommand(() => { ActionManage.GetInstance.Send("PawToPoint3"); });//爪子去3号位

  990.             PawTurnFront = new RelayCommand(() => { ActionManage.GetInstance.Send("PawTurnFront"); });//夹爪正转

  991.             PawTurnBack = new RelayCommand(() => { ActionManage.GetInstance.Send("PawTurnBack"); });//夹爪反转

  992.             GetDistance_1 = new RelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_1"); });//感应距离1

  993.             GetDistance_2 = new RelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_2"); });//感应距离2

  994.             GetDistance_3 = new RelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_3"); });//感应距离3

  995. 

  996.             PhysicalMaterialCoordinate();

  997.             ActionManage.GetInstance.Register(new Action<object>((o) =>

  998.             {

  999.                 ThreadManage.GetInstance().Start(new Action(() =>

  1000.                 {

  1001.                     if(o is List<string> nums)

  1002.                     {

  1003.                         Calibration(nums[0]);

  1004.                     }

  1005.                 }), "CalibrationCallBack");

  1006.             }), "CalibrationCallBack");

  1007.             ActionManage.GetInstance.Register(new Action<object>((o) =>

  1008.             {

  1009.                 ThreadManage.GetInstance().Start(new Action(() =>

  1010.                 {

  1011.                     if (o is List<string> nums)

  1012.                     {

  1013.                         int distance = 0;

  1014.                         bool ret = false;

  1015.                         ret = int.TryParse(nums[1], out distance);

  1016.                         if (ret == false) { return; }

  1017.                         if (nums[0] == "1")

  1018.                         { 

  1019.                             Distance_1= distance;

  1020.                         }

  1021.                         else if (nums[0] == "2")

  1022.                         {

  1023.                             Distance_2 = distance;

  1024.                         }

  1025.                         else if (nums[0] == "3")

  1026.                         {

  1027.                             Distance_3 = distance;

  1028.                         }

  1029.                     }

  1030.                 }), "GetDistanceCallBack");

  1031.             }), "GetDistanceCallBack");

  1032.             SetNowPosition = new RelayCommand(() =>

  1033.             {

  1034.                 if(!Point && !Left && !Right && !Down && !Up)

  1035.                 {

  1036.                     MessageBox.Show("请选择需要移动的方式");

  1037.                     return;

  1038.                 }

  1039. 

  1040.                 if (!Point)

  1041.                 {

  1042.                     if (!int.TryParse(Str, out Factor))

  1043.                     {

  1044.                         Factor = 1;

  1045.                     }

  1046.                     if(Factor > 100 || Factor<0)

  1047.                     {

  1048.                         MessageBox.Show("请输入有效系数");

  1049.                         return;

  1050.                     }

  1051.                 }

  1052. 

  1053.                 if(Left)

  1054.                 {

  1055.                     OperationX = -1 * BasicPosition * Factor;

  1056.                 }

  1057.                 else if(Right)

  1058.                 {

  1059.                     OperationX = BasicPosition * Factor;

  1060.                 }

  1061.                 else if(Down)

  1062.                 {

  1063.                     OperationY = BasicPosition * Factor;

  1064.                 }

  1065.                 else if(Up)

  1066.                 {

  1067.                     OperationY = -1 * BasicPosition * Factor;

  1068.                 }

  1069.                 else

  1070.                 {

  1071.                     OperationX = 0;

  1072.                     OperationY = 0;

  1073.                 }

  1074.                 SetPosition();

  1075.             });

  1076.             SaveCoordinate = new RelayCommand(() =>

  1077.             {

  1078.                 SaveMaterialCoordinate();

  1079.             });

  1080.             ReadCoordinate = new RelayCommand(() =>

  1081.             {

  1082.                 PhysicalMaterialCoordinate();

  1083.             });

  1084.             AutoCalculation = new RelayCommand(() =>

  1085.             {

  1086.                 AutoCalculationCoordination();

  1087.             });

  1088.         }

  1089. 

  1090.         /// <summary>

  1091.         /// 自动计算坐标

  1092.         /// </summary>

  1093.         private void AutoCalculationCoordination()

  1094.         {

  1095.             #region 菜品库一层计算

  1096.             //X轴改变

  1097.             TwoX = ThreeX = FourX = FiveX = SixX = SevenX = EightX = NineX = OneX;

  1098.             TwoY = OneY + 1000;

  1099.             ThreeY = OneY + 1000+smartMaterialClearanceY;

  1100.             FourY = OneY + 1000 + smartMaterialClearanceY + bigMaterialClearanceY;

  1101.             FiveY = OneY + 1000 + 2 * smartMaterialClearanceY + bigMaterialClearanceY;

  1102.             SixY = OneY + 3 * smartMaterialClearanceY + bigMaterialClearanceY;

  1103.             SevenY = OneY + 3 * smartMaterialClearanceY + 2*bigMaterialClearanceY;

  1104.             EightY = OneY + 4 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;

  1105.             NineY = OneY + 5 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;

  1106.             #endregion 

  1107.             #region 菜品库二层计算

  1108.             //X轴改变

  1109.             TenX = ElevenX = TwelveX = ThirteenX = FourteenX = FifteenX = SixteenX = SeventeenX = EighteenX = (OneX + materialClearanceX1);

  1110.             TenY = OneY;

  1111.             ElevenY = OneY + 1000;

  1112.             TwelveY = OneY + smartMaterialClearanceY;

  1113.             ThirteenY = OneY + smartMaterialClearanceY + bigMaterialClearanceY;

  1114.             FourteenY = OneY + 2 * smartMaterialClearanceY + bigMaterialClearanceY;

  1115.             FifteenY = OneY + 3 * smartMaterialClearanceY + bigMaterialClearanceY;

  1116.             SixteenY = OneY + 3 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;

  1117.             SeventeenY = OneY + 4 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;

  1118.             EighteenY = OneY + 5 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;

  1119.             #endregion 

  1120.             #region 菜品库三层计算

  1121.             //X轴改变

  1122.             NineteenX = TwentyX = TwentyOneX = TwentyTwoX = TwentyThreeX = TwentyFourX = TwentyFiveX = TwentySixX = TwentySevenX = (OneX + 2 * materialClearanceX2);

  1123.             NineteenY = OneY;

  1124.             TwentyY = OneY + 1000;

  1125.             TwentyOneY = OneY + smartMaterialClearanceY;

  1126.             TwentyTwoY = OneY + smartMaterialClearanceY + bigMaterialClearanceY;

  1127.             TwentyThreeY = OneY + 2 * smartMaterialClearanceY + bigMaterialClearanceY;

  1128.             TwentyFourY = OneY + 3 * smartMaterialClearanceY + bigMaterialClearanceY;

  1129.             TwentyFiveY = OneY + 3 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;

  1130.             TwentySixY = OneY + 4 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;

  1131.             TwentySevenY = OneY + 5 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;

  1132.             #endregion 

  1133.         }

  1134. 

  1135.         #endregion

  1136. 

  1137.     }

  1138. }