add - 添加机械臂联和AGV自动控制，任务全流程大致写完

SlnMesnac.Business/base/BaseAGVBusiness.cs

@@ -332,7 +332,7 @@ namespace SlnMesnac.Business.@base
                 {
                     return null;
                 }
-                int min = lists.Min(x => x.stackcount);
+                int min = lists.Min(x => x.stackcount); //小车不可能是满的还空闲
                 AGVState agv = lists.Where(x => x.stackcount == min).FirstOrDefault();
                 //var list = _AGVStateService
                 return agv;

SlnMesnac.Business/base/VisionBusiness.cs

@@ -1,10 +1,16 @@
 using Microsoft.Extensions.Logging;
+using SlnMesnac.Model.domain;
+using SlnMesnac.Model.Enum;
+using SlnMesnac.Repository;
 using SlnMesnac.Repository.service;
 using SlnMesnac.TouchSocket;
 using SlnMesnac.TouchSocket.Entity;
 using System;
 using System.Collections.Generic;
+using System.Linq;
 using System.Text;
+using System.Threading.Tasks;
+using System.Transactions;
 
 namespace SlnMesnac.Business.@base
 {
@@ -17,14 +23,20 @@ namespace SlnMesnac.Business.@base
         private static VisionBusiness instance;
         private TcpServer _tcpServer;
         private IAirportTaskService _airportTaskService;
+        private IVisionSettingService _visionSettingService;
+        private IAGVStateService _aGVStateService;
+        private IAGVJobService _AGVJobService;
         private BaseAGVBusiness _baseAGVBusiness;
 
 
-        public VisionBusiness(ILogger<VisionBusiness> logger, TcpServer tcpServer, IAirportTaskService airportTaskService)
+        public VisionBusiness(ILogger<VisionBusiness> logger, TcpServer tcpServer, IAirportTaskService airportTaskService, IVisionSettingService visionSettingService, IAGVStateService aGVStateService, IAGVJobService aGVJobService)
         {
             _logger = logger;
             _tcpServer = tcpServer;
             _airportTaskService = airportTaskService;
+            _visionSettingService = visionSettingService;
+            _aGVStateService = aGVStateService;
+            _AGVJobService = aGVJobService;
 
             //视觉系统回复状态
             _tcpServer.ReceiveVisionSysStateEvent += VisionStateRequest;
@@ -32,17 +44,19 @@ namespace SlnMesnac.Business.@base
             _tcpServer.ReceiveVisionStartWorkEvent += GetVisionWorkState;
             //视觉系统通知一次码垛完成结果
             _tcpServer.ReceiveStackWorkDoneEvent += StackResultSend;
+            //_tcpServer.ReceiveStackWorkDoneEvent += AutoStackResultSend;
             //视觉系统通知人工异常处理完成
             _tcpServer.ReceiveManualExceptionDealDoneEvent += GetManualExceptionDealDone;
             //视觉系统回复复位结果
             _tcpServer.ReceiveStackRobotResetEvent += GetResetResult;
+            _AGVJobService = aGVJobService;
         }
 
-        public static VisionBusiness GetInstance(ILogger<VisionBusiness> logger, TcpServer tcpServer, IAirportTaskService airportTaskService)
+        public static VisionBusiness GetInstance(ILogger<VisionBusiness> logger, TcpServer tcpServer, IAirportTaskService airportTaskService, IVisionSettingService visionSettingService, IAGVStateService aGVStateService, IAGVJobService aGVJobService)
         {
             if (instance == null)
             {
-                instance = new VisionBusiness(logger, tcpServer, airportTaskService);
+                instance = new VisionBusiness(logger, tcpServer, airportTaskService, visionSettingService, aGVStateService, aGVJobService);
             }
             return instance;
         }
@@ -107,6 +121,262 @@ namespace SlnMesnac.Business.@base
             }
         }
 
+        /// <summary>
+        /// 收到堆筐请求
+        /// </summary>
+        /// <param name="entity"></param>
+        /// <param name="id"></param>
+        /// <exception cref="Exception"></exception>
+        public void AutoStackResultSend(TcpVisionEntity entity, string id)
+        {
+            if (entity.DataLength == 1)
+            {
+                if (entity.DataBytes[0] == 0x00)
+                {
+                    _logger.LogInformation($"视觉系统一次码垛结束，码垛完成 Deliver:{VDCount} AMR:{VACount}");
+                    //上位机回复收到码垛结果
+                    _tcpServer.SendReplayStackResult(id);
+                    VisionSetting record = _visionSettingService.GetList(x => x.VisionID == id).ToList().First();
+                    AirportTask airportTask = _airportTaskService.GetTaskInfos(x => x.amragvno == record.AMRGUID &&
+                        x.visiontaskno == (BitConverter.ToInt16(entity.SN, 0) - 1).ToString() && x.taskstate == "抓取中").First();
+                    //成功码垛先码垛计数
+                    StackCount(airportTask, entity.DataBytes[1]);
+                    //////////////下面是下一次码垛的综合判断条件//////////////
+                    //先判断总数是否需要继续工作
+                    if (airportTask.totalcount > airportTask.loadcount)
+                    {
+                        //如上一次是AMR 如有Deliver 判断是否到达 到达向deliver发送开始工作，没就判断amr是否装满 继续向amr
+                        //上一次是AMR
+                        if (entity.DataBytes[1] == 0x01)
+                        {
+                            //妹有Deliver的任务（小车号和是否已到达都没有）amr肯定能抓完 继续amr抓取 
+                            if (string.IsNullOrEmpty(airportTask.deliveragvno) && string.IsNullOrEmpty(airportTask.deliveragvisarrive))
+                            {
+                                //一直向amr抓，直到抓满
+                                RequestVisionStartWork(StackState.AMRNoPositioning, id);
+                            }
+                            //有Delievr任务（有任务号且状态为未到达）继续amr抓取
+                            else if (!string.IsNullOrEmpty(airportTask.deliveragvno) && airportTask.deliveragvisarrive == "未到达")
+                            {
+                                //判断AMR小车是否装满，没满就开装，满了就结束，开始循环判断deliver是否到达
+                                //amr没满 继续装amr
+                                if (_aGVStateService.GetSingleAGVState(airportTask.amragvno).stackcount < BaseTaskInfoBusiness.AMRStackNumber)
+                                {
+                                    RequestVisionStartWork(StackState.AMRNoPositioning, id);
+                                }
+                                //AMR满了
+                                else
+                                {
+                                    AirportTask task;
+                                    //结束抓取、循环判断deliver是否到达，到了就向新的Deliver开始抓取
+                                    Task.Run(() => 
+                                    {
+                                        //请求复位
+                                        RequestVisionReplace(id); 
+                                        while (true)
+                                        {
+                                            //循环判断该任务的deliver是否到达
+                                            Task.Delay(1000);
+                                            task = _airportTaskService.GetTaskInfos(x => x.amragvno == record.AMRGUID && x.taskstate == "抓取中").First();
+                                            if (task.deliveragvisarrive == "已到达")
+                                            {
+                                                RequestVisionStartWork(StackState.AGVNeedPositioning, id);
+                                                break;
+                                            }
+                                        }
+                                    });
+                                }
+                            }
+                            //有Deliver任务（有任务号且已到达）向Deliver发送开始抓取
+                            else if (!string.IsNullOrEmpty(airportTask.deliveragvno) && airportTask.deliveragvisarrive == "已到达")
+                            {
+                                RequestVisionStartWork(StackState.AGVNeedPositioning, id);
+                            }
+                            //异常情况
+                            else
+                            {
+                                throw new Exception($"任务 {airportTask.taskno} 状态异常！请清除任务并重新下发任务！");
+                            }
+                        }
+                        //如上一次是deliver-->则判断deliver是否装满-->装满则deliver入库-->判断剩下的数量用不用调新的deliver-->用就调新的deliver然后发向amr抓取(还得判断AMR是否抓满)-->不用就直接向amr抓取
+                        //上一次是Deliver
+                        else if (entity.DataBytes[1] == 0x00)
+                        {
+                            //判断Deliver是否装满,装满就直接入库,未装满继续装
+                            //deliver没满，继续装
+                            if (_aGVStateService.GetSingleAGVState(airportTask.deliveragvno).stackcount < BaseTaskInfoBusiness.DeliverStackNumber)
+                            {
+                                RequestVisionStartWork(StackState.AGVNoPositioning, id);
+                            }
+                            //deliver满了，入库然后判断
+                            else
+                            {
+                                //入库代码
+                                _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(airportTask.deliveragvno, 
+                                    _AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入库", airportTask.conveyorno).JobName);
+                                airportTask.deliveragvno = null;
+                                airportTask.deliveragvisarrive = null;
+                                _airportTaskService.UpdateTaskAsync(airportTask);
+                                //判断剩下的数量用不用调用新的deliver
+                                //剩下的数量不用 直接向amr抓取
+                                int amrleft = BaseTaskInfoBusiness.AMRStackNumber - _aGVStateService.GetSingleAGVState(airportTask.amragvno).stackcount;
+                                if (airportTask.totalcount - airportTask.loadcount < amrleft)
+                                {
+                                    RequestVisionStartWork(StackState.AMRNeedPositioning, id);
+                                }
+                                //剩下的数量需要调用，并判断向AMR抓取
+                                else
+                                {
+                                    //调新的deliver
+                                    AGVState newagv = _baseAGVBusiness.GetBestAGV(AgvType.Deliver);
+                                    _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(newagv.agvno,
+                                        _AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入位", airportTask.conveyorno).JobName);
+                                    airportTask.deliveragvno = newagv.agvno;
+                                    airportTask.deliveragvisarrive = "未到达";
+                                    _airportTaskService.UpdateTaskAsync(airportTask);
+                                    //amr无容量，结束抓取，等待Deliver到达
+                                    if (amrleft == 0)
+                                    {
+                                        AirportTask task;
+                                        //结束抓取、循环判断deliver是否到达，到了就向新的Deliver开始抓取
+                                        Task.Run(() =>
+                                        {
+                                            //请求复位
+                                            RequestVisionReplace(id);
+                                            while (true)
+                                            {
+                                                //循环判断该任务的deliver是否到达
+                                                Task.Delay(1000);
+                                                task = _airportTaskService.GetTaskInfos(x => x.amragvno == record.AMRGUID && x.taskstate == "抓取中").First();
+                                                if (task.deliveragvisarrive == "已到达")
+                                                {
+                                                    RequestVisionStartWork(StackState.AGVNeedPositioning, id);
+                                                    break;
+                                                }
+                                            }
+                                        });
+                                    }
+                                    //amr有容量，抓
+                                    else
+                                    {
+                                        RequestVisionStartWork(StackState.AMRNeedPositioning, id);
+                                    }
+                                }
+                            }
+                        }
+                        //未知代码
+                        else
+                        {
+                            throw new Exception($"任务 {airportTask.taskno} 未知上次码垛代码！请检查视觉系统状态！");
+                        }
+                    }
+                    //总数达标，结束任务，复位机械臂，调回小车，任务状态调整
+                    else
+                    {
+                        _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(airportTask.amragvno,
+                                    _AGVJobService.GetAGVJobListByTypeAndConveyorNo("1000入库", airportTask.conveyorno).JobName);
+                        airportTask.amragvno = null;
+                        airportTask.amragvisarrive = null;
+                        airportTask.visiontaskno = null;
+                        if (!string.IsNullOrEmpty(airportTask.deliveragvno))
+                        {
+                            _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(airportTask.deliveragvno,
+                                _AGVJobService.GetAGVJobListByTypeAndConveyorNo("800入库", airportTask.conveyorno).JobName);
+                            airportTask.deliveragvno = null;
+                            airportTask.deliveragvisarrive = null;
+                        }
+                        airportTask.finishtime = DateTime.Now;
+                        airportTask.taskstate = "已完成";
+                        _airportTaskService.UpdateTaskAsync(airportTask);
+                    }
+                }
+                //码垛过程失败
+                else if (entity.DataBytes[0] == 0x01)
+                {
+                    _logger.LogError($"视觉系统一次码垛结束，码垛过程失败，重新发送码垛信号");
+                    if (entity.DataBytes[1] == 0x01)
+                    {
+                        //发送向复合机器人（AMR）码垛的信号
+                        RequestVisionStartWork(StackState.AMRNoPositioning, id);
+                        _logger.LogInformation("下一次码垛开始，方向：复合机器人");
+                    }
+                    else if (entity.DataBytes[1] == 0x00)
+                    {
+                        //发送向搬运机器人（AGVDeliver）码垛的信号
+                        RequestVisionStartWork(StackState.AGVNoPositioning, id);
+                        _logger.LogInformation("下一次码垛开始，方向：搬运机器人");
+                    }
+                    else
+                    {
+                        _logger.LogError($"码垛失败返回未知码垛结果代码，请手动重新发送码垛信号");
+                    }
+                }
+                //码垛检查失败
+                else if (entity.DataBytes[0] == 0x02)
+                {
+                    _logger.LogError($"视觉系统一次码垛结束，码垛检查失败，请手动矫正并手动开始下一次码垛");
+                    //仍然要码垛计数，只是筐码的不准
+                    VisionSetting record = _visionSettingService.GetList(x => x.VisionID == id).ToList().First();
+                    AirportTask airportTask = _airportTaskService.GetTaskInfos(x => x.amragvno == record.AMRGUID &&
+                        x.visiontaskno == (BitConverter.ToInt16(entity.SN, 0) - 1).ToString() && x.taskstate == "抓取中").First();
+                    StackCount(airportTask, entity.DataBytes[1]);
+                }
+                //未知代码
+                else
+                {
+                    _logger.LogError($"视觉系统一次码垛结束，未知返回代码！请检查视觉系统状态！");
+                    throw new Exception($"视觉系统 {id }一次码垛结束，未知返回代码！请检查视觉系统状态！");
+                }
+            }
+            //数据格式错误
+            else
+            {
+                _logger.LogError($"视觉系统一次码垛结束，返回数据格式错误，请检查视觉系统状态！");
+            }
+        }
+
+        public void StackCount(AirportTask airportTask, byte lastCount)
+        {
+            //AMR码垛计数
+            if (lastCount == 0x01)
+            {
+                airportTask.loadcount++;
+                AGVState aGVState = _aGVStateService.GetSingleAGVState(airportTask.amragvno);
+                aGVState.stackcount++;
+                //判断返回结果
+                if (_aGVStateService.UpdateAsync(aGVState).Result || _airportTaskService.UpdateTaskAsync(airportTask).Result)
+                {
+                    _logger.LogInformation($"计数更新成功 {airportTask.amragvno} AMR: {aGVState.stackcount} Total: {airportTask.loadcount}");
+                }
+                else
+                {
+                    _logger.LogError("计数更新失败！");
+                    throw new Exception("计数更新失败！");
+                }
+            }
+            //Deliver码垛计数
+            else if (lastCount == 0x00)
+            {
+                airportTask.loadcount++;
+                AGVState aGVState = _aGVStateService.GetSingleAGVState(airportTask.deliveragvno);
+                aGVState.stackcount++;
+                //判断返回结果
+                if (_aGVStateService.UpdateAsync(aGVState).Result || _airportTaskService.UpdateTaskAsync(airportTask).Result)
+                {
+                    _logger.LogInformation($"计数更新成功 {airportTask.amragvno} AMR: {aGVState.stackcount} Total: {airportTask.loadcount}");
+                }
+                else
+                {
+                    _logger.LogError("计数更新失败！");
+                    throw new Exception("计数更新失败！");
+                }
+            }
+            else
+            {
+                throw new Exception($"任务 {airportTask.taskno} 未知上次码垛代码！请检查视觉系统状态！");
+            }
+        }
+
         int VDCount = 1;
         int VACount = 0;
         int VDTotal = 8;
@@ -127,16 +397,7 @@ namespace SlnMesnac.Business.@base
                     //上位机回复收到码垛结果
                     _tcpServer.SendReplayStackResult(id);
                     //这里写是否继续下一次码垛的判断条件
-
-                    
                     //判断总数是否继续工作
-                    if (true)
-                    {
-                        
-                    }
-                    //如有Deliver 判断是否到达 到达向deliver发送开始工作
-
-                    //如上一次是deliver-->则判断deliver是否装满-->装满则deliver入库-->判断剩下的数量用不用调新的deliver-->用就调新的deliver然后发向amr抓取-->不用就直接向amr抓取
                     if ((VDCount < VDTotal && Vjudge == true && TotalJudge == true) || (VACount < VATotal && Vjudge == false && TotalJudge == true))
                     {
                         //如果码垛没结束继续发下一次的码垛信号
@@ -209,7 +470,7 @@ namespace SlnMesnac.Business.@base
         /// </summary>
         public void GetResetResult(TcpVisionEntity entity, string id)
         {
-            if(entity.DataLength == 0x01)
+            if (entity.DataLength == 0x01)
             {
                 if (entity.DataBytes[0] == 0x00)
                 {

SlnMesnac.Model/domain/VisionSetting.cs

@@ -4,7 +4,7 @@ using System.Text;
 
 namespace SlnMesnac.Model.domain
 {
-    public class ManipulatorSetting
+    public class VisionSetting
     {
         /// <summary>
         /// 自增编号
@@ -13,14 +13,14 @@ namespace SlnMesnac.Model.domain
         public int ID { get; set; }
 
         /// <summary>
-        /// 机械臂编号
+        /// 视觉编号
         /// </summary>
-        public string amragvno { get; set; }
+        public string VisionID { get; set; }
 
         /// <summary>
-        /// 机械臂所属AGV编号
+        /// 机械臂所属AMR编号
         /// </summary>
-        public string RelatedAGVNo { get; set; }
+        public string AMRGUID { get; set; }
 
     }
 }

SlnMesnac.Repository/service/IAirportTaskService.cs

@@ -2,6 +2,7 @@ using SlnMesnac.Model.domain;
 using SlnMesnac.Repository.service.@base;
 using System;
 using System.Collections.Generic;
+using System.Linq.Expressions;
 using System.Text;
 using System.Threading.Tasks;
 
@@ -15,6 +16,12 @@ namespace SlnMesnac.Repository.service
         /// <returns></returns>
         List<AirportTask> GetTaskInfos();
 
+        /// <summary>
+        /// 获取所有任务信息
+        /// </summary>
+        /// <returns></returns>
+        List<AirportTask> GetTaskInfos(Expression<Func<AirportTask, bool>> expression);
+
         /// <summary>
         /// 获取AGV任务信息
         /// </summary>

SlnMesnac.Repository/service/IVisionSettingService.cs

@@ -0,0 +1,38 @@
+using SlnMesnac.Model.domain;
+using SlnMesnac.Repository.service.@base;
+using System;
+using System.Collections.Generic;
+using System.Linq.Expressions;
+using System.Text;
+
+namespace SlnMesnac.Repository.service
+{
+    public interface IVisionSettingService : IBaseService<VisionSetting>
+    {
+        /// <summary>
+        /// 获取视觉配置列表
+        /// </summary>
+        /// <returns></returns>
+        List<VisionSetting> GetList();
+
+        /// <summary>
+        /// 获取视觉配置列表
+        /// </summary>
+        /// <returns></returns>
+        List<VisionSetting> GetList(Expression<Func<VisionSetting, bool>> expression);
+
+        /// <summary>
+        /// 根据ID获取单条视觉配置
+        /// </summary>
+        /// <param name="id"></param>
+        /// <returns></returns>
+        VisionSetting GetVisionSettingByID(string id);
+
+        /// <summary>
+        /// 根据AMRGUID获取单条视觉配置
+        /// </summary>
+        /// <param name="guid"></param>
+        /// <returns></returns>
+        VisionSetting GetVisionSettingByAMRGUID(string guid);
+    }
+}

SlnMesnac.Repository/service/Impl/AGVJobServiceImpl.cs

@@ -34,7 +34,7 @@ namespace SlnMesnac.Repository.service.Impl
         {
             try
             {
-                var list = _rep.GetList().Where(x => x.JobType == jobType).ToList();
+                var list = _rep.GetList(x => x.JobType == jobType).ToList();
                 return list;
             }
             catch (Exception ex)
@@ -48,7 +48,7 @@ namespace SlnMesnac.Repository.service.Impl
         {
             try
             {
-                AGVJob record = GetAGVJobListByJobType(jobType).Where(x => x.ConveyorNo == conveyorno).First();
+                AGVJob record = _rep.GetList(x => x.ConveyorNo == conveyorno && x.JobType == jobType).First();
                 return record;
             }
             catch (Exception ex)

SlnMesnac.Repository/service/Impl/AGVStateServiceImpl.cs

@@ -138,8 +138,7 @@ namespace SlnMesnac.Repository.service.Impl
         {
             try
             {
-                var lists = GetAllAGVState();
+                return _rep.GetList(x => x.agvno == AGVguid).First();
-                return lists.Where(x => x.agvno == AGVguid).First();
             }
             catch (Exception ex)
             {

SlnMesnac.Repository/service/Impl/AirportTaskServiceImpl.cs

@@ -62,6 +62,26 @@ namespace SlnMesnac.Repository.service.Impl
             return taskInfos;
         }
 
+        /// <summary>
+        /// 获取所有的任务信息
+        /// </summary>
+        /// <returns></returns>
+        public List<AirportTask> GetTaskInfos(Expression<Func<AirportTask, bool>> expression)
+        {
+            List<AirportTask> taskInfos = null;
+            try
+            {
+                //string sql = "SELECT id,ConveyorNo,TaskNo,FlightNo,DeliverAGVNo, MAX(StartTime) as StartTime,TaskState, TotalCount ,LoadCount  FROM AirportTask group by ConveyorNo ";
+                //taskInfos = base._rep.AsTenant().GetConnection("AGV").Ado.SqlQuery<AirportTask>(sql);
+                taskInfos = _rep.GetList(expression);
+            }
+            catch (Exception ex)
+            {
+                _logger.LogError($"获取任务信息异常:{ex.Message}");
+            }
+            return taskInfos;
+        }
+
         /// <summary>
         /// 获取AGV任务信息
         /// </summary>

SlnMesnac.Repository/service/Impl/VisionSettingServiceImpl.cs

@@ -0,0 +1,71 @@
+using Microsoft.Extensions.Logging;
+using SlnMesnac.Model.domain;
+using SlnMesnac.Repository.service.@base;
+using System;
+using System.Collections.Generic;
+using System.Linq.Expressions;
+using System.Text;
+
+namespace SlnMesnac.Repository.service.Impl
+{
+    public class VisionSettingServiceImpl : BaseServiceImpl<VisionSetting>, IVisionSettingService
+    {
+        private ILogger<VisionSettingServiceImpl> _logger;
+        public VisionSettingServiceImpl(Repository<VisionSetting> repository, ILogger<VisionSettingServiceImpl> logger) : base(repository)
+        {
+            _logger = logger;
+        }
+
+        public List<VisionSetting> GetList()
+        {
+            try
+            {
+                return _rep.GetList();
+            }
+            catch (Exception ex)
+            {
+                _logger.LogError($"获取视觉配置列表错误");
+                return null;
+            }
+        }
+
+        public List<VisionSetting> GetList(Expression<Func<VisionSetting, bool>> expression)
+        {
+            try
+            {
+                return _rep.GetList(expression);
+            }
+            catch (Exception ex)
+            {
+                _logger.LogError($"获取视觉配置列表错误");
+                return null;
+            }
+        }
+
+        public VisionSetting GetVisionSettingByAMRGUID(string guid)
+        {
+            try
+            {
+                return _rep.GetSingle(x => x.AMRGUID == guid);
+            }
+            catch(Exception ex)
+            {
+                _logger.LogError($"根据AMRGUID获取视觉配置错误");
+                return null;
+            }
+        }
+
+        public VisionSetting GetVisionSettingByID(string id)
+        {
+            try
+            {
+                return _rep.GetSingle(x => x.VisionID == id);
+            }
+            catch (Exception ex)
+            {
+                _logger.LogError($"根据VisionID获取视觉配置错误");
+                return null;
+            }
+        }
+    }
+}

SlnMesnac.WPF/ViewModel/IndexPage/IndexContentViewModel.cs

@@ -58,6 +58,7 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
         private IAGVStateService _agvstateService;
         private IAGVMapPointService _agvmapPointService;
         private IAGVJobService _agvJobService;
+        private IVisionSettingService _visionSettingService;
         private BaseTaskInfoBusiness _taskInfoBusiness;
         private BaseStateRefreshBusiness _StateRefreshBusiness;
         private BaseAGVBusiness _baseAGVBusiness;
@@ -79,11 +80,12 @@ namespace SlnMesnac.WPF.ViewModel.IndexPage
             _agvmapPointService = App.ServiceProvider.GetService<IAGVMapPointService>();
             _agvstateService = App.ServiceProvider.GetService<IAGVStateService>();
             _agvJobService = App.ServiceProvider.GetService<IAGVJobService>();
+            _visionSettingService = App.ServiceProvider.GetService<IVisionSettingService>();
             _tcpServer = App.ServiceProvider.GetService<TcpServer>();
             _appConfig = App.ServiceProvider.GetService<AppConfig>();
             _airPorthttpClient = App.ServiceProvider.GetService<AirPorthttpClient>();
 
-            _visionBusiness = VisionBusiness.GetInstance(_visionBusinessLogger, _tcpServer, _taskservice);
+            _visionBusiness = VisionBusiness.GetInstance(_visionBusinessLogger, _tcpServer, _taskservice, _visionSettingService, _agvstateService, _agvJobService);
             _baseAGVBusiness = BaseAGVBusiness.GetInstance(_AGVBusinessLogger, _airPorthttpClient, _agvstateService, _agvmapPointService, _appConfig);
             _taskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_taskBusinessLogger, 
                 _taskservice, _agvstateService, _agvmapPointService, _agvJobService, 

SlnMesnac.WPF/ViewModel/MainWindowViewModel.cs

@@ -32,6 +32,7 @@ namespace SlnMesnac.WPF.ViewModel
         private IAGVMapPointService _AGVMapPointService;
         private IAGVSettingService _AGVSettingService;
         private IAGVJobService _agvJobService;
+        private IVisionSettingService _visionSettingService;
         private TcpServer _tcpServer;
         //代码生成
         private readonly GenerateControl generateControl = new GenerateControl();
@@ -116,13 +117,14 @@ namespace SlnMesnac.WPF.ViewModel
             _AGVMapPointService = App.ServiceProvider.GetService<IAGVMapPointService>();
             _AGVSettingService = App.ServiceProvider.GetService<IAGVSettingService>();
             _agvJobService = App.ServiceProvider.GetService<IAGVJobService>();
+            _visionSettingService = App.ServiceProvider.GetService<IVisionSettingService>();
             _tcpServer = App.ServiceProvider.GetService<TcpServer>();
             _airPorthttpClient = App.ServiceProvider.GetService<AirPorthttpClient>();
             _baseTaskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_BaseTaskInfoBusinesslogger, 
                 _Taskservice, _AGVStateService, _AGVMapPointService, _agvJobService, 
                 _tcpServer, _airPorthttpClient, _baseAGVBusiness, _visionBusiness);
             _baseAGVBusiness = BaseAGVBusiness.GetInstance(_baseAGVBusinessLogger, _airPorthttpClient, _AGVStateService, _AGVMapPointService, _appConfig);
-            _visionBusiness = VisionBusiness.GetInstance(_VisionBusinessLogger, _tcpServer, _Taskservice);
+            _visionBusiness = VisionBusiness.GetInstance(_VisionBusinessLogger, _tcpServer, _Taskservice, _visionSettingService, _AGVStateService, _agvJobService);
             _baseStateRefreshBusiness = BaseStateRefreshBusiness.GetInstance(_StateRefreshBusinessLogger, _AGVStateService, _airPorthttpClient, _AGVSettingService);
             ControlOnClickCommand = new RelayCommand<object>(obj => ControlOnClick(obj));
             FormControlCommand = new RelayCommand<object>(x => FormControl(x));