添加middleware

middleware/zdhsys/entity/DevInfo.cs

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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using zdhsys.Bean;
+
+namespace zdhsys.entity
+{
+    public class DevInfo
+    {
+        /// <summary>
+        /// 设备ID
+        /// </summary>
+        public int Id;
+        /// <summary>
+        /// 流程ID
+        /// </summary>
+        public int Index;
+        public List<DeviceFieldsModel> Dfms;
+    }
+}

middleware/zdhsys/entity/DevicePoint.cs

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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace zdhsys.entity
+{
+    public class DevicePoint
+    {
+        public string p1;
+        public string p2;
+        public string p3;
+        public string p4;
+        public string p5;
+        public string p6;
+        public string p7;
+        public string p8;
+        public string p9;
+        public string p10;
+        public string p11;
+        public string p12;
+    }
+}

middleware/zdhsys/entity/FlowInfo.cs

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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace zdhsys.entity
+{
+    public class FlowInfo
+    {
+        /// <summary>
+        /// 流程图操作指令
+        /// </summary>
+        public int Cmd;
+        /// <summary>
+        /// 流程图ID
+        /// </summary>
+        public long FlowId;
+        /// <summary>
+        /// 设备ID
+        /// </summary>
+        public int DeviceId;
+        /// <summary>
+        /// 流程图方向名称 -- 绘制直线
+        /// </summary>
+        public string flowDirName;
+        /// <summary>
+        /// 背景颜色
+        /// </summary>
+        public string tempHexBG = "";
+        /// <summary>
+        /// 边框颜色
+        /// </summary>
+        public string tempHexBd = "";
+        /// <summary>
+        /// 字体颜色
+        /// </summary>
+        public string tempHexTxt = "";
+        /// <summary>
+        /// 文本内容 -- 设备名称
+        /// </summary>
+        public string tempTxt = "";
+        /// <summary>
+        /// 相对偏移坐标X
+        /// </summary>
+        public double translateTransformX;
+        /// <summary>
+        /// 相对偏移坐标Y
+        /// </summary>
+        public double translateTransformY;
+
+        /// <summary>
+        /// 流程图操作指令
+        /// </summary>
+        public int Cmd2;
+        /// <summary>
+        /// 流程图ID
+        /// </summary>
+        public long FlowId2;
+        /// <summary>
+        /// 设备ID
+        /// </summary>
+        public int DeviceId2;
+        /// <summary>
+        /// 流程图方向名称 -- 绘制直线
+        /// </summary>
+        public string flowDirName2;
+        /// <summary>
+        /// 背景颜色
+        /// </summary>
+        public string tempHexBG2 = "";
+        /// <summary>
+        /// 边框颜色
+        /// </summary>
+        public string tempHexBd2 = "";
+        /// <summary>
+        /// 字体颜色
+        /// </summary>
+        public string tempHexTxt2 = "";
+        /// <summary>
+        /// 文本内容 -- 设备名称
+        /// </summary>
+        public string tempTxt2 = "";
+        /// <summary>
+        /// 相对偏移坐标X
+        /// </summary>
+        public double translateTransformX2;
+        /// <summary>
+        /// 相对偏移坐标Y
+        /// </summary>
+        public double translateTransformY2;
+    }
+}

middleware/zdhsys/entity/FlowLine.cs

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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using zdhsys.Control;
+
+namespace zdhsys.entity
+{
+    public class FlowLine
+    {
+        public FlowButton2 startFlow;
+        public string startName;
+
+        public FlowButton2 endFlow;
+        public string endName;
+
+        public long id;
+    }
+}

middleware/zdhsys/entity/Heart.cs

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+namespace zdhsys.entity
+{
+    public class Heart
+    {
+        /// <summary>
+        /// 当前所处操作位置:从0到50的整数
+        /// </summary>
+        public int ID;
+        /// <summary>
+        /// 导轨位置:导轨位置，脉冲计数
+        /// </summary>
+        public int guideway;
+        /// <summary>
+        /// 末端点位置:Xyz坐标
+        /// </summary>
+        public float endpoint;
+        /// <summary>
+        /// 机器人执行状态:0空闲 1执行中
+        /// </summary>
+        public int rob_sta;
+        /// <summary>
+        /// 夹爪是否有瓶子:0 无 1有瓶子 2 错误
+        /// </summary>
+        public int pod_sta;
+    }
+}

middleware/zdhsys/entity/MoveData.cs

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+namespace zdhsys.entity
+{
+    public class MoveData
+    {
+        /// <summary>
+        /// 源操作位置
+        /// </summary>
+        public int ID_src;
+        /// <summary>
+        /// 目标操作位置
+        /// </summary>
+        public int ID_dst;
+    }
+}

middleware/zdhsys/entity/PrintCmd.cs

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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace zdhsys.entity
+{
+    public class PrintCmd
+    {
+        public string device;
+        public string cmd;
+        /// <summary>
+        /// 0 机械臂 1 反应设备
+        /// </summary>
+        public int opt;
+        /// <summary>
+        /// 反应设备参数
+        /// </summary>
+        public DevInfo devInfo;
+    }
+}

middleware/zdhsys/entity/RobotHeart.cs

@@ -0,0 +1,25 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace zdhsys.entity
+{
+    public class RobotHeart
+    {
+        /// <summary>
+        /// 操作指令
+        /// </summary>
+        public int cmd;
+        /// <summary>
+        /// 执行数据
+        /// </summary>
+        public object data;
+        /// <summary>
+        /// 发送方:server = 0 , client = 1
+        /// </summary>
+        public int point;
+    }
+
+}