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Commit cb67e371 由 LN
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bug修改。

1 个父辈 d9a847f0
内嵌 并排
正在显示 12 个修改的文件 包含 115 行增加 和 65 行删除
RC1266-AutoCountMachine/source/AutoCountClient/FrmInputEquip.Designer.cs
......@@ -364,8 +364,8 @@
this.comTP.FormattingEnabled = true;
this.comTP.Items.AddRange(new object[] {
"XRay入口",
"工位高层",
"工位低层"});
"电容测值工位",
"电阻测值工位"});
this.comTP.Location = new System.Drawing.Point(752, 66);
this.comTP.Name = "comTP";
this.comTP.Size = new System.Drawing.Size(108, 28);
......@@ -1018,7 +1018,7 @@
this.btnip4.RightToLeft = System.Windows.Forms.RightToLeft.No;
this.btnip4.Size = new System.Drawing.Size(163, 34);
this.btnip4.TabIndex = 319;
this.btnip4.Text = "进出轴人工工位放料点P4:";
this.btnip4.Text = "进出轴测值工位放料点P4:";
this.btnip4.UseVisualStyleBackColor = false;
this.btnip4.Click += new System.EventHandler(this.btnip4_Click);
//
......@@ -1048,7 +1048,7 @@
this.btnMP4.RightToLeft = System.Windows.Forms.RightToLeft.No;
this.btnMP4.Size = new System.Drawing.Size(163, 34);
this.btnMP4.TabIndex = 320;
this.btnMP4.Text = "旋转轴人工工位放料点P4:";
this.btnMP4.Text = "旋转轴测值工位放料点P4:";
this.btnMP4.UseVisualStyleBackColor = false;
this.btnMP4.Click += new System.EventHandler(this.btnMP4_Click);
//
......
RC1266-AutoCountMachine/source/AutoCountClient/FrmRobotMain.cs
......@@ -454,6 +454,17 @@ namespace OnlineStore.AutoCountClient
SetItemText(i, item_debug_index, equip.IsDebug ? "✘" : "✔");
SetItemText(i, item_alarm_index, equip.alarmType.ToString());
SetItemText(i, item_runStr_index, equip.GetRunStr());
string trayInfo = "";
if (equip.MoveInfo.MoveType.Equals(RobotMoveType.Working) || equip.MoveInfo.MoveType.Equals(RobotMoveType.Labelling))
{
trayInfo = equip.MoveInfo.MoveParam.OutStr();
}
else if (equip.SecMoveInfo.MoveType.Equals(RobotMoveType.Working) || equip.SecMoveInfo.MoveType.Equals(RobotMoveType.Labelling))
{
trayInfo = equip.SecMoveInfo.MoveParam.OutStr();
}
SetItemText(i,item_move_info_index, trayInfo);
SetItemColor(i, equip.runStatus, equip.alarmType);
i++;
}
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/EquipBase.cs
......@@ -348,7 +348,7 @@ namespace OnlineStore.DeviceLibrary
ConfigIO io = baseConfig.getWaitIO(wait.IoType);
WarnMsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] 等待" + NotOkMsg + " 超时 " + Math.Round(span.TotalSeconds, 1) + "秒";
LogUtil.error(MoveInfo.Name + WarnMsg, DeviceID * 1000 + 13);
LogUtil.error( WarnMsg, DeviceID * 1000 + 13);
if (NoAlarm())
{
Alarm(AlarmType.IoSingleTimeOut);
......@@ -452,13 +452,13 @@ namespace OnlineStore.DeviceLibrary
code = "[" + MoveInfo.MoveParam.WareCode + "]";
}
}
LogUtil.info(MoveInfo.Name + " ["+ MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "] " + msg);
LogUtil.info(MoveInfo.Name + "[" + MoveInfo.MoveStep + "] " + msg);
}
protected void SecWorkLog(string msg)
{
LogUtil.info(SecMoveInfo.Name + " [" + SecMoveInfo.MoveType + "][" + SecMoveInfo.MoveStep + "] " + msg);
LogUtil.info(SecMoveInfo.Name + "[" + SecMoveInfo.MoveStep + "] " + msg);
}
public virtual string GetMoveStr()
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/InputEquip.cs
......@@ -139,6 +139,7 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(StepEnum.IR03_InoutToP1))
{
MoveInfo.NextMoveStep(StepEnum.IR04_UpdownAxisHome);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
WorkLog("复位：升降轴原点返回，左右批量轴开始回原点");
UpdownAxis.HomeMove(MoveInfo);
LeftBatchMove.Reset();
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/InputEquip_InStore.cs
......@@ -175,9 +175,10 @@ namespace OnlineStore.DeviceLibrary
if (moveBean.LastHeight > 0 || isOk)
{
MoveInfo.NextMoveStep(StepEnum.IW10_SaveSize);
WorkLog(" 测宽度，记录条码高度宽度，开始下一盘预扫码");
MoveInfo.MoveParam.PlateH = moveBean.LastHeight;
MoveInfo.MoveParam.PlateW = GetWidth();
WorkLog("测高结束， 记录尺寸【"+ MoveInfo.MoveParam.PlateW + "X"+ MoveInfo.MoveParam.PlateH + "】，开始下一盘预扫码");
}
else if (MoveInfo.IsTimeOut(60))
{
......@@ -190,25 +191,32 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StepEnum.IW11_GetTargetPosition);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
if (SServerManager.CanConnect())
if (String.IsNullOrEmpty(MoveInfo.MoveParam.WareCode))
{
Task task = Task.Factory.StartNew(delegate {
bool outNeed = false;
string msg = SServerManager.Get_VMICheckRLC(Name, MoveInfo.MoveParam.WareCode, out outNeed);
if (!msg.Equals(""))
{
MoveInfo.MoveParam.IsNgReel = true;
MoveInfo.MoveParam.NgMsg = "无有效条码";
MoveInfo.MoveParam.TargetPosType = 1;
WorkLog(" 无有效条码，从XRay放到NG箱：" + MoveInfo.MoveParam.ToStr());
}
else if (SServerManager.CanConnect())
{
Task task = Task.Factory.StartNew(delegate
{
int needPosition = 0;
string msg = SServerManager.Get_VMICheckRLC(Name, MoveInfo.MoveParam.WareCode, out needPosition);
WorkLog(" 【"+ MoveInfo.MoveParam.WareCode + "】获取是否测值失败：" + msg);
MoveInfo.MoveParam.IsNgReel = true;
MoveInfo.MoveParam.NgMsg = msg;
}else if (outNeed)
if (needPosition >= 1 && needPosition <= 3)
{
MoveInfo.MoveParam.TargetPosType = 2;
WorkLog(" 【" + MoveInfo.MoveParam.WareCode + "】需要测值" );
}else
MoveInfo.MoveParam.TargetPosType = needPosition;
WorkLog(" 【" + MoveInfo.MoveParam.WareCode + "】通过接口获取目标位置：" + needPosition);
}
// else if (!msg.Equals("") || needPosition.Equals(0))
else
{
WorkLog(" 【" + MoveInfo.MoveParam.WareCode + "】获取是否测值失败：" + msg);
MoveInfo.MoveParam.TargetPosType = 1;
WorkLog(" 【" + MoveInfo.MoveParam.WareCode + "】无需测值，开始点料");
MoveInfo.MoveParam.IsNgReel = true;
MoveInfo.MoveParam.NgMsg = msg;
}
});
}
......@@ -253,13 +261,13 @@ namespace OnlineStore.DeviceLibrary
if (MoveInfo.MoveParam.TargetPosType.Equals(1))
{
MoveInfo.NextMoveStep(StepEnum.IW21_MiddleToP3);
WorkLog(" 开始放料到XRay皮带线，旋转轴到P3");
WorkLog(" 开始放料到XRay入口，旋转轴到P3");
MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P3, Config.MiddleAxis_P3Speed);
}
else
{
MoveInfo.NextMoveStep(StepEnum.IW31_MIddleToP4);
WorkLog(" 开始放料到人工工位，旋转轴到P4");
WorkLog(" 开始放料到测值工位，旋转轴到P4");
MiddleAxis.AbsMove(MoveInfo, Config.MiddleAxis_P4, Config.MiddleAxis_P4Speed);
}
}
......@@ -267,19 +275,19 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(StepEnum.IW21_MiddleToP3))
{
MoveInfo.NextMoveStep(StepEnum.IW22_UpdownToP3);
WorkLog(" 放料到XRay： 升降轴到P3");
WorkLog("->XRay： 升降轴到P3");
UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P3, Config.UpdownAxis_P3Speed);
}
else if (MoveInfo.IsStep(StepEnum.IW22_UpdownToP3))
{
MoveInfo.NextMoveStep(StepEnum.IW23_InoutToP3);
WorkLog(" 放料到XRay：进出轴到P3");
WorkLog("->XRay：进出轴到P3");
InOutAxis.AbsMove(MoveInfo, Config.InoutAxis_P3, Config.InoutAxis_P3Speed);
}
else if (MoveInfo.IsStep(StepEnum.IW23_InoutToP3))
{
MoveInfo.NextMoveStep(StepEnum.IW24_WaitCanPut);
WorkLog(" 放料到XRay：等待XRay可放料");
WorkLog("->XRay：等待XRay可放料");
MoveInfo.TimeOutSeconds = 120;
//TODO
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
......@@ -290,51 +298,50 @@ namespace OnlineStore.DeviceLibrary
{
MoveInfo.NextMoveStep(StepEnum.IW41_Clamping_Relax);
RobotManager.robot.XrayBean.In_ReelInfo = MoveInfo.MoveParam.GetReelInfo();
WorkLog(" 放料到XRay：夹料气缸放松，更新XRay入口料盘信息：" + RobotManager.robot.XrayBean.In_ReelInfo.ToStr());
WorkLog("->XRay：夹料气缸放松，更新XRay入口料盘：" + RobotManager.robot.XrayBean.In_ReelInfo.ToStr());
CylinderMove(MoveInfo, IO_Type.Clamping_Work, IO_Type.Clamping_Relax);
}
else if (MoveInfo.IsStep(StepEnum.IW31_MIddleToP4))
{
MoveInfo.NextMoveStep(StepEnum.IW32_UpdownToP4);
WorkLog(" 放料到工位：升降轴到P4");
WorkLog("->测值工位：升降轴到P4");
UpdownAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Get_Updown_PutP(Config), Config.UpdownAxis_P4Speed);
}
else if (MoveInfo.IsStep(StepEnum.IW32_UpdownToP4))
{
MoveInfo.NextMoveStep(StepEnum.IW33_InoutToP4);
WorkLog(" 放料到工位：进出轴到P4");
WorkLog("->测值工位：进出轴到P4");
InOutAxis.AbsMove(MoveInfo, Config.InoutAxis_P4, Config.InoutAxis_P4Speed);
}
else if (MoveInfo.IsStep(StepEnum.IW33_InoutToP4))
{
MoveInfo.NextMoveStep(StepEnum.IW41_Clamping_Relax);
WorkLog(" 放料到工位：夹料气缸放松");
WorkLog("->测值工位：夹料气缸放松");
CylinderMove(MoveInfo, IO_Type.Clamping_Work, IO_Type.Clamping_Relax);
}
else if (MoveInfo.IsStep(StepEnum.IW41_Clamping_Relax))
{
MoveInfo.NextMoveStep(StepEnum.IW42_InoutToP1);
WorkLog(" 放料完成：进出轴返回P1");
WorkLog("放料完成：进出轴返回P1");
InOutAxis.AbsMove(MoveInfo, Config.InoutAxis_P1, Config.InoutAxis_P1Speed);
}
else if (MoveInfo.IsStep(StepEnum.IW42_InoutToP1))
{
MoveInfo.NextMoveStep(StepEnum.IW43_UpdownToP1);
WorkLog(" 放料完成：升降轴旋转轴返回P1");
WorkLog("放料完成：升降轴返回P1");
UpdownAxis.AbsMove(MoveInfo, Config.UpdownAxis_P1, Config.UpdownAxis_P1Speed);
}
else if (MoveInfo.IsStep(StepEnum.IW43_UpdownToP1))
{
MoveInfo.NextMoveStep(StepEnum.IW44_MiddleToP2);
WorkLog(" 放料完成：旋转轴返回P2");
WorkLog("放料完成：旋转轴返回P2");
MiddleAxis.AbsMove(MoveInfo, MoveInfo.MoveParam.Get_Middle_P2(Config), Config.MiddleAxis_P2Speed);
}
else if (MoveInfo.IsStep(StepEnum.IW44_MiddleToP2))
{
MoveInfo.EndMove();
WorkLog(" 放料完成");
WorkLog("放料完成");
}
}
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip.cs
......@@ -118,10 +118,12 @@ namespace OnlineStore.DeviceLibrary
isNoAirCheck = false;
MoveInfo.NextMoveStep(StepEnum.OMR01_MoveZHome);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
WorkLog("取料Z轴原点返回");
MoveZAxis.HomeMove(MoveInfo);
SecMoveInfo.NextMoveStep(StepEnum.OLR01_LabelZHome);
SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
SecWorkLog("贴标Z轴原点返回，标签吸码停止输出，贴标气缸后退");
LabelZAxis.HomeMove(SecMoveInfo);
IOMove(IO_Type.Nozzle_Work, IO_VALUE.LOW);
......@@ -282,7 +284,7 @@ namespace OnlineStore.DeviceLibrary
protected void ShelfWorkLog(string msg)
{
LogUtil.info(ShelfMoveInfo.Name + " [" + ShelfMoveInfo.MoveType + "][" + ShelfMoveInfo.MoveStep + "] " + msg);
LogUtil.info(ShelfMoveInfo.Name + "[" + ShelfMoveInfo.MoveStep + "] " + msg);
}
private void BatchResetMovePro()
......@@ -316,6 +318,7 @@ namespace OnlineStore.DeviceLibrary
{
ShelfMoveInfo.NextMoveStep(StepEnum.OBR04_BatchAxisHome); ;
ShelfWorkLog(" ：链条停止转动，批量轴原点返回");
ShelfMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
IOMove(IO_Type.O_WLine_Run, IO_VALUE.LOW);
IOMove(IO_Type.O_ELine_Run, IO_VALUE.LOW);
IOMove(IO_Type.O_SWLine_Run, IO_VALUE.LOW);
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/OutputEquip_Partial.cs
......@@ -349,7 +349,7 @@ namespace OnlineStore.DeviceLibrary
{
SecMoveInfo.NextMoveStep(StepEnum.OL03_PrintLabel);
RobotManager.LastPrintStatus = Asa.PrintLabel.PrinterStatus.Unknown;
SecWorkLog("贴标: 重置状态=Unknown，开始打印标签 ，贴标XYR轴到取标签点P2，，等待2000ms");
SecWorkLog("贴标: 重置状态=Unknown，开始打印标签 ，贴标XYR轴到取标签点P2, 等待2000ms");
SecMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
LabelXAxis.AbsMove(SecMoveInfo, Config.LabelX_P2, Config.LabelX_P2Speed);
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/X_RAY_Equip.cs
......@@ -166,20 +166,38 @@ namespace OnlineStore.DeviceLibrary
}
BusyMoveProcess();
IOTimeOutProcess();
//判断流水线打开了才可以运行
if (SecMoveInfo.MoveType.Equals(RobotMoveType.None))
{
if (NoAlarm() && MoveInfo.MoveType.Equals(RobotMoveType.None))
{
if (IOValue(IO_Type.X_ReelCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.X_InLine_Check).Equals(IO_VALUE.HIGH))
{
StartWorking(new WorkParam());
}
}
}
LockOnProcess();
}
if(NoAlarm()&& MoveInfo.MoveType.Equals(RobotMoveType.None))
private void LockOnProcess()
{
//不在复位，可以验证是否打开互锁信号
if (IOValue(IO_Type.X_Lock_On).Equals(IO_VALUE.HIGH))
{
if (IOValue(IO_Type.X_ReelCheck).Equals(IO_VALUE.HIGH)||IOValue(IO_Type.X_InLine_Check ).Equals(IO_VALUE.HIGH))
if (!LockOnCanMove())
{
StartWorking(new WorkParam());
IOMove(IO_Type.X_Lock_On, IO_VALUE.LOW);
}
}
else
{
if ((!MoveInfo.MoveType.Equals(RobotMoveType.Reset)) && (!MoveInfo.MoveType.Equals(RobotMoveType.RHome)))
{
if (LockOnCanMove() && (!isInSuddenDown) && (!isNoAirCheck))
{
IOMove(IO_Type.X_Lock_On, IO_VALUE.HIGH);
}
}
}
}
......
RC1266-AutoCountMachine/source/DeviceLibrary/bean/X_RAY_Equip_Partial.cs
......@@ -118,9 +118,10 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(StepEnum.XW05_WaitMCheck))
{
MoveInfo.NextMoveStep(StepEnum.XW06_WaitTime);
WorkLog("料盘处理：更新Work_ReelInfo，清空 In_ReelInfo，再转动2秒钟");
Work_ReelInfo = In_ReelInfo.GetReelInfo();
In_ReelInfo = new ReelInfo();
WorkLog("料盘处理：更新Work_ReelInfo【" + Work_ReelInfo.ToStr() + "】，清空 In_ReelInfo，再转动2秒钟");
IOMove(IO_Type.X_InLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
......@@ -201,12 +202,13 @@ namespace OnlineStore.DeviceLibrary
else if (MoveInfo.IsStep(StepEnum.XW24_WaitOutCheck))
{
MoveInfo.NextMoveStep(StepEnum.XW25_WaitTime);
WorkLog("料盘处理：清空 Work_ReelInfo，更新 再转动2秒");
Out_ReelInfo = Work_ReelInfo.GetReelInfo();
Work_ReelInfo = new ReelInfo();
WorkLog("料盘处理：清空 Work_ReelInfo，更新Out_ReelInfo【"+ Out_ReelInfo .ToStr()+ "】 再转动3秒");
IOMove(IO_Type.X_MLine_Run, IO_VALUE.HIGH);
IOMove(IO_Type.X_OLine_Run, IO_VALUE.HIGH);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Out_TrayCheck, IO_VALUE.HIGH));
}
......
RC1266-AutoCountMachine/source/DeviceLibrary/manager/SServerManager.cs
......@@ -20,12 +20,12 @@ namespace OnlineStore.DeviceLibrary
private static string Addr_VMICheckRLC = "/ESMTCommonInterface/CommonService.asmx?op=VMICheckRLC";
private static string Addr_Return_Material = "/ReturnOne/WebServiceF.asmx?op=Return_Material";
public static string Get_VMICheckRLC(string deviceName, string codeStr, out bool need)
public static string Get_VMICheckRLC(string deviceName, string codeStr, out int targetP)
{
//reelID:
//partNum:
//{"data":{"IFneed":"不需要","iftest":"","component":"","msg":"不需要测量RLC","status":1}}
need = false;
targetP=0;
string msg = "";
try
{
......@@ -41,7 +41,7 @@ namespace OnlineStore.DeviceLibrary
string server = GetAddr(Addr_VMICheckRLC, paramMap);
if (server.Equals(""))
{
return "获取到测值结果失败";
return "获取是否测值失败";
}
DateTime startTime = DateTime.Now;
string resultStr = HttpHelper.Post(server, "");
......@@ -51,21 +51,29 @@ namespace OnlineStore.DeviceLibrary
if (dataResult == null)
{
return "获取到测值结果失败";
return "获取是否测值失败";
}
else if (dataResult.status.Equals(1) && dataResult.IFneed.Equals("不需要"))
{
need = false;
targetP=1;
return "";
}
else if (dataResult.status.Equals(1) && dataResult.IFneed.Equals("需要"))
{
need = true;
//需要时，component是电容 或者电阻
if (dataResult.component.Equals("电容"))
{
targetP = 2;
}
else
{
targetP = 3;
}
return "";
}
else
{
need = false;
targetP = 0;
return msg;
}
}
......
RC1266-AutoCountMachine/source/DeviceLibrary/model/AxisBean.cs
......@@ -274,9 +274,9 @@ namespace OnlineStore.DeviceLibrary
lastOkTime = DateTime.Now;
if (IOManager.IOValue(TargetIoType, 0).Equals(TargetIoValue))
{
LogUtil.info(AxisName + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，停止运动");
SuddenStop();
AxisStopCheckMove();
LogUtil.info(AxisName + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，停止运动");
SuddenStop();
}
}
catch (Exception ex)
......
RC1266-AutoCountMachine/source/DeviceLibrary/model/WorkParam.cs
......@@ -49,7 +49,7 @@ namespace OnlineStore.DeviceLibrary
public int InPosType = 0;
/// <summary>
/// 目标位置：1=XRay入口，2=人工工位上层，3=人工工位下层
/// 目标位置：1=XRay入口，2=测值工位上层 电容，3=测值工位下层 电阻
/// </summary>
public int TargetPosType = 0;
......@@ -65,17 +65,17 @@ namespace OnlineStore.DeviceLibrary
string tP = "";
if (TargetPosType.Equals(1))
{
tP = "[XRay入口]";
tP = "XRay入口";
}
else if (TargetPosType.Equals(2))
{
tP = "[工位上层]";
tP = "电容测值";
}
else if (TargetPosType.Equals(3))
{
tP = "[工位下层]";
tP = "电阻测值";
}
return " [" + WareCode + "] " + "[" + PlateW + " X " + PlateH + "] " + "[" + (InPosType.Equals(1) ? "左侧入口" : "右侧入口") + "]-->" + tP;
return " [" + WareCode + "] " + "[" + PlateW + " X " + PlateH + "] " + "[" + (InPosType.Equals(1) ? "左侧入口" : "右侧入口") + "-->" + tP+ "]";
}
public string OutStr()
{
......@@ -150,7 +150,7 @@ namespace OnlineStore.DeviceLibrary
public class ReelInfo
{
public ReelInfo(string code = "", int plateW = 7, int plateH = 8,int count=0,bool IsNg=false,string msg="")
public ReelInfo(string code = "", int plateW = 0, int plateH = 0,int count=0,bool IsNg=false,string msg="")
{
this.WareCode = code;
this.PlateH = plateH;
......@@ -183,7 +183,7 @@ namespace OnlineStore.DeviceLibrary
public string ToStr()
{
return "[" + WareCode + "] [ " + PlateW + "X" + PlateH + " ] ["+WareCount+"]"+(IsNgReel?"[NG料："+NgMsg+"]":"")+"";
return "[" + WareCode + "] [" + PlateW + "X" + PlateH + "] ["+WareCount+"]"+(IsNgReel?"[NG料："+NgMsg+"]":"")+"";
}
public ReelInfo GetReelInfo()
......
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