稳定版

Common/Setting_Init.cs

@@ -36,6 +36,12 @@ namespace OnlineStore.Common
         [MyConfigComment("屏蔽日志窗口")]
         public static MyConfig<bool> Device_DisableLogWindow = true;
 
+        [MyConfigComment("出库任务数量大于值时治具托盘全部从LS3转移走")]
+        public static MyConfig<int> Device_LS3_MTP2_OutTaskMaxCount = 5;
+
+        [MyConfigComment("出库任务数量大于值时料盘托盘全部从LS3转移走")]
+        public static MyConfig<int> Device_LS3_MTP1_OutTaskMaxCount = 5;
+
         [MyConfigComment("URRobot_MI1_IP")]
         public static MyConfig<string> URRobot_MI1_IP;
         [MyConfigComment("URRobot_MI1_速度倍率")]

Common/util/MyWebClient.cs

@@ -139,18 +139,16 @@ namespace OnlineStore.Common
             return result;
         }
         static object lockpost = new object();
-        public static Operation Post(string url, Operation operation, int timeout = 5000, bool printlog = false)
+        public static Operation Post(string url, Operation operation, int timeout, out string log)
         {
+            log = "";
             try
             {
                 string json = JsonHelper.SerializeObject(operation);
                 string result = Post(url, json, timeout);
                 Operation op = JsonHelper.DeserializeJsonToObject<Operation>(result);
 
-                if (printlog)
-                {
-                    LogUtil.info("Send [" + json + "]  Revice [" + result + "]");
-                }
+                log = "Send [" + json + "]  Revice [" + result + "]";
                 return op;
             }
             catch (Exception ex)

DeviceLibrary/DeviceLibrary.csproj

@@ -156,6 +156,7 @@
     <Compile Include="userControl\FixtureSizeConfigControl.Designer.cs">
       <DependentUpon>FixtureSizeConfigControl.cs</DependentUpon>
     </Compile>
+    <Compile Include="VirtuallyStore\BufferSlotsManger.cs" />
     <Compile Include="VirtuallyStore\CommandList.cs" />
     <Compile Include="VirtuallyStore\Reference.cs" />
     <Compile Include="VirtuallyStore\VMsg.cs" />

DeviceLibrary/DeviceLibrary/LineRunMonitor.cs

@@ -43,7 +43,7 @@ namespace DeviceLibrary
                 if (canStopLine(out _) && isIOon)//(DOValue(LineIO).Equals(IO_VALUE.HIGH) || DOValue(LineRevIO).Equals(IO_VALUE.HIGH)))
                 {
                     IOSTOP();
-                    LogUtil.info(Name + $" 线体管理器 停止线体.");
+                    LogUtil.info("["+ Name+"]" + $" 线体管理器 停止线体.");
                 }
             }
         }

DeviceLibrary/DeviceLibrary/RobotMoveHelper.cs

-using OnlineStore.Common;
+using OnlineStore;
+using OnlineStore.Common;
 using Robot.UR;
 using System;
 using System.Collections.Generic;
@@ -48,12 +49,14 @@ namespace DeviceLibrary
             {
                 RobotStatus = false;
                 //Msg.add(POS_Start + "机器人状态异常:" + Robot.CurDashboardReponse, MsgLevel.alarm);
-                robot.PlayProgram();
+                robot.StopProgram();
 
             }
             else if (!robot.ClientIsConnected) {
                 RobotStatus = false;
                 robot.StopProgram();
+                Thread.Sleep(300);
+                robot.StopRobot();
             }
             else
                 RobotStatus = true;
@@ -61,7 +64,7 @@ namespace DeviceLibrary
         public void Move(MoveInfo moveInfo, int movecmd) {
             if (moveInfo != null)
             {
-                moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(IsMoveOk), "等待" + $"[{robot.Name}]" + "移动到位"));
+                moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(IsMoveOk), crc.GetString("Res0157","等待") + $"[{robot.Name}]" + crc.GetString("Res0057","移动到位")));
             }
             lastMoveCmd = movecmd;
             robot.SendMoveCmd(movecmd, Setting_Init.URRobot_MI1_Speed_Rate);
@@ -91,4 +94,4 @@ namespace DeviceLibrary
             RobotCheck.Enabled = false;
         }
     }
-}
+}
\ No newline at end of file

DeviceLibrary/DeviceLibrary/ServerCommunication.cs

 using OnlineStore;
 using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
+using RemoteSheardObject;
 using System;
 using System.Collections.Concurrent;
 using System.Collections.Generic;
@@ -12,7 +13,7 @@ using System.Threading.Tasks;
 
 namespace DeviceLibrary
 {
-    class ServerCommunication
+    public class ServerCommunication
     {
         volatile StoreStatus _storeStatus = StoreStatus.Debugging;
         public StoreStatus storeStatus {
@@ -41,10 +42,18 @@ namespace DeviceLibrary
             GC.KeepAlive(serverConnectTimer);
             LogUtil.info($"server:{server},cid:{CID}");
         }
+        public int OutMaterialTaskCount = 0;
+        public int OutReelTaskCount = 0;
         private void ServerConnectTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
         {
             try
             {
+                if (!string.IsNullOrEmpty(server) && server.ToLower().StartsWith("http"))
+                {
+                    var data = TheLine.GetTaskCount();
+                    OutMaterialTaskCount = data["pizzaBox"] + data["pcb"] + data["tray"];
+                    OutReelTaskCount = data["reel"];
+                }
                 //if (!RobotManage.isRunning)
                 //    ProcessMsg(MsgService.MSList);
                 //if (!string.IsNullOrWhiteSpace(server))
@@ -54,7 +63,8 @@ namespace DeviceLibrary
             {
                 LogUtil.info($"ServerConnectTimer_Elapsed:{ex}");
             }
-            finally {
+            finally
+            {
                 //Monitor.Exit(serverConnectTimer);
             }
         }
@@ -75,7 +85,7 @@ namespace DeviceLibrary
             }
             ).Where(x=>!string.IsNullOrEmpty(x)));
         }
-        public void SendInStoreRequest(string[] codelist, ReelParam reel,bool printlog=false) {
+        public void SendInStoreRequest(string[] codelist, ReelParam reel) {
 
             if (RobotManage.InoutDebugMode)
                 return;
@@ -86,11 +96,12 @@ namespace DeviceLibrary
                 operation.op = 1;
                 operation.data = new Dictionary<string, string>() { { "code", code }, { "boxId", StoreID.ToString() }, { "doorReelSignal", "1" } };
 
-                Operation resultOperation = HttpHelper.Post(GetPostApi(), operation, 15000, printlog);
+                Operation resultOperation = OnlineStore.Common.HttpHelper.Post(GetPostApi(), operation, 15000, out string log);
                 if (resultOperation==null || operation.seq != resultOperation.seq)
                 {
+                    LogUtil.error(log);
                     Thread.Sleep(1000);
-                    SendInStoreRequest(codelist, reel, printlog);
+                    SendInStoreRequest(codelist, reel);
                     return;
                 }
                 ResultProcess(resultOperation);
@@ -109,7 +120,7 @@ namespace DeviceLibrary
                 LogUtil.info(JsonHelper.SerializeObject(operation));
                 if (RobotManage.InoutDebugMode)
                     return true;
-                Operation resultOperation = HttpHelper.Post(GetPostApi(), operation, 15000);
+                Operation resultOperation = OnlineStore.Common.HttpHelper.Post(GetPostApi(), operation, 15000,out _);
 
                 if (resultOperation == null)
                 {
@@ -253,7 +264,7 @@ namespace DeviceLibrary
                     printlog = true;
                 }
 
-                Operation resultOperation = HttpHelper.Post(GetPostApi(), lineOperation,700, printlog);
+                Operation resultOperation = OnlineStore.Common.HttpHelper.Post(GetPostApi(), lineOperation,700, out string log);
                 if (resultOperation != null)
                     getthtime = 0;
                 //LogUtil.info(JsonHelper.SerializeObject(resultOperation.data));

DeviceLibrary/VirtuallyStore/BufferSlotsManger.cs

+using Newtonsoft.Json;
+using OnlineStore.Common;
+using System;
+using System.Collections.Generic;
+using System.IO;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace DeviceLibrary
+{
+    class BufferSlotsManger
+    {
+        Dictionary<string, BufferSlotInfo> bufferSlotInfos = new Dictionary<string, BufferSlotInfo>();
+        string DeviceName;
+        public BufferSlotsManger(string devicename)
+        {
+            DeviceName = devicename;
+            LoadData();
+            for (int i = 0; i < 8; i++)
+            {
+                string sloatkey = DeviceName + "_B0" + (i + 1);
+                if (!bufferSlotInfos.ContainsKey(sloatkey))
+                {
+                    bufferSlotInfos.Add(sloatkey, new BufferSlotInfo(sloatkey));
+                }
+            }
+        }
+        public string GetFreeSlot()
+        {
+            lock (bufferSlotInfos)
+            {
+                var slot = bufferSlotInfos.Values.ToList().Find(s => !s.HasReel);
+                return slot?.Name;
+            }
+        }
+        public string GetInstoreSlot(out JobInfo jobInfo)
+        {
+            lock (bufferSlotInfos)
+            {                
+                var slot = bufferSlotInfos.Values.ToList().Find(s => s.HasReel && s.IsInstore);
+                jobInfo = slot?.JobInfo.Clone();
+                return slot?.Name;
+            }
+        }
+        public string GetOutstoreSlot(out JobInfo jobInfo)
+        {
+            lock (bufferSlotInfos)
+            {
+                var slot = bufferSlotInfos.Values.ToList().Find(s => s.HasReel && !s.IsInstore);
+                jobInfo = slot?.JobInfo.Clone();
+                return slot?.Name;
+            }
+        }
+        public void SetSlotInfo(string name, bool isinstore, JobInfo jobInfo)
+        {
+            lock (bufferSlotInfos)
+            {
+                bufferSlotInfos[name].IsInstore = isinstore;
+                bufferSlotInfos[name].JobInfo = jobInfo.Clone();
+                bufferSlotInfos[name].HasReel = true;
+            }
+            SaveData();
+        }
+        public void ClearSlot(string name)
+        {
+            lock (bufferSlotInfos)
+            {
+                bufferSlotInfos[name].HasReel = false;
+            }
+            SaveData();
+
+        }
+        void LoadData() {
+            string filename = $"Config\\BufferSlotsList_{DeviceName}.temp";
+            if (File.Exists(filename))
+            {
+                bool isreadok = false;
+                try
+                {
+                    var tl = File.ReadAllText(filename);
+                    bufferSlotInfos = JsonConvert.DeserializeObject<Dictionary<string, BufferSlotInfo>>(tl);
+
+                    isreadok = bufferSlotInfos != null;
+                    if (!isreadok)
+                        LogUtil.error("启动时缓存料盘信息加载失败:"+DeviceName);
+                }
+                catch (Exception ex)
+                {
+                    LogUtil.error("启动时缓存料盘信息加载失败:" + DeviceName + ex);
+                }
+                if (isreadok)
+                    return;
+                try
+                {
+                    var tl = File.ReadAllText(filename+"~");
+                    bufferSlotInfos = JsonConvert.DeserializeObject<Dictionary<string, BufferSlotInfo>>(tl);
+                    if (bufferSlotInfos == null)
+                    {
+                        LogUtil.error("启动时备份缓存料盘加载失败:"+DeviceName);
+                        bufferSlotInfos = new Dictionary<string, BufferSlotInfo>();
+                    }
+                }
+                catch (Exception ex)
+                {
+                    LogUtil.error("启动时托盘备份信息加载失败:" + ex);
+                    bufferSlotInfos = new Dictionary<string, BufferSlotInfo>();
+                }
+
+            }
+        }
+        void SaveData() {
+            string filename = $"Config\\BufferSlotsList_{DeviceName}.temp";
+            try
+            {
+                var TL = bufferSlotInfos.Where(t => t.Value.HasReel).ToDictionary(a => a.Key, a => a.Value);
+                ConfigHelper.Config.FileSave(JsonConvert.SerializeObject(TL), filename+"~");
+                ConfigHelper.Config.FileSave(JsonConvert.SerializeObject(TL), filename);
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("托盘信息保存失败:" + ex);
+            }
+        }
+    }
+    class BufferSlotInfo {
+        public string Name;
+        public bool HasReel;
+        public bool IsInstore;
+        public JobInfo JobInfo;
+        public BufferSlotInfo(string name) {
+            Name = name;
+        }
+    }
+}

DeviceLibrary/VirtuallyStore/VLog.cs

@@ -15,14 +15,20 @@ namespace DeviceLibrary
             Prefix = prefix;
             log = LogManager.GetLogger(logname);
         }
+        string lastinfo = "";
         public void Info(string txt) {
+            if (String.Compare(lastinfo, txt, StringComparison.Ordinal) == 0)
+                return;
             if (Prefix != "")            
                 txt =$"[{Prefix}] "+ txt;
             
             log.Info(txt);
         }
+        string lasterr = "";
         public void Error(string txt)
         {
+            if (String.Compare(lasterr, txt, StringComparison.Ordinal) == 0)
+                return;
             if (Prefix != "")
                 txt = $"[{Prefix}] " + txt;
             log.Error(txt);

DeviceLibrary/VirtuallyStore/VServerComm.cs

@@ -114,20 +114,20 @@ namespace DeviceLibrary
                 LogUtil.info(JsonHelper.SerializeObject(operation));
                 if (RobotManage.InoutDebugMode)
                     return true;
-                Operation resultOperation = HttpHelper.Post(GetPostApi(), operation, 5000);
+                Operation resultOperation = HttpHelper.Post(GetPostApi(), operation, 5000,out string log);
 
                 if (resultOperation == null)
                 {
-                    LogUtil.info($"SendStoreState error,posid:{barcode}, storeStatus:{storeStatus}");
+                    VLog.Error($"SendStoreState error,posid:{barcode}, storeStatus:{storeStatus}");
                     return false;
                 }
                 if (operation.seq != resultOperation.seq)
                 {
-                    LogUtil.info($"SendStoreState seq error,posid:{barcode}, storeStatus:{storeStatus}");
+                    VLog.Error($"SendStoreState seq error,posid:{barcode}, storeStatus:{storeStatus}");
                     return false;
                 }
-
-                LogUtil.info($"SendStoreState success,posid:{barcode}, storeStatus:{storeStatus}");
+                VLog.Info(log);
+                VLog.Info($"SendStoreState success,posid:{barcode}, storeStatus:{storeStatus}");
                 ResultProcess(resultOperation);
             }
             return true;
@@ -238,7 +238,7 @@ namespace DeviceLibrary
                     printlog = true;
                 }
 
-                Operation resultOperation = HttpHelper.Post(GetPostApi(), lineOperation,700, printlog);
+                Operation resultOperation = HttpHelper.Post(GetPostApi(), lineOperation,700, out string log);
                 if (resultOperation != null)
                     getthtime = 0;
                 //LogUtil.info(JsonHelper.SerializeObject(resultOperation.data));
@@ -407,7 +407,7 @@ namespace DeviceLibrary
                 else
                 {
                     JobInfo jobInfo = new JobInfo(code, posIdStr, plateW, plateH);
-                    OutStoreEvent?.Invoke("服务器", jobInfo);
+                    OutStoreEvent?.Invoke(crc.GetString("Res0064","服务器"), jobInfo);
                 }
 
                 TimeSpan span = DateTime.Now - time;

DeviceLibrary/VirtuallyStore/VStoreCollection.cs

@@ -92,7 +92,12 @@ namespace DeviceLibrary
                         MsgService.MSList["RT-" + vs.CID].clear();
                         vs.VTowerProcess();
                     }
-                    finally {
+                    catch (Exception ex)
+                    {
+                        VLog.Error("VTowerProcess error:"+ex);
+                    }
+                    finally
+                    {
                         MsgService.MSList["RT-" + vs.CID].Show();
                     }
                 });

DeviceLibrary/theMachine/DeviceRunControl.cs

@@ -33,10 +33,18 @@ namespace DeviceLibrary
             LogUtil.info($"{DeviceListName}设备线程启动");
             while (RobotManage.mainMachine.mstart)
             {
-                Thread.Sleep(200);
+                Thread.Sleep(150);
                 ManualResetEvent.WaitAll(new ManualResetEvent[] { RobotManage.mainMachine.ResetEvent });
                 if (!RobotManage.mainMachine.canRunning || !RobotManage.mainMachine.mstart)
-                    continue;
+                {
+                    if (RobotManage.mainMachine.mstart) {
+                        DevicesList.ForEach(x =>
+                        {
+                            x.FrontStopProcess();
+                        });
+                    }
+                    continue; 
+                }
                 DevicesList.ForEach(x =>
                 {
                     try
@@ -47,6 +55,7 @@ namespace DeviceLibrary
                     {
                         MsgService.MSList[x.GroupName].add(ex.ToString(), MsgLevel.warning);
                         MsgService.MSList[x.GroupName].setlogones();
+                        LogUtil.error($"{DeviceListName} 出错:"+ ex);
                     }
                     finally
                     {

DeviceLibrary/theMachine/MainMachine.cs

@@ -33,7 +33,7 @@ namespace DeviceLibrary
         public Dictionary<string, DeviceGroup> DeviceGroup { get=>RobotManage.DeviceGroup; }
         public bool UserPause { get; set; } = false;
 
-        ServerCommunication ServerCM;
+        public ServerCommunication ServerCM;
 
         public ManualResetEvent ResetEvent = new ManualResetEvent(true);
 
@@ -90,14 +90,15 @@ namespace DeviceLibrary
             while (mstart) {
                 try
                 {
-                    canRunning = DeviceCheck();
+                    canRunning = DeviceCheck();                    
                     if (canRunning)
                     {
-                        ResetEvent.Set();
+                        
                         BtnProcess();
                         canRunning = SafeCheck();
                     }
-                    Thread.Sleep(200);
+                    Thread.Sleep(150);
+                    ResetEvent.Set();
                     if (!canRunning || !mstart)
                         continue;
                     if (runStatus == RunStatus.Running)
@@ -155,6 +156,11 @@ namespace DeviceLibrary
         }
         public void Stop() {            
             mstart = false;
+            DeviceSnapshot();
+            SideMove.DeviceList.Values.ToList().ForEach(s => s.Stop());
+            TransplantMove.DeviceList.Values.ToList().ForEach(s => s.Stop());
+            TrayStop.DeviceList.Values.ToList().ForEach(s => s.Stop());
+            MI.DeviceList.Values.ToList().ForEach(s => s.Stop());
             IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
             ResetEvent.Set();
             Alarm(AlarmType.None);
@@ -290,5 +296,34 @@ namespace DeviceLibrary
             }
             return ok;
         }
+        public void DeviceSnapshot()
+        {
+            LogUtil.info("===开始记录系统当前情况.===");
+            MoveInfo.List.ForEach(m => {
+                LogUtil.info($"\t{m.Name}: {m.MoveStep}\t{m.MoveParam.ToStr()}");
+            });
+            AxisBean.List.ToList().ForEach(al => {
+                al.Value.ForEach(ax => {
+                    LogUtil.info($"\t{ax.AxisName}: {ax.GetAclPosition()}");
+                });                
+            });
+
+            VStoreCollection.VStoreList.Values.ToList().ForEach(vs => {
+
+                LogUtil.info($"\t{vs.TowerName}\t{vs.CID}: {vs.RTStoreStatus}\tCurrentTerminalReelID:{vs.CurrentTerminalReelID}\tInStoreJobInfo:{vs.InStoreJobInfo?.ToStr()}");
+            });
+            ConfigHelper.Config.Configlist.ToList().ForEach(cc => {
+                LogUtil.info($"\t{cc.Key}: {cc.Value}");
+            });
+            MsgService.MSList.ToList().ForEach(msl =>
+            {
+                msl.Value.get().ToList().ForEach(cc =>
+                {
+                    LogUtil.info($"\t{cc.datetime}\t{cc.msgLevel}\t{cc.msgtxt} ");
+                });
+            });
+                
+            LogUtil.info("===记录结束.===");
+        }
     }
 }
\ No newline at end of file

DeviceLibrary/theMachine/MoveStep.cs

@@ -116,6 +116,7 @@ namespace DeviceLibrary
         MI_08,
         MI_09,
         MI_10,
+        MI_ReelTacked,
         MI_11,
         MI_12,
         MI_13,

DeviceLibrary/theMachine/RemoteService.cs

@@ -74,10 +74,13 @@ namespace DeviceLibrary
                     case "IsFree":
                         isok = TrayManager.IsFree(remoteLoad);
                         break;
+                    case "IsNeedProcessNG":
+                        isok = TrayManager.IsNeedProcessNG(remoteLoad);
+                        break;
                     case "OK":
                     case "FAIL":
                         lastresult[Seq] = remoteLoad.Action == "OK" ? RemoteResult.True : RemoteResult.False;
-                        LogUtil.info("Revice Command Callback:" + remoteLoad.GroupName + " - " + remoteLoad.Action);
+                        LogUtil.info($"[{remoteLoad.GroupName}] Revice Command Callback:" + remoteLoad.Action);
                         return;
                     default:
                         break;
@@ -100,7 +103,7 @@ namespace DeviceLibrary
                 allClients[deviceGroupName].Send(JsonConvert.SerializeObject(message));
             }
             catch (Exception ex){
-                LogUtil.info($"设备:{deviceGroupName} 消息发送出错:"+ex.ToString());
+                LogUtil.error($"设备:{deviceGroupName} 消息发送出错:"+ex.ToString());
             }
         }
 
@@ -109,7 +112,7 @@ namespace DeviceLibrary
             remoteLoad.GroupName = GroupName;
             if (remoteLoad.RequestLoadInfo != null && string.IsNullOrEmpty(remoteLoad.RequestLoadInfo.DeviceGroupName))
                 remoteLoad.RequestLoadInfo.DeviceGroupName = GroupName;
-            LogUtil.info($"{GroupName},发送:{remoteLoad.Action},Seq:{remoteLoad.Seq}");
+            LogUtil.info($"[{GroupName}],发送:{remoteLoad.Action},Seq:{remoteLoad.Seq}");
             lastresult[remoteLoad.Seq] = RemoteResult.None;
             SendMessage(GroupName, remoteLoad);
             return WaitResult(GroupName, remoteLoad.Seq,waittime);
@@ -118,22 +121,30 @@ namespace DeviceLibrary
         {
             if (!lastresult.ContainsKey(seq))
                 return RemoteResult.Timeout;
-            while (lastresult[seq] == RemoteResult.None && waittime > 0)
-            {
-                System.Threading.Thread.Sleep(50);
-                waittime = waittime - 50;
-            }
-            if (lastresult[seq] == RemoteResult.None)
-            {
-                LogUtil.info($"等待{GroupName}反馈超时 seq:"+seq);
-                lastresult[seq] = RemoteResult.Timeout;
-            }
-            var result = lastresult[seq];
-            lock (lastresult)
+            try
             {
-                lastresult.Remove(seq);
+                while (lastresult[seq] == RemoteResult.None && waittime > 0)
+                {
+                    System.Threading.Thread.Sleep(50);
+                    waittime = waittime - 50;
+                }
+                if (lastresult[seq] == RemoteResult.None)
+                {
+                    LogUtil.info($"等待{GroupName}反馈超时 seq:" + seq);
+                    lastresult[seq] = RemoteResult.Timeout;
+                }
+
+                var result = lastresult[seq];
+                lock (lastresult)
+                {
+                    lastresult.Remove(seq);
+                }
+                return result;
             }
-            return result;
+            catch(Exception ex) {
+                LogUtil.error($"等待{GroupName}反馈超时 seq:" + seq +" 出错:"+ex);
+                return RemoteResult.Timeout;
+            }            
         }
         public static void SendResult(string deviceGroupName, bool result,long Seq)
         {

DeviceLibrary/theMachine/RobotManage.cs

@@ -190,6 +190,7 @@ namespace DeviceLibrary
                     LogUtil.info("用户暂停");
                 else
                     LogUtil.info("系统暂停: "+msg);
+                mainMachine.DeviceSnapshot();
                 Thread.Sleep(500);
             }
             else

DeviceLibrary/theMachine/TrayManager.cs

@@ -37,10 +37,11 @@ namespace DeviceLibrary
                 Traylist[rfid].LastAddr = addr;
                 Traylist[rfid].Destination = TrayManager.AddrDesc[Traylist[rfid].DestinationAddr];
                 Traylist[rfid].LastPosition = TrayManager.AddrDesc[Traylist[rfid].LastAddr];
-                if (reelcheck == 0)
-                    Traylist[rfid].HasLoadCheck--;
-                else if (reelcheck == 1)
-                    Traylist[rfid].HasLoadCheck = 1;
+                if (Traylist[rfid].TrayType == TrayTypeE.MTP1 && (addr == 16 || addr == 20 || addr == 5 || addr == 3))
+                    Traylist[rfid].HasLoadCheck += reelcheck == 0 ? -1 : 1;
+                else if (Traylist[rfid].TrayType == TrayTypeE.MTP2)
+                    Traylist[rfid].HasLoadCheck += reelcheck == 0 ? -1 : 1;
+
                 trayInfo = Traylist[rfid];
                 //Statistics();
             }
@@ -56,6 +57,12 @@ namespace DeviceLibrary
             lock (Traylist)
             {
                 LogUtil.info($"SetTrayLoadInfo:{rfid},{requestLoadInfo?.LoadParam?.ToStr()},{requestLoadInfo?.DeviceGroupName}");
+                if (!Traylist.ContainsKey(rfid)) {
+                    Traylist.Add(rfid, new TrayInfo());
+                    Traylist[rfid].RFID = rfid;
+                    Traylist[rfid].LastUpdateTime = DateTime.Now;
+                }
+                
                 if (requestLoadInfo == null)
                 {
                     Traylist[rfid].SetToEmpty();
@@ -131,13 +138,21 @@ namespace DeviceLibrary
                 TrayRequest[remoteLoad.GroupName] = remoteLoad.RequestLoadInfo;
             }
         }
-        public static bool CalcNeedTrans(int curaddr1, int destaddr1, bool hasload) {
+        public static bool CalcNeedTrans(int curaddr1, int destaddr1, bool hasload,TrayTypeE trayType) {
             if (!hasload)
             {
-                var addrs = TrayRequest.Values.Select(x => new { TaryType = x.GetTrayType, Addr = GetAddrByGroupName(x.DeviceGroupName) }).ToList();
+                if (curaddr1 == 19 && RobotManage.mainMachine.ServerCM.OutMaterialTaskCount > Setting_Init.Device_LS3_MTP2_OutTaskMaxCount && trayType== TrayTypeE.MTP2)
+                {
+                    return true;
+                }
+                if (curaddr1 == 19 && RobotManage.mainMachine.ServerCM.OutReelTaskCount > Setting_Init.Device_LS3_MTP1_OutTaskMaxCount && trayType == TrayTypeE.MTP1)
+                {
+                    return true;
+                }
+                var addrs = TrayRequest.Values.Where(x=>x.TrayType==trayType.ToString()).Select(x => new { TaryType = x.GetTrayType, Addr = GetAddrByGroupName(x.DeviceGroupName) }).ToList();
                 foreach (var a in addrs)
                 {
-                    var trayaddrs = TrayManager.Traylist.Values.Where(t => (DateTime.Now - t.LastUpdateTime).TotalSeconds < 30 && t.TrayType == a.TaryType && !hasload).Select(t => t.LastAddr).ToList();
+                    var trayaddrs = TrayManager.Traylist.Values.Where(t => (DateTime.Now - t.LastUpdateTime).TotalSeconds < 60 && t.TrayType == a.TaryType && !hasload).Select(t => t.LastAddr).ToList();
                     if (trayaddrs.Count == 0)
                         return false;
 
@@ -252,6 +267,17 @@ namespace DeviceLibrary
             }
             return false;
         }
+        /// <summary>
+        /// 是否需要等待处理NG物料
+        /// </summary>
+        /// <param name="remoteLoad"></param>
+        /// <returns></returns>
+        public static bool IsNeedProcessNG(RemoteLoad remoteLoad)
+        {
+            var requestLoadInfo = remoteLoad.RequestLoadInfo;
+            var xx = TrayManager.Traylist.Values.ToList().Where(t => t.HasLoad && t.LoadType == requestLoadInfo.GetTrayType && (t.LastAddr >= 20 || t.LastAddr < 2));
+            return xx.Count() > 0;
+        }
 
         /// <summary>
         /// 空托盘数量

DeviceLibrary/theMachine/sub/IDevice.cs

@@ -17,6 +17,7 @@ namespace DeviceLibrary
         void TrayRelease();
         bool IsFree();
         bool FrontCheck(int curaddr);
+        void FrontStopProcess();
     }
 
     public enum DeviceStateE

DeviceLibrary/theMachine/sub/TransplantMove.cs

@@ -69,6 +69,8 @@ namespace DeviceLibrary
         {
             DeviceState = DeviceStateE.Stop;
             MoveInfo.log("停止运行");
+            Task.Run(() => { Task.Delay(1000).Wait(); IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.LOW); });
+
         }
         public void Process()
         {
@@ -147,7 +149,7 @@ namespace DeviceLibrary
                             if (IOValue(IO_Type.AMH_Reel_Check).Equals(IO_VALUE.HIGH))
                             {
                                 RemoteLoad remoteLoad1 = new RemoteLoad();
-                                remoteLoad1.Seq = DateTime.Now.Ticks;
+                                remoteLoad1.Seq = Snowflake.Instance().GetId();
                                 remoteLoad1.Action = "DoorLock";
                                 remoteLoad1.RequestLoadInfo = new RequestLoadInfo();
                                 remoteLoad1.RequestLoadInfo.IsEmpty = false;
@@ -188,7 +190,7 @@ namespace DeviceLibrary
                             if (IOValue(IO_Type.AMH_Reel_Check).Equals(IO_VALUE.LOW))
                             {
                                 RemoteLoad remoteLoad2 = new RemoteLoad();
-                                remoteLoad2.Seq = DateTime.Now.Ticks;
+                                remoteLoad2.Seq = Snowflake.Instance().GetId();
                                 remoteLoad2.Action = "DoorLock";
                                 remoteLoad2.RequestLoadInfo = new RequestLoadInfo();
                                 remoteLoad2.RequestLoadInfo.IsEmpty = true;
@@ -248,7 +250,7 @@ namespace DeviceLibrary
                         IOMove(IO_Type.AMH_Tray_Stop, IO_VALUE.LOW);
                         MoveInfo.NextMoveStep(MoveStep.Wait);
                         if (GroupName == "AMH-SBSH2")
-                            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
+                            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(4000));
                         MoveInfo.log("托盘已放行");
                     } else if (MoveInfo.IsTimeOut(10)) {
                         MoveInfo.log("托盘放行失败,重新放行");
@@ -293,7 +295,7 @@ namespace DeviceLibrary
                         MoveInfo.NextMoveStep(MoveStep.TransplantMove_14);
                         MoveInfo.log("检测到物料已离开");
                     }
-                    else {
+                    else if (MoveInfo.IsTimeOut(1)) {
                         MetrialGetRetry++;
                         if (MetrialGetRetry > 3) {
                             Msg.add($"{MoveInfo.Name}取料失败", MsgLevel.alarm);
@@ -368,7 +370,7 @@ namespace DeviceLibrary
                     MoveInfo.NextMoveStep(MoveStep.TransplantMove_24);
 
                     var remoteLoad = new RemoteLoad();
-                    remoteLoad.Seq = DateTime.Now.Ticks;
+                    remoteLoad.Seq = Snowflake.Instance().GetId();
                     remoteLoad.Action = "DoorRelease";
                     remoteLoad.RequestLoadInfo = new RequestLoadInfo();
                     remoteLoad.RequestLoadInfo.IsEmpty = true;//true出库 false入库
@@ -427,7 +429,7 @@ namespace DeviceLibrary
                     IOMove(IO_Type.AMH_Sucker, IO_VALUE.LOW);
                     IOMove(IO_Type.AMH_Sucker_Release, IO_VALUE.HIGH,2000);
                     ConfigHelper.Config.Set($"Runtime_{GroupName}_IsSucker", false);
-                    TheLine.UpdateLocInfo("", MoveInfo.MoveParam.WareCode, TheLine.LineStatusE.BOXDOOR, GroupName);
+                    //TheLine.UpdateLocInfo("", MoveInfo.MoveParam.WareCode, TheLine.LineStatusE.BOXDOOR, GroupName);
 
                     break;
                 case MoveStep.TransplantMove_27:
@@ -502,7 +504,7 @@ namespace DeviceLibrary
                 case MoveStep.TransplantMove_06:
                     RemoteLoad remoteLoad = new RemoteLoad();
                     remoteLoad.Action = "DoorRelease";
-                    remoteLoad.Seq = DateTime.Now.Ticks;
+                    remoteLoad.Seq = Snowflake.Instance().GetId();
                     remoteLoad.RequestLoadInfo = new RequestLoadInfo();
                     remoteLoad.RequestLoadInfo.IsEmpty=false;
                     remoteLoad.RequestLoadInfo.LoadParam = MoveInfo2.MoveParam.clone();
@@ -607,10 +609,12 @@ namespace DeviceLibrary
 
         public bool IsFree()
         {
-            if (MoveInfo2.MoveStep != MoveStep.Wait) {
+            if (MoveInfo2.MoveStep != MoveStep.Wait || MoveInfo.MoveStep > MoveStep.TransplantMove_26) {
                 return false;
             }
 
+            if (MoveInfo.MoveStep >= MoveStep.TransplantMove_10 && MoveInfo.MoveStep <= MoveStep.TransplantMove_20)
+                return false;
             return true;
         }
 
@@ -624,5 +628,13 @@ namespace DeviceLibrary
             MoveInfo.NewMove(MoveStep.H01_HomeReset);
             MoveInfo.log("开始重置");
         }
+
+        public void FrontStopProcess()
+        {
+            if (IOValue(IO_Type.AMH_Front_Check).Equals(IO_VALUE.LOW))
+            {
+                IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.LOW);
+            }
+        }
     }
 }
\ No newline at end of file

DeviceLibrary/theMachine/sub/TrayStop.cs

@@ -72,6 +72,8 @@ namespace DeviceLibrary
         {
             DeviceState = DeviceStateE.Stop;
             MoveInfo.log("停止运行");
+            Task.Run(() => { Task.Delay(1000).Wait(); IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.LOW); });
+            
         }
         public void Process()
         {
@@ -211,7 +213,7 @@ namespace DeviceLibrary
                             //空托盘
                             MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
                             RemoteLoad remoteLoad = new RemoteLoad();
-                            remoteLoad.Seq = DateTime.Now.Ticks;
+                            remoteLoad.Seq = Snowflake.Instance().GetId();
                             remoteLoad.Action = "TrayReady";
                             remoteLoad.RequestLoadInfo = new RequestLoadInfo();
                             remoteLoad.RequestLoadInfo.TrayType = trayInfo.TrayType.ToString();
@@ -229,7 +231,7 @@ namespace DeviceLibrary
                             //有物料
                             MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
                             RemoteLoad remoteLoad = new RemoteLoad();
-                            remoteLoad.Seq = DateTime.Now.Ticks;
+                            remoteLoad.Seq = Snowflake.Instance().GetId();
                             remoteLoad.Action = "TrayReady";
                             remoteLoad.RequestLoadInfo = new RequestLoadInfo();
                             remoteLoad.RequestLoadInfo.TrayType = trayInfo.TrayType.ToString();
@@ -368,7 +370,7 @@ namespace DeviceLibrary
                     {
                         if (IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
                         {
-                            Msg.add("托盘放料后没有检测到物料", MsgLevel.alarm);
+                            Msg.add(crc.GetString("Res0062","托盘放料后没有检测到物料"), MsgLevel.alarm);
                             return;
                         }
                     }
@@ -383,7 +385,7 @@ namespace DeviceLibrary
             if (GroupName == "AMH-ML5-1" || GroupName == "AMH-ML5-2")
             {
                 var remoteLoad = new RemoteLoad();
-                remoteLoad.Seq = DateTime.Now.Ticks;
+                remoteLoad.Seq = Snowflake.Instance().GetId();
                 remoteLoad.Action = "IsSafe";
                 remoteLoad.RequestLoadInfo = new RequestLoadInfo();
                 var result = RemoteService.SendAndWait(GroupName, remoteLoad,6000);
@@ -421,7 +423,7 @@ namespace DeviceLibrary
         /// 释放托盘
         /// </summary>
         public void TrayRelease() {
-            MoveInfo.log("释放托盘");
+            MoveInfo.log("释放托盘:" + CurrrentRFID);
             MoveInfo.NextMoveStep(MoveStep.TrayStop_LoadProcessed);
             if (TrayManager.Traylist.ContainsKey(CurrrentRFID) && TrayManager.Traylist[CurrrentRFID].HasLoad)
             {
@@ -453,7 +455,7 @@ namespace DeviceLibrary
                         if (GroupName == d && MI.DeviceList[d].DeviceState != DeviceStateE.Run
                             && MI.DeviceList[d].MoveInfo.MoveStep != MoveStep.Wait)
                         {
-                            Msg.add("等待" + d + "完成复位", MsgLevel.warning);
+                            Msg.add(crc.GetString("Res0157","等待") + d + crc.GetString("Res0063","完成复位"), MsgLevel.warning);
                         }
                         else if (GroupName == d && MI.DeviceList[d].DeviceState == DeviceStateE.Run
                             && MI.DeviceList[d].MoveInfo.MoveStep != MoveStep.Wait)
@@ -497,5 +499,13 @@ namespace DeviceLibrary
         {
             return IOValue(IO_Type.MI_Front_Check).Equals(IO_VALUE.LOW);
         }
+
+        public void FrontStopProcess()
+        {
+            if (IOValue(IO_Type.MI_Front_Check).Equals(IO_VALUE.LOW))
+            {
+                IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.LOW);
+            }
+        }
     }
 }
\ No newline at end of file

DeviceLibrary/userControl/AxisMoveControl.cs

@@ -26,9 +26,6 @@ namespace DeviceLibrary
         public AxisMoveControl()
         {
             InitializeComponent();
-            if (DesignMode)
-                return;
-            this.Tag = "not";
             crc.OpenResourceLog = true;
             crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
             crc.CurrLanguage = Setting_Init.Device_Default_Language;
@@ -56,7 +53,7 @@ namespace DeviceLibrary
                 currentAxis = axisList[0];
                 PortName = axisList[0].Config.DeviceName;
                 SlvAddr = axisList[0].Config.GetAxisValue();
-                txtAxisDeviceName.Text = PortName;
+                //txtAxisDeviceName.Text = PortName;
                 txtAxisValue.Text = SlvAddr.ToString();
             }
             btnAddMove.BackColor = Color.White;
@@ -227,7 +224,7 @@ namespace DeviceLibrary
                 axis = axisList[cmbAxis.SelectedIndex].Config;
                 PortName = axis.DeviceName;
                 SlvAddr = axis.GetAxisValue();
-                txtAxisDeviceName.Text = PortName;
+                //txtAxisDeviceName.Text = PortName;
                 txtAxisValue.Text = SlvAddr.ToString();
                 Color color = Color.Black;
 
@@ -348,15 +345,15 @@ namespace DeviceLibrary
 
         private void timer1_Tick(object sender, EventArgs e)
         {
-            //LogUtil.OutputDebugString($"timer1_Tick:{this.Visible}");
-            if (this.Visible && !DesignMode)
+            LogUtil.OutputDebugString($"timer1_Tick:{this.Visible}");
+            if (this.Visible)
             {
                 ReadAxisStatus();
             }
         }
         private void ReadAxisStatus()
         {
-            groupBox2.Text = cmbAxis.Text + "-"+crc.GetString("Res0189","状态监控");
+            groupBox2.Text = cmbAxis.Text + "-" + crc.GetString("AxisMoveControl_groupAxis_groupBox2_Text","状态监控");
             //【1】更新轴号
             short axisNo = SlvAddr;
             if (axisNo < 0)
@@ -396,9 +393,9 @@ namespace DeviceLibrary
             {
                 return;
             }
-            ShowlbSts(lblPEL, sts.PEL); //正限位信号 
+            //ShowlbSts(lblPEL, sts.PEL); //正限位信号 
             ShowlbSts(lblORG, sts.ORG); //原点信号 
-            ShowlbSts(lblNEL, sts.NEL); //负限位信号  
+            //ShowlbSts(lblNEL, sts.NEL); //负限位信号  
 
             //label59.Text = ConvertDecimalToBinary(nTimerAxSts[0]);   //轴状态是按bit进行解读，因此这里将AxSts转换为二进制bit进行显示
             lblAxPrfPos.Text = HCBoardManager.GetAxisPrfPos(axisNo).ToString();
@@ -447,12 +444,5 @@ namespace DeviceLibrary
                 lbl.BackColor = this.BackColor;
             }
         }
-
-        private void lblAlarmcode_Click(object sender, EventArgs e)
-        {
-            var s = string.Join(",", HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(SlvAddr));
-            MessageBox.Show(s);
-            LogUtil.error(s);
-        }
     }
 }
\ No newline at end of file

RemoteSheardObject/Class1.cs

@@ -206,7 +206,36 @@ public class ReelParam
             return $":[{PosID}][{WareCode}][{RFID}][{PlateW}x{PlateH}]";
         }
     }
-
+    bool islog = false;
+    public void logresult()
+    {
+        if (!islog)
+        {
+            islog = true;
+            var datetime = DateTime.Now;
+            string countfile = $"\\Logs\\NGLOG_{datetime:yyyyMMdd}.csv";
+            Directory.CreateDirectory("\\Logs\\");
+            if (!File.Exists(countfile))
+            {
+                StreamWriter sw1 = new StreamWriter(countfile, true, Encoding.GetEncoding("GB2312"));
+                sw1.WriteLine($"WareCode,SN,PN,Date,NgMsg");
+                sw1.Close();
+                sw1.Dispose();
+            }
+            try
+            {
+                var sw = new StreamWriter(countfile, true, Encoding.GetEncoding("GB2312"));
+                //var sw = File.Open(countfile, FileMode.Append, FileAccess.Write);
+                // string s = $"\r\n{ReeID},{PN},{PlateW}x{PlateH},{ReelDest},{NgMsg},{QTY},{WareCode}";
+                //var b = Encoding.GetEncoding("gb2312").GetBytes(s);
+                //sw.Write(b, 0, b.Length);
+                sw.WriteLine($"{WareCode},{RI},{PN},{datetime:yyyy/MM/dd HH:mm:ss},{NgMsg}");
+                sw.Close();
+                sw.Dispose();
+            }
+            catch { }
+        }
+    }
 }
 public enum DoorStatusE {
     Busy,

RemoteSheardObject/RemoteClient.cs

@@ -46,7 +46,7 @@ public class RemoteClient
     {
         if (LastState != webSocket.State)
         {
-            LOGGER.Info($"Remote:{GroupName} 掉线了");
+            LOGGER.Error($"Remote:{GroupName} 掉线了");
         }
         LastState = webSocket.State;
     }
@@ -68,7 +68,7 @@ public class RemoteClient
         else if (webSocket.State == WebSocket4Net.WebSocketState.Connecting) {
             errstatuscounr++;
             if (errstatuscounr > 5) {
-                LOGGER.Info($"Remote:{GroupName} Connecting 超时");
+                LOGGER.Error($"Remote:{GroupName} Connecting 超时");
                 try { webSocket.Close(); } catch { }
                 webSocket.Open();
                 errstatuscounr = 0;
@@ -87,7 +87,7 @@ public class RemoteClient
         }
         catch
         {
-            LOGGER.Info("Cant Deserialize remote command:" + e.Message);
+            LOGGER.Error("Cant Deserialize remote command:" + e.Message);
             return;
         }
         switch (remoteLoad.Action)
@@ -124,7 +124,7 @@ public class RemoteClient
         }
         if (lastresult == RemoteResult.None)
         {
-            LOGGER.Info("等待远程反馈超时");
+            LOGGER.Error("等待远程反馈超时");
             timeoutCount++;
             lastresult = RemoteResult.Timeout;
             if (timeoutCount > 3)

RemoteSheardObject/RemoteSheardObject.csproj

@@ -94,6 +94,7 @@
     <Compile Include="Properties\AssemblyInfo.cs" />
     <Compile Include="RemoteClient.cs" />
     <Compile Include="SLog.cs" />
+    <Compile Include="Snowflake.cs" />
     <Compile Include="StoreCID.cs" />
     <Compile Include="TheLine.cs" />
   </ItemGroup>

RemoteSheardObject/Snowflake.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace RemoteSheardObject
+{
+    /// <summary>
+    /// 动态生产有规律的ID Snowflake算法是Twitter的工程师为实现递增而不重复的ID实现的
+    /// http://blog.csdn.net/w200221626/article/details/52064976     
+    /// C# 实现 Snowflake算法 
+    /// </summary>
+    public class Snowflake
+    {
+        private static long machineId;//机器ID
+        private static long datacenterId = 0L;//数据ID
+        private static long sequence = 0L;//计数从零开始
+
+        private static long twepoch = 687888001020L; //唯一时间随机量
+
+        private static long machineIdBits = 5L; //机器码字节数
+        private static long datacenterIdBits = 5L;//数据字节数
+        public static long maxMachineId = -1L ^ -1L << (int)machineIdBits; //最大机器ID
+        private static long maxDatacenterId = -1L ^ (-1L << (int)datacenterIdBits);//最大数据ID
+
+        private static long sequenceBits = 12L; //计数器字节数，12个字节用来保存计数码        
+        private static long machineIdShift = sequenceBits; //机器码数据左移位数，就是后面计数器占用的位数
+        private static long datacenterIdShift = sequenceBits + machineIdBits;
+        private static long timestampLeftShift = sequenceBits + machineIdBits + datacenterIdBits; //时间戳左移动位数就是机器码+计数器总字节数+数据字节数
+        public static long sequenceMask = -1L ^ -1L << (int)sequenceBits; //一微秒内可以产生计数，如果达到该值则等到下一微妙在进行生成
+        private static long lastTimestamp = -1L;//最后时间戳
+
+        private static object syncRoot = new object();//加锁对象
+        static Snowflake snowflake;
+
+        public static Snowflake Instance()
+        {
+            if (snowflake == null)
+                snowflake = new Snowflake();
+            return snowflake;
+        }
+
+        public Snowflake()
+        {
+            Snowflakes(0L, -1);
+        }
+
+        public Snowflake(long machineId)
+        {
+            Snowflakes(machineId, -1);
+        }
+
+        public Snowflake(long machineId, long datacenterId)
+        {
+            Snowflakes(machineId, datacenterId);
+        }
+
+        private void Snowflakes(long machineId, long datacenterId)
+        {
+            if (machineId >= 0)
+            {
+                if (machineId > maxMachineId)
+                {
+                    throw new Exception("机器码ID非法");
+                }
+                Snowflake.machineId = machineId;
+            }
+            if (datacenterId >= 0)
+            {
+                if (datacenterId > maxDatacenterId)
+                {
+                    throw new Exception("数据中心ID非法");
+                }
+                Snowflake.datacenterId = datacenterId;
+            }
+        }
+
+        /// <summary>
+        /// 生成当前时间戳
+        /// </summary>
+        /// <returns>毫秒</returns>
+        private static long GetTimestamp()
+        {
+            //让他2000年开始
+            return (long)(DateTime.UtcNow - new DateTime(2000, 1, 1, 0, 0, 0, DateTimeKind.Utc)).TotalMilliseconds;
+        }
+
+        /// <summary>
+        /// 获取下一微秒时间戳
+        /// </summary>
+        /// <param name="lastTimestamp"></param>
+        /// <returns></returns>
+        private static long GetNextTimestamp(long lastTimestamp)
+        {
+            long timestamp = GetTimestamp();
+            int count = 0;
+            while (timestamp <= lastTimestamp)//这里获取新的时间,可能会有错,这算法与comb一样对机器时间的要求很严格
+            {
+                count++;
+                if (count > 10)
+                    throw new Exception("机器的时间可能不对");
+                Thread.Sleep(1);
+                timestamp = GetTimestamp();
+            }
+            return timestamp;
+        }
+
+        /// <summary>
+        /// 获取长整形的ID
+        /// </summary>
+        /// <returns></returns>
+        public long GetId()
+        {
+            lock (syncRoot)
+            {
+                long timestamp = GetTimestamp();
+                if (Snowflake.lastTimestamp == timestamp)
+                { //同一微妙中生成ID
+                    sequence = (sequence + 1) & sequenceMask; //用&运算计算该微秒内产生的计数是否已经到达上限
+                    if (sequence == 0)
+                    {
+                        //一微妙内产生的ID计数已达上限，等待下一微妙
+                        timestamp = GetNextTimestamp(Snowflake.lastTimestamp);
+                    }
+                }
+                else
+                {
+                    //不同微秒生成ID
+                    sequence = 0L;
+                }
+                if (timestamp < lastTimestamp)
+                {
+                    throw new Exception("时间戳比上一次生成ID时时间戳还小，故异常");
+                }
+                Snowflake.lastTimestamp = timestamp; //把当前时间戳保存为最后生成ID的时间戳
+                long Id = ((timestamp - twepoch) << (int)timestampLeftShift)
+                    | (datacenterId << (int)datacenterIdShift)
+                    | (machineId << (int)machineIdShift)
+                    | sequence;
+                return Id;
+            }
+        }
+
+    }
+}

RemoteSheardObject/TheLine.cs

-using ConfigHelper;
+using ConfigHelper;
 using Newtonsoft.Json;
 using System;
 using System.Collections.Generic;
@@ -33,6 +33,10 @@ namespace RemoteSheardObject
 
             return !string.IsNullOrEmpty(SubmitPostData("/service/store/robotBox/updateLocInfo", postData));
         }
+        /// <summary>
+        /// 获取正在进行的任务数量
+        /// </summary>
+        /// <returns></returns>
         public static Dictionary<string,int> GetTaskCount()
         {
             //pizzaBox，pcb，tray，reel
@@ -46,13 +50,13 @@ namespace RemoteSheardObject
             taskdata["reel"] = 0;
 
             var result=  JsonConvert.DeserializeObject<ResultData>(SubmitPostData("/rest/micron/device/getTaskCount", postData));
-            if (result.code != 0)
+            if (result==null || result.code != 0)
                 return taskdata;
 
-            foreach (var k in taskdata.Keys)
+            foreach (var k in taskdata.Keys.ToArray())
             {
-                if (result.data.ContainsKey(k))
-                    taskdata[k] = int.Parse(result.data[k]);
+                if (result.data.ContainsKey(k+"_out"))
+                    taskdata[k] = int.Parse(result.data[k + "_out"]);
             }
             return taskdata;
         }
@@ -129,7 +133,8 @@ namespace RemoteSheardObject
                     }
 
                     //去掉最后一个"&"符号
-                    postDataString.Length--;
+                    if (postDataString.Length>0)
+                        postDataString.Length--;
 
                     //将POST请求参数转换为字节数组
                     byte[] bytes = Encoding.UTF8.GetBytes(postDataString.ToString());
@@ -144,7 +149,7 @@ namespace RemoteSheardObject
                 catch (Exception ex)
                 {
                     // 捕获任何网络异常，并输出错误信息
-                    Console.WriteLine("提交POST请求时发生错误：" + ex.Message);
+                    //Console.WriteLine(crc.GetString("Res0071","提交POST请求时发生错误：") + ex.Message);
 
                     // 请求失败，返回false
                     return "";
@@ -152,4 +157,4 @@ namespace RemoteSheardObject
             }
         }       
     }
-}
+}
\ No newline at end of file

TheMachine/Form1.cs

@@ -58,7 +58,14 @@ namespace TheMachine
             {
                 e.Cancel = true;
                 this.WindowState = FormWindowState.Minimized;
+                return;
             }
+            LogUtil.info("系统强制退出应用 step1");
+            btn_stop_Click(sender, EventArgs.Empty);
+            Thread.Sleep(2000);
+            LogUtil.info("系统强制退出应用 step2");
+            Application.Exit();
+            LogUtil.info("系统强制退出应用 step3");
         }
 
         //LogControl lc = new LogControl();
@@ -355,18 +362,7 @@ namespace TheMachine
         {
             if (!RobotManage.isRunning)
             {
-                //if (RobotManage.mainMachine.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
-                //{
-                //    RobotManage.mainMachine.Msg.add(crc.GetString("Res0017","急停中,无法启动"), MsgLevel.warning);
-                //    RobotManage.mainMachine.Msg.Show();
-                //    //return;
-                //}
-                //if (RobotManage.mainMachine.IOValue(IO_Type.AutoRun_Single).Equals(IO_VALUE.LOW))
-                //{
-                //    RobotManage.mainMachine.Msg.add(crc.GetString("Res0018","运行开关没有打开,无法启动"), MsgLevel.warning);
-                //    RobotManage.mainMachine.Msg.Show();
-                //    //return;
-                //}
+
                 LogUtil.info("用户按下启动:"+ sender.ToString());
                 RobotManage.Start();
                 userpause = false;

TheMachine/Program.cs

 using ConfigHelper;
 using log4net.Config;
+using Microsoft.Win32.TaskScheduler;
 using OnlineStore.Common;
 using System;
 using System.Collections.Generic;
@@ -46,8 +47,7 @@ namespace TheMachine
                     }
                 }
             }
-            Microsoft.Win32.Registry.CurrentUser.OpenSubKey("SOFTWARE\\Microsoft\\Windows\\CurrentVersion\\Run", true).SetValue(Application.ProductName, Application.ExecutablePath);
-
+            AddOrUpdateStartupTask();
             Config.LoadMyConfig(new Setting_Init().GetType());
             Application.ThreadException += Application_ThreadException;
             Application.SetUnhandledExceptionMode(UnhandledExceptionMode.CatchException);
@@ -103,6 +103,43 @@ namespace TheMachine
         public const int SW_RESTORE = 9;
 
         #endregion
+        public static void AddOrUpdateStartupTask()
+        {
+            // 获取当前程序的路径和名称
+            string appPath = Process.GetCurrentProcess().MainModule.FileName;
+            string TaskName = "AutoStartup_" + Process.GetCurrentProcess().MainModule.ModuleName;
+            // 创建或更新计划任务
+            using (TaskService taskService = new TaskService())
+            {
+                // 获取任务定义，如果不存在则创建新的任务定义
+                TaskDefinition taskDefinition;
+                if (taskService.GetTask(TaskName) != null)
+                {
+                    taskDefinition = taskService.GetTask(TaskName).Definition;
+                }
+                else
+                {
+                    taskDefinition = taskService.NewTask();
+                    taskDefinition.RegistrationInfo.Description = TaskName;
 
+                }
+                if (taskDefinition.Triggers.Count == 0 || taskDefinition.Triggers[0].TriggerType != TaskTriggerType.Logon)
+                {
+                    // 设置触发器为用户登录后启动
+                    LogonTrigger logonTrigger = (LogonTrigger)taskDefinition.Triggers.Add(new LogonTrigger());
+                    logonTrigger.Delay = TimeSpan.FromSeconds(5);
+                }
+
+                // 设置操作为启动应用程序
+                taskDefinition.Actions.Clear();
+                taskDefinition.Actions.Add(new ExecAction(appPath, null, System.IO.Path.GetDirectoryName(appPath)));
+
+                // 设置任务的运行权限为管理员权限
+                taskDefinition.Principal.RunLevel = TaskRunLevel.Highest;
+
+                // 保存任务
+                taskService.RootFolder.RegisterTaskDefinition(TaskName, taskDefinition, TaskCreation.CreateOrUpdate, null, null, TaskLogonType.InteractiveToken, null);
+            }
+        }
     }
 }

TheMachine/TheMachine.csproj

@@ -7,7 +7,7 @@
     <ProjectGuid>{61FDFF14-8BB7-439A-85A0-592E3011F4C4}</ProjectGuid>
     <OutputType>WinExe</OutputType>
     <RootNamespace>TheMachine</RootNamespace>
-    <AssemblyName>CycleLine</AssemblyName>
+    <AssemblyName>MT</AssemblyName>
     <TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
     <FileAlignment>512</FileAlignment>
     <AutoGenerateBindingRedirects>true</AutoGenerateBindingRedirects>
@@ -60,6 +60,9 @@
       <SpecificVersion>False</SpecificVersion>
       <HintPath>..\..\增广夹爪\Rmaxis\bin\Debug\log4net.dll</HintPath>
     </Reference>
+    <Reference Include="Microsoft.Win32.TaskScheduler, Version=2.10.1.0, Culture=neutral, PublicKeyToken=e25603a88b3aa7da, processorArchitecture=MSIL">
+      <HintPath>..\packages\TaskScheduler.2.10.1\lib\net452\Microsoft.Win32.TaskScheduler.dll</HintPath>
+    </Reference>
     <Reference Include="Neotel.Rmaxis">
       <HintPath>..\..\增广夹爪\Rmaxis\bin\Debug\Neotel.Rmaxis.dll</HintPath>
     </Reference>
@@ -68,6 +71,7 @@
     </Reference>
     <Reference Include="System" />
     <Reference Include="System.Core" />
+    <Reference Include="System.IO.Compression" />
     <Reference Include="System.Xml.Linq" />
     <Reference Include="System.Data.DataSetExtensions" />
     <Reference Include="Microsoft.CSharp" />
@@ -292,6 +296,7 @@
       <DependentUpon>uc_boxdebug.cs</DependentUpon>
     </EmbeddedResource>
     <None Include="app.manifest" />
+    <None Include="packages.config" />
   </ItemGroup>
   <ItemGroup>
     <None Include="App.config" />

TheMachine/TrayManagerControl.cs

@@ -145,9 +145,12 @@ namespace TheMachine
                     listView1.Items[ti.RFID].ForeColor = Color.DarkGray;
                 else
                     listView1.Items[ti.RFID].ForeColor = Color.Black;
-
+                if (ti.HasLoad && ti.TrayParam.IsNg) {
+                    listView1.Items[ti.RFID].ForeColor = Color.Orange;
+                }
                 if (ti.HasLoad && ti.HasLoadCheck<0)
                     listView1.Items[ti.RFID].ForeColor = Color.Red;
+                
             }
             ListView2.Items.Clear();
             foreach (var tivk in TrayManager.TrayRequest.ToArray())
@@ -181,13 +184,15 @@ namespace TheMachine
                 gb_trayinfo.Visible = false;
                 return;
             }
-            
+            var ti = TrayManager.Traylist[listView1.SelectedItems[0].Text];
             string txt = "RFID" + ": " + listView1.SelectedItems[0].Text;
             txt += "\r\n"+crc.GetString("Res0021","托盘类型") + ": " + listView1.SelectedItems[0].SubItems[2].Text;
             txt += "\r\n"+crc.GetString("Res0055","物料") + ": " + listView1.SelectedItems[0].SubItems[3].Text;
             txt += "\r\n"+crc.GetString("Res0023","目的地") + ": " + listView1.SelectedItems[0].SubItems[4].Text;
             txt += "\r\n"+"Code" + ": " + listView1.SelectedItems[0].SubItems[6].Text;
-
+            if (ti.HasLoad && ti.TrayParam.IsNg) {
+                txt += "\r\n" + "NgMsg" + ": " + ti.TrayParam.NgMsg;
+            }
             lbl_info.Text = txt;
             gb_trayinfo.Visible = true;
         }

TheMachine/device/Other/MycronicControl.cs

-using DeviceLibrary;
+using DeviceLibrary;
 using OnlineStore;
 using System;
 using System.Collections.Generic;
@@ -75,8 +75,8 @@ namespace TheMachine.device.Other
         {
             stateView.Items.Clear();
             foreach (var store in VStoreCollection.VStoreList.Values.ToList()) {
-
-                ListViewItem lvi = new ListViewItem(new string[] { "", store.CID, store.RTStoreStatus.ToString(), store.GetStateStr() });
+                
+                ListViewItem lvi = new ListViewItem(new string[] { "", TowerList.List[store.CID].TowerName+"-"+store.CID, store.RTStoreStatus.ToString(), store.GetStateStr() });
                 stateView.Items.Add(lvi);
             }
         }
@@ -85,11 +85,11 @@ namespace TheMachine.device.Other
         {
             if (RobotManage.isRunning)
             {
-                MessageBox.Show("请先停止系统运行");
+                MessageBox.Show(crc.GetString("Res0072","请先停止系统运行"));
                 return;
             }
 
-            MI.DeviceList["AMH-MI1"].
+            MI.DeviceList["AMH-MI1"].Reset();
         }
     }
-}
+}
\ No newline at end of file

TheMachine/packages.config

+<?xml version="1.0" encoding="utf-8"?>
+<packages>
+  <package id="TaskScheduler" version="2.10.1" targetFramework="net461" />
+</packages>
\ No newline at end of file