1

DeviceLibrary/DeviceLibrary/AxisBean.cs

@@ -102,7 +102,7 @@ namespace DeviceLibrary
                 return;
             }
             Config.TargetPosition = 0;
-            LogUtil.info(AxisName + "speed[" + Config.HomeHighSpeed + "]开始原点返回");
+            MoveInfo.log(AxisName + "speed[" + Config.HomeHighSpeed + "]开始原点返回");
             MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
             var HomeLowSpeed = Config.HomeLowSpeed > 0 ? Config.HomeLowSpeed : Config.HomeHighSpeed / 10;
             var HomeAddSpeed = Config.HomeAddSpeed > 0 ? Config.HomeAddSpeed : Config.HomeHighSpeed * 5;
@@ -188,7 +188,7 @@ namespace DeviceLibrary
                         AxisManager.SuddenStop(axis.DeviceName, axis.GetAxisValue());
                         Thread.Sleep(100);
                     }
-                    LogUtil.error($"{ MoveInfo.Name} {MoveInfo.MoveStep} {axis.DisplayStr}目标位置{targetPosition}当前位置{outCount}，误差过大，{clearMsg}重新开始运动，剩余{MoveInfo.CanWhileCount}次");
+                    MoveInfo.error($"{ MoveInfo.Name} {MoveInfo.MoveStep} {axis.DisplayStr}目标位置{targetPosition}当前位置{outCount}，误差过大，{clearMsg}重新开始运动，剩余{MoveInfo.CanWhileCount}次");
                     var AddSpeed = axis.AddSpeed > 0 ? axis.AddSpeed : targetSpeed * 4;
                     var DelSpeed = axis.DelSpeed > 0 ? axis.DelSpeed : targetSpeed * 4;
                     AxisManager.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed, AddSpeed, DelSpeed);// , axis.AddSpeed, axis.DelSpeed);
@@ -198,7 +198,7 @@ namespace DeviceLibrary
                 else
                 {
                     msg = $"{MoveInfo.Name} {MoveInfo.MoveStep} {axis.DisplayStr},目标位置{targetPosition},当前位置{outCount}，误差过大，需要报警";
-                    LogUtil.error(msg, 600);
+                    MoveInfo.error(msg);
                 }
             }
             return false;
@@ -218,7 +218,7 @@ namespace DeviceLibrary
                 //判断是否需要重新运动
                 if (MoveInfo.CanWhileCount > 0)
                 {
-                    LogUtil.error(MoveInfo.Name + axis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
+                    MoveInfo.error(MoveInfo.Name + axis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
                     //LogUtil.error( StoreName +  moveAxis.DisplayStr +  "重新回原点"); 
                     AxisManager.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed, axis.HomeLowSpeed, axis.HomeAddSpeed);
                     MoveInfo.CanWhileCount--;
@@ -226,7 +226,7 @@ namespace DeviceLibrary
                 else
                 {
                     msg = MoveInfo.Name + " " + MoveInfo.MoveStep + axis.DisplayStr + ",收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
-                    LogUtil.error(msg);
+                    MoveInfo.error(msg);
                 }
             }
             return false;

DeviceLibrary/DeviceLibrary/CylinderManger.cs

@@ -30,7 +30,10 @@ namespace DeviceLibrary
                 moveInfo.WaitList.Add(WaitResultInfo.WaitIO(High, IO_VALUE.HIGH));
             }
             Resume(false);
-            LogUtil.info($"{Name},设置{High}=High");
+            if (moveInfo!=null)
+                moveInfo.log($"{Name},设置{High}=High");
+            else
+                LogUtil.info($"{Name},设置{High}=High");
         }
         public void ToLow(MoveInfo moveInfo)
         {
@@ -41,7 +44,10 @@ namespace DeviceLibrary
                 moveInfo.WaitList.Add(WaitResultInfo.WaitIO(High, IO_VALUE.LOW));
             }
             Resume(false);
-            LogUtil.info($"{Name},设置{High}=Low");
+            if (moveInfo != null)
+                moveInfo.log($"{Name},设置{High}=Low");
+            else
+                LogUtil.info($"{Name},设置{High}=Low");
         }
 
         public void Pause()

DeviceLibrary/DeviceLibrary/IOManager.cs

@@ -30,7 +30,7 @@ namespace DeviceLibrary
             }
             else
             {
-                LogUtil.error("没有DO="+ device + ":" + ioType);
+                LogUtil.error($"[{device}] not find DO="+ device + ":" + ioType);
             }
         }
 
@@ -50,7 +50,7 @@ namespace DeviceLibrary
             }
             else
             {
-                LogUtil.error("没有DO="+ device + ":" + ioType);
+                LogUtil.error($"[{device}] not find IO="+ device + ":" + ioType);
             }
             return ioValue;
         }
@@ -64,7 +64,7 @@ namespace DeviceLibrary
             }
             else
             {
-                LogUtil.error("没有DO=" + ioType);
+                LogUtil.error($"[{device}] not find DO=" + ioType);
             }
             return ioValue;
         }

DeviceLibrary/theMachine/DeviceBase.cs

@@ -115,7 +115,7 @@ namespace DeviceLibrary
                             if (NoAlarm())
                             {
                                 //Alarm(AlarmType.IoSingleTimeOut, WarnMsg);
-                                LogUtil.error(WarnMsg, logType + 14);
+                                MoveInfo.error(WarnMsg);
                                 //MoveInfo.errlog(WarnMsg);
                                 if (!MoveInfo.OneWaitCanEndStep)
                                 {
@@ -133,7 +133,7 @@ namespace DeviceLibrary
                 else if (wait.WaitType.Equals(WaitEnum.W013_Action))
                 {
                     wait.IsEnd = wait.Action.Invoke(wait);
-                    LogUtil.info($"{Name} 自定义等待 IsEnd={wait.IsEnd},Type={wait.Action.GetType()}");
+                    MoveInfo.log($"{Name} 自定义等待 IsEnd={wait.IsEnd},Type={wait.Action.GetType()}");
                 }
 
 
@@ -172,7 +172,7 @@ namespace DeviceLibrary
                 {
                     second = 10;
                 }
-                LogUtil.error(WarnMsg, logType + 100, second);
+                MoveInfo.error(WarnMsg);
                 //MoveInfo.errlog(WarnMsg);
                 //Alarm(AlarmType.IoSingleTimeOut,  WarnMsg);
                 Msg.add(WarnMsg, MsgLevel.alarm);
@@ -262,7 +262,7 @@ namespace DeviceLibrary
                     Thread.Sleep(msTime);
                     IO_VALUE tValue = value.Equals(IO_VALUE.HIGH) ? IO_VALUE.LOW : IO_VALUE.HIGH;
 
-                    LogUtil.info(Name + "定时回写IO:  [" + IoType + "]=[" + value + "]，msTime=" + msTime);
+                    //LogUtil.info("[" + GroupName + "]定时回写IO:  [" + IoType + "]=[" + value + "]，msTime=" + msTime);
 
                     IOManager.IOMove(IoType, tValue, GroupName);
                 });

DeviceLibrary/theMachine/MainMachine.cs

@@ -260,13 +260,6 @@ namespace DeviceLibrary
                         {
                             Msg.add(crc.GetString(y.Config.ProName, y.Config.Explain) + $"[{y.Config.GetAxisValue()}]:" + crc.GetString("Res0179", "运动报警"), MsgLevel.alarm, ErrInfo.SuddenStop);
                             ok = false;
-                            var errcode = HuichuanLibrary.HCBoardManager.GetAxErrCode(y.Config.GetAxisValue());
-                            var errcodebyte = BitConverter.GetBytes(errcode).ToList();
-                            errcodebyte.Reverse();
-                            HuichuanLibrary.HCBoardManager.GetSdo((ushort)y.Config.GetAxisValue(), 0x203f, 0, out byte[] data, out uint datalen);
-                            var errdatabyte = data.ToList();
-                            errdatabyte.Reverse();
-                            LogUtil.error(y.Config.GetAxisValue() + "," + y.Config.Explain + " errcode " + BitConverter.ToString(errcodebyte.ToArray()) + "," + BitConverter.ToString(errdatabyte.ToArray()));
                             LogUtil.error(string.Join(",",HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(y.Config.GetAxisValue())));
                         }
 

DeviceLibrary/theMachine/MoveInfo.cs

@@ -120,6 +120,15 @@ namespace DeviceLibrary
                 LogUtil.info(msg);
             }
         }
+        public void error(string msg) {
+            msg = $"[{Name}][{moveStep}][{MoveParam.PosID}-{MoveParam.WareCode}]{msg}";
+
+            if (String.Compare(lastmsg,msg, StringComparison.Ordinal)!=0)
+            {
+                lastmsg = msg;
+                LogUtil.error(msg);
+            }
+        }
 
         string lasterrmsg = "";
         private object p;

DeviceLibrary/theMachine/RemoteService.cs

@@ -66,6 +66,9 @@ namespace DeviceLibrary
                     case "TrayRelease":
                         TrayManager.TrayRelease(remoteLoad);
                         break;
+                    case "IsFree":
+                        isok = TrayManager.IsFree(remoteLoad);
+                        break;
                     case "OK":
                     case "FAIL":
                         lastresult = remoteLoad.Action == "OK" ? RemoteResult.True : RemoteResult.False;
@@ -101,7 +104,8 @@ namespace DeviceLibrary
             remoteLoad.GroupName = GroupName;
             if (remoteLoad.RequestLoadInfo != null && string.IsNullOrEmpty(remoteLoad.RequestLoadInfo.DeviceGroupName))
                 remoteLoad.RequestLoadInfo.DeviceGroupName = GroupName;
-            LogUtil.info($"{GroupName},发送:{remoteLoad.Action}");
+            LogUtil.info($"{GroupName},发送:{remoteLoad.Action},Seq:{remoteLoad.Seq}");
+            lastresult = RemoteResult.None;
             SendMessage(GroupName, remoteLoad);
             return WaitResult(waittime);
         }

DeviceLibrary/theMachine/RobotManage.cs

@@ -90,19 +90,27 @@ namespace DeviceLibrary
             var d1 = new DeviceRunControl("SideMove", SideMove.DeviceList.Values.ToList<IDevice>());
             var d2 = new DeviceRunControl("TransplantMove", TransplantMove.DeviceList.Values.ToList<IDevice>());
             var d3 = new DeviceRunControl("TrayStop", TrayStop.DeviceList.Values.ToList<IDevice>());
-            d1.Start();
-            d2.Start();
-            d3.Start();
+
             isRunning = true;
             GC.KeepAlive(mainThread);
-            Task.Run(()=> {
+            //Task.Run(()=> {
                 AxisBean.List.ToList().ForEach((x) => { x.Value.ForEach(y => { AxisManager.AlarmClear(y.Config.DeviceName, y.Config.GetAxisValue()); }); });
 
-                Task.Delay(1000).Wait();
+                Task.Delay(100).Wait();
                 if (mainMachine.DeviceCheck())
+                {
                     mainMachine.BeginHomeReset(true);
-            });
-            
+
+
+                }
+
+
+            //}).Wait();
+
+            d1.Start();
+            d2.Start();
+            d3.Start();
+
         }
 
         public static void Stop()

DeviceLibrary/theMachine/TrayManager.cs

+using Newtonsoft.Json;
 using OnlineStore;
 using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using System;
 using System.Collections.Generic;
+using System.Diagnostics;
+using System.IO;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
@@ -12,6 +15,7 @@ namespace DeviceLibrary
     public static partial class TrayManager
     {
         public static Dictionary<string,TrayInfo> Traylist = new Dictionary<string,TrayInfo>();
+
         /// <summary>
         /// 处理更新托盘信息
         /// </summary>
@@ -19,10 +23,10 @@ namespace DeviceLibrary
         /// <param name="addr"></param>
         /// <param name="trayInfo"></param>
         /// <returns>是否放行 放行true, 拦截false</returns>
-        public static bool Process(string rfid, int addr, out TrayInfo trayInfo) {
+        public static bool Process(MoveInfo moveInfo,string rfid, int addr, out TrayInfo trayInfo) {
             lock (Traylist)
             {
-                LogUtil.info($"处理RFID:{rfid},地址{addr},设备:{(AddrDesc.ContainsKey(addr)? AddrDesc[addr]:"")}");
+                moveInfo.log($"处理RFID:{rfid},地址{addr},设备:{(AddrDesc.ContainsKey(addr)? AddrDesc[addr]:"")}");
                 if (!Traylist.ContainsKey(rfid))
                 {
                     Traylist.Add(rfid, new TrayInfo());
@@ -37,6 +41,11 @@ namespace DeviceLibrary
             }
             return true;
         }
+        /// <summary>
+        /// 设置托盘物料信息
+        /// </summary>
+        /// <param name="rfid"></param>
+        /// <param name="requestLoadInfo"></param>
         public static void SetTrayLoadInfo(string rfid, RequestLoadInfo  requestLoadInfo)
         {
             lock (Traylist)
@@ -52,9 +61,26 @@ namespace DeviceLibrary
                     Traylist[rfid].TrayParam = requestLoadInfo.LoadParam.clone();
                     Traylist[rfid].DestinationAddr = GetAddrByGroupName(requestLoadInfo.DeviceGroupName);
                 }
+                SaveTrayInfo();
             }
         }
+        static void SaveTrayInfo() {
+            try
+            {
+                var TL = Traylist.Where(t => t.Value.DestinationAddr >= 0).ToDictionary(a => a.Key, a => a.Value);
+                if (TL.Count > 0)
+                {
+                    File.Delete("Config\\TrayList.temp");
+                    File.WriteAllText("Config\\TrayList.temp~", JsonConvert.SerializeObject(TL));
+                    File.Move("Config\\TrayList.temp~", "Config\\TrayList.temp");
+                }
 
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("托盘信息保存失败:" + ex);
+            }
+        }
         /// <summary>
         /// deviceGroupName,RequestLoadInfo
         /// </summary>
@@ -62,7 +88,7 @@ namespace DeviceLibrary
         public static bool HasTrayRequest(string deviceGroupName,string rfid,out ReelParam reelParam)
         {
             reelParam = null;
-            LogUtil.info($"HasTrayRequest:{deviceGroupName},{rfid},{TrayRequest.ContainsKey(deviceGroupName)}");
+            LogUtil.info($"[{deviceGroupName}] HasTrayRequest:{deviceGroupName},{rfid},{TrayRequest.ContainsKey(deviceGroupName)}");
             lock (TrayRequest)
             {
                 if (!TrayRequest.ContainsKey(deviceGroupName))
@@ -160,7 +186,9 @@ namespace DeviceLibrary
             {
                 LogUtil.info("清空托盘信息 RFID:" + rfid);
                 Traylist[rfid].SetToEmpty();
+                SaveTrayInfo();
             }
+            
         }
         /// <summary>
         /// 托盘释放
@@ -185,6 +213,25 @@ namespace DeviceLibrary
                 device.TrayRelease();
             }
         }
+        /// <summary>
+        /// 移栽机构是否已空闲
+        /// </summary>
+        /// <param name="remoteLoad"></param>
+        /// <returns></returns>
+        public static bool IsFree(RemoteLoad remoteLoad)
+        {
+            var requestLoadInfo = remoteLoad.RequestLoadInfo;
+            Debug.WriteLine($"IsFree:{remoteLoad.GroupName}{requestLoadInfo.DeviceGroupName}");
+            lock (requestLoadInfo)
+            {
+                if (TransplantMove.DeviceList.ContainsKey(remoteLoad.GroupName))
+                {
+                    var device = TransplantMove.DeviceList[remoteLoad.GroupName];
+                    return device.IsFree();
+                }
+            }
+            return false;
+        }
 
         /// <summary>
         /// 空托盘数量
@@ -212,7 +259,7 @@ namespace DeviceLibrary
             OfflineCount = 0;
             lastrefresh = DateTime.Now;
             Traylist.Values.ToList().ForEach(ti=> {
-                if ((lastrefresh - ti.LastUpdateTime).TotalSeconds > 15)
+                if ((lastrefresh - ti.LastUpdateTime).TotalSeconds > 30)
                 {
                     ti.isOnline = false;
                     OfflineCount++;
@@ -290,7 +337,17 @@ namespace DeviceLibrary
             //TrayTypeDesc.Add(TrayTypeE.C02, crc.GetString("Res0011","Pizza治具"));
             //TrayTypeDesc.Add(TrayTypeE.C03, crc.GetString("Res0012","Tray治具"));
             //TrayTypeDesc.Add(TrayTypeE.C04, crc.GetString("Res0013","ShoeBOX治具"));
-
+            if (File.Exists("Config\\TrayList.temp"))
+            {
+                try
+                {
+                    var tl = File.ReadAllText("Config\\TrayList.temp");
+                    Traylist = JsonConvert.DeserializeObject<Dictionary<string, TrayInfo>>(tl);
+                }
+                catch (Exception ex) {
+                    LogUtil.error("启动时托盘信息加载失败:"+ex);
+                }
+            }
         }
         public static void Init(Dictionary<string, DeviceGroup> deviceGroup) {
             if (!AddrDesc.ContainsKey(-1))

DeviceLibrary/theMachine/sub/IDevice.cs

@@ -15,6 +15,7 @@ namespace DeviceLibrary
         void Start();
         void Stop();
         void TrayRelease();
+        bool IsFree();
     }
 
     public enum DeviceStateE

DeviceLibrary/theMachine/sub/SideMove.cs

@@ -126,6 +126,10 @@ namespace DeviceLibrary
                         LSAMoveInfo.NextMoveStep(MoveStep.SideMove_02);
                         Location_A.ToLow(LSAMoveInfo);
                         Location_B.ToLow(LSAMoveInfo);
+
+                        IOMove(IO_Type.Ls_A_BufStop_Fwd, IO_VALUE.HIGH, StopBufDelayMS);
+
+                        LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                     }
                     else
                     {
@@ -135,7 +139,7 @@ namespace DeviceLibrary
                 case MoveStep.SideMove_02:
                     LSAMoveInfo.NextMoveStep(MoveStep.SideMove_03);
                     IOMove(IO_Type.Ls_A_Front_Stop, IO_VALUE.HIGH, StopDelayMS);
-                    IOMove(IO_Type.Ls_A_BufStop_Fwd, IO_VALUE.HIGH, StopBufDelayMS);
+                    //IOMove(IO_Type.Ls_A_BufStop_Fwd, IO_VALUE.HIGH, StopBufDelayMS);
                     break;
                 case MoveStep.SideMove_03:
                     if (IOValue(IO_Type.Ls_A_Tray_Check).Equals(IO_VALUE.HIGH)) {
@@ -171,7 +175,7 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.SideMove_08:
                     LSAMoveInfo.NextMoveStep(MoveStep.SideMove_09);
-                    LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
+                    LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                     break;
                 case MoveStep.SideMove_09:
                     LSAMoveInfo.NextMoveStep(MoveStep.SideMove_10);
@@ -298,7 +302,7 @@ namespace DeviceLibrary
                     if (RFID.ReadByte(0x20,16,out byte[] data, out string errmsg)) 
                     {
                         var rfid = Common.RfidFilter(data);
-                        TrayManager.Process(rfid, addr, out TrayInfo trayInfo);
+                        TrayManager.Process(Minfo,rfid, addr, out TrayInfo trayInfo);
 
                         if (TrayManager.CalcNeedTrans(addr, trayInfo.DestinationAddr, trayInfo.HasLoad))
                             Minfo.NextMoveStep(MoveStep.SideMove_10);
@@ -349,7 +353,7 @@ namespace DeviceLibrary
                     {
                         Minfo.NextMoveStep(MoveStep.SideMove_11);
                     }
-                    else if (lsb.MoveStep >= MoveStep.SideMove_11)
+                    else if (lsb.MoveStep >= MoveStep.SideMove_10)
                     {
                         Minfo.NextMoveStep(MoveStep.SideMove_06);
                         Minfo.log($"{sideb}侧也在等待横移,本侧直接穿过");
@@ -426,8 +430,8 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.H02_HomeReset:
                     LSAMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
-                    IOMove(IO_Type.Ls_A_BufStop_Rwd, IO_VALUE.HIGH, StopBufDelayMS);
-                    IOMove(IO_Type.Ls_B_BufStop_Rwd, IO_VALUE.HIGH, StopBufDelayMS);
+                    //IOMove(IO_Type.Ls_A_BufStop_Rwd, IO_VALUE.HIGH, StopBufDelayMS);
+                    //IOMove(IO_Type.Ls_B_BufStop_Rwd, IO_VALUE.HIGH, StopBufDelayMS);
                     var loAdown = IOValue(IO_Type.Ls_A_Location_Down).Equals(IO_VALUE.HIGH);
                     var loBdown = IOValue(IO_Type.Ls_B_Location_Down).Equals(IO_VALUE.HIGH);
                     var trayAstate = IOValue(IO_Type.Ls_A_Tray_Check).Equals(IO_VALUE.HIGH);
@@ -467,14 +471,14 @@ namespace DeviceLibrary
                     LSAMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
                     Location_A.ToHigh(LSAMoveInfo);
                     Location_B.ToHigh(LSAMoveInfo);
-                    if (LS_Type== LS_TypeE.NoRfid)
-                        IOMove(IO_Type.Ls_B_BufStop_Fwd, IO_VALUE.HIGH,StopBufDelayMS);
+                    //if (LS_Type== LS_TypeE.NoRfid)
+                    //    IOMove(IO_Type.Ls_B_BufStop_Fwd, IO_VALUE.HIGH,StopBufDelayMS);
                     LSAMoveInfo.log($"顶升顶起"); 
                     break;
                 case MoveStep.H04_HomeReset:
                     LSAMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
                     Line.LineRun("n", false, 10);
-                    LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
+                    LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(4000));
                     LSAMoveInfo.log($"横移点击运行");
                     break;
                 case MoveStep.H05_HomeReset:
@@ -487,7 +491,7 @@ namespace DeviceLibrary
                     LSAMoveInfo.NextMoveStep(MoveStep.H07_HomeReset);
                     if (LS_Type!= LS_TypeE.NoRfid)
                     IOMove(IO_Type.Ls_B_Stop, IO_VALUE.HIGH, StopDelayMS);
-                    LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
+                    LSAMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(4000));
                     LSAMoveInfo.log($"缓冲回退");
                     break;
                 case MoveStep.H07_HomeReset:
@@ -508,6 +512,11 @@ namespace DeviceLibrary
         {
         }
 
+        public bool IsFree()
+        {
+            throw new NotImplementedException();
+        }
+
         enum LS_TypeE { 
             NoRfid,
             OneWay,

DeviceLibrary/theMachine/sub/TrayStop.cs

@@ -32,7 +32,6 @@ namespace DeviceLibrary
         AxisBean axis2;
 
         public TrayStop(DeviceGroup device,out string msg) {
-            
             msg = "";
             Name = device.Name+"("+ device.GroupName + ")";
             DeviceGroup = device;
@@ -114,7 +113,7 @@ namespace DeviceLibrary
                         MoveInfo.NextMoveStep(MoveStep.TrayStop_03);
                         MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                         MoveInfo.CanWhileCount = 3;
-                        Location.ToHigh(MoveInfo);
+                        //Location.ToHigh(MoveInfo);
                     } else if (MoveInfo.IsTimeOut(10)){
                         MoveInfo.log("没有检测到托盘");
                         MoveInfo.NextMoveStep(MoveStep.Wait);
@@ -124,7 +123,7 @@ namespace DeviceLibrary
                     if (RFID_1.ReadByte(0x20, 16, out byte[] data,out string errmsg))
                     {
                         CurrrentRFID = Common.RfidFilter(data);
-                        TrayManager.Process(CurrrentRFID, DeviceGroup.addr_1, out TrayInfo trayInfo);
+                        TrayManager.Process(MoveInfo,CurrrentRFID, DeviceGroup.addr_1, out TrayInfo trayInfo);
                         var stop = TrayManager.HasTrayRequest(GroupName, CurrrentRFID,out _);
                         MoveInfo.log($"CurrrentRFID:{CurrrentRFID},HasLoad:{trayInfo.HasLoad},MI_Reel_Check:{IOValue(IO_Type.MI_Reel_Check)},NeedStop:{stop}");
                         
@@ -142,7 +141,8 @@ namespace DeviceLibrary
                                 MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
 
                             SRec.info("托盘挡停", GroupName, "空托盘","准备接料", CurrrentRFID);
-                            ServerCommunication.UpdateRobotStatus(trayInfo.TrayParam.WareCode, RobotStatusE.INROBOT, MoveInfo.MoveParam.RFID);
+                            if (trayInfo.TrayParam != null)
+                                ServerCommunication.UpdateRobotStatus(trayInfo.TrayParam.WareCode, RobotStatusE.INROBOT, MoveInfo.MoveParam.RFID);
                             return;
                         }
                         else if (trayInfo.DestinationAddr == DeviceGroup.addr_1 && trayInfo.HasLoad && IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.HIGH))
@@ -158,7 +158,7 @@ namespace DeviceLibrary
                             if (result != RemoteResult.True)
                             {
                                 MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
-                                MoveInfo.log($"{GroupName} 请求入库失败:{result}");
+                                MoveInfo.log($"{GroupName} 请求出库失败:{result}");
                             }
                             else
                             {
@@ -249,5 +249,10 @@ namespace DeviceLibrary
                     break;
             }
         }
+
+        public bool IsFree()
+        {
+            throw new NotImplementedException();
+        }
     }
 }
\ No newline at end of file

RemoteSheardObject/Class1.cs

@@ -11,17 +11,38 @@ using System.Threading.Tasks;
 [Serializable]
 public class RemoteLoad
 {
+    /// <summary>
+    /// 动作
+    /// </summary>
     public string Action;
-    public int Seq;
+    public long Seq;
+    /// <summary>
+    /// 设备名称
+    /// </summary>
     public string GroupName;
+    /// <summary>
+    /// 载荷信息
+    /// </summary>
     public RequestLoadInfo RequestLoadInfo;
 }
 [Serializable]
 public class RequestLoadInfo
 {
+    /// <summary>
+    /// 目的地设备名称
+    /// </summary>
     public string DeviceGroupName;
+    /// <summary>
+    /// 托盘类型
+    /// </summary>
     public string TrayType;
+    /// <summary>
+    /// 是否空托盘
+    /// </summary>
     public bool IsEmpty;
+    /// <summary>
+    /// 料盘数据
+    /// </summary>
     public ReelParam LoadParam;
     //public DoorStatusE DoorStatus;
 
@@ -34,28 +55,50 @@ public class RequestLoadInfo
             {
                 return (TrayTypeE)Enum.Parse(typeof(TrayTypeE), TrayType);
             }
-            catch {
-
+            catch
+            {
                 return TrayTypeE.None;
-
             }
         }
     }
 }
 public enum RobotStatusE
 {
-
     INROBOT, BOXDOOR, FINISHED
 }
+/// <summary>
+/// 治具类型
+/// </summary>
 public enum TrayTypeE
 {
     None,
+    /// <summary>
+    /// 流水线料盘托盘
+    /// </summary>
     MTP1,    //流水线料盘托盘
+    /// <summary>
+    /// 流水线治具托盘
+    /// </summary>
     MTP2,    //流水线治具托盘
+    /// <summary>
+    /// 料串
+    /// </summary>
     S007,    //料串
+    /// <summary>
+    /// Tray料格
+    /// </summary>
     M03,    //Tray料格
+    /// <summary>
+    /// PCB料格
+    /// </summary>
     M02,    //PCB料格
+    /// <summary>
+    /// PizzaBOX料格
+    /// </summary>
     M01,    //PizzaBOX料格
+    /// <summary>
+    /// ShoeBOX料格
+    /// </summary>
     M04,    //ShoeBOX料格
 
 }
@@ -148,12 +191,12 @@ public class ReelParam
     {
         if (IsNg)
         {
-            return $":{NgMsg}[{WareCode}][{RFID}]";
+            return $":{NgMsg}[{WareCode}][{RFID}][{PlateW}x{PlateH}]";
         }
         else
         {
 
-            return $":[{PosID}][{WareCode}][{RFID}] ";
+            return $":[{PosID}][{WareCode}][{RFID}][{PlateW}x{PlateH}]";
         }
     }
 

RemoteSheardObject/RemoteClient.cs

@@ -91,10 +91,11 @@ public class RemoteClient
             case "OK":
             case "FAIL":
                 lastresult = remoteLoad.Action == "OK" ? RemoteResult.True : RemoteResult.False;
-                LOGGER.Info("Revice Command Callback" + remoteLoad.GroupName + "-" + remoteLoad.Action);
+                LOGGER.Info("Revice Command Callback:" + remoteLoad.GroupName + "-" + remoteLoad.Action);
                 return;
             default:
                 if (actionlist.ContainsKey(remoteLoad.Action)) {
+                    LOGGER.Info("Revice remote command:" + remoteLoad.Action +",Seq:"+ remoteLoad.Seq);
                     isok= actionlist[remoteLoad.Action].Invoke(remoteLoad.RequestLoadInfo);
                 }
                 else
@@ -124,6 +125,7 @@ public class RemoteClient
         return lastresult;
     }
     public RemoteResult SendAndWait(RemoteLoad remoteLoad, int waittime= 3000) {
+        remoteLoad.Seq = DateTime.Now.Ticks;
         remoteLoad.GroupName = GroupName;
         if (remoteLoad.RequestLoadInfo != null)
         {

TheMachine/TrayManagerControl.Designer.cs

@@ -31,9 +31,13 @@ namespace TheMachine
         {
             this.components = new System.ComponentModel.Container();
             this.timer1 = new System.Windows.Forms.Timer(this.components);
-            this.listView1 = new TheMachine.DoubleBufferListView();
             this.label_Statistics = new System.Windows.Forms.Label();
+            this.gb_trayinfo = new System.Windows.Forms.GroupBox();
+            this.btn_reset = new System.Windows.Forms.Button();
+            this.lbl_info = new System.Windows.Forms.Label();
             this.ListView2 = new TheMachine.DoubleBufferListView();
+            this.listView1 = new TheMachine.DoubleBufferListView();
+            this.gb_trayinfo.SuspendLayout();
             this.SuspendLayout();
             // 
             // timer1
@@ -41,15 +45,6 @@ namespace TheMachine
             this.timer1.Interval = 1000;
             this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
             // 
-            // listView1
-            // 
-            this.listView1.HideSelection = false;
-            this.listView1.Location = new System.Drawing.Point(0, 0);
-            this.listView1.Name = "listView1";
-            this.listView1.Size = new System.Drawing.Size(671, 355);
-            this.listView1.TabIndex = 0;
-            this.listView1.UseCompatibleStateImageBehavior = false;
-            // 
             // label_Statistics
             // 
             this.label_Statistics.AutoSize = true;
@@ -59,6 +54,38 @@ namespace TheMachine
             this.label_Statistics.TabIndex = 1;
             this.label_Statistics.Text = "label1";
             // 
+            // gb_trayinfo
+            // 
+            this.gb_trayinfo.Controls.Add(this.btn_reset);
+            this.gb_trayinfo.Controls.Add(this.lbl_info);
+            this.gb_trayinfo.Location = new System.Drawing.Point(714, 185);
+            this.gb_trayinfo.Name = "gb_trayinfo";
+            this.gb_trayinfo.Size = new System.Drawing.Size(240, 170);
+            this.gb_trayinfo.TabIndex = 2;
+            this.gb_trayinfo.TabStop = false;
+            this.gb_trayinfo.Text = "托盘操作";
+            this.gb_trayinfo.Visible = false;
+            // 
+            // btn_reset
+            // 
+            this.btn_reset.Dock = System.Windows.Forms.DockStyle.Bottom;
+            this.btn_reset.Location = new System.Drawing.Point(3, 137);
+            this.btn_reset.Name = "btn_reset";
+            this.btn_reset.Size = new System.Drawing.Size(234, 30);
+            this.btn_reset.TabIndex = 1;
+            this.btn_reset.Text = "清空托盘";
+            this.btn_reset.UseVisualStyleBackColor = true;
+            this.btn_reset.Click += new System.EventHandler(this.btn_reset_Click);
+            // 
+            // lbl_info
+            // 
+            this.lbl_info.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.lbl_info.Location = new System.Drawing.Point(3, 22);
+            this.lbl_info.Name = "lbl_info";
+            this.lbl_info.Size = new System.Drawing.Size(234, 145);
+            this.lbl_info.TabIndex = 0;
+            this.lbl_info.Text = "label1";
+            // 
             // ListView2
             // 
             this.ListView2.HideSelection = false;
@@ -68,9 +95,22 @@ namespace TheMachine
             this.ListView2.TabIndex = 0;
             this.ListView2.UseCompatibleStateImageBehavior = false;
             // 
+            // listView1
+            // 
+            this.listView1.FullRowSelect = true;
+            this.listView1.HideSelection = false;
+            this.listView1.Location = new System.Drawing.Point(0, 0);
+            this.listView1.MultiSelect = false;
+            this.listView1.Name = "listView1";
+            this.listView1.Size = new System.Drawing.Size(671, 355);
+            this.listView1.TabIndex = 0;
+            this.listView1.UseCompatibleStateImageBehavior = false;
+            this.listView1.SelectedIndexChanged += new System.EventHandler(this.listView1_SelectedIndexChanged);
+            // 
             // TrayManagerControl
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
+            this.Controls.Add(this.gb_trayinfo);
             this.Controls.Add(this.label_Statistics);
             this.Controls.Add(this.ListView2);
             this.Controls.Add(this.listView1);
@@ -78,6 +118,7 @@ namespace TheMachine
             this.Name = "TrayManagerControl";
             this.Size = new System.Drawing.Size(1007, 642);
             this.Load += new System.EventHandler(this.TrayManagerControl_Load);
+            this.gb_trayinfo.ResumeLayout(false);
             this.ResumeLayout(false);
             this.PerformLayout();
 
@@ -89,5 +130,8 @@ namespace TheMachine
         private System.Windows.Forms.Timer timer1;
         private System.Windows.Forms.Label label_Statistics;
         private DoubleBufferListView ListView2;
+        private System.Windows.Forms.GroupBox gb_trayinfo;
+        private System.Windows.Forms.Label lbl_info;
+        private System.Windows.Forms.Button btn_reset;
     }
 }

TheMachine/TrayManagerControl.cs

@@ -10,6 +10,7 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Forms;
+using OnlineStore.Common;
 
 namespace TheMachine
 {
@@ -65,8 +66,8 @@ namespace TheMachine
             {
                 ColumnHeader col1 = new ColumnHeader();
                 col1.Text = coltxt;
-                col1.AutoResize(ColumnHeaderAutoResizeStyle.ColumnContent);
                 col1.Width = 100;
+                col1.AutoResize(ColumnHeaderAutoResizeStyle.ColumnContent);                
                 ListView2.Columns.Add(col1);
             }
             //ListView2.ColumnClick += ListView1_ColumnClick;
@@ -106,7 +107,7 @@ namespace TheMachine
                 }
                 
             });
-            listView1.Items.Clear();
+            //listView1.Items.Clear();
             foreach (var ti in traylist) {
                 var timego = (DateTime.Now - ti.LastUpdateTime);
                 var lasttime = timego.Seconds + crc.GetString("Res0024","秒前");
@@ -121,17 +122,29 @@ namespace TheMachine
                 var reelid = "";
                 reelid = ti.TrayParam?.WareCode;
                 var items = new string[] {lastaddrdesc.ToString(), lasttime, traydesc, loaddesc, toaddrdesc, reelid };
-                var listviewitem = new ListViewItem();
+
+                if (listView1.Items.ContainsKey(ti.RFID))
+                {
+                    while (listView1.Items[ti.RFID].SubItems.Count > 1)
+                    {
+                        listView1.Items[ti.RFID].SubItems.RemoveAt(1);
+                    }
+                    listView1.Items[ti.RFID].SubItems.AddRange(items);
+                }
+                else
+                {
+                    var listviewitem = new ListViewItem();
+                    listView1.Items.Add(ti.RFID, ti.RFID,0);
+                    listView1.Items[ti.RFID].SubItems.AddRange(items);
+                    listView1.Items[ti.RFID].UseItemStyleForSubItems = true;
+                }
+
                 if (timego.TotalSeconds < 15)
-                    listviewitem.ForeColor = Color.DarkGreen;
+                    listView1.Items[ti.RFID].ForeColor = Color.DarkGreen;
                 else if (timego.TotalSeconds > 30)
-                    listviewitem.ForeColor = Color.DarkGray;
+                    listView1.Items[ti.RFID].ForeColor = Color.DarkGray;
                 else
-                    listviewitem.ForeColor = Color.Black;
-                listviewitem.UseItemStyleForSubItems = true;
-                listviewitem.Text = ti.RFID;
-                listviewitem.SubItems.AddRange(items);
-                listView1.Items.Add(listviewitem);
+                    listView1.Items[ti.RFID].ForeColor = Color.Black;
             }
             ListView2.Items.Clear();
             foreach (var tivk in TrayManager.TrayRequest.ToArray())
@@ -157,5 +170,34 @@ namespace TheMachine
                 + crc.GetString("Res0031","入库托盘") + ": " + TrayManager.InStoreCount + "\n"
                 + crc.GetString("Res0032","出库托盘") + ": " + TrayManager.OutStoreCount + "\n";
         }
+
+        private void listView1_SelectedIndexChanged(object sender, EventArgs e)
+        {
+            if (listView1.SelectedItems.Count ==0)
+            {
+                gb_trayinfo.Visible = false;
+                return;
+            }
+            
+            string txt = "RFID" + ": " + listView1.SelectedItems[0].Text;
+            txt += "\r\n"+"托盘类型" + ": " + listView1.SelectedItems[0].SubItems[2].Text;
+            txt += "\r\n"+"载荷" + ": " + listView1.SelectedItems[0].SubItems[3].Text;
+            txt += "\r\n"+"目的地" + ": " + listView1.SelectedItems[0].SubItems[4].Text;
+            txt += "\r\n"+"Code" + ": " + listView1.SelectedItems[0].SubItems[6].Text;
+
+            lbl_info.Text = txt;
+            gb_trayinfo.Visible = true;
+        }
+
+        private void btn_reset_Click(object sender, EventArgs e)
+        {
+            if (listView1.SelectedItems.Count != 1)
+            {
+                gb_trayinfo.Visible = false;
+                return;
+            }
+            TrayManager.SetToEmpty(listView1.SelectedItems[0].Text);
+            LogUtil.info("手动清空托盘信息 RFID:" + listView1.SelectedItems[0].Text);
+        }
     }
 }
\ No newline at end of file