1

DeviceLibrary/DeviceLibrary.csproj

@@ -134,6 +134,7 @@
     <Compile Include="DeviceLibrary\IOManager.cs" />
     <Compile Include="Properties\AssemblyInfo.cs" />
     <Compile Include="theMachine\sub\IDevice.cs" />
+    <Compile Include="theMachine\sub\CI.cs" />
     <Compile Include="theMachine\sub\MI.cs" />
     <Compile Include="theMachine\sub\TrayStop.cs" />
     <Compile Include="theMachine\sub\TransplantMove.cs" />

DeviceLibrary/DeviceLibrary/AxisBean.cs

@@ -26,6 +26,7 @@ namespace DeviceLibrary
         public string AxisName;
         public bool ForceSafeCheck = false;
         public string DeviceGroupName;
+        public bool Disable=false;
         public AxisBean(ConfigMoveAxis axisConfig, string deviceGroupName)
         {
             DeviceGroupName = deviceGroupName;

DeviceLibrary/DeviceLibrary/VJCounter.cs

@@ -26,7 +26,7 @@ namespace DeviceLibrary
                 //_serialPort.RtsEnable = true;  //自动请求
                 //_serialPort.ReadTimeout = 100;//超时
                 _serialPort.Open();
-                LogUtil.error("VJCounter: 串口连接成功");
+                LogUtil.info("VJCounter: 串口连接成功");
                 return true;
             }catch (Exception ex)
             {
@@ -53,6 +53,7 @@ namespace DeviceLibrary
         public static void SendBarcode(string barcode) {
             var b = Encoding.ASCII.GetBytes(barcode + "\n");
             _serialPort.Write(b, 0, b.Length);
+            LogUtil.info("VJCounter: 串口发送:"+ barcode);
         }
     }
 }

DeviceLibrary/VirtuallyStore/VStore.cs

@@ -157,13 +157,13 @@ namespace DeviceLibrary
                             else if (RTStoreStatus == RTStoreStatus.LockToOutStore)
                             {
                                 VLog.Error($"出库超时出错,没有检测到出库信息,RTStoreStatus={RTStoreStatus}:" + CurrentTerminalReelID);
-                                CurrentTowerStatusText = "出库错误,没有执行出库过程";
-                                Msg.add($"TerminalError:" + "出库超时", MsgLevel.alarm);
+                                CurrentTowerStatusText = crc.GetString("Res0112.e6c4624b","出库错误,没有执行出库过程");
+                                Msg.add($"TerminalError:" + crc.GetString("Res0113.71e5a53a","出库超时"), MsgLevel.alarm);
                             }
                             else
                             {
                                 VLog.Error($"未知状态超时,RTStoreStatus={RTStoreStatus}:" + InStoreJobInfo?.ToStr());
-                                Msg.add($"TerminalError:" + "料仓状态异常", MsgLevel.warning);
+                                Msg.add($"TerminalError:" + crc.GetString("Res0114.d3023f35","料仓状态异常"), MsgLevel.warning);
                             }
 
                         }
@@ -245,18 +245,17 @@ namespace DeviceLibrary
                     }
                     else if (ti.StatusCode >= 310000)
                     {
-                        if (RTStoreStatus != RTStoreStatus.InStoreError)
-                        {
-                            LastProcessErrorTime = DateTime.Now.AddSeconds(10);
-                            LastProcessErrorTimes = 0;
-                        }
-                        LastProcessErrorTimes++;
+                        //if (RTStoreStatus != RTStoreStatus.InStoreError)
+                        //{
+                        //    LastProcessErrorTime = DateTime.Now.AddSeconds(10);
+                        //    LastProcessErrorTimes = 0;
+                        //}
+                        //LastProcessErrorTimes++;
                         Msg.add($"StatusCode:{ti.StatusCode},StatusText:{ti.StatusText},OnlineStatus:{ti.OnlineStatus}", MsgLevel.warning);
-                        RTStoreStatus = RTStoreStatus.InStoreError;
-                        ServerCM.storeStatus = StoreStatus.InStoreFaild;
+                        //RTStoreStatus = RTStoreStatus.InStoreError;
+                        //ServerCM.storeStatus = StoreStatus.InStoreFaild;
+
 
-                        //CurrentTowerStatusText = $"{ti.StatusText}-{ti.OnlineStatus}";
-                        //InStoreJobInfo = null;
                     }
                     else if (ti.StatusCode < 10000)
                     {
@@ -287,7 +286,7 @@ namespace DeviceLibrary
                 1031 loading material
                 1032 material put into Terminal from outside
                 1040 出库执行中
-                1041 unloading material 物料已到舱门口
+                1041 unloading material 物料已到舱门口 Remove Component Reel
                 1042 material unloaded to Terminal from Tower 物料已取走
                 6015 Reel already loaded.
                 3068 初始化中
@@ -350,7 +349,7 @@ namespace DeviceLibrary
                 return crc.GetString("Res0067", "等待入库信息");
 
             if (RTStoreStatus == RTStoreStatus.LockToOutStore)
-                return "等待出库";
+                return crc.GetString("Res0115.44b81dd3","等待出库");
 
             if (RTStoreStatus == RTStoreStatus.InStoreExecute || RTStoreStatus == RTStoreStatus.InStoreReady)
                 return crc.GetString("Res0068", "入库中") + " Barcode:" + InStoreJobInfo?.WareNum;

DeviceLibrary/theMachine/MainMachine _IOMonitor.cs

@@ -19,6 +19,16 @@ namespace DeviceLibrary
             if (IOValue(IO_Type.Airpressure_Check).Equals(IO_VALUE.LOW) && !G.simulate) {
                 Msg.add(crc.GetString("Res0166","未检测到气压信号."), MsgLevel.warning);
             }
+            var errorTray = TrayManager.Traylist.ToList().Where(x => x.Value.IsLoadError).ToList();
+            if (errorTray.Count > 0) {
+                foreach (var error in errorTray)
+                {
+                    if (error.Value.HasLoad)
+                        Msg.add(crc.GetString("Form1_tabc_tab_tmc_Text","托盘") + ":" + error.Key + " " + crc.GetString("Res0109.28f408e5","有物料托盘, 但未检测到物料"), MsgLevel.alarm);
+                    else
+                        Msg.add(crc.GetString("Form1_tabc_tab_tmc_Text","托盘") + ":" + error.Key + " " + crc.GetString("Res0110.ca6543cd","空托盘, 但检测到物料"), MsgLevel.alarm);
+                }
+            }
         }
     }
 }
\ No newline at end of file

DeviceLibrary/theMachine/MainMachine.cs

@@ -287,7 +287,10 @@ namespace DeviceLibrary
                 if (span.TotalSeconds > 2)
                 {
                     checkAlarmTime = DateTime.Now;
-                    AxisBean.List.ToList().ForEach((x) => { x.Value.ForEach(y => { 
+                    AxisBean.List.ToList().ForEach((x) => { x.Value.ForEach(y => {
+                        if (y.Disable)
+                            return;
+
                         AxisManager.AlarmClear(y.Config.DeviceName, y.Config.GetAxisValue());
                         if (AxisManager.GetAlarmStatus(y.Config.DeviceName, y.Config.GetAxisValue()) == 1)
                         {

DeviceLibrary/theMachine/RemoteService.cs

@@ -170,7 +170,7 @@ namespace DeviceLibrary
             catch(Exception ex) {
                 LogUtil.error($"等待{GroupName}反馈超时 seq:" + seq +" 出错:"+ex);
                 return RemoteResult.Timeout;
-            }            
+            }
         }
         static void SendResult(string deviceGroupName, bool result,long Seq)
         {

DeviceLibrary/theMachine/RobotManage.cs

@@ -95,7 +95,7 @@ namespace DeviceLibrary
 
                 if (!VJCounter.Connect(Setting_Init.VJCounter_COMPORT, out string msgs)) {
                     IsLoadOk = false;
-                    msg += "VJ点料机连接失败" + "\n";
+                    msg += crc.GetString("Res0111.43f91cee","VJ点料机连接失败") + "\n";
                     LogUtil.error(msg + "," + msgs);
                 }
 

DeviceLibrary/theMachine/sub/CI.cs

+using ConfigHelper;
+using Newtonsoft.Json;
+using OnlineStore;
+using OnlineStore.Common;
+using OnlineStore.LoadCSVLibrary;
+using RemoteSheardObject;
+using Robot.UR;
+using System;
+using System.Collections.Generic;
+using System.Collections.Specialized;
+using System.Diagnostics;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace DeviceLibrary
+{
+    public class CI : DeviceBase, IDevice
+    {
+        public static Dictionary<string, CI> DeviceList = new Dictionary<string, CI>();
+        
+
+        public static void Init(Robot_Config config, Dictionary<string, DeviceGroup> devices,out string msg) {
+            msg = "";
+            CI sideMove = new CI(devices["CI"], out string m);
+            DeviceList.Add(devices["CI"].GroupName, sideMove);
+            msg += m;            
+        }
+        DeviceGroup DeviceGroup;
+        public MoveInfo MoveInfo;
+        MoveInfo RoboMoveInfo;
+        //CylinderManger Location;
+        public AxisBean Comp;
+        //public AxisBean Rotate;
+        URRobotControl Robot;
+        public RobotHelper robotHelper;
+        BufferSlotsManger BufferSlotsManger;
+        string POS_Start = "CI";
+        string robotname = "";
+        public bool ManualCount = false;
+        public CI(DeviceGroup device,out string msg) : base()
+        {
+            msg = "";
+            Name = device.Name+"("+ device.GroupName + ")";
+            DeviceGroup = device;
+            GroupName = DeviceGroup.GroupName;
+            Msg = new MsgService(GroupName+"-T");
+            MoveInfo = new MoveInfo(GroupName + "-T");
+            RoboMoveInfo = new MoveInfo(GroupName + "-Robo");
+            
+            if (device.GroupName == "CI")
+            {
+                Robot = RobotManage.Robot_CI;                
+                robotname = "R3";                
+            }
+            Robot.Name = robotname;
+            robotHelper = new RobotHelper(Robot, robotname);
+            Comp = AxisBean.List[DeviceGroup.GroupName][0];
+            //Rotate = AxisBean.List[DeviceGroup.GroupName][1];
+            BufferSlotsManger = new BufferSlotsManger(POS_Start);
+
+
+        }
+        
+
+        public DeviceStateE DeviceState { get; set; }
+        public void Start()
+        {
+            OpenAllServo();
+            //robotHelper.Start();
+            DeviceState = DeviceStateE.HomeReset;
+            MoveInfo.NewMove(MoveStep.H01_HomeReset);
+            MoveInfo.log("开始回原");
+        }
+
+        public void Stop()
+        {
+            //robotHelper.Stop();
+            //Robot.StopRobot();
+            DeviceState = DeviceStateE.Stop;
+            MoveInfo.log("停止运行");
+        }
+        public void Process()
+        {
+            try
+            {
+                LogUtil.OutputDebugString($"{GroupName} DeviceState:" + DeviceState.ToString());
+
+                if (!DeviceCheck())
+                {
+                    return;
+                }
+                MsgService.MSList[GroupName + "-T"].clear();
+                if (DeviceState == DeviceStateE.HomeReset)
+                    ResetProcess();
+                else if (DeviceState == DeviceStateE.Run)
+                {                    
+                    OneWayProcess();
+                    RobotMoveProcess();
+                }
+            }
+            finally {
+                MsgService.MSList[GroupName + "-T"].Show();
+            }
+        }
+
+        public void Reset()
+        {
+            Robot.SendMoveCmd(1, Setting_Init.URRobot_CI_Speed_Rate, false, RobotHelper.LoadRateParam[robotHelper.lastWeight]);
+            Config.Set("RuntimeRobot_" + robotname + "_MoveStep", "Wait");
+            Config.Set("RuntimeRobot_" + robotname + "_Arm_MoveStep", "Wait");
+        }
+
+        private bool DeviceCheck()
+        {
+            return true; // 没有机器人暂时屏蔽
+            if (!robotHelper.RobotStatus) {
+                Msg.add(POS_Start + crc.GetString("Res0058","机器人当前不可用"), MsgLevel.alarm);
+                return false;
+            }
+            return true;
+        }
+
+        int isalivetrytimes = 0;
+        int StopBufDelayMS = 500;
+        int StopDelayMS = 1500;
+
+        RobotPosition FromPos;
+        RobotPosition ToPos;
+        VStore CurrentVStore;
+        JobInfo CurrentJobInfo;
+
+        VStore CurrntOutReadyStore;
+        public void OneWayProcess()
+        {
+            //Config.Set("RuntimeRobot_MoveStep", MoveInfo.MoveStep.ToString());
+            if (CheckWait(MoveInfo))
+                return;
+            
+            switch (MoveInfo.MoveStep)
+            {
+                case MoveStep.Wait:
+                    var hasoutjob = false;
+                    if (hasoutjob)
+                    {
+                        MoveInfo.log("查询到出库任务,开始优先出库");
+                        MoveInfo.NextMoveStep(MoveStep.MI_50);
+                    }
+                    //判断入库任务
+                    LogUtil.OutputDebugString("InStoreJobList:" + InStoreJobList.Count.ToString());
+                    if (InStoreJob != null)
+                    {
+                        CurrentJobInfo = InStoreJob.Clone();
+                        InStoreJob = null;
+                        MoveInfo.log("收到物料点料任务:" + CurrentJobInfo.ToStr());
+                        MoveInfo.MoveParam.WareCode = CurrentJobInfo.WareNum;
+                        MoveInfo.MoveParam.PosID = CurrentJobInfo.PosId;
+                        MoveInfo.MoveParam.PlateW = CurrentJobInfo.plateW;
+                        MoveInfo.MoveParam.PlateH = CurrentJobInfo.plateH;
+                        MoveInfo.MoveParam.cid = CurrentJobInfo.CID;
+                        MoveInfo.NextMoveStep(MoveStep.MI_01);
+                        //FromPos = GetMIPosition(GroupName, POS_Start + "_MT");
+                        //var cid = MoveInfo.MoveParam.PosID;//.Split('_')[0];
+                        
+                        //ToPos = GetMIPosition(GroupName, TowerList.List[cid].PosID);
+                        Config.Set("Runtime_Robot_" + robotname + "_ReelInfo" , JsonConvert.SerializeObject(MoveInfo.MoveParam));
+                        //Config.Set("Runtime_Robot_" + robotname + "_FromPos" , FromPos.PositionNum);
+                        //Config.Set("Runtime_Robot_" + robotname + "_ToPos" , ToPos.PositionNum);
+
+                        //MoveInfo.log($"开始转移物料:{FromPos.PositionNum}=>{ToPos.PositionNum}");
+                        MoveInfo.log($"开始点料");
+                    }
+                    break;
+                case MoveStep.MI_01:
+                    MoveInfo.NextMoveStep(MoveStep.MI_02);
+                    RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone();
+                    RoboMoveInfo.NextMoveStep(MoveStep.MI_01);
+                    MoveInfo.log("机器人开始取料");
+                    break;
+                case MoveStep.MI_02:
+                    if (RoboMoveInfo.MoveStep >= MoveStep.MI_08)
+                    {
+                        MoveInfo.NextMoveStep(MoveStep.MI_03);
+                        if (FromPos.PositionNum.EndsWith("MT"))
+                        {
+                            RemoteLoad remoteLoad = new RemoteLoad();
+                            remoteLoad.Action = "";
+                            remoteLoad.GroupName = GroupName;
+                            remoteLoad.RequestLoadInfo = new RequestLoadInfo();
+                            remoteLoad.RequestLoadInfo.DeviceGroupName = GroupName;
+                            remoteLoad.RequestLoadInfo.IsEmpty = true;
+                            remoteLoad.RequestLoadInfo.LoadParam = RoboMoveInfo.MoveParam.clone();
+                            TrayManager.TrayRelease(remoteLoad);
+                            TrayStop.DeviceList[GroupName].TrayRelease();
+                            RoboMoveInfo.log("取料完成托盘放行");
+                            TheLine.UpdateLocInfo("", remoteLoad.RequestLoadInfo.LoadParam.WareCode, TheLine.LineStatusE.INROBOT, GroupName);
+                        }
+                        else
+                            RoboMoveInfo.log("取料完成");
+
+                    }
+                    break;
+                case MoveStep.MI_03:
+                    if (RoboMoveInfo.MoveStep == MoveStep.MI_ReelTacked)
+                    {
+                        MoveInfo.NextMoveStep(MoveStep.MI_04);
+                    }
+                    break;
+                case MoveStep.MI_04:
+                    if (CurrentVStore.RTStoreStatus == RTStoreStatus.Ready || CurrentVStore.RTStoreStatus == RTStoreStatus.LockToInStore)
+                    {
+                        MoveInfo.NextMoveStep(MoveStep.MI_05);
+                        RoboMoveInfo.NextMoveStep(MoveStep.MI_40);
+                        MoveInfo.log("机器人开始放料");
+                        CurrentVStore.RequestInStore(new JobInfo(RoboMoveInfo.MoveParam.WareCode, "", RoboMoveInfo.MoveParam.PlateW, RoboMoveInfo.MoveParam.PlateH));
+                    }
+                    else
+                    {
+                        MoveInfo.log("机器人放料时发现舱门口有料");
+                    }
+                    break;
+                case MoveStep.MI_05:
+                    if (RoboMoveInfo.MoveStep == MoveStep.Wait)
+                    {
+                        MoveInfo.log("放入料仓口完成:"+ RoboMoveInfo.MoveParam.ToStr());
+                        MoveInfo.NewMove(MoveStep.Wait);
+                    }
+                    break;
+                case MoveStep.MI_50:
+                    //var InStoreError = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().Find(vs => DateTime.Now > vs.LastProcessErrorTime && vs.LastProcessErrorTimes < 4 && (vs.RTStoreStatus == RTStoreStatus.InStoreError || vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError));
+                    var InStoreError = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().Find(vs => (vs.RTStoreStatus == RTStoreStatus.InStoreError || vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError));
+                    if (InStoreError != null)
+                    {
+                        var result = TheLine.GetReelSize<ResultData>(InStoreError.CurrentTerminalReelID);
+                        if (result != null && result.code == 0)
+                        {
+                            CurrntOutReadyStore = InStoreError;
+                            //InStoreError.ServerCM.cancelPutInTask(CurrntOutReadyStore.CurrentTerminalReelID);
+                            CurrentJobInfo = new JobInfo(InStoreError.CurrentTerminalReelID, "", int.Parse(result.data["plateW"]), int.Parse(result.data["plateH"]));
+                            InStoreError.InStoreJobInfo = null;
+                            MoveInfo.log("从服务器检索到物料数据:" + CurrentJobInfo.ToStr());
+                            CurrentJobInfo.isNG = true;
+                            CurrentJobInfo.NgMsg = InStoreError.CID + "-" + InStoreError.CurrentTowerStatusText;
+                            MoveInfo.log("检测到有料仓入库NG:" + MoveInfo.MoveParam.NgMsg);
+                        }
+                        else
+                        {
+                            if (result != null)
+                                MoveInfo.log(JsonConvert.SerializeObject(result));
+
+                            MoveInfo.log($"没有找到,在等待出库的料仓 CID:{InStoreError.CID} SN:"+ InStoreError.CurrentTerminalReelID);
+                            MoveInfo.NextMoveStep(MoveStep.Wait);
+                            TrayStop.DeviceList[GroupName].TrayRelease();
+                            return;
+                        }
+                    }
+                    else {
+                        var random = new Random(DateTime.Now.Millisecond);
+                        CurrntOutReadyStore = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().FindAll(vs => vs.RTStoreStatus == RTStoreStatus.OutStoreReady).OrderBy(x => random.Next()).FirstOrDefault();
+                        if (CurrntOutReadyStore != null)
+                        {
+                            if (string.IsNullOrEmpty(CurrntOutReadyStore.CurrentTerminalReelID))
+                            {
+                                MoveInfo.log("当前出库料仓:" + CurrntOutReadyStore.CID + "已是出库完成状态,但是还没有读到物料完成通知");
+                                return;
+                            }
+                            if (!VStoreCollection.OutStoreReelInfo.ContainsKey(CurrntOutReadyStore.CurrentTerminalReelID))
+                            {
+                                MoveInfo.log("当前出库料仓:" + CurrntOutReadyStore.CID + ",没有找到料盘信息:" + CurrntOutReadyStore.CurrentTerminalReelID);
+                                var result = TheLine.GetReelSize<ResultData>(CurrntOutReadyStore.CurrentTerminalReelID);
+                                if (result != null && result.code == 0)
+                                {
+                                    CurrentJobInfo = new JobInfo(CurrntOutReadyStore.CurrentTerminalReelID, "", int.Parse(result.data["plateW"]), int.Parse(result.data["plateH"]));
+                                    MoveInfo.log("从服务器检索到物料数据:" + CurrentJobInfo.ToStr());
+                                }
+                                else
+                                    return;
+                            }
+                            else
+                            {
+                                var job = VStoreCollection.OutStoreReelInfo[CurrntOutReadyStore.CurrentTerminalReelID];
+                                CurrentJobInfo = job.Clone();
+                            }
+                        }
+                        else
+                        {
+                            MoveInfo.log("没有找到,在等待出库的料仓");
+                            MoveInfo.NextMoveStep(MoveStep.Wait);
+                            TrayStop.DeviceList[GroupName].TrayRelease();
+                            return;
+                        }
+                    }
+                    CurrntOutReadyStore.LastProcessErrorTime = DateTime.Now.AddSeconds(15);
+                    MoveInfo.log("收到物料出库任务:" + CurrentJobInfo.ToStr());
+                    MoveInfo.MoveParam.WareCode = CurrentJobInfo.WareNum;
+                    MoveInfo.MoveParam.PosID = CurrentJobInfo.PosId;
+                    MoveInfo.MoveParam.PlateW = CurrentJobInfo.plateW;
+                    MoveInfo.MoveParam.PlateH = CurrentJobInfo.plateH;
+                    MoveInfo.MoveParam.IsNg = CurrentJobInfo.isNG;
+                    MoveInfo.MoveParam.NgMsg = CurrentJobInfo.NgMsg;
+                    MoveInfo.MoveParam.cid = CurrntOutReadyStore.CID;
+                    FromPos = GetMIPosition(GroupName, TowerList.List[MoveInfo.MoveParam.cid].PosID);
+                    ToPos = GetMIPosition(GroupName, POS_Start + "_MT");
+                    Config.Set("Runtime_Robot_" + robotname + "_ReelInfo",JsonConvert.SerializeObject(MoveInfo.MoveParam));
+                    Config.Set("Runtime_Robot_" + robotname + "_FromPos" , FromPos.PositionNum);
+                    Config.Set("Runtime_Robot_" + robotname + "_ToPos", ToPos.PositionNum);
+                    MoveInfo.NextMoveStep(MoveStep.MI_51);
+                    MoveInfo.log($"开始转移物料:{FromPos.PositionNum}=>{ToPos.PositionNum}");                    
+                    break;
+                case MoveStep.MI_51:
+                    MoveInfo.NextMoveStep(MoveStep.MI_52);
+                    RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone();
+                    RoboMoveInfo.NextMoveStep(MoveStep.MI_01);
+                    MoveInfo.log("机器人开始取料");                    
+                    break;
+                case MoveStep.MI_52:
+                    if (RoboMoveInfo.MoveStep == MoveStep.MI_ReelTacked)
+                    {
+                        lock (VStoreCollection.OutStoreReelInfo)
+                        {
+                            VStoreCollection.OutStoreReelInfo.Remove(MoveInfo.MoveParam.WareCode);
+                        }
+                        TheLine.UpdateLocInfo("", MoveInfo.MoveParam.WareCode, TheLine.LineStatusE.INROBOT, GroupName);
+                        MoveInfo.log("机器人已取到料");
+                        if (CurrntOutReadyStore.TerminalError) {
+                            MoveInfo.log($"当前出库料仓[{CurrntOutReadyStore.CID}]存在状态错误:" + CurrntOutReadyStore.RTStoreStatus);
+                            CurrntOutReadyStore.RTStoreStatus = RTStoreStatus.Busy;
+                        }
+                        MoveInfo.log($"机器人抓取状态:MI_Robot_Reel_Check:{IOValue(IO_Type.MI_Robot_Reel_Check)}, MI_Robot_Clamp_Check:{IOValue(IO_Type.MI_Robot_Clamp_Check)}");
+                        if (IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.LOW)
+                            && IOValue(IO_Type.MI_Robot_Clamp_Check).Equals(IO_VALUE.LOW))
+                        {
+                            if (MoveInfo.MoveParam.IsNg || CurrntOutReadyStore.TerminalError)
+                            {
+                                MoveInfo.log("机器人抓取NG料后发现夹爪上没有料,流程结束处理");
+                            }else
+                                MoveInfo.log("机器人抓取正常出库物料后发现夹爪上没有料,流程结束处理");
+                            CurrntOutReadyStore.TerminalError = false;
+                            RoboMoveInfo.NextMoveStep(MoveStep.Wait);
+                            MoveInfo.NextMoveStep(MoveStep.Wait);
+                            if (!TrayStop.DeviceList[GroupName].IsFree())
+                            {
+                                RemoteLoad remoteLoad = new RemoteLoad();
+                                remoteLoad.Action = "SetTrayRequest";
+                                remoteLoad.GroupName = GroupName;
+                                remoteLoad.RequestLoadInfo = new RequestLoadInfo();
+                                remoteLoad.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
+                                remoteLoad.RequestLoadInfo.IsEmpty = true;
+                                remoteLoad.RequestLoadInfo.DeviceGroupName = GroupName;
+                                TrayManager.SetTrayRequest(remoteLoad);
+                            }
+                            TheLine.emptyOut(CurrentJobInfo.WareNum);
+                            TheLine.UpdateLocInfo("", CurrentJobInfo.WareNum, TheLine.LineStatusE.BOXDOOR_NOREEL, CurrntOutReadyStore.CID);
+                            MoveInfo.log("检测到夹爪空抓 reelid:" + CurrentJobInfo.WareNum);
+                            return;
+                        }
+                        if (!MoveInfo.MoveParam.IsNg && IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.LOW)
+                            && IOValue(IO_Type.MI_Robot_Clamp_Check).Equals(IO_VALUE.LOW))
+                        {
+
+                            return;
+                        }
+                        else if (MoveInfo.MoveParam.IsNg)
+                        {
+                            CurrntOutReadyStore.ServerCM.cancelPutInTask(CurrntOutReadyStore.CurrentTerminalReelID);
+                            MoveInfo.log("物料NG取消入库:" + CurrntOutReadyStore.CurrentTerminalReelID);
+                        }
+                        MoveInfo.NextMoveStep(MoveStep.MI_53);
+                    }
+                    break;
+                case MoveStep.MI_53:
+                    if (!TrayStop.DeviceList[GroupName].IsFree())
+                    {
+                        MoveInfo.NextMoveStep(MoveStep.MI_54);
+                        RoboMoveInfo.NextMoveStep(MoveStep.MI_40);
+                        MoveInfo.log("机器人开始放料");
+                    }
+                    else {
+                        RemoteLoad remoteLoad = new RemoteLoad();
+                        remoteLoad.Action = "SetTrayRequest";
+                        remoteLoad.GroupName = GroupName;
+                        remoteLoad.RequestLoadInfo = new RequestLoadInfo();
+                        remoteLoad.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
+                        remoteLoad.RequestLoadInfo.IsEmpty = true;
+                        remoteLoad.RequestLoadInfo.DeviceGroupName = GroupName;
+                        TrayManager.SetTrayRequest(remoteLoad);
+                        Msg.add(crc.GetString("Res0097.b5a12101","等待空托盘"), MsgLevel.info);
+                    }
+                    break;
+                case MoveStep.MI_54:                    
+                    if (RoboMoveInfo.MoveStep >= MoveStep.MI_44)
+                    {                        
+                        MoveInfo.log("机器人完成放料");
+                        RemoteLoad remoteLoad = new RemoteLoad();
+                        remoteLoad.GroupName = GroupName;
+                        remoteLoad.RequestLoadInfo = new RequestLoadInfo();
+                        remoteLoad.RequestLoadInfo.DeviceGroupName = "AMH-ML5-2";
+                        remoteLoad.RequestLoadInfo.IsEmpty = false;
+                        remoteLoad.RequestLoadInfo.TrayType = TrayTypeE.MTP1.ToString();
+                        remoteLoad.RequestLoadInfo.LoadParam = MoveInfo.MoveParam.clone();// 填充料盘信息
+                        TrayManager.TrayRelease(remoteLoad); //这条会自动放行托盘并且写入托盘目的地
+                        TheLine.UpdateLocInfo("", MoveInfo.MoveParam.WareCode, TheLine.LineStatusE.INLINE, CurrrentRFID);
+                        TrayManager.ClearTrayRequest(GroupName);
+                        MoveInfo.NextMoveStep(MoveStep.MI_55);
+                    }
+                    break;
+                case MoveStep.MI_55:
+                    if (RoboMoveInfo.MoveStep == MoveStep.Wait)
+                    {
+                        MoveInfo.log("机器人任务结束");
+                        MoveInfo.NewMove(MoveStep.Wait);
+                    }
+                    break;
+            }
+            
+        }
+
+
+        public void RobotMoveProcess()
+        {
+            Config.Set("RuntimeRobot_Arm_MoveStep", RoboMoveInfo.MoveStep.ToString());
+
+            if (CheckWait(RoboMoveInfo))
+                return;
+            switch (RoboMoveInfo.MoveStep)
+            {
+                case MoveStep.Wait:
+                    break;
+                //机器人取料
+                case MoveStep.MI_01:
+                    RoboMoveInfo.NextMoveStep(MoveStep.MI_02);
+                    CompTOP1(RoboMoveInfo);
+                    RoboMoveInfo.log("压紧轴到待机点");
+                    robotHelper.lastWeight = GetWeight(RoboMoveInfo.MoveParam);
+                    break;
+                case MoveStep.MI_02:
+                    RoboMoveInfo.NextMoveStep(MoveStep.MI_03);
+                    robotHelper.Move(RoboMoveInfo, FromPos.Take_P5,1);
+                    RoboMoveInfo.log("机器人到Take_P5");
+                    break;
+                case MoveStep.MI_03:
+                    RoboMoveInfo.NextMoveStep(MoveStep.MI_04);
+                    TrayStop.DeviceList[GroupName].Location.ToLow(MoveInfo);
+                    CompTOCompression(RoboMoveInfo);
+                    RoboMoveInfo.log("压紧轴都下压");
+                    break;
+                case MoveStep.MI_04:
+                    if (!Comp.IsBusy)
+                    {
+                        RoboMoveInfo.NextMoveStep(MoveStep.MI_05);
+                        robotHelper.Move(RoboMoveInfo, FromPos.Take_P6,1);
+                        RoboMoveInfo.log("压紧轴到位");
+                        RoboMoveInfo.log("机器人到Take_P6");
+                    }
+                    break;
+                case MoveStep.MI_05:
+                    RoboMoveInfo.NextMoveStep(MoveStep.MI_06);
+                    CompTOCompression(RoboMoveInfo);
+                    RoboMoveInfo.log("压紧轴都下压");
+                    break;
+                case MoveStep.MI_06:
+                    if (!Comp.IsBusy)
+                    {
+                        RoboMoveInfo.log("压紧轴到位脉冲值:" + Comp.GetAclPosition());
+                        RoboMoveInfo.NextMoveStep(MoveStep.MI_07);
+                        robotHelper.Move(RoboMoveInfo, FromPos.Take_P7, robotHelper.lastWeight);
+                        RoboMoveInfo.log("机器人到Take_P7");
+                    }
+                    break;
+                case MoveStep.MI_07:
+                    RoboMoveInfo.NextMoveStep(MoveStep.MI_08);
+                    robotHelper.Move(RoboMoveInfo, FromPos.P1, robotHelper.lastWeight);
+                    RoboMoveInfo.log("机器人到P1");
+                    break;
+                case MoveStep.MI_08:
+                    RoboMoveInfo.NextMoveStep(MoveStep.MI_ReelTacked);
+                    RoboMoveInfo.log("机器人取料完成");
+                    break;
+
+                //机器人放料
+                case MoveStep.MI_40:
+                    RoboMoveInfo.NextMoveStep(MoveStep.MI_41);
+                    robotHelper.Move(RoboMoveInfo, ToPos.Put_P2, robotHelper.lastWeight);
+                    RoboMoveInfo.log("机器人到Put_P2");
+                    break;
+                case MoveStep.MI_41:
+                    RoboMoveInfo.NextMoveStep(MoveStep.MI_42);
+                    //Comp.AbsMove(RoboMoveInfo, RobotManage.Config.AMH_RoboMI1_Comp_P1, RobotManage.Config.AMH_RoboMI1_Comp_P1_speed);
+                    CompTOP1(RoboMoveInfo);
+                    robotHelper.Move(RoboMoveInfo, ToPos.Put_P3, robotHelper.lastWeight);
+                    RoboMoveInfo.log("压紧轴释放");
+                    RoboMoveInfo.log("机器人到Put_P3");
+                    break;
+                case MoveStep.MI_42:
+                    RoboMoveInfo.NextMoveStep(MoveStep.MI_43);
+                    robotHelper.Move(RoboMoveInfo, ToPos.Put_P4,1);
+                    RoboMoveInfo.log("机器人到Put_P4");
+                    break;
+                case MoveStep.MI_43:
+                    RoboMoveInfo.NextMoveStep(MoveStep.MI_44);
+                    robotHelper.Move(RoboMoveInfo, ToPos.P1, 1);
+                    RoboMoveInfo.log("机器人到P1");
+                    break;
+                case MoveStep.MI_44:
+                    RoboMoveInfo.NextMoveStep(MoveStep.Wait);
+                    RoboMoveInfo.log("放料完成");
+                    break;
+            }
+            
+        }
+
+
+
+        StoreJobList InStoreJobList = new StoreJobList(crc.GetString("Res0013","入库"));
+        volatile JobInfo InStoreJob;
+        StoreJobList OutStoreJobList = new StoreJobList(crc.GetString("Res0015","出库"));
+        internal void StartInStore(ReelParam trayParam)
+        {
+            //PosID== 料仓CID
+            InStoreJob = new JobInfo(trayParam.WareCode, trayParam.PosID, trayParam.PlateW, trayParam.PlateH);
+            InStoreJob.CID = trayParam.PosID;
+            InStoreJobList.Enqueue(new JobInfo(trayParam.WareCode, trayParam.PosID, trayParam.PlateW, trayParam.PlateH));
+            MoveInfo.log("写入点料队列:" + trayParam.ToStr());
+        }
+        internal void EnqueueOutStore(JobInfo trayParam)
+        {
+            OutStoreJobList.Enqueue(trayParam.Clone());
+            MoveInfo.log("写入出库队列:" + trayParam.ToStr());
+        }
+        internal void StartOutStore()
+        {
+            if (MoveInfo.MoveStep >= MoveStep.MI_50)
+            {
+                MoveInfo.log("机器人正在等待托盘");
+            }
+            else
+            {
+                MoveInfo.NewMove(MoveStep.MI_50);
+                MoveInfo.log("开始出库");
+            }
+        }
+        /// <summary>
+        /// 释放托盘
+        /// </summary>
+        public void TrayRelease() {
+            //MoveInfo.log("释放托盘");
+           // MoveInfo.NextMoveStep(MoveStep.TrayStop_LoadProcessed);
+        }
+        void CompTOP1(MoveInfo MoveInfo)
+        {
+            if (Comp.HasHome())
+                Comp.AbsMove(MoveInfo, RobotManage.Config.AMH_RoboMI1_Comp_P1, RobotManage.Config.AMH_RoboMI1_Comp_P1_speed);
+            else
+                Comp.HomeMove(MoveInfo);
+        }
+        void CompTOCompression(MoveInfo MoveInfo)
+        {
+            if (!Comp.HasHome())
+                return;
+
+            Comp.AbsMove(null, DeviceGroup.p3, RobotManage.Config.AMH_RoboMI1_Comp_P2_speed);
+            Comp.BatchAxisStartCheck(IO_Type.MI_Robot_Clamp_Check, IO_VALUE.HIGH);
+        }
+        bool compdetereel = false;
+        int lastCmd = 0;
+        int lastStep = 0;
+        int lastPrefix = 0;
+        public void ResetProcess()
+        {
+            if (CheckWait(MoveInfo))
+                return;
+
+            switch (MoveInfo.MoveStep)
+            {
+                case MoveStep.Wait:
+                    //MoveInfo.NextMoveStep(MoveStep.H01_HomeReset);
+                    
+                    break;
+                case MoveStep.H01_HomeReset:
+                    MoveInfo.EndMove();
+                    DeviceState = DeviceStateE.Run;
+                    return;
+                    if (!Enum.TryParse<MoveStep>(Config.Get("RuntimeRobot_" + robotname + "_MoveStep", MoveStep.Wait.ToString()), out MoveStep m1step))
+                        m1step = MoveStep.Wait;
+                    if (!Enum.TryParse<MoveStep>(Config.Get("RuntimeRobot_" + robotname + "_Arm_MoveStep", MoveStep.Wait.ToString()), out MoveStep m2step))
+                        m2step = MoveStep.Wait;
+                    //var m1step = (MoveStep)Enum.Parse(typeof(MoveStep), Config.Get("RuntimeRobot_" + robotname + "_MoveStep", MoveStep.Wait.ToString()));
+                    //var m2step = (MoveStep)Enum.Parse(typeof(MoveStep), Config.Get("RuntimeRobot_" + robotname + "_Arm_MoveStep", MoveStep.Wait.ToString()));
+                    if (IOValue(IO_Type.MI_Robot_Clamp_Check).Equals(IO_VALUE.LOW)
+                        && IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.LOW)
+                        && m1step == MoveStep.Wait)
+                    {
+                        MoveInfo.NextMoveStep(MoveStep.H09_HomeReset);
+                        Robot.SendMoveCmd(1, Setting_Init.URRobot_MI1_Speed_Rate, false, RobotHelper.LoadRateParam[robotHelper.lastWeight]);
+                        MoveInfo.log("没有最后的动作, 机器人回待机点");
+                    }
+                    else
+                    {
+                        MoveInfo.MoveParam = JsonConvert.DeserializeObject<ReelParam>(Config.Get("Runtime_Robot_"+robotname+"_ReelInfo"));
+                        RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone();
+                        FromPos = GetMIPosition(GroupName, Config.Get("Runtime_Robot_" + robotname + "_FromPos"));
+                        ToPos = GetMIPosition(GroupName, Config.Get("Runtime_Robot_" + robotname + "_ToPos"));
+                        CurrentVStore = VStoreCollection.VStoreList[MoveInfo.MoveParam.cid];
+                        MoveInfo.NextMoveStep(m1step);
+                        RoboMoveInfo.NextMoveStep(m2step);
+                        DeviceState = DeviceStateE.Run;
+                    }
+                    break;
+                case MoveStep.H02_HomeReset:                    
+                    if (!Robot.StartRobot()) {
+                        MoveInfo.CanWhileCount--;
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(POS_Start + crc.GetString("Res0016","机器人连接失败"), MoveInfo.CanWhileCount<=0 ? MsgLevel.alarm: MsgLevel.warning));
+                    }else
+                        MoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
+                    break;
+                case MoveStep.H03_HomeReset:
+                    
+                    if (Robot.IsRun)
+                    {
+                        MoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
+                        Robot.PlayProgram();
+                        MoveInfo.log("Robot.ProgramState:" + Robot.ProgramState);
+                        MoveInfo.log("Robot.ClientIsConnected:" + Robot.ClientIsConnected);
+                        MoveInfo.log("Robot.IsRun:" + Robot.IsRun);
+                        MoveInfo.log("Robot.IsStartConnect:" + Robot.IsStartConnect);
+                        MoveInfo.log("Robot.CurCmdReponse:" + Robot.CurCmdReponse);
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
+
+                    } else if (MoveInfo.IsTimeOut(30)) {
+                        MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
+                    }
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(POS_Start + crc.GetString("Res0017", "机器人启动失败"), MoveInfo.CanWhileCount <= 0 ? MsgLevel.alarm : MsgLevel.warning));
+                    break;
+                case MoveStep.H04_HomeReset:                    
+                    if (Robot.ClientIsConnected && Robot.CurCmdReponse.Contains("Start Program"))
+                    {
+                        MoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
+                    }
+                    else if (MoveInfo.IsTimeOut(10))
+                    {
+                        MoveInfo.NextMoveStep(MoveStep.H10_HomeReset);
+                    }
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(POS_Start + crc.GetString("Res0018", "机器人未连接MT"), MoveInfo.CanWhileCount <= 0 ? MsgLevel.alarm : MsgLevel.warning));
+                    break;
+                case MoveStep.H05_HomeReset:
+                    MoveInfo.NextMoveStep(MoveStep.H09_HomeReset);
+                    return;
+                    
+                case MoveStep.H06_HomeReset:
+                    if (Robot.MoveCmdOk())
+                    {
+                        //如果上一步是回到待机点,并且料叉上无物料
+                        if (lastStep==1 && !compdetereel && !IOValue(IO_Type.MI_Robot_Reel_Check).Equals(IO_VALUE.HIGH))
+                        {
+                            //回原结束
+                            return;
+                        }
+                        RoboMoveInfo.MoveParam = MoveInfo.MoveParam.clone();
+                        robotHelper.lastWeight = GetWeight(RoboMoveInfo.MoveParam);
+                        //如果上一步是回待机点,但料叉上有物料
+                        if (lastStep == 1)
+                        {
+                            MoveInfo.NextMoveStep(MoveStep.MI_02);
+                            RoboMoveInfo.NextMoveStep(MoveStep.MI_07);
+                        }
+                        else if (lastStep == 0)//P5 取料低点
+                        {
+                            MoveInfo.NextMoveStep(MoveStep.MI_02);
+                            RoboMoveInfo.NextMoveStep(MoveStep.MI_02);
+                        }
+                        else if (lastStep == 2)//P6 取料高点
+                        {
+                            MoveInfo.NextMoveStep(MoveStep.MI_02);
+                            RoboMoveInfo.NextMoveStep(MoveStep.MI_04);
+                        }
+                        else if (lastStep == 5)//P7 取料退出过度点
+                        {
+                            MoveInfo.NextMoveStep(MoveStep.MI_02);
+                            RoboMoveInfo.NextMoveStep(MoveStep.MI_06);
+                        }
+                        else if (lastStep == 1)//P2 放料高点P2
+                        {
+                            MoveInfo.NextMoveStep(MoveStep.MI_02);
+                            RoboMoveInfo.NextMoveStep(MoveStep.MI_40);
+                        }
+                    }
+                    break;
+                case MoveStep.H09_HomeReset:
+                    if (Robot.MoveCmdOk())
+                    {
+                        MoveInfo.EndMove();
+                        DeviceState = DeviceStateE.Run;
+                    }
+                    break;
+
+                    //尝试解除安全保护
+                case MoveStep.H10_HomeReset:
+                    MoveInfo.NextMoveStep(MoveStep.H11_HomeReset);
+                    Robot.SendCMD("safetymode", 0);
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
+                    break;
+                case MoveStep.H11_HomeReset:                    
+                    MoveInfo.log("机器人反馈安全模式为:" + Robot.CurDashboardReponse);
+                    if (Robot.CurDashboardReponse.Contains("PROTECTIVE_STOP"))
+                    {
+                        MoveInfo.NextMoveStep(MoveStep.H12_HomeReset);
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
+                    }
+                    else if (Robot.CurDashboardReponse.Contains("NORMAL")) {
+                        MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
+                    }
+                    else if (Robot.CurDashboardReponse.Contains("Starting program"))
+                    {
+                        MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
+                    }
+                    else {
+                        Msg.add(crc.GetString("Res0059","机器人状态异常:") + Robot.CurDashboardReponse, MsgLevel.alarm);
+                    }
+                        break;
+                case MoveStep.H12_HomeReset:
+                    MoveInfo.NextMoveStep(MoveStep.H13_HomeReset);
+                    MoveInfo.log("机器人反馈安全模式为:"+Robot.CurCmdReponse);
+                    Robot.SendCMD("unlock protective stop", 0);
+                    MoveInfo.log("尝试解除机器人保护");
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
+                    break;
+                case MoveStep.H13_HomeReset:
+                    if (Robot.CurCmdReponse.Contains("Protective stop releasing")) {
+                        MoveInfo.log("机器人成功解除保护");
+                        Robot.StopProgram();
+                        MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
+                    }
+                    else if (MoveInfo.IsTimeOut(5))
+                    {
+                        MoveInfo.NextMoveStep(MoveStep.H10_HomeReset);
+                    }                    
+                    break;
+            }
+        }
+
+        /// <summary>
+        /// 设备是否有任务
+        /// </summary>
+        /// <param name="reelParam"></param>
+        /// <returns></returns>
+        public bool HasJob(ReelParam reelParam)
+        {
+            if (DeviceState != DeviceStateE.Run)
+                return false;
+
+            if (reelParam==null && MoveInfo.MoveStep >= MoveStep.MI_53)//正在出库中
+                return true;
+
+            if (MoveInfo.MoveStep != MoveStep.Wait)
+                return false;
+
+            if (reelParam == null)
+            {
+                //空托盘,判断有没有出库任务
+                var sc = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().Find(vs=>vs.RTStoreStatus==RTStoreStatus.OutStoreReady || vs.RTStoreStatus == RTStoreStatus.InStoreError|| vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError);
+                return (sc != null);
+            }
+            if (string.IsNullOrEmpty(reelParam.SubCID)) {
+                MoveInfo.log("SubCID为空");
+                return false;
+            }
+
+            if (!VStoreCollection.VStoreList.ContainsKey(reelParam.SubCID)) {
+                MoveInfo.log("RT料仓CID不存在:"+ reelParam.SubCID);
+                return false;
+            }
+            //有料托盘,判断目的地料仓是否空闲
+            if (VStoreCollection.VStoreList[reelParam.SubCID].RTStoreStatus == RTStoreStatus.Ready)
+            {
+                //料仓空闲, 锁定料仓准备入库
+                VStoreCollection.VStoreList[reelParam.SubCID].RTStoreStatus = RTStoreStatus.LockToInStore;
+                return true;
+            }
+            MoveInfo.log("RT料仓当前状态:" + VStoreCollection.VStoreList[reelParam.SubCID].RTStoreStatus);
+
+            return false;
+        }
+        int bufferstoresindex = 0;
+        string[] bufferstores = new string[] { "B01", "B02", "B03", "B04", "B05", "B06", "B07", "B08" };
+
+        string GetNextBufferStore() {
+            if (bufferstoresindex >= bufferstores.Length)
+                bufferstoresindex = 0;
+
+            var c = POS_Start + "_"+bufferstores[bufferstoresindex];
+            bufferstoresindex++;
+
+            return c;
+        }
+
+        public bool FrontCheck(int curaddr)
+        {
+            throw new NotImplementedException();
+        }
+
+        public bool IsFree()
+        {
+            throw new NotImplementedException();
+        }
+        public RobotPosition GetMIPosition(string device, string pos) {
+
+            if (device == "AMH-MI1")
+                return RobotManage.MI1Postion[pos];
+            else if (device == "AMH-MI2")
+                return RobotManage.MI2Postion[pos];
+            else
+                return RobotManage.CIPostion[pos];
+
+        }
+        int GetWeight(ReelParam reelParam) {
+            int w = 0;
+            if (reelParam == null)
+                w = 1;
+            else if (reelParam.PlateW==7)
+                w= 2;
+            else if (reelParam.PlateW == 13 && reelParam.PlateH==8)
+                w= 2;
+            else if(reelParam.PlateW == 13)
+                w= 3;
+            else if(reelParam.PlateW == 15)
+                w= 3;
+            else
+                w= 2;
+            RoboMoveInfo.log($"机器人负载设定: {reelParam?.PlateW}x{reelParam?.PlateH}={w}");
+            return w;
+        }
+
+        public void FrontStopProcess()
+        {
+            //throw new NotImplementedException();
+        }
+    }
+}
\ No newline at end of file

DeviceLibrary/theMachine/sub/MI.cs

@@ -160,7 +160,8 @@ namespace DeviceLibrary
                         return;
                     }
                     //判断有无出库任务
-                    var testInStoreError = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().Find(vs => DateTime.Now > vs.LastProcessErrorTime && vs.LastProcessErrorTimes<4 && (vs.RTStoreStatus == RTStoreStatus.InStoreError || vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError));
+                    //var testInStoreError = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().Find(vs => DateTime.Now > vs.LastProcessErrorTime && vs.LastProcessErrorTimes<4 && (vs.RTStoreStatus == RTStoreStatus.InStoreError || vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError));
+                    var testInStoreError = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().Find(vs => (vs.RTStoreStatus == RTStoreStatus.InStoreError || vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError));
                     var hasoutjob = false;
                     if (testInStoreError != null)
                         hasoutjob = true;
@@ -254,7 +255,8 @@ namespace DeviceLibrary
                     }
                     break;
                 case MoveStep.MI_50:
-                    var InStoreError = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().Find(vs => DateTime.Now > vs.LastProcessErrorTime && vs.LastProcessErrorTimes < 4 && (vs.RTStoreStatus == RTStoreStatus.InStoreError || vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError));
+                    //var InStoreError = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().Find(vs => DateTime.Now > vs.LastProcessErrorTime && vs.LastProcessErrorTimes < 4 && (vs.RTStoreStatus == RTStoreStatus.InStoreError || vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError));
+                    var InStoreError = VStoreCollection.VStoreList.Values.Where(vs => vs.TowerInfo.DeviceGroupName == GroupName).ToList().Find(vs => (vs.RTStoreStatus == RTStoreStatus.InStoreError || vs.RTStoreStatus == RTStoreStatus.InStoreDataTimeOut || vs.TerminalError));
                     if (InStoreError != null)
                     {
                         var result = TheLine.GetReelSize<ResultData>(InStoreError.CurrentTerminalReelID);

DeviceLibrary/theMachine/sub/TransplantMove.cs

@@ -34,6 +34,8 @@ namespace DeviceLibrary
         AxisBean axis;
         CylinderManger Location;
         CylinderManger Transplant;
+
+        public bool Disable { get; set; }=false;
         public DeviceStateE DeviceState { get ; set ; }
 
         public TransplantMove(DeviceGroup device, Robot_Config config, out string msg) : base()
@@ -60,7 +62,16 @@ namespace DeviceLibrary
         }
         public void Start()
         {
-            OpenAllServo();
+            axis.Disable = Disable;
+            if (Disable)
+            {
+                MoveInfo.log("移栽设备已禁用");
+            }
+            else
+            {
+                OpenAllServo();
+            }
+
             DeviceState = DeviceStateE.HomeReset;
             MoveInfo.NewMove(MoveStep.H01_HomeReset);
             MoveInfo.log("开始回原");
@@ -127,9 +138,18 @@ namespace DeviceLibrary
                         IOMove(IO_Type.AMH_Front_Stop, IO_VALUE.LOW);
                     if (IOValue(IO_Type.AMH_In_Check).Equals(IO_VALUE.HIGH))
                     {
-                        MoveInfo.NextMoveStep(MoveStep.TransplantMove_03);
+                        if (Disable)
+                        {
+                            MoveInfo.NextMoveStep(MoveStep.TransplantMove_04);
+                            MoveInfo.log("移栽设备禁用,直接通过");
+                            Location.ToLow(MoveInfo);
+                        }
+                        else
+                            MoveInfo.NextMoveStep(MoveStep.TransplantMove_03);
                         MoveInfo.CanWhileCount = 3;
                         MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+
+                        
                         //Location.ToHigh(MoveInfo);
                     }
                     else if (MoveInfo.IsTimeOut(10)) {
@@ -551,16 +571,18 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.H01_HomeReset:
                     MoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
-                    axis.HomeMove(MoveInfo);
+                    if (!Disable)
+                        axis.HomeMove(MoveInfo);
                     break;
                 case MoveStep.H02_HomeReset:
                     MoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
                     Location.ToLow(MoveInfo);
-                    Transplant.ToLow(MoveInfo);
+                    if (!Disable)
+                        Transplant.ToLow(MoveInfo);
                     break;
                 case MoveStep.H03_HomeReset:
                     MoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
-                    if (ConfigHelper.Config.Get($"Runtime_{GroupName}_IsSucker",false))
+                    if (ConfigHelper.Config.Get($"Runtime_{GroupName}_IsSucker",false) && !Disable)
                     {
                         if (string.IsNullOrEmpty(CurrrentRFID))
                             CurrrentRFID = ConfigHelper.Config.Get($"Runtime_{GroupName}_CurrrentRFID");

DeviceLibrary/theMachine/sub/TrayStop.cs

@@ -7,6 +7,7 @@ using System.Collections.Generic;
 using System.Collections.Specialized;
 using System.Diagnostics;
 using System.Linq;
+using System.Security.Cryptography;
 using System.Text;
 using System.Threading.Tasks;
 
@@ -150,7 +151,7 @@ namespace DeviceLibrary
                         var stop = TrayManager.TryGetTrayRequest(GroupName, CurrrentRFID, out _);
                         MoveInfo.log($"CurrrentRFID:{CurrrentRFID},HasLoad:{trayInfo.HasLoad},MI_Reel_Check:{IOValue(IO_Type.MI_Reel_Check)},NeedStop:{stop}");
                         #region MI1,Mi2的情况判断
-                        if ((GroupName == "AMH-MI1" || GroupName == "AMH-MI2") && trayInfo.TrayType== TrayTypeE.MTP1)
+                        if ((GroupName == "AMH-MI1" || GroupName == "AMH-MI2") && trayInfo.TrayType == TrayTypeE.MTP1)
                         {
                             /*
                              * 请求一个空托盘
@@ -185,7 +186,8 @@ namespace DeviceLibrary
                                 MoveInfo.log("检测到机器人急停,托盘放行处理");
                                 MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
                                 return;
-                            }else
+                            }
+                            else
                             if (!trayInfo.HasLoad && IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
                             {
                                 MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
@@ -201,7 +203,8 @@ namespace DeviceLibrary
                             }
                             else if (trayInfo.DestinationAddr == DeviceGroup.addr_1 && trayInfo.HasLoad)
                             {
-                                if (IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW)) {
+                                if (IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
+                                {
                                     TrayManager.SetTrayError(CurrrentRFID);
                                     Msg.add(crc.GetString("Res0034", "托盘没有检测到物料"), MsgLevel.alarm);
                                     MoveInfo.log("托盘没有检测到物料");
@@ -212,11 +215,11 @@ namespace DeviceLibrary
                                 if (VStoreCollection.VStoreList[cid].RTStoreStatus == RTStoreStatus.Offline)
                                 {
                                     MoveInfo.log($"当前需求设备CID:{cid}已离线");
-                                    var rm= TheLine.Regetposid(trayInfo.TrayParam, trayInfo.TrayType.ToString(), out string msg);
+                                    var rm = TheLine.Regetposid(trayInfo.TrayParam, trayInfo.TrayType.ToString(), out string msg);
                                     MoveInfo.log($"重新获取库位 msg:{msg},\t {rm.ToStr()}");
                                     RequestLoadInfo RequestLoadInfo = new RequestLoadInfo();
                                     RequestLoadInfo.LoadParam = rm.clone();
-                                    RequestLoadInfo.DeviceGroupName= rm.cid;
+                                    RequestLoadInfo.DeviceGroupName = rm.cid;
                                     RequestLoadInfo.TrayType = trayInfo.TrayType.ToString();
                                     RequestLoadInfo.IsEmpty = false;
                                     TrayManager.SetTrayLoadInfo(CurrrentRFID, RequestLoadInfo);
@@ -242,6 +245,37 @@ namespace DeviceLibrary
                                 MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
                             return;
                         }
+                        else if (GroupName == "CI" && trayInfo.TrayType == TrayTypeE.MTP1) {
+                            var device = CI.DeviceList[GroupName];
+                            if (!device.ManualCount)
+                            {
+                                MoveInfo.log($"点料机当前不可用,NG处理");
+                                RequestLoadInfo RequestLoadInfo = new RequestLoadInfo();
+                                RequestLoadInfo.LoadParam = trayInfo.TrayParam.clone();
+                                RequestLoadInfo.LoadParam.IsNg=true;
+                                RequestLoadInfo.LoadParam.NgMsg="XRay not enable";
+                                RequestLoadInfo.DeviceGroupName = "AMH-MI2";
+                                RequestLoadInfo.TrayType = trayInfo.TrayType.ToString();
+                                RequestLoadInfo.IsEmpty = false;
+                                TrayManager.SetTrayLoadInfo(CurrrentRFID, RequestLoadInfo);
+                                //查询新库位, 检查料仓状态
+                                MoveInfo.NextMoveStep(MoveStep.TrayStop_03);
+                                return;
+                            }
+                            else
+                            {
+                                MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
+                                //抵达了一个有物料的托盘等待处理
+                                
+                                if (!device.HasJob(trayInfo.TrayParam))
+                                    MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
+                                else
+                                {
+                                    MoveInfo.NextMoveStep(MoveStep.TrayStop_07);
+                                    device.StartInStore(trayInfo.TrayParam);
+                                }
+                            }
+                        }
                         #endregion
                         if (stop && !trayInfo.HasLoad && IOValue(IO_Type.MI_Reel_Check).Equals(IO_VALUE.LOW))
                         {

RemoteSheardObject/RemoteSheardObject.csproj

@@ -103,5 +103,11 @@
   <ItemGroup>
     <None Include="packages.config" />
   </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\Common\Common.csproj">
+      <Project>{43CDD09E-FCF3-4960-A01D-3BBFE9933122}</Project>
+      <Name>Common</Name>
+    </ProjectReference>
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>
\ No newline at end of file

RemoteSheardObject/TheLine.cs

 using ConfigHelper;
 using Newtonsoft.Json;
+using OnlineStore;
 using System;
 using System.Collections.Generic;
 using System.Collections.Specialized;
@@ -298,7 +299,7 @@ namespace RemoteSheardObject
                     if (mid == "AMH-MI1" || mid == "AMH-MI2")
                     {
                         var micode = $"P{reelParam.PN}#S{reelParam.RI}#{reelParam.QTY}#{reelParam.DC}";
-                        msg += "送往MI物料重组2dcode:" + micode;
+                        msg += $"送往MI物料重组2dcode:" + micode;
 
                         reelParam.SubCID = result.cid;
                         reelParam.WareCode = micode;

TheMachine/device/CIDebugControl.Designer.cs

@@ -34,12 +34,13 @@
             this.txt_barcode = new System.Windows.Forms.TextBox();
             this.label_barcode = new System.Windows.Forms.Label();
             this.timer1 = new System.Windows.Forms.Timer(this.components);
+            this.cb_manualcount = new System.Windows.Forms.CheckBox();
             this.SuspendLayout();
             // 
             // label_status
             // 
             this.label_status.AutoSize = true;
-            this.label_status.Location = new System.Drawing.Point(60, 86);
+            this.label_status.Location = new System.Drawing.Point(60, 128);
             this.label_status.Name = "label_status";
             this.label_status.Size = new System.Drawing.Size(41, 12);
             this.label_status.TabIndex = 0;
@@ -47,7 +48,7 @@
             // 
             // btn_start
             // 
-            this.btn_start.Location = new System.Drawing.Point(325, 86);
+            this.btn_start.Location = new System.Drawing.Point(325, 128);
             this.btn_start.Name = "btn_start";
             this.btn_start.Size = new System.Drawing.Size(135, 23);
             this.btn_start.TabIndex = 1;
@@ -57,7 +58,7 @@
             // 
             // txt_barcode
             // 
-            this.txt_barcode.Location = new System.Drawing.Point(123, 34);
+            this.txt_barcode.Location = new System.Drawing.Point(123, 76);
             this.txt_barcode.Name = "txt_barcode";
             this.txt_barcode.Size = new System.Drawing.Size(337, 21);
             this.txt_barcode.TabIndex = 2;
@@ -66,7 +67,7 @@
             // label_barcode
             // 
             this.label_barcode.AutoSize = true;
-            this.label_barcode.Location = new System.Drawing.Point(60, 37);
+            this.label_barcode.Location = new System.Drawing.Point(60, 79);
             this.label_barcode.Name = "label_barcode";
             this.label_barcode.Size = new System.Drawing.Size(53, 12);
             this.label_barcode.TabIndex = 0;
@@ -78,10 +79,22 @@
             this.timer1.Interval = 1000;
             this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
             // 
+            // cb_manualcount
+            // 
+            this.cb_manualcount.AutoSize = true;
+            this.cb_manualcount.Location = new System.Drawing.Point(32, 27);
+            this.cb_manualcount.Name = "cb_manualcount";
+            this.cb_manualcount.Size = new System.Drawing.Size(96, 16);
+            this.cb_manualcount.TabIndex = 3;
+            this.cb_manualcount.Text = "手动拦截点料";
+            this.cb_manualcount.UseVisualStyleBackColor = true;
+            this.cb_manualcount.CheckedChanged += new System.EventHandler(this.cb_manualcount_CheckedChanged);
+            // 
             // CIDebugControl
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.cb_manualcount);
             this.Controls.Add(this.txt_barcode);
             this.Controls.Add(this.btn_start);
             this.Controls.Add(this.label_barcode);
@@ -100,5 +113,6 @@
         private System.Windows.Forms.TextBox txt_barcode;
         private System.Windows.Forms.Label label_barcode;
         private System.Windows.Forms.Timer timer1;
+        private System.Windows.Forms.CheckBox cb_manualcount;
     }
 }

TheMachine/device/CIDebugControl.cs

-using DeviceLibrary;
+using OnlineStore;
+using DeviceLibrary;
 using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using System;
@@ -50,13 +51,18 @@ namespace TheMachine.device
                     LogUtil.info("手动点击开始点料");
                 }
                 else {
-                    MessageBox.Show("未成功连接VJ点料机");
+                    MessageBox.Show(crc.GetString("Res0117.c9f109fe","未成功连接VJ点料机"));
                 }
             }
             else
             {
-                MessageBox.Show("点料机没有准备好,不能启动.");
+                MessageBox.Show(crc.GetString("Res0118.f955ef4e","点料机没有准备好,不能启动."));
             }
         }
+
+        private void cb_manualcount_CheckedChanged(object sender, EventArgs e)
+        {
+            CI.DeviceList["CI"].ManualCount = cb_manualcount.Checked;
+        }
     }
-}
+}
\ No newline at end of file

TheMachine/device/TransplantControl.Designer.cs

@@ -43,9 +43,10 @@ namespace TheMachine
             this.cylinderButton1 = new TheMachine.CylinderButton();
             this.ioControl1 = new TheMachine.IOControl();
             this.panel1 = new System.Windows.Forms.Panel();
+            this.btn_Reset = new System.Windows.Forms.Button();
             this.btn_sucker_release = new System.Windows.Forms.Button();
             this.rfidControl1 = new TheMachine.UC.RfidControl();
-            this.btn_Reset = new System.Windows.Forms.Button();
+            this.cb_disabledevice = new System.Windows.Forms.CheckBox();
             this.panel1.SuspendLayout();
             this.SuspendLayout();
             // 
@@ -59,7 +60,7 @@ namespace TheMachine
             // 
             // button_save
             // 
-            this.button_save.Location = new System.Drawing.Point(755, 623);
+            this.button_save.Location = new System.Drawing.Point(762, 640);
             this.button_save.Name = "button_save";
             this.button_save.Size = new System.Drawing.Size(100, 23);
             this.button_save.TabIndex = 7;
@@ -69,21 +70,21 @@ namespace TheMachine
             // 
             // textBox_p2
             // 
-            this.textBox_p2.Location = new System.Drawing.Point(758, 544);
+            this.textBox_p2.Location = new System.Drawing.Point(765, 570);
             this.textBox_p2.Name = "textBox_p2";
             this.textBox_p2.Size = new System.Drawing.Size(100, 21);
             this.textBox_p2.TabIndex = 8;
             // 
             // textBox_p3
             // 
-            this.textBox_p3.Location = new System.Drawing.Point(755, 587);
+            this.textBox_p3.Location = new System.Drawing.Point(762, 613);
             this.textBox_p3.Name = "textBox_p3";
             this.textBox_p3.Size = new System.Drawing.Size(100, 21);
             this.textBox_p3.TabIndex = 8;
             // 
             // button_p2
             // 
-            this.button_p2.Location = new System.Drawing.Point(581, 542);
+            this.button_p2.Location = new System.Drawing.Point(588, 568);
             this.button_p2.Name = "button_p2";
             this.button_p2.Size = new System.Drawing.Size(162, 23);
             this.button_p2.TabIndex = 9;
@@ -93,7 +94,7 @@ namespace TheMachine
             // 
             // button_p3
             // 
-            this.button_p3.Location = new System.Drawing.Point(578, 585);
+            this.button_p3.Location = new System.Drawing.Point(585, 611);
             this.button_p3.Name = "button_p3";
             this.button_p3.Size = new System.Drawing.Size(162, 23);
             this.button_p3.TabIndex = 9;
@@ -103,7 +104,7 @@ namespace TheMachine
             // 
             // button_p1
             // 
-            this.button_p1.Location = new System.Drawing.Point(581, 513);
+            this.button_p1.Location = new System.Drawing.Point(588, 539);
             this.button_p1.Name = "button_p1";
             this.button_p1.Size = new System.Drawing.Size(162, 23);
             this.button_p1.TabIndex = 9;
@@ -118,7 +119,7 @@ namespace TheMachine
             this.cylinderButton8.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.cylinderButton8.IO_HIGH = "AMH_Front_Stop";
             this.cylinderButton8.IO_LOW = "";
-            this.cylinderButton8.Location = new System.Drawing.Point(618, 378);
+            this.cylinderButton8.Location = new System.Drawing.Point(625, 404);
             this.cylinderButton8.Name = "cylinderButton8";
             this.cylinderButton8.Size = new System.Drawing.Size(181, 38);
             this.cylinderButton8.TabIndex = 2;
@@ -133,7 +134,7 @@ namespace TheMachine
             this.cylinderButton2.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.cylinderButton2.IO_HIGH = "AMH_Tray_Stop";
             this.cylinderButton2.IO_LOW = "";
-            this.cylinderButton2.Location = new System.Drawing.Point(618, 422);
+            this.cylinderButton2.Location = new System.Drawing.Point(625, 448);
             this.cylinderButton2.Name = "cylinderButton2";
             this.cylinderButton2.Size = new System.Drawing.Size(181, 38);
             this.cylinderButton2.TabIndex = 3;
@@ -148,7 +149,7 @@ namespace TheMachine
             this.cylinderButton7.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.cylinderButton7.IO_HIGH = "AMH_Sucker";
             this.cylinderButton7.IO_LOW = "";
-            this.cylinderButton7.Location = new System.Drawing.Point(618, 337);
+            this.cylinderButton7.Location = new System.Drawing.Point(625, 363);
             this.cylinderButton7.Name = "cylinderButton7";
             this.cylinderButton7.Size = new System.Drawing.Size(181, 38);
             this.cylinderButton7.TabIndex = 3;
@@ -163,7 +164,7 @@ namespace TheMachine
             this.cylinderButton6.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.cylinderButton6.IO_HIGH = "AMH_Trans_Fwd";
             this.cylinderButton6.IO_LOW = "AMH_Trans_Bwd";
-            this.cylinderButton6.Location = new System.Drawing.Point(618, 293);
+            this.cylinderButton6.Location = new System.Drawing.Point(625, 319);
             this.cylinderButton6.Name = "cylinderButton6";
             this.cylinderButton6.Size = new System.Drawing.Size(181, 38);
             this.cylinderButton6.TabIndex = 4;
@@ -178,7 +179,7 @@ namespace TheMachine
             this.cylinderButton1.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
             this.cylinderButton1.IO_HIGH = "AMH_Location_Up";
             this.cylinderButton1.IO_LOW = "AMH_Location_Down";
-            this.cylinderButton1.Location = new System.Drawing.Point(618, 249);
+            this.cylinderButton1.Location = new System.Drawing.Point(625, 275);
             this.cylinderButton1.Name = "cylinderButton1";
             this.cylinderButton1.Size = new System.Drawing.Size(181, 38);
             this.cylinderButton1.TabIndex = 5;
@@ -197,6 +198,7 @@ namespace TheMachine
             // panel1
             // 
             this.panel1.AutoScroll = true;
+            this.panel1.Controls.Add(this.cb_disabledevice);
             this.panel1.Controls.Add(this.btn_Reset);
             this.panel1.Controls.Add(this.btn_sucker_release);
             this.panel1.Controls.Add(this.rfidControl1);
@@ -219,11 +221,21 @@ namespace TheMachine
             this.panel1.Size = new System.Drawing.Size(1021, 741);
             this.panel1.TabIndex = 10;
             // 
+            // btn_Reset
+            // 
+            this.btn_Reset.Location = new System.Drawing.Point(770, 140);
+            this.btn_Reset.Name = "btn_Reset";
+            this.btn_Reset.Size = new System.Drawing.Size(100, 69);
+            this.btn_Reset.TabIndex = 12;
+            this.btn_Reset.Text = "Reset";
+            this.btn_Reset.UseVisualStyleBackColor = true;
+            this.btn_Reset.Click += new System.EventHandler(this.btn_Reset_Click);
+            // 
             // btn_sucker_release
             // 
             this.btn_sucker_release.BackColor = System.Drawing.Color.White;
             this.btn_sucker_release.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.btn_sucker_release.Location = new System.Drawing.Point(618, 469);
+            this.btn_sucker_release.Location = new System.Drawing.Point(625, 495);
             this.btn_sucker_release.Name = "btn_sucker_release";
             this.btn_sucker_release.Size = new System.Drawing.Size(181, 38);
             this.btn_sucker_release.TabIndex = 11;
@@ -240,15 +252,16 @@ namespace TheMachine
             this.rfidControl1.TabIndex = 10;
             this.rfidControl1.Visible = false;
             // 
-            // btn_Reset
+            // cb_disabledevice
             // 
-            this.btn_Reset.Location = new System.Drawing.Point(770, 140);
-            this.btn_Reset.Name = "btn_Reset";
-            this.btn_Reset.Size = new System.Drawing.Size(100, 69);
-            this.btn_Reset.TabIndex = 12;
-            this.btn_Reset.Text = "Reset";
-            this.btn_Reset.UseVisualStyleBackColor = true;
-            this.btn_Reset.Click += new System.EventHandler(this.btn_Reset_Click);
+            this.cb_disabledevice.AutoSize = true;
+            this.cb_disabledevice.Location = new System.Drawing.Point(588, 245);
+            this.cb_disabledevice.Name = "cb_disabledevice";
+            this.cb_disabledevice.Size = new System.Drawing.Size(108, 16);
+            this.cb_disabledevice.TabIndex = 13;
+            this.cb_disabledevice.Text = "Disable device";
+            this.cb_disabledevice.UseVisualStyleBackColor = true;
+            this.cb_disabledevice.CheckedChanged += new System.EventHandler(this.cb_disabledevice_CheckedChanged);
             // 
             // TransplantControl
             // 
@@ -282,5 +295,6 @@ namespace TheMachine
         private UC.RfidControl rfidControl1;
         private System.Windows.Forms.Button btn_sucker_release;
         private System.Windows.Forms.Button btn_Reset;
+        private System.Windows.Forms.CheckBox cb_disabledevice;
     }
 }

TheMachine/device/TransplantControl.cs

@@ -96,5 +96,10 @@ namespace TheMachine
         {
             TransplantMove.DeviceList[DeviceGroupName].ResetStatus();
         }
+
+        private void cb_disabledevice_CheckedChanged(object sender, EventArgs e)
+        {
+            TransplantMove.DeviceList[DeviceGroupName].Disable = cb_disabledevice.Checked;
+        }
     }
 }