1

DeviceLibrary/DeviceLibrary.csproj

@@ -92,6 +92,7 @@
     <Compile Include="theMachine\Common.cs" />
     <Compile Include="theMachine\JobList.cs" />
     <Compile Include="theMachine\LabelParam.cs" />
+    <Compile Include="theMachine\DeviceRunControl.cs" />
     <Compile Include="theMachine\MainMachine _BtnProcess.cs" />
     <Compile Include="theMachine\DeviceBase.cs" />
     <Compile Include="theMachine\MainMachine _IOMonitor.cs" />
@@ -114,6 +115,7 @@
     <Compile Include="theMachine\sub\TrayStop.cs" />
     <Compile Include="theMachine\sub\TransplantMove.cs" />
     <Compile Include="theMachine\sub\SideMove.cs" />
+    <Compile Include="theMachine\TrayManager.cs" />
     <Compile Include="userControl\AxisMoveControl.cs">
       <SubType>UserControl</SubType>
     </Compile>

DeviceLibrary/DeviceLibrary/CylinderManger.cs

@@ -12,12 +12,14 @@ namespace DeviceLibrary
     {
         string High;
         string Low;
+        string DeviceGroup;
         string Name;
         IO_VALUE currentIOvalue = IO_VALUE.None;
-        public CylinderManger(string name,string high,string low) {
+        public CylinderManger(string name,string devicegroup,string high,string low) {
             High = high;
             Low = low;
             Name = name;
+            DeviceGroup = devicegroup;
             SafetyDevice.AddDevice(this);
         }
         public void ToHigh(MoveInfo moveInfo) {
@@ -59,16 +61,16 @@ namespace DeviceLibrary
                 return;
             }
 
-            IOManager.IOMove(Low, IO_VALUE.LOW);
-            IOManager.IOMove(High, IO_VALUE.LOW);
+            IOManager.IOMove(Low, IO_VALUE.LOW, DeviceGroup);
+            IOManager.IOMove(High, IO_VALUE.LOW, DeviceGroup);
         }
 
         public void Resume()
         {
             if (currentIOvalue == IO_VALUE.None)
                 return;
-            IOManager.IOMove(Low, currentIOvalue == IO_VALUE.LOW ? IO_VALUE.HIGH : IO_VALUE.LOW);
-            IOManager.IOMove(High, currentIOvalue == IO_VALUE.HIGH ? IO_VALUE.HIGH : IO_VALUE.LOW);
+            IOManager.IOMove(Low, currentIOvalue == IO_VALUE.LOW ? IO_VALUE.HIGH : IO_VALUE.LOW, DeviceGroup);
+            IOManager.IOMove(High, currentIOvalue == IO_VALUE.HIGH ? IO_VALUE.HIGH : IO_VALUE.LOW, DeviceGroup);
             LogUtil.info($"{Name},恢复运行");
         }
 

DeviceLibrary/theMachine/Common.cs

@@ -328,7 +328,7 @@ namespace DeviceLibrary
             Dictionary<string, List<Msg>> l = new Dictionary<string, List<Msg>>();
             foreach (var k in MSList.Keys)
             {
-                l.Add(k, MsgService.MSList[k].get()[k]);
+                l.Add(k, MsgService.MSList[k].get());
             }
             return l;
         }
@@ -339,7 +339,7 @@ namespace DeviceLibrary
             MSList.Add(Device, this);
         }
         public List<Msg> msg = new List<Msg>();
-        public Dictionary<string, List<Msg>> get()
+        public List<Msg> get()
         {
             if (_setlogones)
             {
@@ -347,9 +347,9 @@ namespace DeviceLibrary
                 foreach (var m in msg)
                     LogUtil.info(m.msgtxt);
             }
-            Dictionary<string, List<Msg>> l = new Dictionary<string, List<Msg>>();
-            l.Add(Device, new List<Msg>(msg));
-            return l;
+            //Dictionary<string, List<Msg>> l = new Dictionary<string, List<Msg>>();
+            //l.Add(Device, new List<Msg>(msg));
+            return new List<Msg>(msg);
         }
         public void add(string m, MsgLevel ml, ErrInfo errInfo = ErrInfo.Empty)
         {

DeviceLibrary/theMachine/DeviceRunControl.cs

+using OnlineStore;
+using OnlineStore.Common;
+using OnlineStore.LoadCSVLibrary;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace DeviceLibrary
+{
+    public class DeviceRunControl
+    {
+        public static List<ManualResetEvent> manualResets = new List<ManualResetEvent>();
+        List<IDevice> DevicesList;
+        string DeviceListName;
+        public delegate void ProcessMsg(List<Msg> msg);
+        public event ProcessMsg ProcessMsgEvent;
+        ManualResetEvent resetEvent = new ManualResetEvent(false);
+        public DeviceRunControl(string name, List<IDevice> device) {
+            DevicesList = device;
+            DeviceListName = name;
+            manualResets.Add(resetEvent);
+        }
+        Thread thread;
+        public void Start() {
+            thread = new Thread(new ThreadStart(Run));
+            thread.Start();
+            resetEvent.Reset();
+        }
+        void Run() {
+            LogUtil.info($"{DeviceListName}设备线程启动");
+            while (RobotManage.mainMachine.mstart)
+            {
+                Thread.Sleep(200);
+                ManualResetEvent.WaitAll(new ManualResetEvent[] { RobotManage.mainMachine.ResetEvent });
+                if (!RobotManage.mainMachine.canRunning || !RobotManage.mainMachine.mstart)
+                    continue;
+                DevicesList.ForEach(x =>
+                {
+                    try
+                    {
+                        x.Process();
+                    }
+                    catch (Exception ex)
+                    {
+                        MsgService.MSList[x.GroupName].add(ex.ToString(), MsgLevel.warning);
+                        MsgService.MSList[x.GroupName].setlogones();
+                    }
+                    finally
+                    {
+                        var m = MsgService.MSList[x.GroupName].get();
+                        ProcessMsgEvent?.Invoke(m);
+                        
+                    }
+                });
+
+                //ProcessMoveinfoEvent?.Invoke(MoveInfo.List);
+                if (!RobotManage.mainMachine.UserPause)
+                {
+                    DevicesList.ForEach(x =>
+                    {
+                        MsgService.MSList[x.GroupName].clear();
+                    });
+                }
+                resetEvent.Set();
+                
+            }
+            LogUtil.info($"{DeviceListName}设备线程已退出.");
+        }
+    }
+}
\ No newline at end of file

DeviceLibrary/theMachine/MainMachine _BtnProcess.cs

@@ -29,7 +29,7 @@ namespace DeviceLibrary
             }
 
             LogUtil.info("按下复位按钮");
-            ProcessMsgEvent?.Invoke(Msg.get()[Msg.Device]);
+            ProcessMsgEvent?.Invoke(Msg.get());
 
             //暂停时按下reaet按钮
             if (RobotManage.isRunning && RobotManage.mainMachine.UserPause)
@@ -50,7 +50,7 @@ namespace DeviceLibrary
                 Msg.add(crc.GetString("Res0165","急停中,按下启动按钮,无法启动."), MsgLevel.warning);
             }
             LogUtil.info("按下启动按钮");
-            ProcessMsgEvent?.Invoke(Msg.get()[Msg.Device]);
+            ProcessMsgEvent?.Invoke(Msg.get());
         }
     }
 }
\ No newline at end of file

DeviceLibrary/theMachine/MainMachine.cs

@@ -14,7 +14,7 @@ namespace DeviceLibrary
     public partial class MainMachine : DeviceBase, IRobot
     {
         new public string Name { get; set; } = "Cycle Line";
-        private bool _canRunning = true;
+        private volatile bool _canRunning = true;
         public bool canRunning
         {
             get { return _canRunning; }
@@ -38,6 +38,8 @@ namespace DeviceLibrary
 
         ServerCommunication ServerCM = new ServerCommunication();
 
+        public ManualResetEvent ResetEvent = new ManualResetEvent(true);
+
         /// <summary>
         /// 是否在急停中
         /// </summary>
@@ -80,7 +82,7 @@ namespace DeviceLibrary
         /// <summary>
         /// 整机启动变量,设置为false后将退出线程,只在停止时调用
         /// </summary>
-        bool mstart=true;
+        public volatile bool mstart=true;
         public void Run() {
             mstart = true;
             while (mstart) {
@@ -89,6 +91,7 @@ namespace DeviceLibrary
                     canRunning = DeviceCheck();
                     if (canRunning)
                     {
+                        ResetEvent.Set();
                         BtnProcess();
                         canRunning = SafeCheck();
                     }
@@ -101,6 +104,7 @@ namespace DeviceLibrary
                     }
                     else if (runStatus == RunStatus.HomeReset)
                     {
+                        IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
                         runStatus = RunStatus.Running;
                     }
                 }
@@ -110,7 +114,7 @@ namespace DeviceLibrary
                     Msg.setlogones();
                 }
                 finally {                    
-                    var m = Msg.get()[Msg.Device];
+                    var m = Msg.get();
                     ProcessMsgEvent?.Invoke(m);
                     ServerCM.ProcessMsg(m);
                     StoreStatus currnetstoreStatus= StoreStatus.None;
@@ -148,6 +152,7 @@ namespace DeviceLibrary
         }
         public void Stop() {
             mstart = false;
+            IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
             Alarm(AlarmType.None);
             StopMove(true);
             LedProcess(null);
@@ -161,7 +166,8 @@ namespace DeviceLibrary
             OpenAllServo();
             Alarm(AlarmType.None);
             runStatus = RunStatus.HomeReset;
-            SideMove.SideMoves.Values.ToList().ForEach(s => s.Start());
+            SideMove.DeviceList.Values.ToList().ForEach(s => s.Start());
+            
         }       
 
 
@@ -176,11 +182,17 @@ namespace DeviceLibrary
             return ok;
         }
 
-        void DeviceSuddenStop() {           
+        void DeviceSuddenStop() {
             if (lastSafeCheckStatus)
             {
+                LogUtil.info("开始急停");
+                ResetEvent.Reset();
+                LogUtil.info("复位线程锁,等待其他线程完成");
+                ManualResetEvent.WaitAll(DeviceRunControl.manualResets.ToArray(),500);
+                LogUtil.info("其他线程已完成");
                 AxisBean.StopMultiAxis(AxisBean.List[GroupName]);
                 MoveInfo.List.ForEach((m) => { m.CanWhileCount = 5; });
+                IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
                 SafetyDevice.PauseAll();
             }
         }

DeviceLibrary/theMachine/MoveStep.cs

@@ -47,6 +47,46 @@ namespace DeviceLibrary
         SideMove_16,
         SideMove_17,
         SideMove_18,
+
+        TrayStop_01,
+        TrayStop_02,
+        TrayStop_03,
+        TrayStop_04,
+        TrayStop_05,
+        TrayStop_06,
+        TrayStop_07,
+        TrayStop_WaitLoadLeave,
+        TrayStop_LoadLeaved,
+
+        TransplantMove_01,
+        TransplantMove_02,
+        TransplantMove_03,
+        TransplantMove_04,
+        TransplantMove_05,
+        TransplantMove_06,
+        TransplantMove_07,
+        TransplantMove_08,
+        TransplantMove_09,
+        TransplantMove_10,
+        TransplantMove_11,
+        TransplantMove_12,
+        TransplantMove_13,
+        TransplantMove_14,
+        TransplantMove_15,
+        TransplantMove_16,
+        TransplantMove_17,
+        TransplantMove_18,
+        TransplantMove_19,
+        TransplantMove_30,
+        TransplantMove_31,
+        TransplantMove_32,
+        TransplantMove_33,
+        TransplantMove_34,
+        TransplantMove_35,
+        TransplantMove_36,
+        TransplantMove_37,
+        TransplantMove_38,
+        TransplantMove_39,
     }
 
 

DeviceLibrary/theMachine/RobotManage.cs

@@ -83,7 +83,13 @@ namespace DeviceLibrary
             }
             mainThread = new Thread(new ThreadStart(mainMachine.Start));
             mainThread.Start();
-
+            Thread.Sleep(50);
+            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(()=> {

DeviceLibrary/theMachine/TrayManager.cs

+using OnlineStore.Common;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace DeviceLibrary
+{
+    public partial class TrayManager
+    {
+        public static Dictionary<string,TrayInfo> Traylist = new Dictionary<string,TrayInfo>();
+        /// <summary>
+        /// 处理更新托盘信息
+        /// </summary>
+        /// <param name="rfid"></param>
+        /// <param name="addr"></param>
+        /// <param name="trayInfo"></param>
+        /// <returns>是否放行</returns>
+        public static bool Process(string rfid, int addr, out TrayInfo trayInfo) {
+            if (!Traylist.ContainsKey(rfid)) {
+                Traylist.Add(rfid, new TrayInfo());
+                Traylist[rfid].RFID = rfid;
+            }
+            Traylist[rfid].LastUpdateTime = DateTime.Now;
+
+            trayInfo = Traylist[rfid];
+            return true;
+        }
+    }
+
+    public class TrayInfo {
+        string _rfid;
+        public string RFID { get => _rfid; set {
+                try
+                {
+                    var ss = Enum.GetNames(typeof(TrayTypeE));
+                    TrayType = (TrayTypeE)Enum.Parse(typeof(TrayTypeE), ss.ToList().Find(s => value.StartsWith(s)));
+                    _rfid = value;
+                }
+                catch (Exception ex) {
+                    LogUtil.error($"获取RFID的类型时出错:{value}");
+                }
+            }
+        }
+        public string Destination;
+        public int DestinationAddr;
+        public bool HasLoad;
+        public LoadTypeE LoadType;
+        public TrayTypeE TrayType;
+        public DateTime LastUpdateTime;
+        public ReelParam ReelParam;
+    }
+    public enum LoadTypeE {
+        MTP2,    //流水线治具托盘
+        MTP1,    //流水线料盘托盘
+        S007,    //料串
+        M03,    //Tray料格
+        M02,    //PCB料格
+        M01,    //PizzaBOX料格
+        M04,    //ShoeBOX料格
+    }
+    public enum TrayTypeE
+    {
+        C01,    //PCB治具
+        C02,    //Pizza治具
+        C03,    //Tray治具
+        C04,    //ShoeBOX治具
+    }
+    public partial class TrayManager
+    {
+        public static Dictionary<LoadTypeE, string> LoadTypeDesc = new Dictionary<LoadTypeE, string>();
+        public static Dictionary<TrayTypeE, string> TrayTypeDesc = new Dictionary<TrayTypeE, string>();
+        static TrayManager() {
+            LoadTypeDesc.Add(LoadTypeE.MTP2, "流水线治具托盘");
+            LoadTypeDesc.Add(LoadTypeE.MTP1, "流水线料盘托盘");
+            LoadTypeDesc.Add(LoadTypeE.S007, "料串");
+            LoadTypeDesc.Add(LoadTypeE.M03, "Tray料格");
+            LoadTypeDesc.Add(LoadTypeE.M02, "PCB料格");
+            LoadTypeDesc.Add(LoadTypeE.M01, "PizzaBOX料格");
+            LoadTypeDesc.Add(LoadTypeE.M04, "ShoeBOX料格");
+            TrayTypeDesc.Add(TrayTypeE.C01, "PCB治具");
+            TrayTypeDesc.Add(TrayTypeE.C02, "Pizza治具");
+            TrayTypeDesc.Add(TrayTypeE.C03, "Tray治具");
+            TrayTypeDesc.Add(TrayTypeE.C04, "ShoeBOX治具");
+        }
+    }
+}

LoadCVSLibrary/Config/Config.csv

@@ -14,6 +14,8 @@ PRO,50,IO信号超时时间（秒）,IOSingle_TimerOut,5,,,,,,,,,,,,
 PRO,0,气压检测超时,AirCheckSeconds,5,,,,,,,,,,,,
 PRO,10,AMH移栽设备每毫米脉冲,AMH_TS_PoToMM,1000,,,,,,,,,,,,
 PRO,10,AMH移栽设备待机点P1,AMH_TS_P1,1000,,,10000,,,,,,,,,
+PRO,10,AMH移栽设备取料P2-8mm,AMH_TS_P2,1000,,,10000,,,,,,,,,
+,,,,,,,,,,,,,,,,
 PRO,14,机器人压紧轴每毫米脉冲,AMH_RoboComp_PoToMM,1000,,,,,,,,,,,,
 PRO,14,机器人压紧轴待机点P1,AMH_RoboComp_P1,1000,,,10000,,,,,,,,,
 PRO,15,托盘旋转轴每度脉冲,AMH_Route_PoToMM,1000,,,10000,,,,,,,,,

LoadCVSLibrary/storeConfig/config/DeviceConfig.cs

@@ -132,7 +132,7 @@ namespace OnlineStore.LoadCSVLibrary
                             this.DIList[devicename].Add(con.ProName, io);
                         }
 
-                        if (devicename == "root" && !ioTypeList.Contains(con.ProName))
+                        if (!ioTypeList.Contains(con.ProName))
                         {
                             AddBuffer(con, builder);
                         }

LoadCVSLibrary/storeConfig/config/IO_Type.cs

@@ -264,6 +264,18 @@ namespace OnlineStore.LoadCSVLibrary
         ///  DI,0,MI1-15寸物料检测,MI_w15_Check,57,AMH-MI1,X57,,,,,,,,,,
         /// </summary>
         public static string MI_w15_Check = "MI_w15_Check";
+        /// <summary>
+        ///  DI,0,AMH-SBSH2托盘前阻挡检测,AMH_Front_Check,14,AMH-SBSH2,X14,,,,,,,,,,
+        /// </summary>
+        public static string AMH_Front_Check = "AMH_Front_Check";
+        /// <summary>
+        ///  DI,0,AMH-SBSH2托盘到位检测,AMH_In_Check,15,AMH-SBSH2,X15,,,,,,,,,,
+        /// </summary>
+        public static string AMH_In_Check = "AMH_In_Check";
+        /// <summary>
+        ///  DI,0,AMH-SBSH2托盘物料检测,AMH_Reel_Check,16,AMH-SBSH2,X16,,,,,,,,,,
+        /// </summary>
+        public static string AMH_Reel_Check = "AMH_Reel_Check";        
     }
     public enum IO_VALUE
     {

LoadCVSLibrary/storeConfig/config/Robot_Config.cs

@@ -94,13 +94,21 @@ namespace OnlineStore.LoadCSVLibrary
         /// </summary>
         [ConfigProAttribute("AMH_TS_P1")]
         public int AMH_TS_P1 { get; set; }
-
+        /// <summary>
+        ///  PRO,0,AMH移栽设备取料P2-8mm,AMH_TS_P2,1000,,,10000,,,,,,,,,
+        /// </summary>
+        [ConfigProAttribute("AMH_TS_P2")]
+        public int AMH_TS_P2 { get; set; }
         /// <summary>
         ///  PRO,0,AMH移栽设备待机点P1,AMH_TS_P1,1000,,,10000,,,,,,,,,
         /// </summary>
         [ConfigProAttribute("AMH_TS_P1_speed")]
         public int AMH_TS_P1_speed { get; set; }
-
+        /// <summary>
+        ///  PRO,0,AMH移栽设备待机点P1,AMH_TS_P1,1000,,,10000,,,,,,,,,
+        /// </summary>
+        [ConfigProAttribute("AMH_TS_P2_speed")]
+        public int AMH_TS_P2_speed { get; set; }
         /// <summary>
         ///  PRO,0,机器人压紧轴每毫米脉冲,AMH_RoboComp_PoToMM,1000,,,,,,,,,,,,
         /// </summary>

TheMachine/Form1.cs

@@ -365,13 +365,13 @@ namespace TheMachine
                 if (RobotManage.mainMachine.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
                 {
                     RobotManage.mainMachine.Msg.add("急停中,无法启动", MsgLevel.warning);
-                    MainMachine_ProcessMsgEvent(RobotManage.mainMachine.Msg.get().Values.First());
+                    MainMachine_ProcessMsgEvent(RobotManage.mainMachine.Msg.get());
                     return;
                 }
                 if (RobotManage.mainMachine.IOValue(IO_Type.AutoRun_Single).Equals(IO_VALUE.LOW))
                 {
                     RobotManage.mainMachine.Msg.add("运行开关没有打开,无法启动", MsgLevel.warning);
-                    MainMachine_ProcessMsgEvent(RobotManage.mainMachine.Msg.get().Values.First());
+                    MainMachine_ProcessMsgEvent(RobotManage.mainMachine.Msg.get());
                     return;
                 }
                 RobotManage.Start();

TheMachine/TheMachine.csproj

@@ -138,6 +138,12 @@
     <Compile Include="SettingControl.Designer.cs">
       <DependentUpon>SettingControl.cs</DependentUpon>
     </Compile>
+    <Compile Include="TrayManagerControl.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="TrayManagerControl.Designer.cs">
+      <DependentUpon>TrayManagerControl.cs</DependentUpon>
+    </Compile>
     <Compile Include="UC\CylinderButton.cs">
       <SubType>Component</SubType>
     </Compile>
@@ -206,6 +212,9 @@
     <EmbeddedResource Include="SettingControl.resx">
       <DependentUpon>SettingControl.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="TrayManagerControl.resx">
+      <DependentUpon>TrayManagerControl.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="UC\StorePosControl.resx">
       <DependentUpon>StorePosControl.cs</DependentUpon>
     </EmbeddedResource>

TheMachine/TrayManagerControl.Designer.cs

+
+namespace TheMachine
+{
+    partial class TrayManagerControl
+    {
+        /// <summary> 
+        /// 必需的设计器变量。
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary> 
+        /// 清理所有正在使用的资源。
+        /// </summary>
+        /// <param name="disposing">如果应释放托管资源，为 true；否则为 false。</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region 组件设计器生成的代码
+
+        /// <summary> 
+        /// 设计器支持所需的方法 - 不要修改
+        /// 使用代码编辑器修改此方法的内容。
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.SuspendLayout();
+            // 
+            // TrayManagerControl
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Name = "TrayManagerControl";
+            this.Size = new System.Drawing.Size(725, 462);
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+    }
+}

TheMachine/TrayManagerControl.cs

+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace TheMachine
+{
+    public partial class TrayManagerControl : UserControl
+    {
+        public TrayManagerControl()
+        {
+            InitializeComponent();
+        }
+    }
+}

TheMachine/TrayManagerControl.resx

+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+</root>
\ No newline at end of file

TheMachine/device/HYControl.cs

@@ -45,22 +45,26 @@ namespace TheMachine
                 btn_linerev.Visible = false;
                 btn_linestop.Visible = false;
             }
+            if (!RobotManage.Config.DOList[deviceGroup].ContainsKey(IO_Type.Ls_A_LineRwd))
+            {
+                btn_linerev.Visible = false;
+            }
             crc.LanguageProcess(this);
         }
         string deviceGroup;
         private void btn_linerun_Click(object sender, EventArgs e)
         {
-            SideMove.SideMoves[deviceGroup].Line.LineRun("n", false, 999);           
+            SideMove.DeviceList[deviceGroup].Line.LineRun("n", false, 999);           
         }
 
         private void btn_linerev_Click(object sender, EventArgs e)
         {
-            SideMove.SideMoves[deviceGroup].Line.LineRun("n", true, 999);
+            SideMove.DeviceList[deviceGroup].Line.LineRun("n", true, 999);
         }
 
         private void btn_linestop_Click(object sender, EventArgs e)
         {
-            SideMove.SideMoves[deviceGroup].Line.LineStop("n");
+            SideMove.DeviceList[deviceGroup].Line.LineStop("n");
         }
     }
 }

TheMachine/device/TransplantControl.Designer.cs

@@ -128,7 +128,7 @@ namespace TheMachine
             this.cylinderButton2.BackColor = System.Drawing.Color.White;
             this.cylinderButton2.DeviceType = "root";
             this.cylinderButton2.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
-            this.cylinderButton2.IO_HIGH = "AMH_Sucker";
+            this.cylinderButton2.IO_HIGH = "AMH_Tray_Stop";
             this.cylinderButton2.IO_LOW = "";
             this.cylinderButton2.Location = new System.Drawing.Point(618, 404);
             this.cylinderButton2.Name = "cylinderButton2";