稳定版

Common/Setting_Init.cs

@@ -69,7 +69,10 @@ namespace OnlineStore.Common
         [MyConfigComment("二维码扫码超时毫秒")]
         public static MyConfig<int> CameraScan_CodeTimeOut = 3000;
 
-
+        [MyConfigComment("管理员密码")]
+        public static MyConfig<string> User_AdminPassword = "1";
+        [MyConfigComment("启用管理员密码")]
+        public static MyConfig<bool> User_Enable = false;
         public static bool SimulateMode = false;
     }
 }

DeviceLibrary/DeviceLibrary.csproj

@@ -114,6 +114,7 @@
     <Compile Include="DeviceLibrary\IOMonitor.cs" />
     <Compile Include="DeviceLibrary\I_SafetyDevice.cs" />
     <Compile Include="DeviceLibrary\C8WeightSensor.cs" />
+    <Compile Include="DeviceLibrary\LiftMonitor.cs" />
     <Compile Include="DeviceLibrary\OKLEController.cs" />
     <Compile Include="DeviceLibrary\ServerCommunication.cs" />
     <Compile Include="DeviceLibrary\AxisBean.cs" />
@@ -191,6 +192,9 @@
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
     </None>
     <None Include="packages.config" />
+    <None Include="StoreConfig\Left\1fixPositions.csv" />
+    <None Include="StoreConfig\Left\linePositions - 副本.csv" />
+    <None Include="StoreConfig\Right\1fixPositions.csv" />
     <None Include="StoreConfig\Right\fixPositions.csv">
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
     </None>
@@ -200,6 +204,7 @@
     <None Include="StoreConfig\Left\linePositions.csv">
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
     </None>
+    <None Include="StoreConfig\Right\linePositions - 副本.csv" />
     <None Include="StoreConfig\Right\linePositions.csv">
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
     </None>

DeviceLibrary/DeviceLibrary/AxisBean.cs

@@ -35,25 +35,49 @@ namespace DeviceLibrary
             List[machineSide].Add(this);
         }
 
+        int openretry = 0;
         public bool Open(bool isCheck, out string Msg)
         {
             Msg = "";
             string portName = Config.DeviceName;
             short slvAddr = Config.GetAxisValue();
-            AxisManager.AlarmClear(portName, slvAddr);
-            Thread.Sleep(50);
-            AxisManager.ServoOn(portName, slvAddr);
-            Thread.Sleep(50);
-            //打开所有轴
-            if (isCheck)
+
+            if (AxisManager.IsServeoOn(portName, slvAddr))
+            { openretry = 0; return true; }
+
+            openretry++;
             {
-                if (!OpenAxis(out Msg))
+                Msg += string.Format("第{0}次尝试打开轴:{1}", openretry, Config.Explain);
+
+                if (AxisManager.GetBusyStatus(portName, slvAddr) == 1)
                 {
-                    return false;
-                }
+                    AxisManager.SuddenStop(portName, slvAddr);
+                    Msg += string.Format("...伺服忙碌,急停{0}次", openretry);
+                    Thread.Sleep(100);
                 }
+                //if (AxisManager.GetAlarmStatus(portName, slvAddr) != 0)
+                //{
+                //    AxisManager.AlarmClear(portName, slvAddr);
+                //    Msg += string.Format("...尝试清除报警第(0)次", openretry);
+                //    Thread.Sleep(100);
+                //}                
+                AxisManager.ServoOn(portName, slvAddr);
+                Thread.Sleep(200);
+                if (AxisManager.IsServeoOn(portName, slvAddr))
+                {
+                    Msg += "...使能成功";
+                    openretry = 0;
                     return true;
                 }
+                else
+                    Msg += "...尝试使能失败";
+
+                Thread.Sleep(1000);
+                if (openretry < 5)
+                    Msg = "伺服连接中...";
+            }
+            return false;
+        }
         /// <summary>
         /// 打开所有轴
         /// </summary>
@@ -72,8 +96,8 @@ namespace DeviceLibrary
             {
                 //清理报警，再重新打开一次
                 LogUtil.info(AxisName + "第一次打开失败，先清理一下报警，再重新打开一次");
-                AxisManager.AlarmClear(portName, slvAddr);
-                System.Threading.Thread.Sleep(1000);
+                //AxisManager.AlarmClear(portName, slvAddr);
+                //System.Threading.Thread.Sleep(1000);
                 AxisManager.ServoOn(portName, slvAddr);
                 System.Threading.Thread.Sleep(100);
                 if (AxisManager.IsServeoOn(portName, slvAddr))
@@ -221,26 +245,25 @@ namespace DeviceLibrary
             msg = "";
             if (AxisManager.IsHomeMoveEnd(axis.DeviceName, axis.GetAxisValue()))// || AxisManager.AxisStsINP(axis.DeviceName, axis.GetAxisValue()).Equals(1))
             {
-                //原点完成并且位置=0
-                int outCount = AxisManager.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
-                int errorCount = Math.Abs(outCount);
-                if (errorCount <= axis.CanErrorCountMax)
-                {
                 return true;
             }
-                //判断是否需要重新运动
-                if (MoveInfo.CanWhileCount > 0)
+            else if (AxisManager.GetBusyStatus(axis.DeviceName, axis.GetAxisValue()) == 1)
             {
-                    MoveInfo.error(MoveInfo.Name + axis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
-                    //LogUtil.error( StoreName +  moveAxis.DisplayStr +  "重新回原点"); 
-                    AxisManager.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed, axis.HomeLowSpeed, axis.HomeAddSpeed);
-                    MoveInfo.CanWhileCount--;
+                return false;
             }
-                else
+            else if (MoveInfo.CanWhileCount > 0 && AxisManager.GetBusyStatus(axis.DeviceName, axis.GetAxisValue()) == 0)
             {
-                    msg = MoveInfo.Name + " " + MoveInfo.MoveStep + axis.DisplayStr + ",收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
-                    MoveInfo.error(msg);
+                var HomeLowSpeed = axis.HomeLowSpeed > 0 ? axis.HomeLowSpeed : axis.HomeHighSpeed / 10;
+                var HomeAddSpeed = axis.HomeAddSpeed > 0 ? axis.HomeAddSpeed : axis.HomeHighSpeed * 5;
+
+                AxisManager.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed);
+                MoveInfo.log(axis.DisplayStr + ",返回原点失败,重新回原");
+                MoveInfo.CanWhileCount--;
+                Thread.Sleep(1000);
             }
+            else if (MoveInfo.CanWhileCount <= 0)
+            {
+                msg = axis.DisplayStr + ",返回原点失败";
             }
             return false;
         }
@@ -406,16 +429,39 @@ namespace DeviceLibrary
             foreach (AxisBean axis in axisArray)
             {
                 bool result = axis.Open(false, out msg);
-                if (!result || (!String.IsNullOrEmpty(msg)))
+                if (!result)
                 {
-                    //SetWarnMsg(Name + msg);
-                    //Alarm(AlarmType.AxisAlarm);
+                    LogUtil.error(msg);
                     return false;
                 }
             }
             Thread.Sleep(50);
             return true;
         }
+        public static bool ClearMultiAlarm(out string msg, List<AxisBean> axisArray)
+        {
+            msg = "";
+            bool isok = true;
+            foreach (AxisBean axis in axisArray)
+            {
+                string portName = axis.Config.DeviceName;
+                short slvAddr = axis.Config.GetAxisValue();
+                if (AxisManager.GetAlarmStatus(portName, slvAddr) != 0)
+                {
+                    AxisManager.AlarmClear(portName, slvAddr);
+                    Thread.Sleep(200);
+                    if (AxisManager.GetAlarmStatus(portName, slvAddr) != 0)
+                    {
+                        msg += string.Format("轴(0)存在报警,清除失败", axis.Config.Explain);
+                        isok = false;
+                    }
+                    else
+                        msg += string.Format("轴(0)存在报警,清除成功", axis.Config.Explain);
+                }
+            }
+            Thread.Sleep(50);
+            return isok;
+        }
         public static void StopMultiAxis(List<AxisBean> axisArray)
         {
             foreach (AxisBean axis in axisArray)

DeviceLibrary/DeviceLibrary/LiftMonitor.cs

@@ -10,7 +10,7 @@ using System.Threading.Tasks;
 
 namespace DeviceLibrary
 {
-    public class LiftMonitor
+    public class LiftMonitor : ISafetyDevice
     {
         string up;
         string down;
@@ -19,79 +19,136 @@ namespace DeviceLibrary
         int upspeed;
         int downspeed;
         int StrokeLength = 270000;
-        public LiftMonitor(string _up, string _down,string _break, AxisBean _axisBean,int _upspeed, int _downspeed= 0) {
+        Store_ConfigBase Config;
+        bool paused = false;
+        public LiftMonitor(string _up, string _down, string _break, Store_ConfigBase _Config, AxisBean _axisBean, int _StrokeLength, int _upspeed, int _downspeed = 0)
+        {
             up = _up;
             down = _down;
             axisBean = _axisBean;
             upspeed = _upspeed;
             axisbreak = _break;
             downspeed = _downspeed;
-            if (downspeed == 0) {
+            StrokeLength = _StrokeLength;
+            Config = _Config;
+            if (downspeed == 0)
+            {
                 downspeed = upspeed;
             }
+            SafetyDevice.AddDevice(this);
         }
-        public bool isAtTOP {
-            get {
-                return IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH);
+        public bool isAtTOP
+        {
+            get
+            {
+                return IOManager.IOValue(up.ToString(),Config).Equals(IO_VALUE.HIGH);
             }
         }
         public bool isAtBOTTOM
         {
             get
             {
-                return IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH);
+                return IOManager.IOValue(down.ToString(), Config).Equals(IO_VALUE.HIGH);
             }
         }
-        public void LiftUp(MoveInfo moveInfo) {
+        public void LiftUp(MoveInfo moveInfo)
+        {
 
             if (moveInfo == null)
-                moveInfo = new MoveInfo(crc.GetString("Res0120","界面"),false);
-            if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH)) {
+                moveInfo = new MoveInfo(crc.GetString("Res0001","升降机构"),MachineSideE.Left,"", false);
+            if (IOManager.IOValue(IO_Type.SuddenStop_BTN, RobotManage.Config).Equals(IO_VALUE.LOW))
+            {
+                moveInfo.log($"急停未解除");
+                return;
+            }
+            paused = false;
+            if (IOManager.IOValue(up.ToString(), Config).Equals(IO_VALUE.HIGH))
+            {
                 moveInfo.log($"{axisBean.AxisName},已在位置,无需上升");
                 return;
             }
-            IOManager.IOMove(axisbreak,IO_VALUE.HIGH);
+            if (!axisBean.IsServeoOn)
+                axisBean.Open(true, out string msg);
+            if (!string.IsNullOrEmpty(axisbreak))
+            {
+                IOManager.IOMove(axisbreak, IO_VALUE.HIGH, Config);
                 Thread.Sleep(200);
+            }
             axisBean.RelMove(StrokeLength, (double)upspeed);
             DateTime d = DateTime.Now;
             moveInfo.log($"{axisBean.AxisName},LiftUp");
-            if(moveInfo!=null)
+            if (moveInfo != null)
                 moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitUp), $"等待顶升[{axisBean.Config.Explain}]机构上升"));
-            Task.Run(()=> {
-                while (!IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH)) {
+            Task.Run(() => {
+                while (!IOManager.IOValue(up.ToString(), Config).Equals(IO_VALUE.HIGH))
+                {
                     Task.Delay(30);
+                    if (paused)
+                    {
+                        paused = false;
+                        return;
+                    }
+                    if (IOManager.IOValue(IO_Type.SuddenStop_BTN,RobotManage.Config).Equals(IO_VALUE.LOW))
+                    {
+                        LogUtil.info("设备急停");
+                        Pause();
+                        return;
+                    }
                 }
                 axisBean.SuddenStop();
-                IOManager.IOMove(axisbreak, IO_VALUE.LOW);
+                if (!string.IsNullOrEmpty(axisbreak))
+                {
+                    IOManager.IOMove(axisbreak, IO_VALUE.LOW, Config);
+                    axisBean.ServoOff();
+                }
+
                 var t = (DateTime.Now - d).TotalSeconds;
                 moveInfo.log($"{axisBean.AxisName},上升到位,s:{t}");
             });
         }
         bool WaitUp(WaitResultInfo w)
         {
-            if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH))
+            if (IOManager.IOValue(up.ToString(), Config).Equals(IO_VALUE.HIGH))
             {
                 axisBean.SuddenStop();
-                IOManager.IOMove(axisbreak, IO_VALUE.LOW);
+
+                if (!string.IsNullOrEmpty(axisbreak))
+                {
+                    IOManager.IOMove(axisbreak, IO_VALUE.LOW, Config);
+                    axisBean.ServoOff();
+                }
                 return true;
             }
 
-            if (!axisBean.IsBusy) {
-                axisBean.RelMove(StrokeLength, (double)upspeed);
+            if (!axisBean.IsBusy)
+            {
+                LogUtil.info("恢复继续上升");
+                LiftUp(null);
             }
             return false;
         }
         public void LiftDown(MoveInfo moveInfo)
         {
             if (moveInfo == null)
-                moveInfo = new MoveInfo(crc.GetString("Res0120","界面"), false);
-            if (IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
+                moveInfo = new MoveInfo(crc.GetString("Res0001","升降机构"), MachineSideE.Left, "", false);
+            if (IOManager.IOValue(IO_Type.SuddenStop_BTN,RobotManage.Config).Equals(IO_VALUE.LOW))
+            {
+                moveInfo.log($"急停未解除");
+                return;
+            }
+            paused = false;
+            if (IOManager.IOValue(down.ToString(), Config).Equals(IO_VALUE.HIGH))
             {
                 moveInfo.log($"{axisBean.AxisName},已在位置,无需下降");
                 return;
             }
-            IOManager.IOMove(axisbreak, IO_VALUE.HIGH);
+            if (!axisBean.IsServeoOn)
+                axisBean.Open(true, out string msg);
+            if (!string.IsNullOrEmpty(axisbreak))
+            {
+                IOManager.IOMove(axisbreak, IO_VALUE.HIGH, Config);
                 Thread.Sleep(200);
+            }
             axisBean.RelMove(-StrokeLength, (double)downspeed);
             DateTime d = DateTime.Now;
             moveInfo.log($"{axisBean.AxisName},LiftDown");
@@ -99,30 +156,68 @@ namespace DeviceLibrary
                 moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitDown), $"等待顶升[{axisBean.Config.Explain}]机构下降"));
 
             Task.Run(() => {
-                while (!IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
+                while (!IOManager.IOValue(down.ToString(), Config).Equals(IO_VALUE.HIGH))
                 {
                     Task.Delay(30);
+                    if (paused)
+                    {
+                        paused = false;
+                        return;
+                    }
+                    if (IOManager.IOValue(IO_Type.SuddenStop_BTN,RobotManage.Config).Equals(IO_VALUE.LOW))
+                    {
+                        LogUtil.info("设备急停");
+                        Pause();
+                        return;
+                    }
                 }
                 axisBean.SuddenStop();
-                IOManager.IOMove(axisbreak, IO_VALUE.LOW);
+                if (!string.IsNullOrEmpty(axisbreak))
+                {
+                    IOManager.IOMove(axisbreak, IO_VALUE.LOW, Config);
+                    axisBean.ServoOff();
+                }
                 var t = (DateTime.Now - d).TotalSeconds;
                 moveInfo.log($"{axisBean.AxisName},下降到位,s:{t}");
             });
         }
         bool WaitDown(WaitResultInfo w)
         {
-            if (IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
+            if (IOManager.IOValue(down.ToString(), Config).Equals(IO_VALUE.HIGH))
             {
                 axisBean.SuddenStop();
-                IOManager.IOMove(axisbreak, IO_VALUE.LOW);
+
+                if (!string.IsNullOrEmpty(axisbreak))
+                {
+                    IOManager.IOMove(axisbreak, IO_VALUE.LOW, Config);
+                    axisBean.ServoOff();
+                }
                 return true;
             }
 
             if (!axisBean.IsBusy)
             {
-                axisBean.RelMove(-StrokeLength, (double)downspeed);
+                LogUtil.info("恢复继续下降");
+                LiftDown(null);
             }
             return false;
         }
+
+        public void Pause()
+        {
+            paused = true;
+            axisBean.SuddenStop();
+            if (!string.IsNullOrEmpty(axisbreak))
+            {
+                IOManager.IOMove(axisbreak, IO_VALUE.LOW, Config);
+                axisBean.ServoOff();
+            }
+
+        }
+
+        public void Resume()
+        {
+            //throw new NotImplementedException();
+        }
     }
 }
\ No newline at end of file

DeviceLibrary/DeviceLibrary/ServerCommunication.cs

@@ -11,9 +11,9 @@ using System.Threading.Tasks;
 
 namespace DeviceLibrary
 {
-    class ServerCommunication :IDisposable
+    public class ServerCommunication :IDisposable
     {
-        volatile StoreStatus _storeStatus = StoreStatus.Debugging;
+        volatile StoreStatus _storeStatus = StoreStatus.None;
         public delegate bool InStoreInfoDelegate(JobInfo jobInfo, bool ng, string msg);
         public event InStoreInfoDelegate InStoreEvent;
         public delegate void OutStoreInfoDelegate(JobInfo jobInfo);
@@ -56,7 +56,7 @@ namespace DeviceLibrary
             {
                 if (Machine.runStatus!= RunStatus.Stop)
                     ProcessMsg(Machine.Msg.msg);
-                if (!string.IsNullOrEmpty(server))
+                if (!string.IsNullOrEmpty(server) && storeStatus!= StoreStatus.None)
                     SendLineStatus();
             }
             catch (Exception ex)

DeviceLibrary/StoreConfig/Left/1fixPositions.csv

+位置,优先级,高度,宽度,料仓ID,旋转轴位置P2,升降轴库位入料高点P3,升降轴库位入料低点P4,进出轴库位点取料点P3
+fix#7,1,24,7,1,139000,85635,76635,216000
+fix#13,2,24,13,1,139000,114988,105988,216000

DeviceLibrary/StoreConfig/Left/linePositions - 副本.csv

+位置,优先级,高度,宽度,料仓ID,旋转轴位置P2,升降轴库位入料高点P3,升降轴库位入料低点P4,进出轴库位点取料点P3
+SBDH1-A_0_1_1,167,70,400,1,167437,38641,26141,236079
+SBDH1-A_0_1_2,166,70,400,1,167437,128122,115622,236079
+SBDH1-A_0_1_3,165,70,400,1,167437,217859,205359,236079
+SBDH1-A_0_1_4,164,70,400,1,167437,308066,295566,236079
+SBDH1-A_0_1_5,163,70,400,1,167437,398080,385580,236079
+SBDH1-A_0_2_1,162,70,400,1,167437,1296670,1284170,236079
+SBDH1-A_0_2_2,161,70,400,1,167437,1385803,1373303,236079
+SBDH1-A_0_2_3,160,70,400,1,167437,1476070,1463570,236079
+SBDH1-A_0_2_4,159,70,400,1,167437,1565548,1553048,236079
+SBDH1-A_0_3_1,158,70,400,1,167437,1655419,1642919,236079
+SBDH1-A_0_3_2,157,70,400,1,167437,1745134,1732634,236079
+SBDH1-A_0_3_3,156,70,400,1,167437,1835143,1822643,236079
+SBDH1-A_0_3_4,155,70,400,1,167437,1924729,1912229,236079
+SBDH1-A_1_1_1,154,70,400,1,212423,38641,26141,236079
+SBDH1-A_1_1_2,153,70,400,1,212423,128122,115622,236079
+SBDH1-A_1_1_3,152,70,400,1,212423,217859,205359,236079
+SBDH1-A_1_1_4,151,70,400,1,212423,308066,295566,236079
+SBDH1-A_1_1_5,150,70,400,1,212423,398080,385580,236079
+SBDH1-A_1_2_1,149,70,400,1,212423,488833,474333,236079
+SBDH1-A_1_2_2,148,70,400,1,212423,577355,562855,236079
+SBDH1-A_1_2_3,147,70,400,1,212423,668273,655773,236079
+SBDH1-A_1_2_4,146,70,400,1,212423,758092,745592,236079
+SBDH1-A_1_2_5,145,70,400,1,212423,847654,835154,236079
+SBDH1-A_1_3_1,144,70,400,1,212423,937086,924586,236079
+SBDH1-A_1_3_2,143,70,400,1,212423,1027062,1014562,236079
+SBDH1-A_1_3_3,142,70,400,1,212423,1117186,1104686,236079
+SBDH1-A_1_3_4,141,70,400,1,212423,1206951,1194451,236079
+SBDH1-A_1_3_5,140,70,400,1,212423,1296670,1284170,236079
+SBDH1-A_1_3_6,139,70,400,1,212423,1385803,1373303,236079
+SBDH1-A_1_4_1,138,70,400,1,212423,1476070,1463570,236079
+SBDH1-A_1_4_2,137,70,400,1,212423,1565548,1553048,236079
+SBDH1-A_1_4_3,136,70,400,1,212423,1655419,1642919,236079
+SBDH1-A_1_4_4,135,70,400,1,212423,1745134,1732634,236079
+SBDH1-A_1_4_5,134,70,400,1,212423,1835143,1822643,236079
+SBDH1-A_1_4_6,133,70,400,1,212423,1924729,1912229,236079
+SBDH1-A_2_1_1,132,70,400,1,257580,38641,26141,236079
+SBDH1-A_2_1_2,131,70,400,1,257580,128122,115622,236079
+SBDH1-A_2_1_3,130,70,400,1,257580,217859,205359,236079
+SBDH1-A_2_1_4,129,70,400,1,257580,308066,295566,236079
+SBDH1-A_2_1_5,128,70,400,1,257580,398080,385580,236079
+SBDH1-A_2_2_1,127,70,400,1,257580,488833,476333,236079
+SBDH1-A_2_2_2,126,70,400,1,257580,577355,564855,236079
+SBDH1-A_2_2_3,125,70,400,1,257580,668273,655773,236079
+SBDH1-A_2_2_4,124,70,400,1,257580,758092,745592,236079
+SBDH1-A_2_2_5,123,70,400,1,257580,847654,835154,236079
+SBDH1-A_2_3_1,122,70,400,1,257580,937086,924586,236079
+SBDH1-A_2_3_2,121,70,400,1,257580,1027062,1014562,236079
+SBDH1-A_2_3_3,120,70,400,1,257580,1117186,1104686,236079
+SBDH1-A_2_3_4,119,70,400,1,257580,1206951,1194451,236079
+SBDH1-A_2_3_5,118,70,400,1,257580,1296670,1284170,236079
+SBDH1-A_2_3_6,117,70,400,1,257580,1385803,1373303,236079
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DeviceLibrary/StoreConfig/Left/linePositions.csv

-位置,优先级,高度,宽度,料仓ID,旋转轴位置P2,升降轴库位入料高点P3,升降轴库位入料低点P4,进出轴库位点取料点P3,,,
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DeviceLibrary/StoreConfig/Right/1fixPositions.csv

+位置,优先级,高度,宽度,料仓ID,旋转轴位置P2,升降轴库位入料高点P3,升降轴库位入料低点P4,进出轴库位点取料点P3
+fix#7,1,24,7,1,139000,85635,76635,216000
+fix#13,2,24,13,1,139000,114988,105988,216000

DeviceLibrary/StoreConfig/Right/linePositions - 副本.csv

+位置,优先级,高度,宽度,料仓ID,旋转轴位置P2,升降轴库位入料高点P3,升降轴库位入料低点P4,进出轴库位点取料点P3
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DeviceLibrary/StoreConfig/Right/linePositions.csv

 位置,优先级,高度,宽度,料仓ID,旋转轴位置P2,升降轴库位入料高点P3,升降轴库位入料低点P4,进出轴库位点取料点P3
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+SBDH1-B_7_4_6,1,70,400,1,121575,1925274,1911695,237161

DeviceLibrary/theMachine/BoxTransport.cs

@@ -32,6 +32,7 @@ namespace DeviceLibrary
         public bool IsComplateOrFree { get => MoveInfo.MoveStep == MoveStep.Wait && !movelock; }
         public bool IsTakedReel { get => MoveInfo.MoveStep >= MoveStep.StoreTS10; }
         public bool IsPutOnOut {get=> MoveInfo.MoveStep >= MoveStep.StoreTS16; }
+        public bool IsPutIn {get=> MoveInfo.MoveStep >= MoveStep.StoreTS14; }
         
         MsgService Msg;
         
@@ -131,7 +132,7 @@ namespace DeviceLibrary
                     if (!IgnoreX09 && !MoveInfo.MoveParam.ReelOnFixture && IOManager.IOValue(SIO_Type.TrayCheck_Fixture,Config).Equals(IO_VALUE.HIGH))
                     {
                         if (!IgnoreX09 && IOMonitor.IODebound(SIO_Type.TrayCheck_Fixture, Config, IO_VALUE.HIGH, 5000))
-                            Msg.add(string.Format("取料时料叉{0}检测到有物料无法继续,请检查.",Config.DIList[SIO_Type.TrayCheck_Fixture].ElectricalDefinition), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
+                            Msg.add(string.Format(crc.GetString("Res0002","取料时料叉{0}检测到有物料无法继续,请检查."),Config.DIList[SIO_Type.TrayCheck_Fixture].ElectricalDefinition), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
                     }
                     else
                     {
@@ -196,13 +197,15 @@ namespace DeviceLibrary
                     DoorControl.Invoke(false);
                     if (!IgnoreX09 && IOManager.IOValue(SIO_Type.TrayCheck_Fixture,Config).Equals(IO_VALUE.LOW))
                     {
-                        Msg.add(string.Format("取料后料叉{0}没有检测到物料无法继续,请检查.", Config.DIList[SIO_Type.TrayCheck_Fixture].ElectricalDefinition), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
+                        Msg.add(string.Format(crc.GetString("Res0003","取料后料叉{0}没有检测到物料无法继续,请检查."), Config.DIList[SIO_Type.TrayCheck_Fixture].ElectricalDefinition), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
+                        MoveInfo.log($"{storeMoveType}:"+ string.Format("取料后料叉{0}没有检测到物料无法继续,请检查.", Config.DIList[SIO_Type.TrayCheck_Fixture].ElectricalDefinition));
                     }
                     else
                     {
                         Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
                         IgnoreX09 = false;
-                        if (To.posid == BoxStorePosition.ngdoor && ConfigHelper.Config.Get($"Device_{mainMachine.MachineSide}_Use_Fixpos",false) && Fix != null)
+                        if (To.posid == BoxStorePosition.ngdoor && ConfigHelper.Config.Get($"Device_{mainMachine.MachineSide}_Use_Fixpos", false)
+                            && Fix != null && From != null && From.posid != Fix.posid)
                             MoveInfo.NextMoveStep(MoveStep.StoreFIX01);
                         else
                             MoveInfo.NextMoveStep(MoveStep.StoreTS10);
@@ -288,7 +291,8 @@ namespace DeviceLibrary
                     RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToOut));
                     if (!IgnoreX09 && IOManager.IOValue(SIO_Type.TrayCheck_Fixture,Config).Equals(IO_VALUE.HIGH))
                     {
-                        Msg.add(string.Format("放料后料叉{0}上任然检测到物料,请检查.", Config.DIList[SIO_Type.TrayCheck_Fixture].ElectricalDefinition), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
+                        Msg.add(string.Format(crc.GetString("Res0004","放料后料叉{0}上任然检测到物料,请检查."), Config.DIList[SIO_Type.TrayCheck_Fixture].ElectricalDefinition), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
+                        MoveInfo.log($"{storeMoveType}:"+ string.Format("放料后料叉{0}上任然检测到物料,请检查.", Config.DIList[SIO_Type.TrayCheck_Fixture].ElectricalDefinition));
                     }
                     else
                     {

DeviceLibrary/theMachine/JobList.cs

@@ -47,9 +47,28 @@ namespace DeviceLibrary
             get => jobInfos.Count;
         }
         public void ClearLastPosid(string posid) {
-            LogUtil.info($"[{jobname}] 清除正在执行的任务:cur:" + posid+",last:"+ lastoutpos);
+            LogUtil.info($"[{jobname}] 清除正在执行的任务:cur:" + posid + ",last:" + lastoutpos);
             if (lastoutpos == posid)
                 lastoutpos = "";
+
+            lock (jobInfos)
+            {
+                List<JobInfo> tempList = new List<JobInfo>();
+                JobInfo item;
+                while (jobInfos.TryDequeue(out item))
+                {
+                    if (item.PosId != posid)
+                    {
+                        tempList.Add(item);
+                    }
+                }
+
+                // 重新将剩余的元素加入队列中
+                foreach (JobInfo i in tempList)
+                {
+                    jobInfos.Enqueue(i);
+                }
+            }
         }
     }
     

DeviceLibrary/theMachine/MainMachine _BtnProcess.cs

@@ -23,15 +23,38 @@ namespace DeviceLibrary
             if (IOValue(IO_Type.SuddenStop_BTN, Config).Equals(IO_VALUE.HIGH))
             {
                 MsgService.Add(crc.GetString("Res0131","按下复位按钮."), MsgLevel.info, ErrInfo.ResetBtn);
-                if (!RobotManage.isRunning)
+                //if (!RobotManage.isRunning)
                     RobotManage.Start(MachineSideE.Left | MachineSideE.Right);
             }
             else
             {
-                MsgService.Add(crc.GetString("Res0132","急停未解除,按下复位按钮尝试复位安全继电器."), MsgLevel.info, ErrInfo.SuddenStop);
+                MsgService.Add(crc.GetString("Res0132","急停未解除,按下复位按钮尝试复位安全继电器."), MsgLevel.info);
             }
 
             LogUtil.info("按下复位按钮");
         }
+
+        void HomeReset_BTN()
+        {
+            if (IOValue(IO_Type.SuddenStop_BTN, Config).Equals(IO_VALUE.HIGH))
+            {
+                MsgService.Add(crc.GetString("Res0131", "按下复位按钮."), MsgLevel.info, ErrInfo.ResetBtn);
+            }
+            else
+            {
+                MsgService.Add(crc.GetString("Res0132", "急停未解除,按下复位按钮尝试复位安全继电器."), MsgLevel.info, ErrInfo.SuddenStop);
+            }
+
+                LogUtil.info("长按下复位按钮,系统正在运行,开始复位");
+            RobotManage.Stores.ForEach(s => {
+                if (s.isRunning)
+                {
+                    LogUtil.info($"{s.MachineSide}侧回原");
+                    s.BeginHomeReset();
+                }
+            });
+
+            //ProcessMsgEvent?.Invoke(Msg.get());
+        }
     }
 }
\ No newline at end of file

DeviceLibrary/theMachine/MainMachine _IOMonitor.cs

@@ -16,7 +16,29 @@ namespace DeviceLibrary
     {
         void ioMonitor()
         {
+            airprocess();
+        }
+        void airprocess()
+        {
+            //var temp = HumitureController.QueryData();
+            var temp = HumitureController.LastData;
+            var Current_Humidity = temp.Humidity;
+            var Current_Temperate = temp.Temperate;
 
+            //var tempIsOK = Current_Temperate < ServerCM.Max_Temperature;
+            var humiNeedStart = Current_Humidity > RobotManage.rightMachine.ServerCM.Max_Humidity - Setting_Init.Device_HumidityStartOffser;
+            var humiNeedStop = Current_Humidity < RobotManage.rightMachine.ServerCM.Max_Humidity - Setting_Init.Device_HumidityEndOffser;
+
+            if (humiNeedStart && IOValue(IO_Type.NitrogenValve, Config).Equals(IO_VALUE.LOW))
+            {
+                IOMove(IO_Type.NitrogenValve, IO_VALUE.HIGH, Config);
+                LogUtil.info($"开始吹气,当前最大湿度：{Current_Humidity} > {RobotManage.rightMachine.ServerCM.Max_Humidity}-{Setting_Init.Device_HumidityStartOffser}.");
+            }
+            else if (humiNeedStop && IOValue(IO_Type.NitrogenValve, Config).Equals(IO_VALUE.HIGH))
+            {
+                IOMove(IO_Type.NitrogenValve, IO_VALUE.LOW, Config);
+                LogUtil.info($"关闭吹气,当前最大湿度：{Current_Humidity} < {RobotManage.rightMachine.ServerCM.Max_Humidity}-{Setting_Init.Device_HumidityEndOffser}.");
+            }
         }
     }
 }

DeviceLibrary/theMachine/MainMachine _LedProcess.cs

@@ -86,7 +86,7 @@ namespace DeviceLibrary
             //MachineLedStateName[MachineLedStateE.THoutRangeOver30m] = "温湿度超限30分钟";
             //MachineLedState.Add(MachineLedStateE.THoutRangeOver30m, nls(LedState.blink, LedState.blink, LedState.none));
             //温湿度超限 绿闪黄闪
-           // MachineLedStateName[MachineLedStateE.THoutRange] = "温湿度超限";
+            //MachineLedStateName[MachineLedStateE.THoutRange] = "温湿度超限";
             //MachineLedState.Add(MachineLedStateE.THoutRange, nls(LedState.none, LedState.blink, LedState.blink));
             //进出库, 绿亮,黄闪
             MachineLedStateName[MachineLedStateE.InOut] = crc.GetString("ledstate_InOut","出入库中");

DeviceLibrary/theMachine/MainMachine.cs

@@ -57,6 +57,8 @@ namespace DeviceLibrary
             AlarmBuzzer.SetOnOffAction(() =>{ IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH,Config); }, () => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW, Config); });
 
             IOMonitor.RegisterIO(IO_Type.Reset_BTN, Config, IO_VALUE.HIGH, Reset_BTN, 2500, 100);
+            IOMonitor.RegisterIO(IO_Type.Reset_BTN, Config, IO_VALUE.HIGH, HomeReset_BTN, 2500, 3000);
+
             LedProcessInit();
 
             
@@ -101,18 +103,21 @@ namespace DeviceLibrary
                     MsgService.Add(ex.ToString(), MsgLevel.warning);
                 }
                 finally {
+
                     if (isAlarm)
                     {
-                        AlarmBuzzer.OFF();
-                    }
-                    else {
                         AlarmBuzzer.ON();
                     }
+                    else
+                    {
+                         AlarmBuzzer.OFF();
+                    }
                 }
             }
             LogUtil.info("主线程已退出.");
         }
         public void Start() {
+            runStatus = RunStatus.Running;
             Run();
         }
         public void Stop() {

DeviceLibrary/theMachine/RobotManage.cs

@@ -129,21 +129,29 @@ namespace DeviceLibrary
                 leftThread.Start();
                 GC.KeepAlive(leftThread);
             }
-
-            Task.Run(()=> {
-                Task.Delay(1000).Wait();
-                if (mainMachine.DeviceCheck())
-                {                   
-                    Stores.ForEach(s=> {
+            Thread.Sleep(500);
+            Stores.ForEach(s => {
                 if ((machineSide & s.MachineSide) == s.MachineSide && s.isRunning)
                 {
                     LogUtil.info($"{machineSide}侧回原");
-                            AxisBean.List[s.MachineSide].ForEach((x) => { AxisManager.AlarmClear(x.Config.DeviceName, x.Config.GetAxisValue()); });
+                    //AxisBean.List[s.MachineSide].ForEach((x) => { AxisManager.AlarmClear(x.Config.DeviceName, x.Config.GetAxisValue()); });
                     s.BeginHomeReset();
                 }
             });
-                }
-            });
+            //Task.Run(()=> {
+            //    Task.Delay(1000).Wait();
+            //    if (mainMachine.DeviceCheck())
+            //    {                   
+            //        Stores.ForEach(s=> {
+            //            if ((machineSide & s.MachineSide) == s.MachineSide && s.isRunning)
+            //            {
+            //                LogUtil.info($"{machineSide}侧回原");
+            //                AxisBean.List[s.MachineSide].ForEach((x) => { AxisManager.AlarmClear(x.Config.DeviceName, x.Config.GetAxisValue()); });
+            //                s.BeginHomeReset();
+            //            }
+            //        });
+            //    }
+            //});
             Thread.Sleep(100);
         }
 

DeviceLibrary/theMachine/Store/MainMachine _IOMonitor.cs

@@ -21,13 +21,15 @@ namespace DeviceLibrary
 
         void Reset_BTN()
         {
-            if (IOValue(IO_Type.SuddenStop_BTN, Config).Equals(IO_VALUE.HIGH))
+            if (IOValue(IO_Type.SuddenStop_BTN, RobotManage.Config).Equals(IO_VALUE.HIGH))
             {
+                if (!AxisBean.ClearMultiAlarm(out string msg, AxisBean.List[MachineSide]))
+                    Msg.add(msg, MsgLevel.warning);
                 MsgService.Add(crc.GetString("Res0131","按下复位按钮."), MsgLevel.info, ErrInfo.ResetBtn);
             }
             else
             {
-                MsgService.Add(crc.GetString("Res0132","急停未解除,按下复位按钮尝试复位安全继电器."), MsgLevel.info, ErrInfo.SuddenStop);
+                MsgService.Add(crc.GetString("Res0132","急停未解除,按下复位按钮尝试复位安全继电器."), MsgLevel.info);
             }
 
             LogUtil.info("按下复位按钮");

DeviceLibrary/theMachine/Store/StoreMachine.cs

@@ -32,7 +32,7 @@ namespace DeviceLibrary
                 _canRunning = value;
             }
         }
-        public bool isBusy { get => boxTransport.IsComplateOrFree; }
+        public bool isBusy { get => !boxTransport.IsComplateOrFree; }
         public bool isAlarm { get => hasAlarm; }
         public bool isRunning { get => mstart; }
 
@@ -75,11 +75,11 @@ namespace DeviceLibrary
 
 
         ReelTransport boxTransport;
-        public DoorControl door;
+        public LiftMonitor door;
         public bool boxTransportIsFree { get => boxTransport.IsComplateOrFree; }
         public event Action<string, StoreMoveType, bool> InOutEndProcessEvent;
 
-        ServerCommunication ServerCM;
+        public ServerCommunication ServerCM;
         public RemoteClient Remote;
 
         /// <summary>
@@ -150,7 +150,7 @@ namespace DeviceLibrary
                 InOutEndProcessEvent?.Invoke(posid, storeMoveType, arg4);
             };
 
-            door = new DoorControl(Name, Config);
+            door = new LiftMonitor(SIO_Type.Door_Open, SIO_Type.Door_Close, "", Config, Door_Axis, Config.DoorAxis_Run_Len, Config.DoorAxis_Run_Len_speed);
             string baseDir = Application.StartupPath;
             string positionConfigFile = Path.Combine(baseDir, "StoreConfig\\"+machineSide.ToString()+"\\linePositions.csv");
             if (File.Exists(positionConfigFile))
@@ -169,7 +169,7 @@ namespace DeviceLibrary
                 ResetMoveInfo.log($"加载{Name}校准库位文件：" + fixpositionConfigFile);
                 StorePosition = StorePosition.Concat(CSVPositionReader<ACStorePosition>.AddCSVFile(fixpositionConfigFile)).ToDictionary(k => k.Key, v => v.Value);
             }
-            IOMonitor.RegisterIO(IO_Type.Reset_BTN, RobotManage.Config, IO_VALUE.HIGH, Reset_BTN, 2500, 100);
+            
             
 
         }
@@ -178,20 +178,20 @@ namespace DeviceLibrary
         {
             if (arg)
             {
-                if (door.DoorIsOpen())
+                if (door.isAtTOP)
                     return true;
                 else
                 {
-                    door.OpenDoor(null);
+                    door.LiftUp(null);
                     return false;
                 }
             }
             else {
-                if (door.DoorIsClose())
+                if (door.isAtBOTTOM)
                     return true;
                 else
                 {
-                    door.CloseDoor(null);
+                    door.LiftDown(null);
                     return false;
                 }
             }
@@ -251,9 +251,9 @@ namespace DeviceLibrary
                 if (IOValue(SIO_Type.Door_Open, Config).Equals(IO_VALUE.LOW))
                     return (true, crc.GetString("Res0142", "单料门没有打开进出轴无法伸出"));
                 if (!updownindoor)
-                    return (true, "升降轴不在P2或P3点");
+                    return (true, crc.GetString("Res0005","升降轴不在P2或P3点"));
                 if (!ismiddleatdoor)
-                    return (true, "旋转轴不在P1或P2点");
+                    return (true, crc.GetString("Res0006","旋转轴不在P1或P2点"));
             }
             return (false, "");
         }
@@ -349,6 +349,7 @@ namespace DeviceLibrary
                         ServerCM.storeStatus = currnetstoreStatus;
                 }
             }
+            ServerCM.storeStatus = StoreStatus.None;
             LogUtil.info($"{MachineSide}主线程已退出.");
         }
         public void Start() {
@@ -363,26 +364,22 @@ namespace DeviceLibrary
         public void Stop() {
             LogUtil.info(Name + ":Stop.");
             mstart = false;
+            
             UserPause = false;
             AutoInOutTest = false;
             Thread.Sleep(300);
             Alarm(AlarmType.None);
             StopMove(true);
-
+            door.Pause();
             PauseEvent?.Invoke(null, false);
         }
         public void ShutDown()
         {
             LogUtil.info(Name+":开始关闭系统.");
-            door.Dispose();
+            //door.Dispose();
             ServerCM.Dispose();
         }
         public void BeginHomeReset(bool firstRun=false) {
-            if (!firstRun)
-            {
-                StopMove();
-                Thread.Sleep(500);
-            }
             OpenAllServo();
             boxTransport.Unlock();
             Alarm(AlarmType.None);
@@ -411,10 +408,10 @@ namespace DeviceLibrary
                     ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
                     ResetMoveInfo.log("进出轴,批量轴回原,料串检测杆退回避让端");
                     InOut_Axis.HomeMove(ResetMoveInfo, forceHome);                    
-                    door.CloseDoor(ResetMoveInfo);
                     break;
                 case MoveStep.H02_HomeReset:
                     ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
+                    door.LiftDown(ResetMoveInfo);
                     break;
                 case MoveStep.H03_HomeReset:                    
                     ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
@@ -438,52 +435,73 @@ namespace DeviceLibrary
                     Comp_Axis.HomeMove(ResetMoveInfo, forceHome);
                     break;
                 case MoveStep.H07_HomeReset:
-                    if (IOValue(SIO_Type.Door_Tray_Check, Config).Equals(IO_VALUE.HIGH))
-                    {
-                        Msg.add(crc.GetString("Res0145","回原时舱门口有料无法继续"), MsgLevel.alarm);
-                    }
-                    else {
                     ResetMoveInfo.NextMoveStep(MoveStep.H08_HomeReset);
-                    }
-                    break;
-                case MoveStep.H08_HomeReset:
-                    ResetMoveInfo.NextMoveStep(MoveStep.H09_HomeReset);
-                    ResetMoveInfo.log("假设有料盘,送到单料口");
-                    door.OpenDoor(ResetMoveInfo);
-                    break;
-                case MoveStep.H09_HomeReset:
-                    ResetMoveInfo.NextMoveStep(MoveStep.H10_HomeReset);
                     ResetMoveInfo.log("旋转轴,升降轴,到P2,压紧轴p1");
                     Middle_Axis.AbsMove(ResetMoveInfo, Config.Middle_P2, Config.Middle_P2_speed);
                     UpDown_Axis.AbsMove(ResetMoveInfo, Config.UpDown_P2, Config.UpDown_P2_speed);
                     Comp_Axis.AbsMove(ResetMoveInfo, Config.Comp_P1, Config.Comp_P1_speed);
                     break;
-                case MoveStep.H10_HomeReset:
-                    ResetMoveInfo.NextMoveStep(MoveStep.H11_HomeReset);
-                    if (IOValue(SIO_Type.Door_Tray_Check, Config).Equals(IO_VALUE.HIGH))
+                case MoveStep.H08_HomeReset:
+                    ResetMoveInfo.NextMoveStep(MoveStep.H09_HomeReset);
+                    var TrayCheck_Fixture = IOValue(SIO_Type.TrayCheck_Fixture,Config).Equals(IO_VALUE.HIGH);
+                    var TrayCheck_Door = IOValue(SIO_Type.Door_Tray_Check, Config).Equals(IO_VALUE.HIGH);
+                    if (TrayCheck_Fixture || TrayCheck_Door)
+                    {
+                        ResetMoveInfo.log($"回原时检测到又滞留物料:TrayCheck_Fixture={TrayCheck_Fixture},TrayCheck_Door={TrayCheck_Door}");
+                        StoreMoveInfo.MoveParam.PosID = ConfigHelper.Config.Get($"Runtime_{MachineSide}_PosID");
+                        StoreMoveInfo.MoveParam.PlateH = ConfigHelper.Config.Get<int>($"Runtime_{MachineSide}_PlateH");
+                        StoreMoveInfo.MoveParam.PlateW = ConfigHelper.Config.Get<int>($"Runtime_{MachineSide}_PlateW");
+                        StoreMoveInfo.MoveParam.WareCode = ConfigHelper.Config.Get($"Runtime_{MachineSide}_WareCode");
+                        if (StoreMoveInfo.MoveParam.PlateH == 0)
+                        {
+                            if (TrayCheck_Fixture)
+                                Msg.add(crc.GetString("Res0007","料叉上的物料丢失数据,请人工处理"), MsgLevel.alarm);
+                            else
+                                Msg.add(crc.GetString("Res0008","仓门口的物料丢失数据,请人工处理"), MsgLevel.alarm);
+                        }
+
+                        if (ConfigHelper.Config.Get<bool>($"Runtime_{MachineSide}_IsInStore"))
                         {
-                        Msg.add(crc.GetString("Res0145","回原时舱门口有料无法继续"), MsgLevel.alarm);
+                            ResetMoveInfo.log("入库物料:" + StoreMoveInfo.MoveParam.ToStr());
+                            if (TrayCheck_Fixture)
+                                StoreMoveInfo.MoveParam.ReelOnFixture = true;
+                            StoreMoveInfo.NextMoveStep(MoveStep.StoreIn02);
+
+                        }
+                        else if (TrayCheck_Fixture)
+                        {
+                            ResetMoveInfo.log("出库物料在料叉上:" + StoreMoveInfo.MoveParam.ToStr());
+                            StoreMoveInfo.MoveParam.ReelOnFixture = true;
+                            StoreMoveInfo.NextMoveStep(MoveStep.StoreOut10);
                         }
                         else
                         {
-                        ResetMoveInfo.log("进出轴到p2单料们放料点");
-                        InOut_Axis.AbsMove(ResetMoveInfo, Config.InOut_P2, Config.InOut_P2_speed);
+                            ResetMoveInfo.log("出库物料在门口:" + StoreMoveInfo.MoveParam.ToStr());
+
+                            StoreMoveInfo.NextMoveStep(MoveStep.StoreOut_WaitMT);
+
                         }
+                    }
+                    else if (!string.IsNullOrEmpty(ConfigHelper.Config.Get($"Runtime_{MachineSide}_PlateInFix")))
+                    {
+                        var ac = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
+                        var dc = CSVPositionReader<ACStorePosition>.GetPositon(ConfigHelper.Config.Get($"Runtime_{MachineSide}_PlateInFix"));
+                        boxTransport.Start(new BoxStorePosition(Config, dc, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, ac, StoreMoveInfo.MoveParam), StoreMoveType.InStore, true);
+                        ResetMoveInfo.log($"开始转运料盘:{ConfigHelper.Config.Get($"Runtime_{MachineSide}_PlateInFix")}=>{StoreMoveInfo.MoveParam.PosID}");
+                        StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11);
+                    }
+                    else
+                    {
+                        StoreMoveInfo.NewMove(MoveStep.Wait);
+                    }
+                    forceHome = true;
+                    boxTransport.Reset();
+                    ResetMoveInfo.log("回原完成");
+                    ResetMoveInfo.EndMove();
+                    runStatus = RunStatus.Running;
+                    ServerCM.storeStatus = StoreStatus.StoreOnline;
                     break;
-                case MoveStep.H11_HomeReset:
-                    ResetMoveInfo.NextMoveStep(MoveStep.H12_HomeReset);
-                    ResetMoveInfo.log("升降轴,到P3低点");
-                    UpDown_Axis.AbsMove(ResetMoveInfo, Config.UpDown_P3, Config.UpDown_P3_speed);
-                    break;
-                case MoveStep.H12_HomeReset:
-                    ResetMoveInfo.NextMoveStep(MoveStep.H13_HomeReset);
-                    InOut_Axis.AbsMove(ResetMoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
-                    break;
-                case MoveStep.H13_HomeReset:
-                    ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
-                    ResetMoveInfo.log("关闭单料门");
-                    door.CloseDoor(ResetMoveInfo);
-                    break;
+                
                 case MoveStep.H14_HomeReset:
                     break;
                 case MoveStep.H15_HomeReset:
@@ -491,7 +509,7 @@ namespace DeviceLibrary
                 case MoveStep.H16_HomeReset:
                     break;
                 case MoveStep.HEND_HomeReset:
-                    forceHome = false;
+                    forceHome = true;
                     StoreMoveInfo.NewMove(MoveStep.Wait);
                     boxTransport.Reset();
                     ResetMoveInfo.log("回原完成");
@@ -560,9 +578,10 @@ namespace DeviceLibrary
             }
             else if (isInSuddenDown)
             {
-                Alarm(AlarmType.SuddenStop);
-                Msg.add(crc.GetString("Res0134","急停中"), MsgLevel.alarm);
+                //Alarm(AlarmType.SuddenStop);
+                Msg.add(crc.GetString("Res0134","急停中"), MsgLevel.alarm, ErrInfo.SuddenStop);
                 ok = false;
+                return false;
             }
             else if (alarmType != AlarmType.None) {
                 {
@@ -570,6 +589,13 @@ namespace DeviceLibrary
                     ok = false;
                 }
             }
+
+            if (ok && !AxisBean.RunMultiAxis(true, out string msg, AxisBean.List[MachineSide]))
+            {
+                ok = false;
+                Msg.add(msg, MsgLevel.warning);
+                //LogUtil.error(msg);
+            }
             if (AutoInOutTestMode)
             {
                 Msg.add(crc.GetString("Res0149","进出库调试模式"), MsgLevel.info);
@@ -587,9 +613,9 @@ namespace DeviceLibrary
                         if (AxisManager.GetAlarmStatus(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue()) == 1)
                         {
                             Msg.add(crc.GetString(configMoveAxis.ProName, configMoveAxis.Explain) + $"[{configMoveAxis.GetAxisValue()}]:"
-                                + crc.GetString("Res0150","运动报警"), MsgLevel.alarm, ErrInfo.SuddenStop);
+                                + crc.GetString("Res0150","运动报警"), MsgLevel.alarm,ErrInfo.SuddenStop);
                             ok = false;
-                            LogUtil.error(string.Join(",", HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(configMoveAxis.GetAxisValue())));
+                            StoreMoveInfo.error(string.Join(",", HuichuanLibrary.HCBoardManager.GetAxisErrorDetail(configMoveAxis.GetAxisValue())));
                         }
                     }
                 }

DeviceLibrary/theMachine/Store/StoreMachine_Store.cs

 using CodeLibrary;
+using Newtonsoft.Json;
 using OnlineStore;
 using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
+using RemoteSheardObject;
 using System;
 using System.Collections.Generic;
 using System.Drawing;
@@ -33,17 +35,25 @@ namespace DeviceLibrary
             else {
                 StoreMoveInfo.NextMoveStep(MoveStep.StoreIn01);
                 StoreMoveInfo.MoveParam = requestLoadInfo.LoadParam.clone();
-
+                StoreMoveInfo.MoveParam.IsInStore = true;
+                ConfigHelper.Config.Set($"Runtime_{MachineSide}_DoorInfo", JsonConvert.SerializeObject(StoreMoveInfo.MoveParam));
+                ConfigHelper.Config.Set($"Runtime_{MachineSide}_IsInStore", true);
+                ConfigHelper.Config.Set($"Runtime_{MachineSide}_PosID", StoreMoveInfo.MoveParam.PosID);
+                ConfigHelper.Config.Set($"Runtime_{MachineSide}_PlateH", StoreMoveInfo.MoveParam.PlateH);
+                ConfigHelper.Config.Set($"Runtime_{MachineSide}_PlateW", StoreMoveInfo.MoveParam.PlateW);
+                ConfigHelper.Config.Set($"Runtime_{MachineSide}_WareCode", StoreMoveInfo.MoveParam.WareCode);
+                StoreMoveInfo.log("写入舱门口信息:" + StoreMoveInfo.MoveParam.ToStr());
             }
             return true;
         }
         public bool DoorLock(RequestLoadInfo requestLoadInfo) {
-            if (StoreMoveInfo.MoveStep == MoveStep.Wait && !requestLoadInfo.IsEmpty)
+            if (runStatus== RunStatus.Running && StoreMoveInfo.MoveStep == MoveStep.Wait && !requestLoadInfo.IsEmpty)
             {
                 var s = IOValue(SIO_Type.Door_Tray_Check,Config);
                 if (s.Equals(IO_VALUE.LOW))
                 {
                     StoreMoveInfo.NextMoveStep(MoveStep.WaitInStore);
+                    StoreMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                     LogUtil.info("锁定料仓等待入库");
                     return true;
                 }
@@ -71,6 +81,17 @@ namespace DeviceLibrary
             //常规上料扫码流程
             switch (StoreMoveInfo.MoveStep)
             {
+                case MoveStep.WaitInStore:
+                    StoreMoveInfo.NextMoveStep(MoveStep.WaitInStore);
+                    StoreMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                    if (IsLineFree() == RemoteResult.True)
+                    {
+                        StoreMoveInfo.log($"MT已经不在入库模式");
+                        StoreMoveInfo.EndMove();
+                    }
+                    else
+                        Msg.add(crc.GetString("Res0020","等待入库物料"), MsgLevel.info);
+                    break;
                 case MoveStep.Wait:
                     
                     //判断有没有出库任务, 需要入库空闲, 出口空闲
@@ -96,6 +117,12 @@ namespace DeviceLibrary
                             StoreMoveInfo.MoveParam.PlateH = jobInfo.plateH;
                             StoreMoveInfo.MoveParam.PlateW = jobInfo.plateW;
                             StoreMoveInfo.log($"开始出库任务:" + jobInfo.ToStr());
+
+                            ConfigHelper.Config.Set($"Runtime_{MachineSide}_IsInStore", false);
+                            ConfigHelper.Config.Set($"Runtime_{MachineSide}_PosID", StoreMoveInfo.MoveParam.PosID);
+                            ConfigHelper.Config.Set($"Runtime_{MachineSide}_PlateH", StoreMoveInfo.MoveParam.PlateH);
+                            ConfigHelper.Config.Set($"Runtime_{MachineSide}_PlateW", StoreMoveInfo.MoveParam.PlateW);
+                            ConfigHelper.Config.Set($"Runtime_{MachineSide}_WareCode", StoreMoveInfo.MoveParam.WareCode);
                             ServerCM.storeStatus = StoreStatus.OutStoreExecute;
                             return;
                         }
@@ -111,7 +138,9 @@ namespace DeviceLibrary
                     if (StoreMoveInfo.IsTimeOut(10))
                     {
                         StoreMoveInfo.log("入口料盘,获取库位失败");
-                        StoreMoveInfo.NewMove(MoveStep.Wait);
+                        StoreMoveInfo.MoveParam.IsNg = true;
+                        StoreMoveInfo.MoveParam.NgMsg = $"[{CID}]" + crc.GetString("Res0009","无信息物料");
+                        StoreMoveInfo.NextMoveStep(MoveStep.StoreOut_WaitMT);
                     }
                     break;
                 case MoveStep.StoreIn01:
@@ -120,7 +149,7 @@ namespace DeviceLibrary
                         Msg.add(crc.GetString("Res0156","服务器连接异常"), MsgLevel.warning);
                         return;
                     }
-                    SRec.info(CID, MachineSide == MachineSideE.Left ? "A侧" : "B侧", "开始入库", StoreMoveInfo.MoveParam.PosID);
+                    SRec.info(CID, MachineSide == MachineSideE.Left ? crc.GetString("Res0010","A侧") : crc.GetString("Res0011","B侧"), crc.GetString("Res0012","开始入库"), StoreMoveInfo.MoveParam.PosID);
 
                     StoreMoveInfo.NextMoveStep(MoveStep.StoreIn02);
                     break;
@@ -145,7 +174,7 @@ namespace DeviceLibrary
                     }
                     break;
                 case MoveStep.StoreIn04:
-                    if (boxTransport.IsPutOnOut)
+                    if (boxTransport.IsPutIn)
                     {
                         if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreEnd))
                         {
@@ -164,7 +193,7 @@ namespace DeviceLibrary
                 case MoveStep.StoreIn05:
                     if (boxTransport.IsComplateOrFree)
                     {
-                        SRec.info(CID, MachineSide == MachineSideE.Left ? "A侧" : "B侧", "完成入库", StoreMoveInfo.MoveParam.PosID);
+                        SRec.info(CID, MachineSide == MachineSideE.Left ? crc.GetString("Res0010","A侧") : crc.GetString("Res0011","B侧"), crc.GetString("Res0013","完成入库"), StoreMoveInfo.MoveParam.PosID);
 
                         StoreMoveInfo.log($"料盘已到达目的地");
                         StoreMoveInfo.EndMove();
@@ -182,7 +211,7 @@ namespace DeviceLibrary
                     BoxStorePosition outTo = new BoxStorePosition(Config, StoreSide.NGDoor, StoreMoveInfo.MoveParam);
                     boxTransport.Start(outFrom == null ? null : new BoxStorePosition(Config, outFrom, StoreMoveInfo.MoveParam), outTo, StoreMoveType.OutStore);
                     StoreMoveInfo.log($"开始转运料盘");
-                    SRec.info(CID, MachineSide == MachineSideE.Left ? "A侧" : "B侧", "开始出库", StoreMoveInfo.MoveParam.PosID);
+                    SRec.info(CID, MachineSide == MachineSideE.Left ? crc.GetString("Res0010","A侧") : crc.GetString("Res0011","B侧"), crc.GetString("Res0014","开始出库"), StoreMoveInfo.MoveParam.PosID);
 
                     break;
                 case MoveStep.StoreOut11:
@@ -219,6 +248,7 @@ namespace DeviceLibrary
                         }
                         StoreMoveInfo.NextMoveStep(MoveStep.StoreOut_WaitMT);
                         StoreMoveInfo.log($"料盘已到达目的地");
+                        TheLine.UpdateLocInfo("", StoreMoveInfo.MoveParam.WareCode, TheLine.LineStatusE.BOXDOOR, CID);
                         OutStoreJobList.ClearLastPosid(StoreMoveInfo.MoveParam.PosID);
                         
                     }
@@ -229,19 +259,19 @@ namespace DeviceLibrary
                     if (StoreMoveInfo.MoveParam.PlateW<=15)
                         tt = TrayTypeE.MTP1.ToString();
                     if (SendTrayRequest(tt, StoreMoveInfo.MoveParam) >RemoteResult.Timeout) {
-                        SRec.info(CID, MachineSide == MachineSideE.Left ? "A侧" : "B侧", "完成出库", StoreMoveInfo.MoveParam.PosID);
+                        SRec.info(CID, MachineSide == MachineSideE.Left ? crc.GetString("Res0010","A侧") : crc.GetString("Res0011","B侧"), crc.GetString("Res0015","完成出库"), StoreMoveInfo.MoveParam.PosID);
 
                         StoreMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0161", "等聊单料门料盘被取走"), MsgLevel.warning));
                     }
                     else
                     {                        
-                        StoreMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg("请求环形线空托盘失败", MsgLevel.warning));
+                        StoreMoveInfo.WaitList.Add(WaitResultInfo.WaitMsg(crc.GetString("Res0016","请求环形线空托盘失败"), MsgLevel.warning));
                         
                     }
                     StoreMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
                     break;
                 case MoveStep.StoreOut14:
-                    Msg.add("等待环形线取走料盘", MsgLevel.warning);
+                    Msg.add(crc.GetString("Res0017","等待环形线取走料盘"), MsgLevel.warning);
                     if (IOValue(SIO_Type.Door_Tray_Check, Config).Equals(IO_VALUE.LOW))
                     {
                         if (IsLineFree() == RemoteResult.True)
@@ -258,7 +288,11 @@ namespace DeviceLibrary
         }
         string StoreState() {
             string state = crc.GetString("Res0162","空闲中");
-            if (StoreMoveInfo.MoveStep >= MoveStep.StoreOut10)
+            if (StoreMoveInfo.MoveStep == MoveStep.WaitInStore)
+            {
+                state = crc.GetString("Res0020","等待入库物料") + ":" + StoreMoveInfo.MoveParam.PosID;
+            }
+            else if (StoreMoveInfo.MoveStep >= MoveStep.StoreOut10)
             {
                 state = crc.GetString("Res0163","出库中")+":"+StoreMoveInfo.MoveParam.PosID;
             }

DeviceLibrary/userControl/AxisMoveControl.Designer.cs

@@ -38,9 +38,7 @@
             this.lblAxEncAcc = new System.Windows.Forms.Label();
             this.lblINP = new System.Windows.Forms.Label();
             this.lblBUSY = new System.Windows.Forms.Label();
-            this.lblNEL = new System.Windows.Forms.Label();
             this.lblORG = new System.Windows.Forms.Label();
-            this.lblPEL = new System.Windows.Forms.Label();
             this.lblSvOn = new System.Windows.Forms.Label();
             this.lblEMG = new System.Windows.Forms.Label();
             this.lblWARN = new System.Windows.Forms.Label();
@@ -94,9 +92,7 @@
             this.txtAPosition = new System.Windows.Forms.TextBox();
             this.label46 = new System.Windows.Forms.Label();
             this.label48 = new System.Windows.Forms.Label();
-            this.label45 = new System.Windows.Forms.Label();
             this.txtAxisValue = new System.Windows.Forms.TextBox();
-            this.txtAxisDeviceName = new System.Windows.Forms.TextBox();
             this.lblServerOn = new System.Windows.Forms.Label();
             this.timer1 = new System.Windows.Forms.Timer(this.components);
             this.groupAxis.SuspendLayout();
@@ -132,9 +128,7 @@
             this.groupBox2.Controls.Add(this.lblAxEncAcc);
             this.groupBox2.Controls.Add(this.lblINP);
             this.groupBox2.Controls.Add(this.lblBUSY);
-            this.groupBox2.Controls.Add(this.lblNEL);
             this.groupBox2.Controls.Add(this.lblORG);
-            this.groupBox2.Controls.Add(this.lblPEL);
             this.groupBox2.Controls.Add(this.lblSvOn);
             this.groupBox2.Controls.Add(this.lblEMG);
             this.groupBox2.Controls.Add(this.lblWARN);
@@ -217,9 +211,9 @@
             // lblINP
             // 
             this.lblINP.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
-            this.lblINP.Location = new System.Drawing.Point(414, 24);
+            this.lblINP.Location = new System.Drawing.Point(388, 24);
             this.lblINP.Name = "lblINP";
-            this.lblINP.Size = new System.Drawing.Size(56, 30);
+            this.lblINP.Size = new System.Drawing.Size(70, 30);
             this.lblINP.TabIndex = 10;
             this.lblINP.Text = "到位";
             this.lblINP.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -227,49 +221,29 @@
             // lblBUSY
             // 
             this.lblBUSY.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
-            this.lblBUSY.Location = new System.Drawing.Point(356, 24);
+            this.lblBUSY.Location = new System.Drawing.Point(312, 24);
             this.lblBUSY.Name = "lblBUSY";
-            this.lblBUSY.Size = new System.Drawing.Size(56, 30);
+            this.lblBUSY.Size = new System.Drawing.Size(70, 30);
             this.lblBUSY.TabIndex = 9;
             this.lblBUSY.Text = "忙碌";
             this.lblBUSY.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             // 
-            // lblNEL
-            // 
-            this.lblNEL.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
-            this.lblNEL.Location = new System.Drawing.Point(298, 24);
-            this.lblNEL.Name = "lblNEL";
-            this.lblNEL.Size = new System.Drawing.Size(56, 30);
-            this.lblNEL.TabIndex = 8;
-            this.lblNEL.Text = "负极限";
-            this.lblNEL.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            // 
             // lblORG
             // 
             this.lblORG.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
-            this.lblORG.Location = new System.Drawing.Point(240, 24);
+            this.lblORG.Location = new System.Drawing.Point(236, 24);
             this.lblORG.Name = "lblORG";
-            this.lblORG.Size = new System.Drawing.Size(56, 30);
+            this.lblORG.Size = new System.Drawing.Size(70, 30);
             this.lblORG.TabIndex = 7;
             this.lblORG.Text = "原点";
             this.lblORG.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
             // 
-            // lblPEL
-            // 
-            this.lblPEL.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
-            this.lblPEL.Location = new System.Drawing.Point(182, 24);
-            this.lblPEL.Name = "lblPEL";
-            this.lblPEL.Size = new System.Drawing.Size(56, 30);
-            this.lblPEL.TabIndex = 6;
-            this.lblPEL.Text = "正极限";
-            this.lblPEL.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
-            // 
             // lblSvOn
             // 
             this.lblSvOn.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
             this.lblSvOn.Location = new System.Drawing.Point(8, 24);
             this.lblSvOn.Name = "lblSvOn";
-            this.lblSvOn.Size = new System.Drawing.Size(56, 30);
+            this.lblSvOn.Size = new System.Drawing.Size(70, 30);
             this.lblSvOn.TabIndex = 5;
             this.lblSvOn.Text = "伺服";
             this.lblSvOn.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -277,9 +251,9 @@
             // lblEMG
             // 
             this.lblEMG.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
-            this.lblEMG.Location = new System.Drawing.Point(124, 24);
+            this.lblEMG.Location = new System.Drawing.Point(160, 24);
             this.lblEMG.Name = "lblEMG";
-            this.lblEMG.Size = new System.Drawing.Size(56, 30);
+            this.lblEMG.Size = new System.Drawing.Size(70, 30);
             this.lblEMG.TabIndex = 4;
             this.lblEMG.Text = "急停";
             this.lblEMG.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -287,9 +261,9 @@
             // lblWARN
             // 
             this.lblWARN.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
-            this.lblWARN.Location = new System.Drawing.Point(472, 24);
+            this.lblWARN.Location = new System.Drawing.Point(464, 24);
             this.lblWARN.Name = "lblWARN";
-            this.lblWARN.Size = new System.Drawing.Size(56, 30);
+            this.lblWARN.Size = new System.Drawing.Size(70, 30);
             this.lblWARN.TabIndex = 3;
             this.lblWARN.Text = "警告";
             this.lblWARN.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -297,9 +271,9 @@
             // lblALM
             // 
             this.lblALM.BorderStyle = System.Windows.Forms.BorderStyle.FixedSingle;
-            this.lblALM.Location = new System.Drawing.Point(66, 24);
+            this.lblALM.Location = new System.Drawing.Point(84, 24);
             this.lblALM.Name = "lblALM";
-            this.lblALM.Size = new System.Drawing.Size(56, 30);
+            this.lblALM.Size = new System.Drawing.Size(70, 30);
             this.lblALM.TabIndex = 2;
             this.lblALM.Text = "报警";
             this.lblALM.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
@@ -591,9 +565,7 @@
             this.panel1.Controls.Add(this.txtAPosition);
             this.panel1.Controls.Add(this.label46);
             this.panel1.Controls.Add(this.label48);
-            this.panel1.Controls.Add(this.label45);
             this.panel1.Controls.Add(this.txtAxisValue);
-            this.panel1.Controls.Add(this.txtAxisDeviceName);
             this.panel1.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.panel1.Location = new System.Drawing.Point(7, 17);
             this.panel1.Name = "panel1";
@@ -874,7 +846,7 @@
             // 
             this.label46.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.label46.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.label46.Location = new System.Drawing.Point(6, 93);
+            this.label46.Location = new System.Drawing.Point(4, 54);
             this.label46.Name = "label46";
             this.label46.Size = new System.Drawing.Size(71, 17);
             this.label46.TabIndex = 239;
@@ -895,21 +867,10 @@
             this.label48.Text = "目标位置:";
             this.label48.TextAlign = System.Drawing.ContentAlignment.MiddleRight;
             // 
-            // label45
-            // 
-            this.label45.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.label45.ImageAlign = System.Drawing.ContentAlignment.MiddleRight;
-            this.label45.Location = new System.Drawing.Point(8, 53);
-            this.label45.Name = "label45";
-            this.label45.Size = new System.Drawing.Size(69, 20);
-            this.label45.TabIndex = 240;
-            this.label45.Text = "端口号:";
-            this.label45.TextAlign = System.Drawing.ContentAlignment.TopRight;
-            // 
             // txtAxisValue
             // 
             this.txtAxisValue.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.txtAxisValue.Location = new System.Drawing.Point(83, 87);
+            this.txtAxisValue.Location = new System.Drawing.Point(81, 48);
             this.txtAxisValue.MaxLength = 10;
             this.txtAxisValue.Name = "txtAxisValue";
             this.txtAxisValue.ReadOnly = true;
@@ -918,18 +879,6 @@
             this.txtAxisValue.Tag = "not";
             this.txtAxisValue.Text = "0";
             // 
-            // txtAxisDeviceName
-            // 
-            this.txtAxisDeviceName.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.txtAxisDeviceName.Location = new System.Drawing.Point(83, 48);
-            this.txtAxisDeviceName.MaxLength = 10;
-            this.txtAxisDeviceName.Name = "txtAxisDeviceName";
-            this.txtAxisDeviceName.ReadOnly = true;
-            this.txtAxisDeviceName.Size = new System.Drawing.Size(50, 26);
-            this.txtAxisDeviceName.TabIndex = 241;
-            this.txtAxisDeviceName.Tag = "not";
-            this.txtAxisDeviceName.Text = "0";
-            // 
             // lblServerOn
             // 
             this.lblServerOn.AutoSize = true;
@@ -994,8 +943,6 @@
         internal System.Windows.Forms.Label label48;
         internal System.Windows.Forms.Button btnAxisStop;
         private System.Windows.Forms.TextBox txtAxisValue;
-        private System.Windows.Forms.TextBox txtAxisDeviceName;
-        private System.Windows.Forms.Label label45;
         private System.Windows.Forms.Label label46;
         private System.Windows.Forms.Label label49;
         private System.Windows.Forms.Label label24;
@@ -1018,9 +965,7 @@
         private System.Windows.Forms.Label lblAxEncAcc;
         private System.Windows.Forms.Label lblINP;
         private System.Windows.Forms.Label lblBUSY;
-        private System.Windows.Forms.Label lblNEL;
         private System.Windows.Forms.Label lblORG;
-        private System.Windows.Forms.Label lblPEL;
         private System.Windows.Forms.Label lblSvOn;
         private System.Windows.Forms.Label lblEMG;
         private System.Windows.Forms.Label lblWARN;

DeviceLibrary/userControl/AxisMoveControl.cs

@@ -53,7 +53,7 @@ namespace DeviceLibrary
                 currentAxis = axisList[0];
                 PortName = axisList[0].Config.DeviceName;
                 SlvAddr = axisList[0].Config.GetAxisValue();
-                txtAxisDeviceName.Text = PortName;
+                //txtAxisDeviceName.Text = PortName;
                 txtAxisValue.Text = SlvAddr.ToString();
             }
             btnAddMove.BackColor = Color.White;
@@ -224,7 +224,7 @@ namespace DeviceLibrary
                 axis = axisList[cmbAxis.SelectedIndex].Config;
                 PortName = axis.DeviceName;
                 SlvAddr = axis.GetAxisValue();
-                txtAxisDeviceName.Text = PortName;
+                //txtAxisDeviceName.Text = PortName;
                 txtAxisValue.Text = SlvAddr.ToString();
                 Color color = Color.Black;
 
@@ -353,7 +353,7 @@ namespace DeviceLibrary
         }
         private void ReadAxisStatus()
         {
-            groupBox2.Text = cmbAxis.Text + "-"+crc.GetString("Res0169","状态监控");
+            groupBox2.Text = cmbAxis.Text + "-" + crc.GetString("Res0169","状态监控");
             //【1】更新轴号
             short axisNo = SlvAddr;
             if (axisNo < 0)
@@ -393,9 +393,9 @@ namespace DeviceLibrary
             {
                 return;
             }
-            ShowlbSts(lblPEL, sts.PEL); //正限位信号 
+            //ShowlbSts(lblPEL, sts.PEL); //正限位信号 
             ShowlbSts(lblORG, sts.ORG); //原点信号 
-            ShowlbSts(lblNEL, sts.NEL); //负限位信号  
+            //ShowlbSts(lblNEL, sts.NEL); //负限位信号  
 
             //label59.Text = ConvertDecimalToBinary(nTimerAxSts[0]);   //轴状态是按bit进行解读，因此这里将AxSts转换为二进制bit进行显示
             lblAxPrfPos.Text = HCBoardManager.GetAxisPrfPos(axisNo).ToString();

TheMachine/Form1.Designer.cs

@@ -32,10 +32,14 @@ namespace TheMachine
             System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(Form1));
             this.menuStrip1 = new System.Windows.Forms.MenuStrip();
             this.设备操作ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.全部启动ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.toolStripSeparator3 = new System.Windows.Forms.ToolStripSeparator();
+            this.全部停止ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.toolStripSeparator2 = new System.Windows.Forms.ToolStripSeparator();
             this.启用调试模式ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.toolStripSeparator4 = new System.Windows.Forms.ToolStripSeparator();
-            this.二维码识别调试ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
-            this.toolStripSeparator1 = new System.Windows.Forms.ToolStripSeparator();
+            this.禁用蜂鸣器ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
+            this.toolStripSeparator5 = new System.Windows.Forms.ToolStripSeparator();
             this.退出ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.语言toolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.简体中文ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
@@ -54,12 +58,8 @@ namespace TheMachine
             this.groupBox1 = new System.Windows.Forms.GroupBox();
             this.stateViewL = new System.Windows.Forms.ListView();
             this.pictureBox1 = new System.Windows.Forms.PictureBox();
-            this.cb_IgnoreSafecheck = new System.Windows.Forms.CheckBox();
-            this.cb_EnableBuzzer = new System.Windows.Forms.CheckBox();
             this.btn_IgnoreX09 = new System.Windows.Forms.Button();
             this.btn_PauseBuzzer = new System.Windows.Forms.Button();
-            this.btn_stop = new System.Windows.Forms.Button();
-            this.btn_run = new System.Windows.Forms.Button();
             this.menuStrip1.SuspendLayout();
             this.tabc.SuspendLayout();
             this.tabP1.SuspendLayout();
@@ -75,6 +75,7 @@ namespace TheMachine
             // menuStrip1
             // 
             this.menuStrip1.BackColor = System.Drawing.Color.Transparent;
+            this.menuStrip1.Font = new System.Drawing.Font("Microsoft YaHei UI", 15F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.menuStrip1.Items.AddRange(new System.Windows.Forms.ToolStripItem[] {
             this.设备操作ToolStripMenuItem,
             this.语言toolStripMenuItem,
@@ -82,55 +83,80 @@ namespace TheMachine
             this.menuStrip1.Location = new System.Drawing.Point(0, 0);
             this.menuStrip1.Name = "menuStrip1";
             this.menuStrip1.Padding = new System.Windows.Forms.Padding(7, 2, 0, 2);
-            this.menuStrip1.Size = new System.Drawing.Size(1008, 29);
+            this.menuStrip1.Size = new System.Drawing.Size(1008, 35);
             this.menuStrip1.TabIndex = 0;
             this.menuStrip1.Text = "menuStrip1";
             // 
             // 设备操作ToolStripMenuItem
             // 
             this.设备操作ToolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
+            this.全部启动ToolStripMenuItem,
+            this.toolStripSeparator3,
+            this.全部停止ToolStripMenuItem,
+            this.toolStripSeparator2,
             this.启用调试模式ToolStripMenuItem,
             this.toolStripSeparator4,
-            this.二维码识别调试ToolStripMenuItem,
-            this.toolStripSeparator1,
+            this.禁用蜂鸣器ToolStripMenuItem,
+            this.toolStripSeparator5,
             this.退出ToolStripMenuItem});
-            this.设备操作ToolStripMenuItem.Font = new System.Drawing.Font("Microsoft YaHei UI", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.设备操作ToolStripMenuItem.Name = "设备操作ToolStripMenuItem";
-            this.设备操作ToolStripMenuItem.Size = new System.Drawing.Size(86, 25);
+            this.设备操作ToolStripMenuItem.Size = new System.Drawing.Size(104, 31);
             this.设备操作ToolStripMenuItem.Text = "设备操作";
             // 
+            // 全部启动ToolStripMenuItem
+            // 
+            this.全部启动ToolStripMenuItem.Name = "全部启动ToolStripMenuItem";
+            this.全部启动ToolStripMenuItem.Size = new System.Drawing.Size(204, 32);
+            this.全部启动ToolStripMenuItem.Text = "全部启动";
+            this.全部启动ToolStripMenuItem.Click += new System.EventHandler(this.全部启动ToolStripMenuItem_Click);
+            // 
+            // toolStripSeparator3
+            // 
+            this.toolStripSeparator3.Name = "toolStripSeparator3";
+            this.toolStripSeparator3.Size = new System.Drawing.Size(201, 6);
+            // 
+            // 全部停止ToolStripMenuItem
+            // 
+            this.全部停止ToolStripMenuItem.Name = "全部停止ToolStripMenuItem";
+            this.全部停止ToolStripMenuItem.Size = new System.Drawing.Size(204, 32);
+            this.全部停止ToolStripMenuItem.Text = "全部停止";
+            this.全部停止ToolStripMenuItem.Click += new System.EventHandler(this.全部停止ToolStripMenuItem_Click);
+            // 
+            // toolStripSeparator2
+            // 
+            this.toolStripSeparator2.Name = "toolStripSeparator2";
+            this.toolStripSeparator2.Size = new System.Drawing.Size(201, 6);
+            // 
             // 启用调试模式ToolStripMenuItem
             // 
             this.启用调试模式ToolStripMenuItem.Enabled = false;
             this.启用调试模式ToolStripMenuItem.Name = "启用调试模式ToolStripMenuItem";
-            this.启用调试模式ToolStripMenuItem.Size = new System.Drawing.Size(192, 26);
+            this.启用调试模式ToolStripMenuItem.Size = new System.Drawing.Size(204, 32);
             this.启用调试模式ToolStripMenuItem.Tag = "not";
             this.启用调试模式ToolStripMenuItem.Text = "启用配置模式";
-            this.启用调试模式ToolStripMenuItem.Visible = false;
-            this.启用调试模式ToolStripMenuItem.Click += new System.EventHandler(this.启用调试模式ToolStripMenuItem_Click);
+            this.启用调试模式ToolStripMenuItem.Click += new System.EventHandler(this.启用调试模式ToolStripMenuItem_Click_1);
             // 
             // toolStripSeparator4
             // 
             this.toolStripSeparator4.Name = "toolStripSeparator4";
-            this.toolStripSeparator4.Size = new System.Drawing.Size(189, 6);
-            this.toolStripSeparator4.Visible = false;
+            this.toolStripSeparator4.Size = new System.Drawing.Size(201, 6);
             // 
-            // 二维码识别调试ToolStripMenuItem
+            // 禁用蜂鸣器ToolStripMenuItem
             // 
-            this.二维码识别调试ToolStripMenuItem.Name = "二维码识别调试ToolStripMenuItem";
-            this.二维码识别调试ToolStripMenuItem.Size = new System.Drawing.Size(192, 26);
-            this.二维码识别调试ToolStripMenuItem.Text = "二维码识别调试";
-            this.二维码识别调试ToolStripMenuItem.Click += new System.EventHandler(this.二维码识别调试ToolStripMenuItem_Click);
+            this.禁用蜂鸣器ToolStripMenuItem.Name = "禁用蜂鸣器ToolStripMenuItem";
+            this.禁用蜂鸣器ToolStripMenuItem.Size = new System.Drawing.Size(204, 32);
+            this.禁用蜂鸣器ToolStripMenuItem.Text = "禁用蜂鸣器";
+            this.禁用蜂鸣器ToolStripMenuItem.Click += new System.EventHandler(this.禁用蜂鸣器ToolStripMenuItem_Click);
             // 
-            // toolStripSeparator1
+            // toolStripSeparator5
             // 
-            this.toolStripSeparator1.Name = "toolStripSeparator1";
-            this.toolStripSeparator1.Size = new System.Drawing.Size(189, 6);
+            this.toolStripSeparator5.Name = "toolStripSeparator5";
+            this.toolStripSeparator5.Size = new System.Drawing.Size(201, 6);
             // 
             // 退出ToolStripMenuItem
             // 
             this.退出ToolStripMenuItem.Name = "退出ToolStripMenuItem";
-            this.退出ToolStripMenuItem.Size = new System.Drawing.Size(192, 26);
+            this.退出ToolStripMenuItem.Size = new System.Drawing.Size(204, 32);
             this.退出ToolStripMenuItem.Text = "退出";
             this.退出ToolStripMenuItem.Click += new System.EventHandler(this.退出ToolStripMenuItem_Click);
             // 
@@ -139,15 +165,14 @@ namespace TheMachine
             this.语言toolStripMenuItem.DropDownItems.AddRange(new System.Windows.Forms.ToolStripItem[] {
             this.简体中文ToolStripMenuItem,
             this.englishToolStripMenuItem});
-            this.语言toolStripMenuItem.Font = new System.Drawing.Font("Microsoft YaHei UI", 12F);
             this.语言toolStripMenuItem.Name = "语言toolStripMenuItem";
-            this.语言toolStripMenuItem.Size = new System.Drawing.Size(54, 25);
+            this.语言toolStripMenuItem.Size = new System.Drawing.Size(64, 31);
             this.语言toolStripMenuItem.Text = "语言";
             // 
             // 简体中文ToolStripMenuItem
             // 
             this.简体中文ToolStripMenuItem.Name = "简体中文ToolStripMenuItem";
-            this.简体中文ToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
+            this.简体中文ToolStripMenuItem.Size = new System.Drawing.Size(164, 32);
             this.简体中文ToolStripMenuItem.Tag = "not";
             this.简体中文ToolStripMenuItem.Text = "简体中文";
             this.简体中文ToolStripMenuItem.Click += new System.EventHandler(this.简体中文ToolStripMenuItem_Click);
@@ -155,16 +180,15 @@ namespace TheMachine
             // englishToolStripMenuItem
             // 
             this.englishToolStripMenuItem.Name = "englishToolStripMenuItem";
-            this.englishToolStripMenuItem.Size = new System.Drawing.Size(144, 26);
+            this.englishToolStripMenuItem.Size = new System.Drawing.Size(164, 32);
             this.englishToolStripMenuItem.Tag = "not";
             this.englishToolStripMenuItem.Text = "English";
             this.englishToolStripMenuItem.Click += new System.EventHandler(this.englishToolStripMenuItem_Click);
             // 
             // 关于ToolStripMenuItem
             // 
-            this.关于ToolStripMenuItem.Font = new System.Drawing.Font("Microsoft YaHei UI", 12F);
             this.关于ToolStripMenuItem.Name = "关于ToolStripMenuItem";
-            this.关于ToolStripMenuItem.Size = new System.Drawing.Size(54, 25);
+            this.关于ToolStripMenuItem.Size = new System.Drawing.Size(64, 31);
             this.关于ToolStripMenuItem.Text = "关于";
             this.关于ToolStripMenuItem.Click += new System.EventHandler(this.关于ToolStripMenuItem_Click);
             // 
@@ -195,10 +219,6 @@ namespace TheMachine
             // 
             this.pnl.Controls.Add(this.gb_right);
             this.pnl.Controls.Add(this.gb_left);
-            this.pnl.Controls.Add(this.cb_IgnoreSafecheck);
-            this.pnl.Controls.Add(this.cb_EnableBuzzer);
-            this.pnl.Controls.Add(this.btn_IgnoreX09);
-            this.pnl.Controls.Add(this.btn_PauseBuzzer);
             this.pnl.Dock = System.Windows.Forms.DockStyle.Fill;
             this.pnl.Location = new System.Drawing.Point(0, 0);
             this.pnl.Name = "pnl";
@@ -210,7 +230,7 @@ namespace TheMachine
             this.gb_right.Controls.Add(this.listViewR);
             this.gb_right.Controls.Add(this.groupBox2);
             this.gb_right.Controls.Add(this.pictureBox2);
-            this.gb_right.Location = new System.Drawing.Point(489, 75);
+            this.gb_right.Location = new System.Drawing.Point(489, 3);
             this.gb_right.Name = "gb_right";
             this.gb_right.Size = new System.Drawing.Size(480, 580);
             this.gb_right.TabIndex = 272;
@@ -273,7 +293,7 @@ namespace TheMachine
             this.gb_left.Controls.Add(this.listViewL);
             this.gb_left.Controls.Add(this.groupBox1);
             this.gb_left.Controls.Add(this.pictureBox1);
-            this.gb_left.Location = new System.Drawing.Point(3, 75);
+            this.gb_left.Location = new System.Drawing.Point(3, 3);
             this.gb_left.Name = "gb_left";
             this.gb_left.Size = new System.Drawing.Size(480, 580);
             this.gb_left.TabIndex = 272;
@@ -331,32 +351,10 @@ namespace TheMachine
             this.pictureBox1.DoubleClick += new System.EventHandler(this.pictureBox1_DoubleClick);
             this.pictureBox1.MouseDown += new System.Windows.Forms.MouseEventHandler(this.pictureBox1_MouseDown);
             // 
-            // cb_IgnoreSafecheck
-            // 
-            this.cb_IgnoreSafecheck.AutoSize = true;
-            this.cb_IgnoreSafecheck.Location = new System.Drawing.Point(8, 44);
-            this.cb_IgnoreSafecheck.Name = "cb_IgnoreSafecheck";
-            this.cb_IgnoreSafecheck.Size = new System.Drawing.Size(125, 25);
-            this.cb_IgnoreSafecheck.TabIndex = 2;
-            this.cb_IgnoreSafecheck.Text = "忽略安全检查";
-            this.cb_IgnoreSafecheck.UseVisualStyleBackColor = true;
-            this.cb_IgnoreSafecheck.CheckedChanged += new System.EventHandler(this.cb_IgnoreSafecheck_CheckedChanged);
-            // 
-            // cb_EnableBuzzer
-            // 
-            this.cb_EnableBuzzer.AutoSize = true;
-            this.cb_EnableBuzzer.Location = new System.Drawing.Point(8, 13);
-            this.cb_EnableBuzzer.Name = "cb_EnableBuzzer";
-            this.cb_EnableBuzzer.Size = new System.Drawing.Size(109, 25);
-            this.cb_EnableBuzzer.TabIndex = 5;
-            this.cb_EnableBuzzer.Text = "使用蜂鸣器";
-            this.cb_EnableBuzzer.UseVisualStyleBackColor = true;
-            this.cb_EnableBuzzer.CheckedChanged += new System.EventHandler(this.cb_EnableBuzzer_CheckedChanged);
-            // 
             // btn_IgnoreX09
             // 
             this.btn_IgnoreX09.BackColor = System.Drawing.Color.OrangeRed;
-            this.btn_IgnoreX09.Location = new System.Drawing.Point(682, 29);
+            this.btn_IgnoreX09.Location = new System.Drawing.Point(683, 0);
             this.btn_IgnoreX09.Name = "btn_IgnoreX09";
             this.btn_IgnoreX09.Size = new System.Drawing.Size(301, 40);
             this.btn_IgnoreX09.TabIndex = 6;
@@ -368,7 +366,7 @@ namespace TheMachine
             // btn_PauseBuzzer
             // 
             this.btn_PauseBuzzer.BackColor = System.Drawing.Color.OrangeRed;
-            this.btn_PauseBuzzer.Location = new System.Drawing.Point(375, 29);
+            this.btn_PauseBuzzer.Location = new System.Drawing.Point(348, 0);
             this.btn_PauseBuzzer.Name = "btn_PauseBuzzer";
             this.btn_PauseBuzzer.Size = new System.Drawing.Size(301, 40);
             this.btn_PauseBuzzer.TabIndex = 6;
@@ -377,36 +375,13 @@ namespace TheMachine
             this.btn_PauseBuzzer.Visible = false;
             this.btn_PauseBuzzer.Click += new System.EventHandler(this.btn_PauseBuzzer_Click);
             // 
-            // btn_stop
-            // 
-            this.btn_stop.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn_stop.Location = new System.Drawing.Point(742, 12);
-            this.btn_stop.Name = "btn_stop";
-            this.btn_stop.Size = new System.Drawing.Size(105, 43);
-            this.btn_stop.TabIndex = 3;
-            this.btn_stop.Text = "全部停止";
-            this.btn_stop.UseVisualStyleBackColor = true;
-            this.btn_stop.Click += new System.EventHandler(this.btn_stop_Click);
-            // 
-            // btn_run
-            // 
-            this.btn_run.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.btn_run.Location = new System.Drawing.Point(600, 11);
-            this.btn_run.Name = "btn_run";
-            this.btn_run.Size = new System.Drawing.Size(105, 44);
-            this.btn_run.TabIndex = 4;
-            this.btn_run.Tag = "";
-            this.btn_run.Text = "全部启动";
-            this.btn_run.UseVisualStyleBackColor = true;
-            this.btn_run.Click += new System.EventHandler(this.btn_run_Click);
-            // 
             // Form1
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
             this.BackColor = System.Drawing.Color.White;
             this.ClientSize = new System.Drawing.Size(1008, 729);
-            this.Controls.Add(this.btn_stop);
-            this.Controls.Add(this.btn_run);
+            this.Controls.Add(this.btn_IgnoreX09);
+            this.Controls.Add(this.btn_PauseBuzzer);
             this.Controls.Add(this.tabc);
             this.Controls.Add(this.menuStrip1);
             this.Font = new System.Drawing.Font("宋体", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
@@ -422,7 +397,6 @@ namespace TheMachine
             this.tabc.ResumeLayout(false);
             this.tabP1.ResumeLayout(false);
             this.pnl.ResumeLayout(false);
-            this.pnl.PerformLayout();
             this.gb_right.ResumeLayout(false);
             this.groupBox2.ResumeLayout(false);
             ((System.ComponentModel.ISupportInitialize)(this.pictureBox2)).EndInit();
@@ -443,16 +417,10 @@ namespace TheMachine
         private System.Windows.Forms.ToolStripMenuItem 启用调试模式ToolStripMenuItem;
         private System.Windows.Forms.ToolStripSeparator toolStripSeparator4;
         private System.Windows.Forms.ListView listViewL;
-        private System.Windows.Forms.Button btn_stop;
-        private System.Windows.Forms.Button btn_run;
         private System.Windows.Forms.TabPage tabP1;
         private System.Windows.Forms.ListView stateViewL;
         private System.Windows.Forms.GroupBox groupBox1;
-        private System.Windows.Forms.CheckBox cb_IgnoreSafecheck;
-        private System.Windows.Forms.ToolStripMenuItem 二维码识别调试ToolStripMenuItem;
-        private System.Windows.Forms.ToolStripSeparator toolStripSeparator1;
         private System.Windows.Forms.ToolStripMenuItem 关于ToolStripMenuItem;
-        private System.Windows.Forms.CheckBox cb_EnableBuzzer;
         private System.Windows.Forms.Button btn_PauseBuzzer;
         private System.Windows.Forms.PictureBox pictureBox2;
         private System.Windows.Forms.PictureBox pictureBox1;
@@ -466,6 +434,12 @@ namespace TheMachine
         private System.Windows.Forms.GroupBox gb_left;
         private System.Windows.Forms.GroupBox groupBox2;
         private System.Windows.Forms.ListView stateViewR;
+        private System.Windows.Forms.ToolStripMenuItem 全部启动ToolStripMenuItem;
+        private System.Windows.Forms.ToolStripSeparator toolStripSeparator3;
+        private System.Windows.Forms.ToolStripMenuItem 全部停止ToolStripMenuItem;
+        private System.Windows.Forms.ToolStripSeparator toolStripSeparator2;
+        private System.Windows.Forms.ToolStripMenuItem 禁用蜂鸣器ToolStripMenuItem;
+        private System.Windows.Forms.ToolStripSeparator toolStripSeparator5;
     }
 }
 

TheMachine/Form1.cs

@@ -57,7 +57,14 @@ namespace TheMachine
             {
                 e.Cancel = true;
                 this.WindowState = FormWindowState.Minimized;
+                return;
             }
+            LogUtil.info("系统强制退出应用 step1");
+            btn_stop_Click(sender, EventArgs.Empty);
+            Thread.Sleep(2000);
+            LogUtil.info("系统强制退出应用 step2");
+            Application.Exit();
+            LogUtil.info("系统强制退出应用 step3");
         }
 
         LogControl lc = new LogControl();
@@ -69,20 +76,20 @@ namespace TheMachine
         readonly System.Windows.Forms.Timer t1 = new System.Windows.Forms.Timer();
         private void Form1_Load(object sender, EventArgs e)
         {
-            this.Width = Screen.PrimaryScreen.WorkingArea.Width;//获取主显⽰设备的桌⾯宽度
-            this.Height = Screen.PrimaryScreen.WorkingArea.Height;//获取主显⽰设备的桌⾯⾼度
+            //this.Width = Screen.PrimaryScreen.WorkingArea.Width;//获取主显⽰设备的桌⾯宽度
+            //this.Height = Screen.PrimaryScreen.WorkingArea.Height;//获取主显⽰设备的桌⾯⾼度
 
-            if (this.Width > 1366)
-                this.Width = 1366;
-            if (this.Height > 900)
-                this.Height = 900;
+            //if (this.Width > 1366)
+            //    this.Width = 1366;
+            //if (this.Height > 900)
+            //    this.Height = 900;
 
             List<CodeInfo> codeInfos = new List<CodeInfo>();
             //codeInfos.Add(new CodeInfo("", 528, 406));
             codeInfos.Add(new CodeInfo("", 925, 520));
             //codeInfos.Add(new CodeInfo("", 564, 684));
 
-            btn_run.Enabled = false;
+            全部启动ToolStripMenuItem.Enabled = false;
             //btn_run.Text = crc.GetString("Res0001","全部启动");
             //btn_stop.Enabled = false;
             #region 报警信息listview初始化
@@ -96,7 +103,6 @@ namespace TheMachine
             #endregion
 
             LogUtil.info("开始初始化");
-            cb_EnableBuzzer.Checked = Setting_Init.Device_EnableBuzzer;
             AlarmBuzzer.BuzzerStateChange += AlarmBuzzer_BuzzerStateChange;
             RobotManage.LoadFinishEvent += RobotManage_LoadFinishEvent;
             if (!Setting_Init.Device_DisableLogWindow)
@@ -130,6 +136,21 @@ namespace TheMachine
             //    Application.DoEvents();
             //}
             pnl.Enabled = false;
+            禁用蜂鸣器ToolStripMenuItem_Click(this, EventArgs.Empty);
+            tabc.Selecting += Tabc_Selecting;
+        }
+
+        private void Tabc_Selecting(object sender, TabControlCancelEventArgs e)
+        {
+            if (e.TabPageIndex > 0)
+            {
+                if (configpass)
+                    return;
+                if (!FrmPassCheck.CheckPassword())
+                    e.Cancel = true;
+                else
+                    configpass = true;
+            }
         }
 
         private void LeftMachine_UpdateStatusList(object sender, ListView.ListViewItemCollection e)
@@ -172,8 +193,8 @@ namespace TheMachine
         const int tabpagecount = 4;
         void addTablePage() {
             AddForm("tab_io",crc.GetString("Form1_tabc_tab_io_Text","IO调试"), ioc);
-            AddForm("tab_leftMachine", crc.GetString("Form1_tabc_tabP1_pnl_gb_left_Text","左侧料仓"), leftMachine);
-            AddForm("tab_rightMachine", crc.GetString("Form1_tabc_tabP1_pnl_gb_right_Text","右侧料仓"), rightMachine);
+            AddForm("tab_leftMachine", crc.GetString("Form1_tabc_tabP1_pnl_gb_left_Text","B侧料仓"), leftMachine);
+            AddForm("tab_rightMachine", crc.GetString("Form1_tabc_tabP1_pnl_gb_right_Text","A侧料仓"), rightMachine);
             AddForm("tab_sc",crc.GetString("Form1_tabc_tab_sc_Text","通用设置"), sc);
             crc.LanguageProcess(this);
         }
@@ -210,7 +231,10 @@ namespace TheMachine
                 {
                     continue;
                 }
-                ListViewItem lvi = new ListViewItem(new string[] { "", moveInfo.Name, moveInfo.MoveStep.ToString(),moveInfo.GetStateStr() });
+                var stateinfo = moveInfo.GetStateStr();
+                if (!RobotManage.isRunning)
+                    stateinfo = crc.GetString("Res0018","未启动");
+                ListViewItem lvi = new ListViewItem(new string[] { "", moveInfo.Name, moveInfo.MoveStep.ToString(), stateinfo });
                 listView.Items.Add(lvi);
             }
             this.ResumeLayout(true);
@@ -243,6 +267,8 @@ namespace TheMachine
 
         private void 启用调试模式ToolStripMenuItem_Click(object sender, EventArgs e)
         {
+
+
             RobotManage.IsConfigMode = RobotManage.IsConfigMode ? false : true;
 
             (sender as ToolStripMenuItem).Text = !RobotManage.IsConfigMode ? crc.GetString("Res0180","启用配置模式") : crc.GetString("Res0181","停用配置模式");
@@ -295,10 +321,7 @@ namespace TheMachine
 
             if (state)
             {
-
-                btn_run.Enabled = true;
-                //btn_stop.Enabled = true;
-                //RobotManage.mainMachine.ProcessMsgEvent += MainMachine_ProcessMsgEvent;
+                全部启动ToolStripMenuItem.Enabled = true;
             }
 
             ioc.Config = RobotManage.Config;
@@ -321,9 +344,15 @@ namespace TheMachine
                     {
                         Task.Delay(1000).Wait();
                         启用调试模式ToolStripMenuItem_Click(启用调试模式ToolStripMenuItem, EventArgs.Empty);
+                        全部启动ToolStripMenuItem_Click(this, EventArgs.Empty);
                     });
                 });
             }
+
+            //if (!RobotManage.isRunning && RobotManage.leftMachine.IOValue(SIO_Type.).Equals(IO_VALUE.HIGH))
+            //{
+            //    this.BeginInvoke((EventHandler)delegate { btn_run_Click(this, EventArgs.Empty); });
+            //}
         }
         void SetMsg(Dictionary<MachineSideE, List<Msg>> msgss)
         {
@@ -335,11 +364,15 @@ namespace TheMachine
                 listView.Items.Clear();
                 msgs.Sort((a, b) =>
                 {
+                    if (a == null)
+                        return 4;
+                    if (b == null)
+                        return 4;
                     if (a.msgLevel == MsgLevel.alarm)
-                        return -1;
-                    if (a.msgLevel != MsgLevel.info)
-                        return -1;
-                    return 0;
+                        return 1;
+                    if (a.msgLevel == MsgLevel.warning)
+                        return 2;
+                    return 3;
                 });
                 foreach (Msg msg in msgs)
                 {
@@ -386,12 +419,6 @@ namespace TheMachine
         {
             if (!RobotManage.isRunning)
             {
-                if (RobotManage.mainMachine.IOValue(IO_Type.SuddenStop_BTN,RobotManage.Config).Equals(IO_VALUE.LOW))
-                {
-                    MsgService.Add(crc.GetString("Res0182","急停中,无法启动"), MsgLevel.warning);
-                    MainMachine_ProcessMsgEvent(MsgService.Get());
-                    return;
-                }
                 RobotManage.Start(MachineSideE.Left | MachineSideE.Right);
                 if (RobotManage.isRunning)
                 {
@@ -412,9 +439,6 @@ namespace TheMachine
                 return;
             }            
             Task.Run(() => { RobotManage.Stop(); });
-            //btn_stop.Enabled = false;
-            //btn_run.Enabled = true;
-            cb_IgnoreSafecheck.Enabled = true;
         }
 
         private void 退出ToolStripMenuItem_Click(object sender, EventArgs e)
@@ -473,11 +497,6 @@ namespace TheMachine
             aboutBox1.ShowDialog();
         }
 
-        private void cb_EnableBuzzer_CheckedChanged(object sender, EventArgs e)
-        {
-            Setting_Init.Device_EnableBuzzer= cb_EnableBuzzer.Checked;
-            AlarmBuzzer.Enable = cb_EnableBuzzer.Checked;
-        }
 
         private void btn_PauseBuzzer_Click(object sender, EventArgs e)
         {
@@ -555,5 +574,54 @@ namespace TheMachine
             Setting_Init.Device_Default_Language = "en-US";
             crc.LanguageChange();
         }
+
+        private void 全部启动ToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            if (!RobotManage.isRunning)
+            {
+                RobotManage.Start(MachineSideE.Left | MachineSideE.Right);
+                if (RobotManage.isRunning)
+                {
+                    //btn_stop.Enabled = true;
+                    //btn_run.Enabled = false;
+                }
+                LogUtil.info("用户按下启动");
+            }
+        }
+
+        private void 全部停止ToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            if (this.InvokeRequired)
+            {
+                this.Invoke((EventHandler)delegate
+                {
+                    btn_stop_Click(sender, e);
+                }, sender, e);
+                return;
+            }
+            Task.Run(() => { RobotManage.Stop(); });
+        }
+
+        private void 禁用蜂鸣器ToolStripMenuItem_Click(object sender, EventArgs e)
+        {
+            if (e == EventArgs.Empty)
+            {
+                AlarmBuzzer.Enable = !Setting_Init.Device_EnableBuzzer;
+            }
+            AlarmBuzzer.Enable = !AlarmBuzzer.Enable;
+            if (AlarmBuzzer.Enable)
+            {
+                禁用蜂鸣器ToolStripMenuItem.Text = crc.GetString("设备操作ToolStripMenuItem_禁用蜂鸣器ToolStripMenuItem_Text","禁用蜂鸣器");
+            }
+            else
+                禁用蜂鸣器ToolStripMenuItem.Text = crc.GetString("Res0019","起用蜂鸣器");
+
+            Setting_Init.Device_EnableBuzzer = AlarmBuzzer.Enable;
+        }
+        bool configpass = false;
+        private void 启用调试模式ToolStripMenuItem_Click_1(object sender, EventArgs e)
+        {
+            configpass = false;
+        }
     }
 }
\ No newline at end of file

TheMachine/Program.cs

 using ConfigHelper;
 using DeviceLibrary;
 using log4net.Config;
+using Microsoft.Win32.TaskScheduler;
 using OnlineStore.Common;
 using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 using System.Drawing;
 using System.Drawing.Drawing2D;
+using System.IO;
 using System.Linq;
 using System.Runtime.InteropServices;
 using System.Threading;
@@ -23,7 +25,7 @@ namespace TheMachine
         [STAThread]
         static void Main(string[] args)
         {
-
+            Debug.WriteLine("1");
             _ = new Mutex(true, Application.ProductName, out bool ret);
             if (!ret)
             {
@@ -33,10 +35,10 @@ namespace TheMachine
                 //MessageBox.Show("该程序已经启动", "提示信息", MessageBoxButtons.OK, MessageBoxIcon.Information);
                 return;
             }
-
+            Debug.WriteLine("2");
             if (args.Length > 0)
                 Setting_Init.SimulateMode = true;
-
+            Debug.WriteLine("3");
             var currnetdrive = System.IO.Path.GetPathRoot(Application.StartupPath);
             var drives = System.IO.DriveInfo.GetDrives();
             foreach (var drive in drives) {
@@ -51,16 +53,16 @@ namespace TheMachine
                     }
                 }
             }
-
+            AddOrUpdateStartupTask();
             Config.LoadMyConfig(new Setting_Init().GetType());
-
+            Debug.WriteLine("6");
             Application.ThreadException += Application_ThreadException;
             Application.SetUnhandledExceptionMode(UnhandledExceptionMode.CatchException);
             AppDomain.CurrentDomain.UnhandledException += CurrentDomain_UnhandledException;
 
             Environment.CurrentDirectory = Application.StartupPath;
             XmlConfigurator.Configure();
-
+            Debug.WriteLine("7");
             Application.EnableVisualStyles();
             Application.SetCompatibleTextRenderingDefault(false);
             Application.Run(new Form1());
@@ -109,6 +111,43 @@ namespace TheMachine
 
         #endregion
 
+        public static void AddOrUpdateStartupTask()
+        {
+            // 获取当前程序的路径和名称
+            string appPath = Process.GetCurrentProcess().MainModule.FileName;
+            string TaskName = "AutoStartup_" + Process.GetCurrentProcess().MainModule.ModuleName;
+            // 创建或更新计划任务
+            using (TaskService taskService = new TaskService())
+            {
+                // 获取任务定义，如果不存在则创建新的任务定义
+                TaskDefinition taskDefinition;
+                if (taskService.GetTask(TaskName) != null)
+                {
+                    taskDefinition = taskService.GetTask(TaskName).Definition;
+                }
+                else
+                {
+                    taskDefinition = taskService.NewTask();
+                    taskDefinition.RegistrationInfo.Description = TaskName;
+
+                }
+                if (taskDefinition.Triggers.Count == 0 || taskDefinition.Triggers[0].TriggerType != TaskTriggerType.Logon)
+                {
+                    // 设置触发器为用户登录后启动
+                    LogonTrigger logonTrigger = (LogonTrigger)taskDefinition.Triggers.Add(new LogonTrigger());
+                    logonTrigger.Delay = TimeSpan.FromSeconds(5);
+                }
 
+                // 设置操作为启动应用程序
+                taskDefinition.Actions.Clear();
+                taskDefinition.Actions.Add(new ExecAction(appPath, null, Path.GetDirectoryName(appPath)));
+
+                // 设置任务的运行权限为管理员权限
+                taskDefinition.Principal.RunLevel = TaskRunLevel.Highest;
+
+                // 保存任务
+                taskService.RootFolder.RegisterTaskDefinition(TaskName, taskDefinition, TaskCreation.CreateOrUpdate, null, null, TaskLogonType.InteractiveToken, null);
+            }
+        }
     }
 }

TheMachine/SIOControls.cs

@@ -41,12 +41,12 @@ namespace TheMachine
 
         private void button1_Click(object sender, EventArgs e)
         {
-            Machine.door.OpenDoor(null); 
+            Machine.door.LiftUp(null); 
         }
 
         private void button2_Click(object sender, EventArgs e)
         {
-            Machine.door.CloseDoor(null);
+            Machine.door.LiftDown(null);
         }
     }
 }

TheMachine/SettingControl.Designer.cs

@@ -38,12 +38,9 @@ namespace TheMachine
             this.tp = new System.Windows.Forms.TableLayoutPanel();
             this.tabControl1 = new System.Windows.Forms.TabControl();
             this.tabPage_set = new System.Windows.Forms.TabPage();
-            this.tabPage_fix = new System.Windows.Forms.TabPage();
-            this.fixtureSizeConfigControl1 = new DeviceLibrary.FixtureSizeConfigControl();
             this.tp.SuspendLayout();
             this.tabControl1.SuspendLayout();
             this.tabPage_set.SuspendLayout();
-            this.tabPage_fix.SuspendLayout();
             this.SuspendLayout();
             // 
             // chbAutoRun
@@ -127,7 +124,6 @@ namespace TheMachine
             // tabControl1
             // 
             this.tabControl1.Controls.Add(this.tabPage_set);
-            this.tabControl1.Controls.Add(this.tabPage_fix);
             this.tabControl1.Dock = System.Windows.Forms.DockStyle.Fill;
             this.tabControl1.Location = new System.Drawing.Point(0, 0);
             this.tabControl1.Name = "tabControl1";
@@ -146,25 +142,6 @@ namespace TheMachine
             this.tabPage_set.Text = "常规设置";
             this.tabPage_set.UseVisualStyleBackColor = true;
             // 
-            // tabPage_fix
-            // 
-            this.tabPage_fix.Controls.Add(this.fixtureSizeConfigControl1);
-            this.tabPage_fix.Font = new System.Drawing.Font("宋体", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.tabPage_fix.Location = new System.Drawing.Point(4, 22);
-            this.tabPage_fix.Name = "tabPage_fix";
-            this.tabPage_fix.Padding = new System.Windows.Forms.Padding(3);
-            this.tabPage_fix.Size = new System.Drawing.Size(1016, 714);
-            this.tabPage_fix.TabIndex = 2;
-            this.tabPage_fix.Text = "治具设置";
-            this.tabPage_fix.UseVisualStyleBackColor = true;
-            // 
-            // fixtureSizeConfigControl1
-            // 
-            this.fixtureSizeConfigControl1.Location = new System.Drawing.Point(6, 6);
-            this.fixtureSizeConfigControl1.Name = "fixtureSizeConfigControl1";
-            this.fixtureSizeConfigControl1.Size = new System.Drawing.Size(602, 565);
-            this.fixtureSizeConfigControl1.TabIndex = 0;
-            // 
             // SettingControl
             // 
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
@@ -177,7 +154,6 @@ namespace TheMachine
             this.tabControl1.ResumeLayout(false);
             this.tabPage_set.ResumeLayout(false);
             this.tabPage_set.PerformLayout();
-            this.tabPage_fix.ResumeLayout(false);
             this.ResumeLayout(false);
 
         }
@@ -192,7 +168,5 @@ namespace TheMachine
         private UC.UC_LedConfig uC_LedConfig1;
         private System.Windows.Forms.TabControl tabControl1;
         private System.Windows.Forms.TabPage tabPage_set;
-        private System.Windows.Forms.TabPage tabPage_fix;
-        private DeviceLibrary.FixtureSizeConfigControl fixtureSizeConfigControl1;
     }
 }

TheMachine/TheMachine.csproj

@@ -56,11 +56,15 @@
       <SpecificVersion>False</SpecificVersion>
       <HintPath>..\..\增广夹爪\Rmaxis\bin\Debug\log4net.dll</HintPath>
     </Reference>
+    <Reference Include="Microsoft.Win32.TaskScheduler, Version=2.10.1.0, Culture=neutral, PublicKeyToken=e25603a88b3aa7da, processorArchitecture=MSIL">
+      <HintPath>..\packages\TaskScheduler.2.10.1\lib\net452\Microsoft.Win32.TaskScheduler.dll</HintPath>
+    </Reference>
     <Reference Include="Neotel.Rmaxis">
       <HintPath>..\..\增广夹爪\Rmaxis\bin\Debug\Neotel.Rmaxis.dll</HintPath>
     </Reference>
     <Reference Include="System" />
     <Reference Include="System.Core" />
+    <Reference Include="System.IO.Compression" />
     <Reference Include="System.Xml.Linq" />
     <Reference Include="System.Data.DataSetExtensions" />
     <Reference Include="Microsoft.CSharp" />
@@ -138,6 +142,12 @@
     <Compile Include="UCStoreMachine.Designer.cs">
       <DependentUpon>UCStoreMachine.cs</DependentUpon>
     </Compile>
+    <Compile Include="UC\FrmPassCheck.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="UC\FrmPassCheck.designer.cs">
+      <DependentUpon>FrmPassCheck.cs</DependentUpon>
+    </Compile>
     <Compile Include="UC\StorePosControl.cs">
       <SubType>UserControl</SubType>
     </Compile>
@@ -171,6 +181,12 @@
     <Compile Include="UC\UC_LedConfig.Designer.cs">
       <DependentUpon>UC_LedConfig.cs</DependentUpon>
     </Compile>
+    <Compile Include="UC\UC_SetUserPassword.cs">
+      <SubType>UserControl</SubType>
+    </Compile>
+    <Compile Include="UC\UC_SetUserPassword.designer.cs">
+      <DependentUpon>UC_SetUserPassword.cs</DependentUpon>
+    </Compile>
     <EmbeddedResource Include="AboutBox1.resx">
       <DependentUpon>AboutBox1.cs</DependentUpon>
     </EmbeddedResource>
@@ -213,6 +229,9 @@
     <EmbeddedResource Include="UCStoreMachine.resx">
       <DependentUpon>UCStoreMachine.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="UC\FrmPassCheck.resx">
+      <DependentUpon>FrmPassCheck.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="UC\StorePosControl.resx">
       <DependentUpon>StorePosControl.cs</DependentUpon>
     </EmbeddedResource>
@@ -228,7 +247,11 @@
     <EmbeddedResource Include="UC\UC_LedConfig.resx">
       <DependentUpon>UC_LedConfig.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="UC\UC_SetUserPassword.resx">
+      <DependentUpon>UC_SetUserPassword.cs</DependentUpon>
+    </EmbeddedResource>
     <None Include="app.manifest" />
+    <None Include="packages.config" />
     <None Include="Properties\Settings.settings">
       <Generator>SettingsSingleFileGenerator</Generator>
       <LastGenOutput>Settings.Designer.cs</LastGenOutput>

TheMachine/UC/FrmPassCheck.cs

+using OnlineStore;
+using OnlineStore.Common;
+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 FrmPassCheck : Form
+    {
+        public FrmPassCheck()
+        {
+            InitializeComponent();
+        }
+
+        public static bool CheckPassword() {
+
+            if (!Setting_Init.User_Enable)
+                return true;
+
+            FrmPassCheck frmPassCheck = new FrmPassCheck();
+            var result = frmPassCheck.ShowDialog();
+
+            return (result == DialogResult.OK);
+
+        }
+
+        private void btn_cancel_Click(object sender, EventArgs e)
+        {
+            DialogResult = DialogResult.Cancel;
+            this.Close();
+        }
+
+        private void btn_ok_Click(object sender, EventArgs e)
+        {
+            if (textBox1.Text.Trim() == Setting_Init.User_AdminPassword.Val.Trim())
+            {
+                DialogResult = DialogResult.OK;
+                this.Close();
+            }
+            else
+                MessageBox.Show(crc.GetString("Res0057","密码不正确请重新输入!"));
+        }
+    }
+}
\ No newline at end of file

TheMachine/UC/FrmPassCheck.designer.cs

+
+namespace TheMachine
+{
+    partial class FrmPassCheck
+    {
+        /// <summary>
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows Form Designer generated code
+
+        /// <summary>
+        /// Required method for Designer support - do not modify
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.textBox1 = new System.Windows.Forms.TextBox();
+            this.btn_ok = new System.Windows.Forms.Button();
+            this.btn_cancel = new System.Windows.Forms.Button();
+            this.SuspendLayout();
+            // 
+            // textBox1
+            // 
+            this.textBox1.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.textBox1.Location = new System.Drawing.Point(114, 88);
+            this.textBox1.Name = "textBox1";
+            this.textBox1.PasswordChar = '*';
+            this.textBox1.Size = new System.Drawing.Size(318, 29);
+            this.textBox1.TabIndex = 0;
+            // 
+            // btn_ok
+            // 
+            this.btn_ok.Location = new System.Drawing.Point(352, 189);
+            this.btn_ok.Name = "btn_ok";
+            this.btn_ok.Size = new System.Drawing.Size(129, 49);
+            this.btn_ok.TabIndex = 1;
+            this.btn_ok.Text = "确定";
+            this.btn_ok.UseVisualStyleBackColor = true;
+            this.btn_ok.Click += new System.EventHandler(this.btn_ok_Click);
+            // 
+            // btn_cancel
+            // 
+            this.btn_cancel.Location = new System.Drawing.Point(40, 189);
+            this.btn_cancel.Name = "btn_cancel";
+            this.btn_cancel.Size = new System.Drawing.Size(129, 49);
+            this.btn_cancel.TabIndex = 1;
+            this.btn_cancel.Text = "取消";
+            this.btn_cancel.UseVisualStyleBackColor = true;
+            this.btn_cancel.Click += new System.EventHandler(this.btn_cancel_Click);
+            // 
+            // FrmPassCheck
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.ClientSize = new System.Drawing.Size(548, 275);
+            this.Controls.Add(this.btn_cancel);
+            this.Controls.Add(this.btn_ok);
+            this.Controls.Add(this.textBox1);
+            this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedDialog;
+            this.MaximizeBox = false;
+            this.MinimizeBox = false;
+            this.Name = "FrmPassCheck";
+            this.ShowIcon = false;
+            this.ShowInTaskbar = false;
+            this.Text = "请输入密码";
+            this.ResumeLayout(false);
+            this.PerformLayout();
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.TextBox textBox1;
+        private System.Windows.Forms.Button btn_ok;
+        private System.Windows.Forms.Button btn_cancel;
+    }
+}
\ No newline at end of file

TheMachine/UC/FrmPassCheck.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/UC/IOControl.cs

@@ -107,7 +107,7 @@ namespace TheMachine
                 //if (ioValue.SubType.Equals(0))
                 {
                     this.tableLayoutPanel1.RowStyles.Add(new RowStyle(SizeType.Absolute, 26));
-                    IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + crc.GetString(ioValue.ProName, ioValue.Explain), ioValue.ProName);
+                    IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + crc.GetString(ioValue.ProType + "_" + ioValue.ProName, ioValue.Explain), ioValue.ProName);
 
                     this.tableLayoutPanel1.Controls.Add(control, 0, roleindex);
                     roleindex++;
@@ -123,7 +123,7 @@ namespace TheMachine
                 //if (ioValue.SubType.Equals(0))
                 {
                     this.tableLayoutPanel2.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
-                    IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + crc.GetString(ioValue.ProName, ioValue.Explain), ioValue.ProName);
+                    IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + crc.GetString(ioValue.ProType + "_" + ioValue.ProName, ioValue.Explain), ioValue.ProName);
                     control.Click += Control_Click;
                     this.tableLayoutPanel2.Controls.Add(control, 0, roleindex);
                     roleindex++;

TheMachine/UC/UC_SetUserPassword.cs

+using OnlineStore;
+using OnlineStore.Common;
+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 UC_SetUserPassword : UserControl
+    {
+        public UC_SetUserPassword()
+        {
+            InitializeComponent();
+        }
+
+        private void button_ok_Click(object sender, EventArgs e)
+        {
+            if (textBox_oldpwd.Text != Setting_Init.User_AdminPassword)
+            {
+                MessageBox.Show(crc.GetString("Res0068","旧密码不正确!"));
+                textBox_oldpwd.Text = "";
+                return;
+            }
+
+            if (textBox_newpwd.Text != textBox_newpwd2.Text) {
+                MessageBox.Show(crc.GetString("Res0069","两次输入的新密码不一致,请确认!"));
+                //textBox_oldpwd.Text = "";
+                return;
+            }
+
+            if (string.IsNullOrWhiteSpace(textBox_newpwd.Text))
+            {
+                MessageBox.Show(crc.GetString("Res0070","新密码不能为空!"));
+                return;
+            }
+
+            Setting_Init.User_AdminPassword = textBox_newpwd.Text.Trim();
+            textBox_oldpwd.Text = "";
+            textBox_newpwd.Text = "";
+            textBox_newpwd2.Text = "";
+            MessageBox.Show(crc.GetString("Res0071","密码修改成功!"));
+        }
+    }
+}
\ No newline at end of file

TheMachine/UC/UC_SetUserPassword.designer.cs

+
+namespace TheMachine
+{
+    partial class UC_SetUserPassword
+    {
+        /// <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.groupBox1 = new System.Windows.Forms.GroupBox();
+            this.button_ok = new System.Windows.Forms.Button();
+            this.label_newpwd2 = new System.Windows.Forms.Label();
+            this.label_newpwd = new System.Windows.Forms.Label();
+            this.label_oldpwd = new System.Windows.Forms.Label();
+            this.textBox_newpwd2 = new System.Windows.Forms.TextBox();
+            this.textBox_newpwd = new System.Windows.Forms.TextBox();
+            this.textBox_oldpwd = new System.Windows.Forms.TextBox();
+            this.groupBox1.SuspendLayout();
+            this.SuspendLayout();
+            // 
+            // groupBox1
+            // 
+            this.groupBox1.Controls.Add(this.button_ok);
+            this.groupBox1.Controls.Add(this.label_newpwd2);
+            this.groupBox1.Controls.Add(this.label_newpwd);
+            this.groupBox1.Controls.Add(this.label_oldpwd);
+            this.groupBox1.Controls.Add(this.textBox_newpwd2);
+            this.groupBox1.Controls.Add(this.textBox_newpwd);
+            this.groupBox1.Controls.Add(this.textBox_oldpwd);
+            this.groupBox1.Location = new System.Drawing.Point(5, 5);
+            this.groupBox1.Margin = new System.Windows.Forms.Padding(5);
+            this.groupBox1.Name = "groupBox1";
+            this.groupBox1.Padding = new System.Windows.Forms.Padding(5);
+            this.groupBox1.Size = new System.Drawing.Size(388, 258);
+            this.groupBox1.TabIndex = 0;
+            this.groupBox1.TabStop = false;
+            this.groupBox1.Text = "管理密码设置";
+            // 
+            // button_ok
+            // 
+            this.button_ok.Location = new System.Drawing.Point(201, 188);
+            this.button_ok.Name = "button_ok";
+            this.button_ok.Size = new System.Drawing.Size(119, 33);
+            this.button_ok.TabIndex = 2;
+            this.button_ok.Text = "确认修改";
+            this.button_ok.UseVisualStyleBackColor = true;
+            this.button_ok.Click += new System.EventHandler(this.button_ok_Click);
+            // 
+            // label_newpwd2
+            // 
+            this.label_newpwd2.Location = new System.Drawing.Point(11, 134);
+            this.label_newpwd2.Margin = new System.Windows.Forms.Padding(5, 0, 5, 0);
+            this.label_newpwd2.Name = "label_newpwd2";
+            this.label_newpwd2.Size = new System.Drawing.Size(134, 23);
+            this.label_newpwd2.TabIndex = 1;
+            this.label_newpwd2.Text = "重复新密码:";
+            this.label_newpwd2.TextAlign = System.Drawing.ContentAlignment.TopRight;
+            // 
+            // label_newpwd
+            // 
+            this.label_newpwd.Location = new System.Drawing.Point(11, 88);
+            this.label_newpwd.Margin = new System.Windows.Forms.Padding(5, 0, 5, 0);
+            this.label_newpwd.Name = "label_newpwd";
+            this.label_newpwd.Size = new System.Drawing.Size(134, 23);
+            this.label_newpwd.TabIndex = 1;
+            this.label_newpwd.Text = "新密码:";
+            this.label_newpwd.TextAlign = System.Drawing.ContentAlignment.TopRight;
+            // 
+            // label_oldpwd
+            // 
+            this.label_oldpwd.Location = new System.Drawing.Point(11, 43);
+            this.label_oldpwd.Margin = new System.Windows.Forms.Padding(5, 0, 5, 0);
+            this.label_oldpwd.Name = "label_oldpwd";
+            this.label_oldpwd.Size = new System.Drawing.Size(134, 23);
+            this.label_oldpwd.TabIndex = 1;
+            this.label_oldpwd.Text = "旧密码:";
+            this.label_oldpwd.TextAlign = System.Drawing.ContentAlignment.TopRight;
+            // 
+            // textBox_newpwd2
+            // 
+            this.textBox_newpwd2.Location = new System.Drawing.Point(155, 131);
+            this.textBox_newpwd2.Margin = new System.Windows.Forms.Padding(5);
+            this.textBox_newpwd2.Name = "textBox_newpwd2";
+            this.textBox_newpwd2.PasswordChar = '*';
+            this.textBox_newpwd2.Size = new System.Drawing.Size(165, 26);
+            this.textBox_newpwd2.TabIndex = 0;
+            // 
+            // textBox_newpwd
+            // 
+            this.textBox_newpwd.Location = new System.Drawing.Point(155, 85);
+            this.textBox_newpwd.Margin = new System.Windows.Forms.Padding(5);
+            this.textBox_newpwd.Name = "textBox_newpwd";
+            this.textBox_newpwd.PasswordChar = '*';
+            this.textBox_newpwd.Size = new System.Drawing.Size(165, 26);
+            this.textBox_newpwd.TabIndex = 0;
+            // 
+            // textBox_oldpwd
+            // 
+            this.textBox_oldpwd.Location = new System.Drawing.Point(155, 40);
+            this.textBox_oldpwd.Margin = new System.Windows.Forms.Padding(5);
+            this.textBox_oldpwd.Name = "textBox_oldpwd";
+            this.textBox_oldpwd.PasswordChar = '*';
+            this.textBox_oldpwd.Size = new System.Drawing.Size(165, 26);
+            this.textBox_oldpwd.TabIndex = 0;
+            // 
+            // UC_SetUserPassword
+            // 
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
+            this.Controls.Add(this.groupBox1);
+            this.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.Margin = new System.Windows.Forms.Padding(5);
+            this.Name = "UC_SetUserPassword";
+            this.Size = new System.Drawing.Size(405, 272);
+            this.groupBox1.ResumeLayout(false);
+            this.groupBox1.PerformLayout();
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.GroupBox groupBox1;
+        private System.Windows.Forms.Label label_newpwd2;
+        private System.Windows.Forms.Label label_newpwd;
+        private System.Windows.Forms.Label label_oldpwd;
+        private System.Windows.Forms.TextBox textBox_newpwd2;
+        private System.Windows.Forms.TextBox textBox_newpwd;
+        private System.Windows.Forms.TextBox textBox_oldpwd;
+        private System.Windows.Forms.Button button_ok;
+    }
+}

TheMachine/UC/UC_SetUserPassword.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/UCStoreMachine.cs

@@ -69,15 +69,19 @@ namespace TheMachine
 
         void SetMsg(List<Msg> msgs)
         {
-            this.SuspendLayout();
+            //this.SuspendLayout();
             listView.Items.Clear();
             msgs.Sort((a, b) =>
             {
+                if (a == null)
+                    return 4;
+                if (b == null)
+                    return 4;
                 if (a.msgLevel == MsgLevel.alarm)
-                    return -1;
-                if (a.msgLevel != MsgLevel.info)
-                    return -1;
-                return 0;
+                    return 1;
+                if (a.msgLevel == MsgLevel.warning)
+                    return 2;
+                return 3;
             });
             foreach (Msg msg in msgs)
             {
@@ -98,7 +102,7 @@ namespace TheMachine
                 {
                     //btn_IgnoreX09.Visible = false;
                 }
-                else if (msg.errInfo == ErrInfo.RunBtn)
+                else if (msg.errInfo == ErrInfo.RunBtn || msg.errInfo == ErrInfo.ResetBtn)
                 {
                     Task.Run(() => {
                         if (!RobotManage.isRunning)
@@ -116,8 +120,9 @@ namespace TheMachine
 
                 }
             }
-            this.ResumeLayout(true);
+            //this.ResumeLayout(true);
             UpdateStatusList?.Invoke(Machine.MachineSide, listView.Items);
+            Machine_PauseEvent(this, Machine.UserPause);
         }
         private void RobotManage_LoadFinishEvent(bool state, string msg)
         {
@@ -188,6 +193,7 @@ namespace TheMachine
                 //Machine.UserPause = false;
                 (btn_run as Button).Text = crc.GetString("Res0197","暂停运行");
                 (btn_run as Button).BackColor = Color.Yellow;
+                btn_stop.Enabled = true;
             }
             
         }
@@ -195,12 +201,12 @@ namespace TheMachine
         {
             if (!Machine.isRunning)
             {
-                if (Machine.IOValue(IO_Type.SuddenStop_BTN, RobotManage.Config).Equals(IO_VALUE.LOW))
-                {
-                    Machine.Msg.add(crc.GetString("Res0182","急停中,无法启动"), MsgLevel.warning);
-                    Machine_ProcessMsgEvent(Machine.Msg.get()[Machine.MachineSide]);
-                    return;
-                }
+                //if (Machine.IOValue(IO_Type.SuddenStop_BTN, RobotManage.Config).Equals(IO_VALUE.LOW))
+                //{
+                //    Machine.Msg.add(crc.GetString("Res0182","急停中,无法启动"), MsgLevel.warning);
+                //    Machine_ProcessMsgEvent(Machine.Msg.get()[Machine.MachineSide]);
+                //    return;
+                //}
                 RobotManage.Start(Machine.MachineSide);
                 if (Machine.isRunning)
                 {

TheMachine/packages.config

+<?xml version="1.0" encoding="utf-8"?>
+<packages>
+  <package id="TaskScheduler" version="2.10.1" targetFramework="net471" />
+</packages>
\ No newline at end of file