轴回原命令异常重发

DeviceLibrary/DeviceLibrary/AxisBean.cs

@@ -4,6 +4,7 @@ using OnlineStore.LoadCSVLibrary;
 using System;
 using System.Collections.Generic;
 using System.Linq;
+using System.Security.Policy;
 using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
@@ -122,12 +123,25 @@ namespace DeviceLibrary
             }
             Config.TargetPosition = 0;
             LogUtil.info(AxisName + "speed[" + Config.HomeHighSpeed + "]开始原点返回");
-            if (MoveInfo != null)
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
+
             var HomeLowSpeed = Config.HomeLowSpeed > 0 ? Config.HomeLowSpeed : Config.HomeHighSpeed / 10;
             var HomeAddSpeed = Config.HomeAddSpeed > 0 ? Config.HomeAddSpeed : Config.HomeHighSpeed * 5;
 
-            AxisManager.HomeMove(Config.DeviceName, (short)Config.GetAxisValue(), Config.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed);
+            if (AxisManager.HomeMove(Config.DeviceName, (short)Config.GetAxisValue(), Config.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed))
+            {
+                MoveInfo?.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
+
+            }
+            else
+            {
+                Thread.Sleep(50);
+                LogUtil.error(AxisName + "speed[" + Config.HomeHighSpeed + "]发送原点返回命令失败，重试");
+                if (AxisManager.HomeMove(Config.DeviceName, (short)Config.GetAxisValue(), Config.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed))
+                {
+                    MoveInfo?.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
+
+                }
+            }
         }
 
         /// <summary>
@@ -243,15 +257,18 @@ namespace DeviceLibrary
                 //判断是否需要重新运动
                 if (MoveInfo.CanWhileCount > 0)
                 {
-                    msg = $"{MoveInfo.Name} {axis.DisplayStr} 收到原点完成信号，当前位置{outCount}，规划位置{outTarget}，重新回原点，剩余[{MoveInfo.CanWhileCount}]]次。{axisS.ToStr()}";
-                    LogUtil.error(msg);
+                    string msg1 = $"{MoveInfo.Name} {axis.DisplayStr} 收到原点完成信号，当前位置{outCount}，规划位置{outTarget}，重新回原点，剩余[{MoveInfo.CanWhileCount}]]次。{axisS.ToStr()}";
+                    LogUtil.error(msg1);
                     //LogUtil.error( StoreName +  moveAxis.DisplayStr +  "重新回原点"); 
-                    AxisManager.HomeMove(axis.DeviceName, axis.GetAxisValue(), axis.HomeHighSpeed, axis.HomeLowSpeed, axis.HomeAddSpeed);
+                    var HomeLowSpeed = axis.HomeLowSpeed > 0 ? axis.HomeLowSpeed : axis.HomeHighSpeed / 10;
+                    var HomeAddSpeed = axis.HomeAddSpeed > 0 ? axis.HomeAddSpeed : axis.HomeHighSpeed * 5;
+
+                    AxisManager.HomeMove(axis.DeviceName, (short)axis.GetAxisValue(), axis.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed);
                     MoveInfo.CanWhileCount--;
                 }
                 else
                 {
-                    msg =$"{MoveInfo.Name} {MoveInfo.MoveStep} {axis.DisplayStr} ,收到原点完成信号，当前位置[{outCount}]，规划位置{outTarget}，误差过大，需要报警。{axisS.ToStr()}";
+                    msg = $"{MoveInfo.Name} {MoveInfo.MoveStep} {axis.DisplayStr} ,收到原点完成信号，当前位置[{outCount}]，规划位置{outTarget}，误差过大，需要报警。{axisS.ToStr()}";
                     LogUtil.error(msg);
                 }
             }

DeviceLibrary/DeviceLibrary/AxisManager.cs

@@ -49,9 +49,9 @@ namespace DeviceLibrary
         {
             instance.RelMove(portName, slvAddr, position, targetSpeed, ptpAcc, ptpDec);
         }
-        public static void HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc)
+        public static bool HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc)
         {
-            instance.HomeMove(portName, slvAddr, highVel, lowVel, acc);
+           return instance.HomeMove(portName, slvAddr, highVel, lowVel, acc);
         }
 
         public static void SpeedMove(string portName, short slvAddr, int speed,int acc,int dec)

DeviceLibrary/DeviceLibrary/HC/HCAxisManager.cs

@@ -74,9 +74,9 @@ namespace DeviceLibrary
             return (int)HCBoardManager.GetAxisPrfPos(slvAddr);
         }
 
-        public void HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc)
+        public bool HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc)
         {
-            HCBoardManager.StartHomeMove(slvAddr,(uint) highVel, (uint)lowVel, (uint)acc);
+           return HCBoardManager.StartHomeMove(slvAddr,(uint) highVel, (uint)lowVel, (uint)acc);
         } 
         public bool IsHomeMoveEnd(string portName, short slvAddr)
         {

DeviceLibrary/DeviceLibrary/IAxisManager.cs

@@ -24,7 +24,7 @@ namespace DeviceLibrary
         void ServoOn(string portName, short slvAddr);
         void ServoOff(string portName, short slvAddr); 
         void RelMove(string portName, short slvAddr, int position, int targetSpeed  , int ptpAcc , int ptpDec  ); 
-        void HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc);
+        bool HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc);
 
         void SpeedMove(string portName, short slvAddr, int speed,int acc,int dec);
         void SuddenStop(string portName, short slvAddr);

DeviceLibrary/theMachine/MainMachine _BtnProcess.cs

@@ -35,11 +35,6 @@ namespace DeviceLibrary
 
             ProcessMsgEvent?.Invoke(Msg.get());
 
-            //暂停时按下reaet按钮
-            if (RobotManage.isRunning && UserPause)
-            {
-                RobotManage.UserPause("Reset_BTN", false);
-            }
         }
         void Run_BTN()
         {
@@ -55,6 +50,11 @@ namespace DeviceLibrary
                 Msg.add(crc.GetString(L.runbtn_press_with_sudden, "急停中,按下启动按钮,无法启动."), MsgLevel.warning);
             }
             lastSuddenStop = false;
+            //暂停时按下reaet按钮
+            if (RobotManage.isRunning && UserPause)
+            {
+                RobotManage.UserPause("Run_BTN", false);
+            }
             LogUtil.info("按下启动按钮");
             ProcessMsgEvent?.Invoke(Msg.get());
         }

DeviceLibrary/theMachine/MainMachine.cs

@@ -345,6 +345,7 @@ namespace DeviceLibrary
             LogUtil.info("开始停止系统2.");
             mstart = false;
             AutoInOutTest = false;
+            ClearOutJob();
             ServerCM.StopConnectServer();
             Thread.Sleep(300);
             Alarm(AlarmType.None);

DeviceLibrary/theMachine/MainMachine_Store.cs

@@ -16,6 +16,10 @@ namespace DeviceLibrary
         StoreJobList OutStoreJobList = new StoreJobList($"批量");
         StoreJobList OutSingleJobList = new StoreJobList($"单盘");
 
+        public void ClearOutJob()
+        {
+
+        }
         public void AddOutStoreTask(string posId, int plateW, int plateH)
         {
             JobInfo jobInfo = new JobInfo("", posId, plateW, plateH);

TheMachine/Form1.cs

@@ -310,6 +310,8 @@ namespace TheMachine
         }
         private void RobotManage_DataInitEvent(bool state, string msg)
         {
+            try
+            {
                 if (this.InvokeRequired)
                 {
                     this.Invoke((EventHandler)delegate
@@ -318,6 +320,12 @@ namespace TheMachine
                     });
                     return;
                 }
+            }
+            catch(Exception ex)
+            {
+                LogUtil.error($"RobotManage_DataInitEvent,{state},{msg}",ex);
+            }
+
             ioc.Config = RobotManage.Config;
             bd.Config = RobotManage.Config;