1

刘韬
Commit f27ffb8e 由刘韬编写于 2022-05-04 13:47:35 +0800
Common/CodeResourceControl.cs
Common/StringList.cs
DeviceLibrary/DeviceLibrary.csproj
DeviceLibrary/DeviceLibrary/Camera.cs
DeviceLibrary/DeviceLibrary/ServerCommunication.cs
DeviceLibrary/StoreConfig/fixPositions.csv
DeviceLibrary/StoreConfig/linePositions.csv
DeviceLibrary/theMachine/BoxTransport.cs
DeviceLibrary/theMachine/LabelParam.cs
DeviceLibrary/theMachine/MainMachine.cs
DeviceLibrary/theMachine/MainMachine_Clamp.cs
DeviceLibrary/theMachine/MainMachine_Store.cs
DeviceLibrary/theMachine/MoveStep.cs
DeviceLibrary/theMachine/RobotManage.cs
DeviceLibrary/userControl/AxisMoveControl.cs
TheMachine/AxisControl.Designer.cs
TheMachine/Form1.Designer.cs
TheMachine/Form1.cs
TheMachine/IOControls.Designer.cs
TheMachine/SettingControl.Designer.cs
--- a/Common/CodeResourceControl.cs
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+++ b/Common/CodeResourceControl.cs
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@@ -64,7 +64,7 @@ namespace OnlineStore
                    }
                    LoadData(true);
                    //SetCurrentCulture(CurrLanguage);
-                    LanguageChangeEvent?.Invoke(null, EventArgs.Empty);
+                    //LanguageChangeEvent?.Invoke(null, EventArgs.Empty);
                }
                catch (Exception e)

--- a/Common/StringList.cs
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+++ b/Common/StringList.cs
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@@ -126,6 +126,7 @@ namespace OnlineStore.Common
        monitor_config_load_fail,
        monitor_config_not_exist,
        AxisMoveControl_status_monitor,
-        string_full_takeout
+        string_full_takeout,
+        string_not_onposition
    }
 }
--- a/DeviceLibrary/DeviceLibrary.csproj
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+++ b/DeviceLibrary/DeviceLibrary.csproj
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@@ -147,6 +147,9 @@
      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
    </None>
    <None Include="packages.config" />
+    <None Include="StoreConfig\fixPositions.csv">
+      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+    </None>
    <None Include="StoreConfig\linePositions.csv">
      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
    </None>

--- a/DeviceLibrary/DeviceLibrary/Camera.cs
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+++ b/DeviceLibrary/DeviceLibrary/Camera.cs
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@@ -173,4 +173,5 @@ public enum FixtureState
    ToOut,
    ToInSide,
    ToOutSide,
+    ToFix,
 }
--- a/DeviceLibrary/DeviceLibrary/ServerCommunication.cs
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+++ b/DeviceLibrary/DeviceLibrary/ServerCommunication.cs
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@@ -218,6 +218,7 @@ namespace DeviceLibrary
            }
            return host + api_communication;
        }
+        int getthtime = 0;
        public void SendLineStatus()
        {
            if (RobotManage.InoutDebugMode)
@@ -228,13 +229,19 @@ namespace DeviceLibrary
                //构建发送给服务器的对象
                Operation lineOperation = getLineBoxStatus();
                //如果还没湿度范围，先获取
-                if (Max_Humidity <= 0 || (Max_Temperature <= 0))
+                if (getthtime < 3)
                {
-                    lineOperation.op = 5;
+                    if (Max_Humidity <= 0 || (Max_Temperature <= 0))
-                    LogUtil.info(StoreName + "没有湿度预警范围，需要从服务器获取，发送OP=" + lineOperation.op);
+                    {
+                        lineOperation.op = 5;
+                        LogUtil.info(StoreName + "没有湿度预警范围，需要从服务器获取，发送OP=" + lineOperation.op);
+                        getthtime++;
+                    }
                }
                Operation resultOperation = HttpHelper.Post(GetPostApi(), lineOperation, false);
+                if (resultOperation != null)
+                    getthtime = 0;
                //LogUtil.info(JsonHelper.SerializeObject(resultOperation.data));
                ResultProcess(resultOperation);
                TimeSpan span = DateTime.Now - time;
@@ -421,8 +428,10 @@ namespace DeviceLibrary
            }
            else if (RobotManage.mainMachine.ClampMoveInfo.MoveStep == MoveStep.InWaitServerCallback)
            {
+                string msg = resultOperation.msg;
                SendStoreState("", StoreStatus.InStoreError);
-                RobotManage.mainMachine.ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_01);
+                //RobotManage.mainMachine.ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_01);
+                RobotManage.mainMachine.NGPuted(msg);
                LogUtil.info("服务器没有正确返回库位.");
            }
            else { 

--- a/DeviceLibrary/StoreConfig/fixPositions.csv 0 → 100644
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+++ b/DeviceLibrary/StoreConfig/fixPositions.csv 0 → 100644
查看文件 @f27ffb8
+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
--- a/DeviceLibrary/StoreConfig/linePositions.csv
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+++ b/DeviceLibrary/StoreConfig/linePositions.csv
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--- a/DeviceLibrary/theMachine/BoxTransport.cs
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+++ b/DeviceLibrary/theMachine/BoxTransport.cs
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@@ -15,6 +15,7 @@ namespace DeviceLibrary
        Robot_Config Config;
        BoxStorePosition From;
        BoxStorePosition To;
+        BoxStorePosition Fix;
        MainMachine mainMachine;
        //using static mainMachine;
        AxisBean Middle_Axis;
@@ -76,10 +77,15 @@ namespace DeviceLibrary
                plateH = from.Reel.PlateH;
                From = from.clone();
                To = to.clone();
                MoveInfo.NewMove(MoveStep.StoreTS01);
                MoveInfo.log($"{storeMoveType}:开始运输料盘,从:{from.posid},到:{to.posid}");
                MoveInfo.MoveParam.PosID = $"{From.posid}=>{To.posid}";
            }
+            if (To.posid == BoxStorePosition.strings)
+            {
+                Fix = BoxStorePosition.GetFixPos(Config, To.Reel);
+            }
            MoveInfo.MoveParam.WareCode = WareCode;
            ErrMsgTxt = "";
@@ -170,11 +176,46 @@ namespace DeviceLibrary
                    else
                    {
                        IgnoreX09 = false;
-                        MoveInfo.NextMoveStep(MoveStep.StoreTS10);
+                        if (To.posid== BoxStorePosition.strings && ConfigHelper.Config.Get("Device_Use_Fixpos",false) && Fix!=null)
+                            MoveInfo.NextMoveStep(MoveStep.StoreFIX01);
+                        else
+                            MoveInfo.NextMoveStep(MoveStep.StoreTS10);
                        MoveInfo.log($"{storeMoveType}:X30取到料");
                        InOutEndProcess(StoreMoveType.OutStore, From.posid);
                    }
                    break;
+                case MoveStep.StoreFIX01:
+                    MoveInfo.NextMoveStep(MoveStep.StoreFIX02);
+                    Middle_Axis.AbsMove(MoveInfo, Fix.Middle_P2, Config.Middle_P2_speed);
+                    MoveInfo.log($"{storeMoveType}:行走机构到达目的地:{Fix.Middle_P2}");
+                    UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PH, Config.UpDown_P1_speed);
+                    MoveInfo.log($"{storeMoveType}:上下轴到达目的地高点:{Fix.UpDown_PH}");
+                    break;
+                case MoveStep.StoreFIX02:
+                    MoveInfo.NextMoveStep(MoveStep.StoreFIX03);
+                    MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
+                    InOut_Axis.AbsMove(MoveInfo, Fix.InOut_P2, Config.InOut_P2_speed);
+                    break;
+                case MoveStep.StoreFIX03:
+                    RobotManage.CameraA.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToFix));
+                    MoveInfo.NextMoveStep(MoveStep.StoreFIX04);
+                    Comp_Axis.AbsMove(MoveInfo, Fix.Comp_PH, Config.Comp_P2_speed);
+                    UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PL, Config.UpDown_P3_speed);
+                    MoveInfo.log($"{storeMoveType}:压紧轴高点:{Fix.Comp_PH}");
+                    MoveInfo.log($"{storeMoveType}:上下轴到达目的地低点:{Fix.UpDown_PL}");
+                    break;
+                case MoveStep.StoreFIX04:
+                    MoveInfo.NextMoveStep(MoveStep.StoreFIX05);
+                    Comp_Axis.AbsMove(MoveInfo, Fix.Comp_PL, Config.Comp_P2_speed);
+                    UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PH, Config.UpDown_P3_speed);
+                    MoveInfo.log($"{storeMoveType}:压紧轴压紧点:{Fix.Comp_PL}");
+                    MoveInfo.log($"{storeMoveType}:上下轴到达目的高点:{Fix.UpDown_PH}");
+                    break;
+                case MoveStep.StoreFIX05:
+                    MoveInfo.NextMoveStep(MoveStep.StoreTS10);
+                    InOut_Axis.AbsMove(MoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
+                    MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
+                    break;
                case MoveStep.StoreTS10:
                    MoveInfo.NextMoveStep(MoveStep.StoreTS11);
                    Middle_Axis.AbsMove(MoveInfo, To.Middle_P2, Config.Middle_P2_speed);

--- a/DeviceLibrary/theMachine/LabelParam.cs
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+++ b/DeviceLibrary/theMachine/LabelParam.cs
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@@ -169,7 +169,8 @@ namespace DeviceLibrary
                UpDown_PL = Config.UpDown_P3;
                posid = ngdoor;
            }
-            else {
+            else if (storeSide == StoreSide.String)
+            {
                Middle_P2 = Config.Middle_P1;
                InOut_P2 = Config.InOut_P3;
                UpDown_PH = Config.UpDown_P4;
@@ -183,6 +184,16 @@ namespace DeviceLibrary
            Reel = reel.clone();
            LogUtil.info($"BSP:{posid},Comp_PL:{Comp_PL}={reel.PlateH},Comp_PL_MM:{Config.Comp_PL_MM},{JsonHelper.SerializeObject(this)}");
        }
+        public static BoxStorePosition GetFixPos(Robot_Config Config, ReelParam reel) {
+            var fixpos = "fix#" + reel.PlateW.ToString();
+            var ac = CSVPositionReader<ACStorePosition>.GetPositon(fixpos);
+            if (ac == null)
+                return null;
+            var p = new BoxStorePosition(Config, ac, reel);
+            return p;
+        }
        public BoxStorePosition clone()
        {
            BoxStorePosition dstobject;
@@ -200,6 +211,7 @@ namespace DeviceLibrary
    public enum StoreSide
    {
        NGDoor,
-        String
+        String,
+        Fix
    }
 }
--- a/DeviceLibrary/theMachine/MainMachine.cs
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+++ b/DeviceLibrary/theMachine/MainMachine.cs
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@@ -285,9 +285,20 @@ namespace DeviceLibrary
            switch (ResetMoveInfo.MoveStep)
            {
                case MoveStep.H01_HomeReset:
+                    ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset_01);                    
+                    ServerCM.storeStatus = StoreStatus.ResetMove;
+                    if (IOValue(IO_Type.StringBack_Check) == IOValue(IO_Type.StringFront_Check) 
+                        || IOValue(IO_Type.StringFront_Check).Equals(IO_VALUE.HIGH)) {
+                        Msg.add(crc.GetString(L.string_not_onposition, "回原时X09,X10信号异常,料串可能不在正确位置,请检查."), MsgLevel.alarm);//0429
+                        RobotManage.UserPause("回原时X09,X10信号异常,料串可能不在正确位置,请检查");
+                        return;
+                    }
+                    if (!ConfigHelper.Config.Get("Device_Disable_StringDoor", false))
+                        CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
+                    break;
+                case MoveStep.H02_HomeReset_01:
                    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");
-                    ServerCM.storeStatus = StoreStatus.ResetMove;
                    InOut_Axis.HomeMove(ResetMoveInfo, forceHome);
                    Batch_Axis.HomeMove(ResetMoveInfo, forceHome);
                    CylinderMove(ResetMoveInfo, IO_Type.StringPosChecker_Home, IO_Type.StringPosChecker_Work, IO_VALUE.LOW);
@@ -310,8 +321,7 @@ namespace DeviceLibrary
                    break;
                case MoveStep.H04_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H05_HomeReset);
-                    if (!ConfigHelper.Config.Get("Device_Disable_StringDoor",false))
+                    ResetMoveInfo.log("夹爪轴,P1待机点");
-                        CylinderMove(StringMoveInfo, IO_Type.StringDoor_Close, IO_Type.StringDoor_Open, IO_VALUE.LOW);
                    Clamp_Axis.AbsMove(ResetMoveInfo, Config.Clamp_P1, Config.Clamp_P1_speed);
                    ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                    break;

--- a/DeviceLibrary/theMachine/MainMachine_Clamp.cs
查看文件 @f27ffb8
+++ b/DeviceLibrary/theMachine/MainMachine_Clamp.cs
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@@ -32,10 +32,13 @@ namespace DeviceLibrary
        {
            ClampMoveInfo.NextMoveStep(MoveStep.ReelTaked);
        }
-        void NGPuted(string msg)
+        public void NGPuted(string msg)
        {
            ClampMoveInfo.NextMoveStep(MoveStep.NGOUT_01);
-            ClampMoveInfo.MoveParam.NgMsg = msg;
+            if (!string.IsNullOrEmpty(msg))
+            {
+                ClampMoveInfo.MoveParam.NgMsg = msg;
+            }
            ClampMoveInfo.MoveParam.IsNg = true;
        }
        /// <summary>
@@ -238,10 +241,10 @@ namespace DeviceLibrary
                    }
                    break;
                case MoveStep.NGOUT_03:
+                    Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning);
                    if (IOValue(IO_Type.NGDoor_Tray_Check).Equals(IO_VALUE.HIGH))
                    {
                        Msg.add(crc.GetString(L.please_take_ngdoor_reel, "等待取走单口料盘"), MsgLevel.alarm);
-                        Msg.add(ClampMoveInfo.MoveParam.NgMsg, MsgLevel.warning);
                        RobotManage.UserPause("等待取走单口料盘");
                    }
                    else

--- a/DeviceLibrary/theMachine/MainMachine_Store.cs
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+++ b/DeviceLibrary/theMachine/MainMachine_Store.cs
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@@ -117,9 +117,13 @@ namespace DeviceLibrary
                    break;
                case MoveStep.StoreOut10:
                    StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11);
-                    var outac = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
+                    var outFrom = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
-                    var outTo = new BoxStorePosition(Config, StoreMoveInfo.MoveParam.IsNg ? StoreSide.NGDoor: StoreSide.String, StoreMoveInfo.MoveParam);
+                    BoxStorePosition outTo;
-                    boxTransport.Start(outac==null?null:new BoxStorePosition(Config, outac, StoreMoveInfo.MoveParam), outTo, StoreMoveType.OutStore);
+                    if (StoreMoveInfo.MoveParam.IsNg)
+                        outTo = new BoxStorePosition(Config,  StoreSide.NGDoor, StoreMoveInfo.MoveParam);
+                    else
+                        outTo = new BoxStorePosition(Config,  StoreSide.String, StoreMoveInfo.MoveParam);
+                    boxTransport.Start(outFrom==null?null:new BoxStorePosition(Config, outFrom, StoreMoveInfo.MoveParam), outTo, StoreMoveType.OutStore);
                    StoreMoveInfo.log($"开始转运料盘{(StoreMoveInfo.MoveParam.IsNg?"单料口":"料串")}");
                    ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreExecute);
                    break;
@@ -143,6 +147,7 @@ namespace DeviceLibrary
                        ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreEnd);
                        if (StoreMoveInfo.MoveParam.IsNg)
                        {
                            NGPuted(StoreMoveInfo.MoveParam.NgMsg);
                            OutSingleJobList.ClearLastPosid(StoreMoveInfo.MoveParam.PosID);
                        }

--- a/DeviceLibrary/theMachine/MoveStep.cs
查看文件 @f27ffb8
+++ b/DeviceLibrary/theMachine/MoveStep.cs
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@@ -13,6 +13,7 @@ namespace DeviceLibrary
        WaitErr,
        //回原流程
        H01_HomeReset,
+        H02_HomeReset_01,
        H02_HomeReset,
        H03_HomeReset,
        H04_HomeReset,
@@ -126,6 +127,11 @@ namespace DeviceLibrary
        StoreTS07,
        StoreTS08,
        StoreTS09,
+        StoreFIX01,
+        StoreFIX02,
+        StoreFIX03,
+        StoreFIX04,
+        StoreFIX05,
        StoreTS10,
        StoreTS11,
        StoreTS12,
@@ -135,6 +141,7 @@ namespace DeviceLibrary
        StoreTS16,
        StoreTS17,
        StoreTS18,
    }

--- a/DeviceLibrary/theMachine/RobotManage.cs
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+++ b/DeviceLibrary/theMachine/RobotManage.cs
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@@ -29,7 +29,14 @@ namespace DeviceLibrary
        public static event EventHandler<bool> UserPauseSet;
        public static bool isRunning = false;
        public static Dictionary<string, ACStorePosition> allPositionMap { get => CSVPositionReader<ACStorePosition>.allPositionMap; }
-        public static List<string> PositionNumList { get => CSVPositionReader<ACStorePosition>.allPositionMap.Keys.ToList(); }
+        static List<string> _positionNumList=null;
+        public static List<string> PositionNumList { get {
+                if (_positionNumList == null)
+                     _positionNumList = CSVPositionReader<ACStorePosition>.allPositionMap.Keys.ToList();
+                return _positionNumList;
+            }
+        }
        static string baseDir = Application.StartupPath;
        static Thread mainThread;
@@ -49,13 +56,18 @@ namespace DeviceLibrary
                if (File.Exists(positionConfigFile))
                {
                    LogUtil.info("加载位置文件：" + positionConfigFile);
-                    CSVPositionReader<ACStorePosition>.ReloadCSVFile(positionConfigFile);
+                    CSVPositionReader<ACStorePosition>.AddCSVFile(positionConfigFile);
                }
                else {
                    IsLoadOk = false;
                    msg += crc.GetString(L.cant_find_storeposfile, "找不到库位配置文件")+ "\n";
                }
+                string fixpositionConfigFile = Path.Combine(baseDir, "StoreConfig\\fixPositions.csv");
+                if (File.Exists(fixpositionConfigFile))
+                {
+                    LogUtil.info("加载校准库位文件：" + fixpositionConfigFile);
+                    CSVPositionReader<ACStorePosition>.AddCSVFile(fixpositionConfigFile);
+                }
                CodeManager.LoadConfig();
                mainMachine = new MainMachine(RobotManage.Config);

--- a/DeviceLibrary/userControl/AxisMoveControl.cs
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+++ b/DeviceLibrary/userControl/AxisMoveControl.cs
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@@ -170,7 +170,7 @@ namespace DeviceLibrary
            {
                btnDelMove.BackColor = System.Drawing.SystemColors.Control;
            }
-            btnReadPosition_Click(null, null);
+           // btnReadPosition_Click(null, null);
        }
        private void btnComAlarmClear_Click(object sender, EventArgs e)
@@ -305,7 +305,7 @@ namespace DeviceLibrary
            {
                btnAddMove.BackColor = Color.White;
                AxisManager.SuddenStop(PortName, SlvAddr);
-                btnReadPosition_Click(null, null);
+                //btnReadPosition_Click(null, null);
            }
        }
@@ -334,7 +334,7 @@ namespace DeviceLibrary
            {
                btnDelMove.BackColor = Color.White;
                AxisManager.SuddenStop(PortName, SlvAddr);
-                btnReadPosition_Click(null, null);
+                //btnReadPosition_Click(null, null);
            }
        }
@@ -406,6 +406,7 @@ namespace DeviceLibrary
            short value = HCBoardManager.GetHomeStatus(axisNo);
            string homesstr = HCBoardManager.AxisHomeSts(value);
            lblhomeSts.Text = homesstr;
+            btnReadPosition_Click(null, null);
        }
        private void ShowlbSts(Label lbl, int value,bool isAlarm=false )
        {

--- a/TheMachine/AxisControl.Designer.cs
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+++ b/TheMachine/AxisControl.Designer.cs
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@@ -59,7 +59,7 @@ namespace TheMachine
            this.configControl1.Config = null;
            this.configControl1.Location = new System.Drawing.Point(568, 3);
            this.configControl1.Name = "configControl1";
-            this.configControl1.Size = new System.Drawing.Size(647, 559);
+            this.configControl1.Size = new System.Drawing.Size(647, 553);
            this.configControl1.TabIndex = 1;
            this.configControl1.Tag = "not";
            // 

--- a/TheMachine/Form1.Designer.cs
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+++ b/TheMachine/Form1.Designer.cs
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@@ -177,10 +177,10 @@ namespace TheMachine
            | System.Windows.Forms.AnchorStyles.Right)));
            this.tabc.Controls.Add(this.tabP1);
            this.tabc.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.tabc.Location = new System.Drawing.Point(0, 116);
+            this.tabc.Location = new System.Drawing.Point(0, 119);
            this.tabc.Name = "tabc";
            this.tabc.SelectedIndex = 0;
-            this.tabc.Size = new System.Drawing.Size(1008, 613);
+            this.tabc.Size = new System.Drawing.Size(1008, 610);
            this.tabc.TabIndex = 1;
            // 
            // tabP1
@@ -188,7 +188,7 @@ namespace TheMachine
            this.tabP1.Controls.Add(this.pnl);
            this.tabP1.Location = new System.Drawing.Point(4, 30);
            this.tabP1.Name = "tabP1";
-            this.tabP1.Size = new System.Drawing.Size(1000, 579);
+            this.tabP1.Size = new System.Drawing.Size(1000, 576);
            this.tabP1.TabIndex = 0;
            this.tabP1.Text = "信息";
            this.tabP1.UseVisualStyleBackColor = true;
@@ -207,7 +207,7 @@ namespace TheMachine
            this.pnl.Dock = System.Windows.Forms.DockStyle.Fill;
            this.pnl.Location = new System.Drawing.Point(0, 0);
            this.pnl.Name = "pnl";
-            this.pnl.Size = new System.Drawing.Size(1000, 579);
+            this.pnl.Size = new System.Drawing.Size(1000, 576);
            this.pnl.TabIndex = 273;
            // 
            // groupBox1
@@ -260,7 +260,7 @@ namespace TheMachine
            this.pictureBox2.BackColor = System.Drawing.Color.Gainsboro;
            this.pictureBox2.Location = new System.Drawing.Point(472, 302);
            this.pictureBox2.Name = "pictureBox2";
-            this.pictureBox2.Size = new System.Drawing.Size(463, 283);
+            this.pictureBox2.Size = new System.Drawing.Size(436, 271);
            this.pictureBox2.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
            this.pictureBox2.TabIndex = 270;
            this.pictureBox2.TabStop = false;
@@ -284,7 +284,7 @@ namespace TheMachine
            this.pictureBox1.BackColor = System.Drawing.Color.Gainsboro;
            this.pictureBox1.Location = new System.Drawing.Point(3, 302);
            this.pictureBox1.Name = "pictureBox1";
-            this.pictureBox1.Size = new System.Drawing.Size(463, 283);
+            this.pictureBox1.Size = new System.Drawing.Size(451, 271);
            this.pictureBox1.SizeMode = System.Windows.Forms.PictureBoxSizeMode.Zoom;
            this.pictureBox1.TabIndex = 271;
            this.pictureBox1.TabStop = false;
@@ -371,10 +371,10 @@ namespace TheMachine
            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
            this.BackColor = System.Drawing.Color.White;
            this.ClientSize = new System.Drawing.Size(1008, 729);
+            this.Controls.Add(this.tabc);
            this.Controls.Add(this.listView1);
            this.Controls.Add(this.btn_stop);
            this.Controls.Add(this.btn_run);
-            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)));
            this.MainMenuStrip = this.menuStrip1;

--- a/TheMachine/Form1.cs
查看文件 @f27ffb8
+++ b/TheMachine/Form1.cs
查看文件 @f27ffb8
@@ -42,6 +42,7 @@ namespace TheMachine
            if (tabc.TabCount > tabpagecount)
                addTablePage();
            LanguageProcess();
        }
@@ -68,6 +69,9 @@ 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
            List<CodeInfo> codeInfos = new List<CodeInfo>();
            //codeInfos.Add(new CodeInfo("", 528, 406));
            codeInfos.Add(new CodeInfo("", 925, 520));

--- a/TheMachine/IOControls.Designer.cs
查看文件 @f27ffb8
+++ b/TheMachine/IOControls.Designer.cs
查看文件 @f27ffb8
@@ -174,6 +174,7 @@ namespace TheMachine
            // 
            // ioControl1
            // 
+            this.ioControl1.BackColor = System.Drawing.Color.White;
            this.ioControl1.Config = null;
            this.ioControl1.Dock = System.Windows.Forms.DockStyle.Fill;
            this.ioControl1.Location = new System.Drawing.Point(0, 0);

--- a/TheMachine/SettingControl.Designer.cs
查看文件 @f27ffb8
+++ b/TheMachine/SettingControl.Designer.cs
查看文件 @f27ffb8
@@ -37,6 +37,7 @@ namespace TheMachine
            this.lbl_hmdstate = new System.Windows.Forms.Label();
            this.timer1 = new System.Windows.Forms.Timer(this.components);
            this.tp = new System.Windows.Forms.TableLayoutPanel();
+            this.cb_usefixpos = new System.Windows.Forms.CheckBox();
            this.tp.SuspendLayout();
            this.SuspendLayout();
            // 
@@ -44,7 +45,7 @@ namespace TheMachine
            // 
            this.chbAutoRun.AutoSize = true;
            this.tp.SetColumnSpan(this.chbAutoRun, 2);
-            this.chbAutoRun.Location = new System.Drawing.Point(10, 130);
+            this.chbAutoRun.Location = new System.Drawing.Point(10, 166);
            this.chbAutoRun.Margin = new System.Windows.Forms.Padding(10);
            this.chbAutoRun.Name = "chbAutoRun";
            this.chbAutoRun.Size = new System.Drawing.Size(84, 16);
@@ -113,12 +114,13 @@ namespace TheMachine
            this.tp.ColumnStyles.Add(new System.Windows.Forms.ColumnStyle(System.Windows.Forms.SizeType.Percent, 50F));
            this.tp.Controls.Add(this.label_tempsensor, 0, 0);
            this.tp.Controls.Add(this.cb_tempsensorport, 1, 0);
-            this.tp.Controls.Add(this.chbAutoRun, 0, 6);
            this.tp.Controls.Add(this.button_positiontool, 0, 5);
            this.tp.Controls.Add(this.lbl_hmdstate, 0, 4);
+            this.tp.Controls.Add(this.cb_usefixpos, 0, 6);
+            this.tp.Controls.Add(this.chbAutoRun, 0, 7);
            this.tp.Location = new System.Drawing.Point(3, 3);
            this.tp.Name = "tp";
-            this.tp.RowCount = 7;
+            this.tp.RowCount = 9;
            this.tp.RowStyles.Add(new System.Windows.Forms.RowStyle());
            this.tp.RowStyles.Add(new System.Windows.Forms.RowStyle());
            this.tp.RowStyles.Add(new System.Windows.Forms.RowStyle());
@@ -126,9 +128,23 @@ namespace TheMachine
            this.tp.RowStyles.Add(new System.Windows.Forms.RowStyle());
            this.tp.RowStyles.Add(new System.Windows.Forms.RowStyle());
            this.tp.RowStyles.Add(new System.Windows.Forms.RowStyle());
-            this.tp.Size = new System.Drawing.Size(266, 156);
+            this.tp.RowStyles.Add(new System.Windows.Forms.RowStyle());
+            this.tp.RowStyles.Add(new System.Windows.Forms.RowStyle());
+            this.tp.Size = new System.Drawing.Size(266, 192);
            this.tp.TabIndex = 6;
            // 
+            // cb_usefixpos
+            // 
+            this.cb_usefixpos.AutoSize = true;
+            this.tp.SetColumnSpan(this.cb_usefixpos, 2);
+            this.cb_usefixpos.Location = new System.Drawing.Point(10, 130);
+            this.cb_usefixpos.Margin = new System.Windows.Forms.Padding(10);
+            this.cb_usefixpos.Name = "cb_usefixpos";
+            this.cb_usefixpos.Size = new System.Drawing.Size(96, 16);
+            this.cb_usefixpos.TabIndex = 6;
+            this.cb_usefixpos.Text = "启用校准库位";
+            this.cb_usefixpos.UseVisualStyleBackColor = true;
+            // 
            // SettingControl
            // 
            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
@@ -151,5 +167,6 @@ namespace TheMachine
        private System.Windows.Forms.Label lbl_hmdstate;
        private System.Windows.Forms.Timer timer1;
        private System.Windows.Forms.TableLayoutPanel tp;
+        private System.Windows.Forms.CheckBox cb_usefixpos;
    }
 }
--- a/TheMachine/SettingControl.cs
查看文件 @f27ffb8
+++ b/TheMachine/SettingControl.cs
查看文件 @f27ffb8
@@ -48,6 +48,7 @@ namespace TheMachine
            Config.PropertyBind("Device_Humiture_Port", cb_tempsensorport, "SelectedItem", "SelectedIndexChanged");
+            Config.PropertyBind("Device_Use_Fixpos", cb_usefixpos, "Checked", "CheckedChanged");
        }

--- a/TheMachine/UC/ConfigControl.cs
查看文件 @f27ffb8
+++ b/TheMachine/UC/ConfigControl.cs
查看文件 @f27ffb8
@@ -26,6 +26,7 @@ namespace TheMachine
                if (value == null)
                    return;
                _Config = value;
                LoadPosList();
            }
        }
@@ -38,12 +39,35 @@ namespace TheMachine
        private void Crc_LanguageChangeEvent(object sender, EventArgs e)
        {
-            if (Config!=null)
+            if (Config == null)
-                LoadPosList();
+                return;
+            LoadPosList();
        }
        void LoadPosList()
        {
+            if (!this.Created)
+                return;
+            if (this.InvokeRequired)
+            {
+                this.Invoke((EventHandler)delegate
+                {
+                    try
+                    {
+                        LoadPosList();
+                    }
+                    catch (Exception ee)
+                    {
+                        MessageBox.Show("LoadPosList:" + ee.ToString());
+                    }
+                });
+                return;
+            }
+            tableLayoutPanel1.SuspendLayout();
            int maxrow = tableLayoutPanel1.Height / 34;
            tableLayoutPanel1.Controls.Clear();
            this.tableLayoutPanel1.RowStyles.Clear();
@@ -146,6 +170,7 @@ namespace TheMachine
                Label button1 = new Label();
                tableLayoutPanel1.Controls.Add(button1, c, r++);
            }
+            tableLayoutPanel1.ResumeLayout(true);
        }
        private void TextBox_TextChanged(object sender, EventArgs e)

--- a/TheMachine/UC/IOControl.cs
查看文件 @f27ffb8
+++ b/TheMachine/UC/IOControl.cs
查看文件 @f27ffb8
@@ -26,7 +26,14 @@ namespace TheMachine
                if (value == null)
                    return;
                _Config = value;
-                LoadIOList();
+                try
+                {
+                    LoadIOList();
+                }
+                catch (Exception ee)
+                {
+                    MessageBox.Show("Config LoadIOList:" + ee.ToString());
+                }
            }
        }
        readonly Timer t1 = new Timer();
@@ -59,12 +66,19 @@ namespace TheMachine
            if (DesignMode)
                return;
            OnlineStore.CodeResourceControl.LanguageProcess(this);
-            LoadIOList();
-        }
-        private void RobotManage_LoadFinishEvent(bool state, string msg)
+            this.Invoke((EventHandler)delegate
-        {
+            {
-            if (state) { LoadIOList(); }
+                try
+                {
+                    LoadIOList();
+                }
+                catch (Exception ee)
+                {
+                    MessageBox.Show("CodeResourceControl_LanguageChange LoadIOList:" + ee.ToString());
+                }
+            });
        }
        private void T1_Tick(object sender, EventArgs e)
@@ -77,6 +91,7 @@ namespace TheMachine
        private void LoadIOList()
        {
+            t1.Stop();
            this.SuspendLayout();
            DIControlList.Clear();
            DOControlList.Clear();

--- a/TheMachine/UC/StorePosControl.cs
查看文件 @f27ffb8
+++ b/TheMachine/UC/StorePosControl.cs
查看文件 @f27ffb8
@@ -39,7 +39,23 @@ namespace TheMachine
        private void Crc_LanguageChangeEvent(object sender, EventArgs e)
        {
-            LoadPos(_aCStorePosition);
+            if (!this.Created)
+                return;
+            this.Invoke((EventHandler)delegate
+            {
+                try
+                {
+                    LoadPos(_aCStorePosition);
+                }
+                catch (Exception ee)
+                {
+                    MessageBox.Show("Crc_LanguageChangeEvent LoadPos:" + ee.ToString());
+                }
+            });
        }
        private ACStorePosition _aCStorePosition;
        public void LoadPos(ACStorePosition aCStorePosition)

--- a/TheMachine/UC/uc_boxdebug.Designer.cs
查看文件 @f27ffb8
+++ b/TheMachine/UC/uc_boxdebug.Designer.cs
查看文件 @f27ffb8
@@ -40,6 +40,7 @@ namespace TheMachine
            this.timer1 = new System.Windows.Forms.Timer(this.components);
            this.dataGridView1 = new System.Windows.Forms.DataGridView();
            this.label_verify = new System.Windows.Forms.Label();
+            this.cb_fixpos = new System.Windows.Forms.ComboBox();
            this.storePosControl1 = new TheMachine.StorePosControl();
            this.groupInout.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.dataGridView1)).BeginInit();
@@ -169,6 +170,17 @@ namespace TheMachine
            this.label_verify.Tag = "not";
            this.label_verify.TextAlign = System.Drawing.ContentAlignment.TopRight;
            // 
+            // cb_fixpos
+            // 
+            this.cb_fixpos.DropDownStyle = System.Windows.Forms.ComboBoxStyle.DropDownList;
+            this.cb_fixpos.FormattingEnabled = true;
+            this.cb_fixpos.Location = new System.Drawing.Point(266, 489);
+            this.cb_fixpos.Name = "cb_fixpos";
+            this.cb_fixpos.Size = new System.Drawing.Size(121, 20);
+            this.cb_fixpos.TabIndex = 226;
+            this.cb_fixpos.Tag = "not";
+            this.cb_fixpos.SelectedIndexChanged += new System.EventHandler(this.cb_fixpos_SelectedIndexChanged);
+            // 
            // storePosControl1
            // 
            this.storePosControl1.Config = null;
@@ -184,6 +196,7 @@ namespace TheMachine
            // 
            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.Controls.Add(this.cb_fixpos);
            this.Controls.Add(this.label_verify);
            this.Controls.Add(this.cmbPosition);
            this.Controls.Add(this.label_size);
@@ -213,5 +226,6 @@ namespace TheMachine
        private System.Windows.Forms.CheckBox cb_inoutdebugmode;
        private System.Windows.Forms.Button btn_autoinout;
        private System.Windows.Forms.Label label_verify;
+        private System.Windows.Forms.ComboBox cb_fixpos;
    }
 }
--- a/TheMachine/UC/uc_boxdebug.cs
查看文件 @f27ffb8
+++ b/TheMachine/UC/uc_boxdebug.cs
查看文件 @f27ffb8
@@ -122,6 +122,7 @@ namespace TheMachine
                return -1;
            if (b.StartsWith("fix"))
                return 1;
            string[] pa = a.Split('_');
            string[] pb = b.Split('_');
@@ -217,7 +218,7 @@ namespace TheMachine
            LoadPosCheck();
            Comparison<string> comparison = new Comparison<string>(PosCompare);
            RobotManage.PositionNumList.Sort(comparison);
-            //store.PositionNumList.Reverse();
            string[] posstr = RobotManage.PositionNumList[RobotManage.PositionNumList.Count-1].Split('_');
            int colcount = 0;
@@ -239,13 +240,17 @@ namespace TheMachine
            int currentRowIndex = 0;
            int lastcol = -1;
            string lastAB = "";
+            cb_fixpos.Items.Clear();
            for (int i = 0; i < RobotManage.PositionNumList.Count; i++)
            {
                int ci = RobotManage.PositionNumList.Count-1 - i;
                string posname = RobotManage.PositionNumList[ci];
                if (posname.StartsWith("fix"))
+                {
+                    cb_fixpos.Items.Add(posname);
                    continue;
+                }
                string[] _posstr = posname.Split('_');
                int col = 0;
                if (!int.TryParse(_posstr[1], out col))
@@ -304,6 +309,7 @@ namespace TheMachine
            else
                setData(RobotManage.PositionNumList.Last());
            checkVerify();
        }
        void setData(string posid) {
            ACStorePosition ktkPosition = CSVPositionReader<ACStorePosition>.GetPositon(posid);
@@ -448,5 +454,11 @@ namespace TheMachine
            //RobotManage.DisableUpdownProtect = cb_disableupdownprotect.Checked;
            //LogUtil.info("手动点击屏蔽升降轴旋转轴安全检测:"+ cb_disableupdownprotect.Checked.ToString());
        }
+        private void cb_fixpos_SelectedIndexChanged(object sender, EventArgs e)
+        {
+            if (cb_fixpos.SelectedItem!=null)
+                setData(cb_fixpos.SelectedItem.ToString());
+        }
    }
 }