添加校准库位缓存、出入库状态上报逻辑修改

张东亮
Commit 3aae5c39 由 张东亮 编写于 2023-01-09 09:32:29 +0800
Common/Common.csproj
Common/Setting_Init.cs
DeviceLibrary/DeviceLibrary.csproj
DeviceLibrary/DeviceLibrary/ServerCommunication.cs
DeviceLibrary/theMachine/BoxTransport.cs
DeviceLibrary/theMachine/MainMachine.cs
DeviceLibrary/theMachine/RobotManage.cs
LoadCVSLibrary/LoadCSVLibrary.csproj
TheMachine/TheMachine.csproj
--- a/Common/Common.csproj
查看文件 @3aae5c3
+++ b/Common/Common.csproj
查看文件 @3aae5c3
@@ -38,7 +38,7 @@
    </Reference>
    <Reference Include="log4net, Version=2.0.8.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
      <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\..\增广夹爪\Rmaxis\bin\Debug\log4net.dll</HintPath>
+      <HintPath>..\DLL\log4net.dll</HintPath>
    </Reference>
    <Reference Include="Newtonsoft.Json, Version=13.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
      <HintPath>..\packages\Newtonsoft.Json.13.0.1\lib\net45\Newtonsoft.Json.dll</HintPath>

--- a/Common/Setting_Init.cs
查看文件 @3aae5c3
+++ b/Common/Setting_Init.cs
查看文件 @3aae5c3
@@ -96,5 +96,7 @@ namespace OnlineStore.Common
        public static MyConfig<int> CameraScan_QRCodeCount = 3;
        [MyConfigComment("二维码扫码超时毫秒")]
        public static MyConfig<int> CameraScan_CodeTimeOut = 3000;
+        [MyConfigComment("校准库位料盘缓存")]
+        public static MyConfig<string> FixBuffInfo = "";
    }
 }
--- a/DeviceLibrary/DeviceLibrary.csproj
查看文件 @3aae5c3
+++ b/DeviceLibrary/DeviceLibrary.csproj
查看文件 @3aae5c3
@@ -34,26 +34,26 @@
  <ItemGroup>
    <Reference Include="Asa.Camera.VisionLib, Version=1.3.8398.28384, Culture=neutral, processorArchitecture=MSIL">
      <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\..\SO1069MIMO_PLUS\DLL\Asa.Camera.VisionLib.dll</HintPath>
+      <HintPath>..\DLL\Asa.Camera.VisionLib.dll</HintPath>
    </Reference>
    <Reference Include="CodeLibrary, Version=1.0.8406.19246, Culture=neutral, processorArchitecture=MSIL">
      <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\..\SO1069MIMO_PLUS\DLL\CodeLibrary.dll</HintPath>
+      <HintPath>..\DLL\CodeLibrary.dll</HintPath>
    </Reference>
    <Reference Include="ConfigHelper, Version=1.0.0.2, Culture=neutral, processorArchitecture=MSIL">
      <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\..\SO1069MIMO_PLUS\DLL\ConfigHelper.dll</HintPath>
+      <HintPath>..\DLL\ConfigHelper.dll</HintPath>
    </Reference>
    <Reference Include="halcondotnet, Version=12.0.0.0, Culture=neutral, PublicKeyToken=4973bed59ddbf2b8, processorArchitecture=MSIL">
      <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\..\SO1069MIMO_PLUS\DLL\halcondotnet.dll</HintPath>
+      <HintPath>..\DLL\halcondotnet.dll</HintPath>
    </Reference>
    <Reference Include="HuichuanLibrary">
-      <HintPath>..\..\HuichuanLibrary\HuichuanLibrary\bin\Debug\HuichuanLibrary.dll</HintPath>
+      <HintPath>..\DLL\HuichuanLibrary.dll</HintPath>
    </Reference>
    <Reference Include="log4net, Version=1.2.10.0, Culture=neutral, PublicKeyToken=692fbea5521e1304, processorArchitecture=AMD64">
      <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\..\SO1069MIMO_PLUS\DLL\log4net.dll</HintPath>
+      <HintPath>..\DLL\log4net.dll</HintPath>
    </Reference>
    <Reference Include="Newtonsoft.Json, Version=13.0.0.0, Culture=neutral, PublicKeyToken=30ad4fe6b2a6aeed, processorArchitecture=MSIL">
      <HintPath>..\packages\Newtonsoft.Json.13.0.1\lib\net45\Newtonsoft.Json.dll</HintPath>
@@ -62,6 +62,7 @@
    <Reference Include="System.Core" />
    <Reference Include="System.Drawing" />
    <Reference Include="System.ValueTuple, Version=4.0.3.0, Culture=neutral, PublicKeyToken=cc7b13ffcd2ddd51, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
      <HintPath>..\packages\System.ValueTuple.4.5.0\lib\net461\System.ValueTuple.dll</HintPath>
    </Reference>
    <Reference Include="System.Web" />

--- a/DeviceLibrary/DeviceLibrary/ServerCommunication.cs
查看文件 @3aae5c3
+++ b/DeviceLibrary/DeviceLibrary/ServerCommunication.cs
查看文件 @3aae5c3
@@ -124,8 +124,14 @@ namespace DeviceLibrary
                Operation operation = getLineBoxStatus();
                if (!string.IsNullOrEmpty(posid))
                    operation.boxStatus[StoreID].data.Add(ParamDefine.posId, posid);
-                operation.boxStatus[StoreID].status = (int)storeStatus;
+                if (storeStatus == StoreStatus.OutStoreEnd ||
+                    storeStatus == StoreStatus.OutStoreBoxEnd ||
+                    storeStatus == StoreStatus.InStoreEnd)
+                {
+                }
+                else
+                    operation.boxStatus[StoreID].status = (int)storeStatus;
                LogUtil.info(JsonHelper.SerializeObject(operation));
                if (RobotManage.InoutDebugMode)
@@ -145,13 +151,16 @@ namespace DeviceLibrary
                LogUtil.info($"SendStoreState success,posid:{posid}, storeStatus:{storeStatus}");
                ResultProcess(resultOperation);
-                if (storeStatus == StoreStatus.OutStoreEnd ||
+                //if (storeStatus == StoreStatus.OutStoreEnd ||
-                    storeStatus == StoreStatus.OutStoreBoxEnd ||
+                //    storeStatus == StoreStatus.OutStoreBoxEnd ||
-                    storeStatus == StoreStatus.InStoreEnd)
+                //    storeStatus == StoreStatus.InStoreEnd)
+                //{
+                //    this.storeStatus = StoreStatus.StoreOnline;
+                //}
+                if (RobotManage.mainMachine.StringMoveInfo.MoveStep == MoveStep.StringOut_Released)
                {
                    this.storeStatus = StoreStatus.StoreOnline;
                }
            }
            return true;
        }

--- a/DeviceLibrary/theMachine/BoxTransport.cs
查看文件 @3aae5c3
+++ b/DeviceLibrary/theMachine/BoxTransport.cs
查看文件 @3aae5c3
@@ -248,6 +248,7 @@ namespace DeviceLibrary
                    break;
                case MoveStep.StoreFIX04:
                    MoveInfo.NextMoveStep(MoveStep.StoreFIX05);
+                    RobotManage.PutReelInFixPos(MoveInfo.MoveParam);
                    Comp_Axis.AbsMove(MoveInfo, Fix.Comp_PL, Config.Comp_P2_speed);
                    UpDown_Axis.AbsMove(MoveInfo, Fix.UpDown_PH, Config.UpDown_P3_speed/2);
                    MoveInfo.log($"{storeMoveType}:压紧轴压紧点:{Fix.Comp_PL}");
@@ -260,6 +261,7 @@ namespace DeviceLibrary
                    break;
                case MoveStep.StoreTS10:
                    MoveInfo.NextMoveStep(MoveStep.StoreTS11);
+                    RobotManage.ClearReelInFixPos();
                    Middle_Axis.AbsMove(MoveInfo, To.Middle_P2, Config.Middle_P2_speed);
                    MoveInfo.log($"{storeMoveType}:行走机构到达目的地:{To.Middle_P2}");
                    UpDown_Axis.AbsMove(MoveInfo, To.UpDown_PH, Config.UpDown_P1_speed);

--- a/DeviceLibrary/theMachine/MainMachine.cs
查看文件 @3aae5c3
+++ b/DeviceLibrary/theMachine/MainMachine.cs
查看文件 @3aae5c3
@@ -20,7 +20,8 @@ namespace DeviceLibrary
            get { return _canRunning; }
            set
            {
-                if (_canRunning != value) {
+                if (_canRunning != value)
+                {
                    Msg.setlogones();
                }
                _canRunning = value;
@@ -70,11 +71,12 @@ namespace DeviceLibrary
-        public MainMachine(Robot_Config _config) {
+        public MainMachine(Robot_Config _config)
+        {
            Config = _config;
            crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
            StringMoveInfo = new MoveInfo("料串进出机构");
-            StringMoveInfo.SetStateDelegate(StringProcessState); 
+            StringMoveInfo.SetStateDelegate(StringProcessState);
            ClampMoveInfo = new MoveInfo("取放料机构");
            ClampMoveInfo.SetStateDelegate(ClampState);
            StoreMoveInfo = new MoveInfo("进出库调度");
@@ -83,10 +85,10 @@ namespace DeviceLibrary
            AIOTMoveInfo = new MoveInfo("出入库测试");
            #region 初始化led灯
-            RunningLed = new Led(Config.DOList[IO_Type.Run_Led].GetIOAddr(),LedColor.green);
+            RunningLed = new Led(Config.DOList[IO_Type.Run_Led].GetIOAddr(), LedColor.green);
            StandbyLed = new Led(Config.DOList[IO_Type.Standby_Led].GetIOAddr(), LedColor.yellow);
            AlarmLed = new Led(Config.DOList[IO_Type.Alarm_Led].GetIOAddr(), LedColor.red);
            //NG_Led = new Led(Config.DOList[IO_Type.MaterialNG_Led].GetIOAddr());
            #endregion
            #region 初始化伺服轴
@@ -109,10 +111,10 @@ namespace DeviceLibrary
            {
                InOutEndProcessEvent?.Invoke(posid, storeMoveType, arg4);
            };
-            AlarmBuzzer.SetOnOffAction(() =>{ IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH); }, () => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW); });
+            AlarmBuzzer.SetOnOffAction(() => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH); }, () => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW); });
-            IOMonitor.RegisterIO(IO_Type.Reset_BTN, Config, IO_VALUE.HIGH, Reset_BTN, 2500,100);
+            IOMonitor.RegisterIO(IO_Type.Reset_BTN, Config, IO_VALUE.HIGH, Reset_BTN, 2500, 100);
-            IOMonitor.RegisterIO(IO_Type.AutoRun_Single, Config, IO_VALUE.HIGH, Run_BTN, 2500,100);
+            IOMonitor.RegisterIO(IO_Type.AutoRun_Single, Config, IO_VALUE.HIGH, Run_BTN, 2500, 100);
            LedProcessInit();
        }
@@ -120,7 +122,7 @@ namespace DeviceLibrary
        private void Crc_LanguageChangeEvent(object sender, EventArgs e)
        {
-            StringMoveInfo.Name=crc.GetString(L.string_inout_equipment, "料串进出机构");
+            StringMoveInfo.Name = crc.GetString(L.string_inout_equipment, "料串进出机构");
            ClampMoveInfo.Name = crc.GetString(L.clamp_equipment, "取放料机构");
            StoreMoveInfo.Name = crc.GetString(L.store_manage_equipment, "进出库调度");
            ResetMoveInfo.Name = crc.GetString(L.reset_equipment, "重置");
@@ -134,13 +136,14 @@ namespace DeviceLibrary
            if (IOValue(IO_Type.ClampingDisc_Up).Equals(IO_VALUE.HIGH))
                return (false, "");
            var ismiddleatdoor = Middle_Axis.IsInPosition(Config.Middle_P1) || Middle_Axis.IsInPosition(Config.Middle_P2) || Middle_Axis.IsInPosition(Config.Middle_P3);
            if (!ismiddleatdoor)
                return (false, "");
            var isupdownindoor = UpDown_Axis.IsInPosition(Config.UpDown_P1) || UpDown_Axis.IsInPosition(Config.UpDown_P2) || UpDown_Axis.IsInPosition(Config.UpDown_P3) || UpDown_Axis.IsInPosition(Config.UpDown_P4) || UpDown_Axis.IsInPosition(Config.UpDown_P5);
-            if (isupdownindoor) {
+            if (isupdownindoor)
+            {
                return (true, crc.GetString(L.InOut_Axis_interference_01, "夹爪取料气缸不在上端,进出轴不可运动"));
            }
@@ -171,10 +174,12 @@ namespace DeviceLibrary
        /// <summary>
        /// 整机启动变量,设置为false后将退出线程,只在停止时调用
        /// </summary>
-        bool mstart=true;
+        bool mstart = true;
-        public void Run() {
+        public void Run()
+        {
            mstart = true;
-            while (mstart) {
+            while (mstart)
+            {
                try
                {
                    canRunning = DeviceCheck();
@@ -209,11 +214,12 @@ namespace DeviceLibrary
                    Msg.add(ex.ToString(), MsgLevel.warning);
                    Msg.setlogones();
                }
-                finally {
+                finally
+                {
                    var m = Msg.get();
                    ProcessMsgEvent?.Invoke(m);
                    ServerCM.ProcessMsg(m);
-                    StoreStatus currnetstoreStatus= StoreStatus.None;
+                    StoreStatus currnetstoreStatus = StoreStatus.None;
                    if (m.Find((aa) => aa.msgLevel == MsgLevel.alarm) == null)
                    {
                        hasAlarm = false;
@@ -226,7 +232,8 @@ namespace DeviceLibrary
                            currnetstoreStatus = StoreStatus.StoreOnline;
                        }
                    }
-                    else {
+                    else
+                    {
                        hasAlarm = true;
                        AlarmBuzzer.ON();
                        currnetstoreStatus = isInSuddenDown ? StoreStatus.SuddenStop : StoreStatus.Warning;
@@ -237,17 +244,19 @@ namespace DeviceLibrary
                    else
                        currnetstoreStatus = StoreStatus.Debugging;
-                    if (currnetstoreStatus!=StoreStatus.None)
+                    if (currnetstoreStatus != StoreStatus.None)
                        ServerCM.storeStatus = currnetstoreStatus;
                }
            }
            LogUtil.info("主线程已退出.");
        }
-        public void Start() {
+        public void Start()
+        {
            ServerCM.StartConnectServer();
            Run();
        }
-        public void Stop() {
+        public void Stop()
+        {
            mstart = false;
            AutoInOutTest = false;
            ServerCM.StopConnectServer();
@@ -258,7 +267,8 @@ namespace DeviceLibrary
        }
-        public void BeginHomeReset(bool firstRun=false) {
+        public void BeginHomeReset(bool firstRun = false)
+        {
            if (!firstRun)
            {
                StopMove();
@@ -273,7 +283,7 @@ namespace DeviceLibrary
            ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
        }
        //强制回原
-        bool forceHome=true;
+        bool forceHome = true;
        void HomeReset()
        {
            if (CheckWait(ResetMoveInfo))
@@ -283,14 +293,15 @@ namespace DeviceLibrary
            {
                case MoveStep.H01_HomeReset:
                    ServerCM.storeStatus = StoreStatus.ResetMove;
-                    if (IOValue(IO_Type.DoorClose_LoadMaterial).Equals(IO_VALUE.LOW)) {
+                    if (IOValue(IO_Type.DoorClose_LoadMaterial).Equals(IO_VALUE.LOW))
+                    {
                        Msg.add("批量门没有关闭,无法复位,请关闭批量门", MsgLevel.alarm);
                        return;
                    }
                    CylinderMove(ResetMoveInfo, IO_Type.BatchDoor_Close, IO_Type.BatchDoor_Open, IO_VALUE.LOW);
                    Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
-                    ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset_01);                    
+                    ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset_01);
                    break;
                case MoveStep.H02_HomeReset_01:
                    ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
@@ -305,12 +316,12 @@ namespace DeviceLibrary
                    CylinderMove(ResetMoveInfo, IO_Type.ClampingDisc_Up, IO_Type.ClampingDisc_Down, IO_VALUE.LOW);
                    ResetMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                    break;
-                case MoveStep.H03_HomeReset:                    
+                case MoveStep.H03_HomeReset:
                    ResetMoveInfo.NextMoveStep(MoveStep.H04_HomeReset);
                    ResetMoveInfo.log("旋转轴,升降轴,回原,料叉P1待机点");
                    InOut_Axis.AbsMove(ResetMoveInfo, Config.InOut_P1, Config.InOut_P1_speed);
                    Middle_Axis.HomeMove(ResetMoveInfo, forceHome);
-                    UpDown_Axis.HomeMove(ResetMoveInfo, forceHome);                    
+                    UpDown_Axis.HomeMove(ResetMoveInfo, forceHome);
                    //OpenFlipDoor(ResetMoveInfo);
                    break;
                case MoveStep.H04_HomeReset:
@@ -328,7 +339,7 @@ namespace DeviceLibrary
                case MoveStep.H06_HomeReset:
                    ResetMoveInfo.log("压紧轴回原");
                    if (AxisManager.GetAlarmStatus(Comp_Axis.Config.DeviceName, Comp_Axis.Config.GetAxisValue()) == 1)
-                    {                        
+                    {
                        AxisManager.AlarmClear(Comp_Axis.Config.DeviceName, Comp_Axis.Config.GetAxisValue());
                        Msg.add("压紧轴报警无法回原,请手动取出取料叉上的物料", MsgLevel.alarm);
                        SingleDoor.ToHigh(null);
@@ -342,7 +353,8 @@ namespace DeviceLibrary
                    }
                    break;
                case MoveStep.H07_HomeReset:
-                    if (IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH)) {
+                    if (IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
+                    {
                        ResetMoveInfo.NextMoveStep(MoveStep.H12_HomeReset);
                        ResetMoveInfo.log("料叉上有料,送到NG口");
                        Middle_Axis.AbsMove(ResetMoveInfo, Config.Middle_P2, Config.Middle_P2_speed);
@@ -350,11 +362,11 @@ namespace DeviceLibrary
                    }
                    else
                    if (IOValue(IO_Type.WidthCheck_7).Equals(IO_VALUE.HIGH) ||
-                        IOValue(IO_Type.WidthCheck_13).Equals(IO_VALUE.HIGH) )
+                        IOValue(IO_Type.WidthCheck_13).Equals(IO_VALUE.HIGH))
                    {
                        ResetMoveInfo.NextMoveStep(MoveStep.H08_HomeReset);
                        ResetMoveInfo.log("夹爪上有料盘,送到NG口");
                    }
                    else
                    {
@@ -405,7 +417,8 @@ namespace DeviceLibrary
                        Msg.add(crc.GetString(L.x29_higt_has_reel, "系统启动X29检测到有无信息料盘,等待取走单料口料盘"), MsgLevel.alarm);
                        RobotManage.UserPause("系统启动X29检测到有无信息料盘,等待取走单料口料盘");
                    }
-                    else {
+                    else
+                    {
                        ResetMoveInfo.NextMoveStep(MoveStep.H15_HomeReset);
                        ResetMoveInfo.log("料盘已取走");
                    }
@@ -415,7 +428,7 @@ namespace DeviceLibrary
                    {
                        Msg.add(crc.GetString(L.wait_put_reel_into_ngdoor, "等待阻挡物离开光栅"), MsgLevel.warning);
                    }
-                    else 
+                    else
                    {
                        ResetMoveInfo.NextMoveStep(MoveStep.H16_HomeReset);
                    }
@@ -446,27 +459,43 @@ namespace DeviceLibrary
                    boxTransport.Reset();
                    ResetMoveInfo.log("回原完成");
                    ResetMoveInfo.EndMove();
+                    if ((RobotManage.HasReelInFixPos(out ReelParam reelParam)) && boxTransport.IsComplateOrFree && ClampMoveInfo.MoveStep == MoveStep.Wait && ConfigHelper.Config.Get("Device_Use_Fixpos", false))
+                    {
+                        StoreMoveInfo.NewMove(MoveStep.StoreOut_NGPre);
+                        StoreMoveInfo.MoveParam = reelParam.clone();
+                        StoreMoveInfo.MoveParam.PosID = "NG";
+                        StoreMoveInfo.MoveParam.IsNg = true;
+                        StoreMoveInfo.MoveParam.NgMsg = "检测到校准库位有料盘信息,请人工确认";
+                        StoreMoveInfo.log($"开始校准库位料盘出库");
+                        ServerCM.storeStatus = StoreStatus.OutStoreExecute;
+                        //CloseFlipDoor(StoreMoveInfo);
+                    }
                    runStatus = RunStatus.Running;
                    ServerCM.storeStatus = StoreStatus.StoreOnline;
                    break;
            }
        }
        bool _IgnoreSafecheck = false;
-        public bool IgnoreSafecheck { get => _IgnoreSafecheck; set {
+        public bool IgnoreSafecheck
+        {
+            get => _IgnoreSafecheck; set
+            {
                if (value)
                {
                    IOMove(IO_Type.DoorSafe_Disable, IO_VALUE.HIGH);
                }
-                else {
+                else
+                {
                    IOMove(IO_Type.DoorSafe_Disable, IO_VALUE.LOW);
                }
-                _IgnoreSafecheck = value; 
+                _IgnoreSafecheck = value;
-            } }
+            }
+        }
        public bool IgnoreGratingSignal = false;
        bool lastSafeCheckStatus = true;
-        bool SafeCheck() {
+        bool SafeCheck()
+        {
            bool ok = true;
            var ignorestring = "[" + crc.GetString(L.ignored, "已忽略") + "]";
            if (IOValue(IO_Type.SafetyLightCurtains).Equals(IO_VALUE.LOW))
@@ -504,7 +533,8 @@ namespace DeviceLibrary
            return ok;
        }
-        void DeviceSuddenStop() {           
+        void DeviceSuddenStop()
+        {
            if (lastSafeCheckStatus)
            {
                AxisBean.StopMultiAxis(AxisBean.List);
@@ -523,7 +553,8 @@ namespace DeviceLibrary
        DateTime lastAirCloseTime = DateTime.MinValue;
        internal DateTime checkAlarmTime = DateTime.Now;
-        public bool DeviceCheck() {
+        public bool DeviceCheck()
+        {
            bool ok = true;
            isInSuddenDown = IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW);
            if (UserPause)
@@ -540,14 +571,15 @@ namespace DeviceLibrary
                Msg.add(crc.GetString(L.in_suddenstop, "急停中"), MsgLevel.alarm);
                ok = false;
            }
-            else if (alarmType != AlarmType.None) {
+            else if (alarmType != AlarmType.None)
+            {
                //if (IOValue(IO_Type.Right_BTN).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Left_BTN).Equals(IO_VALUE.HIGH))
                //{
                //    Alarm(AlarmType.None);
                //}
                //else
                {
-                    Msg.add(crc.GetString(L.system_need_reset, "系统需要重置"), MsgLevel.alarm,ErrInfo.SuddenStop);
+                    Msg.add(crc.GetString(L.system_need_reset, "系统需要重置"), MsgLevel.alarm, ErrInfo.SuddenStop);
                    ButtenEvent?.Invoke(null, ErrInfo.SuddenStop);
                    ok = false;
                }
@@ -569,10 +601,11 @@ namespace DeviceLibrary
                    Msg.add(crc.GetString(L.airpressure_not_enough, "气压不足"), MsgLevel.warning);
                }
            }
-            else {
+            else
+            {
                lastAirCloseTime = DateTime.MinValue;
            }
-            if (alarmType!=AlarmType.SuddenStop)
+            if (alarmType != AlarmType.SuddenStop)
            {
                TimeSpan span = DateTime.Now - checkAlarmTime;
                if (span.TotalSeconds > 2)
@@ -610,7 +643,8 @@ namespace DeviceLibrary
            return ok;
        }
-        public void IgnoreX09() {
+        public void IgnoreX09()
+        {
            boxTransport.IgnoreX09 = true;
            LogUtil.info("按下X09忽略");
        }

--- a/DeviceLibrary/theMachine/RobotManage.cs
查看文件 @3aae5c3
+++ b/DeviceLibrary/theMachine/RobotManage.cs
查看文件 @3aae5c3
@@ -180,6 +180,34 @@ namespace DeviceLibrary
            else
                LogUtil.info("用户取消忽略安全光栅");
        }
+        #region 校准库位缓存
+        public static bool HasReelInFixPos(out ReelParam reelParam)
+        {
+            reelParam = null;
+            try
+            {
+                string fix = ConfigHelper.Config.Get(Setting_Init.FixBuffInfo, "");
+                if (!string.IsNullOrEmpty(fix))
+                {
+                    reelParam = JsonHelper.DeserializeJsonToObject<ReelParam>(fix);
+                    return true;
+                }
+            }
+            catch (Exception e)
+            {
+                LogUtil.error("解析校准库位缓存异常", e);
+            }
+            return false;
+        }
+        public static void PutReelInFixPos(ReelParam reelParam)
+        {
+            ConfigHelper.Config.Set(Setting_Init.FixBuffInfo, JsonHelper.SerializeObject(reelParam));
+        }
+        public static void ClearReelInFixPos()
+        {
+            ConfigHelper.Config.Set(Setting_Init.FixBuffInfo, "");
+        }
+        #endregion
    }
    public enum StoreType { 

--- a/LoadCVSLibrary/LoadCSVLibrary.csproj
查看文件 @3aae5c3
+++ b/LoadCVSLibrary/LoadCSVLibrary.csproj
查看文件 @3aae5c3
@@ -39,7 +39,7 @@
  <ItemGroup>
    <Reference Include="log4net, Version=2.0.8.0, Culture=neutral, PublicKeyToken=669e0ddf0bb1aa2a, processorArchitecture=MSIL">
      <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\..\增广夹爪\Rmaxis\bin\Debug\log4net.dll</HintPath>
+      <HintPath>..\DLL\log4net.dll</HintPath>
    </Reference>
    <Reference Include="System" />
    <Reference Include="System.Core" />

--- a/TheMachine/TheMachine.csproj
查看文件 @3aae5c3
+++ b/TheMachine/TheMachine.csproj
查看文件 @3aae5c3
@@ -43,15 +43,15 @@
  <ItemGroup>
    <Reference Include="CodeLibrary, Version=1.0.8406.19246, Culture=neutral, processorArchitecture=MSIL">
      <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\..\SO1069MIMO_PLUS\DLL\CodeLibrary.dll</HintPath>
+      <HintPath>..\DLL\CodeLibrary.dll</HintPath>
    </Reference>
    <Reference Include="ConfigHelper, Version=1.0.0.2, Culture=neutral, processorArchitecture=MSIL">
      <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\..\SO1069MIMO_PLUS\DLL\ConfigHelper.dll</HintPath>
+      <HintPath>..\DLL\ConfigHelper.dll</HintPath>
    </Reference>
    <Reference Include="log4net, Version=1.2.10.0, Culture=neutral, PublicKeyToken=692fbea5521e1304, processorArchitecture=AMD64">
      <SpecificVersion>False</SpecificVersion>
-      <HintPath>..\..\SO1069MIMO_PLUS\DLL\log4net.dll</HintPath>
+      <HintPath>..\DLL\log4net.dll</HintPath>
    </Reference>
    <Reference Include="System" />
    <Reference Include="System.Core" />