1

DeviceLibrary/DeviceLibrary/Camera.cs

@@ -164,10 +164,12 @@ public class HIKCamera
 }
 public enum FixtureState
 {
-    In,
-    Up,
-    Down,
-    Out,
-    DoorIn,
-    DoorOut,
+    FromIn,
+    FromOut,
+    FromInSide,
+    FromOutSide,
+    ToIn,
+    ToOut,
+    ToInSide,
+    ToOutSide,
 }

DeviceLibrary/DeviceLibrary/CodeManager.cs

@@ -79,6 +79,55 @@ namespace DeviceLibrary
                 LogUtil.error("解析摄像机配置出错：" + ex.StackTrace);
             } 
         }
+
+        /// <summary>
+        /// 初始化摄像机名称和二维码类型
+        /// </summary> 
+        public static bool LoadSingle()
+        {
+            
+            codeTypeList = new List<string>();
+            HDLogUtil.LogName = "RollingLogFileAppender";
+            try
+            {
+                codeTypeList = new List<string>();
+                string[] codeArray = CodeType.Split(spiltChar);
+                foreach (string str in codeArray)
+                {
+                    if (str.Trim().Equals(""))
+                    {
+                        continue;
+                    }
+                    string file = GetCodeParamFilePath(str.Trim());
+                    LogUtil.info("加载到配置二维码类型：" + str.Trim() + "，配置文件：" + file);
+                    codeTypeList.Add(str.Trim());
+                }
+                CodeLibrary.HDCodeLearnHelper.LoadConfig("", CodeType);
+                LoadCamera(false);
+                //如果未加载到配置相机，自动配置
+                if (hikNameList.Count > 0)
+                {
+                    cameraNameList = new List<string>(hikNameList);
+                    string cameraStr = "";
+                    foreach (string name in hikNameList)
+                    {
+                        cameraStr += name + spiltChar;
+                    }
+                    cameraStr = cameraStr.Substring(0, cameraStr.Length - 1);
+                    ConfigAppSettings.SaveValue(Setting_Init.CameraName, cameraStr);
+                    LogUtil.info("未配置扫码相机，默认【" + Setting_Init.CameraName + "】=【" + cameraStr + "】");
+                    return true;
+                }
+                return false;
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("解析摄像机配置出错：" + ex.StackTrace);
+            }
+            return false;
+        }
+
+
         private static void LoadCamera(bool isReLoad)
         {
             if (isReLoad || Camera._cam == null)

DeviceLibrary/DeviceLibrary/LiftMonitor.cs

@@ -4,6 +4,7 @@ using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
+using System.Threading;
 using System.Threading.Tasks;
 
 namespace DeviceLibrary
@@ -44,6 +45,7 @@ namespace DeviceLibrary
                 return;
             }
             IOManager.IOMove(axisbreak,IO_VALUE.HIGH);
+            Thread.Sleep(200);
             axisBean.RelMove(StrokeLength, (double)speed);
             DateTime d = DateTime.Now;
             moveInfo.log($"{axisBean.AxisName},LiftUp");
@@ -64,6 +66,7 @@ namespace DeviceLibrary
             if (IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH))
             {
                 axisBean.SuddenStop();
+                IOManager.IOMove(axisbreak, IO_VALUE.LOW);
                 return true; 
             }
 
@@ -82,6 +85,7 @@ namespace DeviceLibrary
                 return;
             }
             IOManager.IOMove(axisbreak, IO_VALUE.HIGH);
+            Thread.Sleep(200);
             axisBean.RelMove(-StrokeLength, (double)speed);
             DateTime d = DateTime.Now;
             moveInfo.log($"{axisBean.AxisName},LiftDown");
@@ -104,6 +108,7 @@ namespace DeviceLibrary
             if (IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
             {
                 axisBean.SuddenStop();
+                IOManager.IOMove(axisbreak, IO_VALUE.LOW);
                 return true;
             }
 

DeviceLibrary/DeviceLibrary/LineRunMonitor.cs

@@ -61,7 +61,8 @@ namespace DeviceLibrary
                 lineTimer.Enabled = false;
                 pauseTime = DateTime.Now;
                 DOMove(LineIO, IO_VALUE.LOW);
-                LogUtil.info(Name + $" 线体管理器 暂停线体.");
+                if (linrunlist.Count>0)
+                    LogUtil.info(Name + $" 线体管理器 暂停线体.");
             }
         }
         public void Resume() {
@@ -82,7 +83,8 @@ namespace DeviceLibrary
                 }
                 pauseTime = DateTime.MinValue;
                 lineTimer.Enabled = true;
-                LogUtil.info(Name + $" 线体管理器 恢复运行线体.");
+                if (linrunlist.Count > 0)
+                    LogUtil.info(Name + $" 线体管理器 恢复运行线体.");
             }
            
         }

DeviceLibrary/DeviceLibrary/OKLEController.cs

@@ -105,64 +105,18 @@ public class OKLEController
             }
         }
     }
-    public static double SetZero(string port)
-    {
-        return 0;
-        double weight = 0d;
-        AcSerialBean sb = GetSerialBean(port);
-        if (sb == null)
-        {
-            return weight;
-        }
-
-        if (!Monitor.TryEnter(sb))
-            return ValueBuffer[port];
-
-        try
-        {
-            LogName = "[OKLE_" + port + "]";
-            //12..1.2读取力值（毛重）指令，指令格式：01 03 00 50 00 02 C4 1A
-            //01 03 00 00 00 02 C4 0B
-            byte[] sendData = new byte[8];
-            sendData[0] = 0x01;
-            sendData[1] = 0x06;
-            sendData[2] = 0x00;
-            sendData[3] = 0x07;
-            sendData[4] = 0xA5;
-            sendData[5] = 0x0D;
-            //sendData[6] = 0xC4;
-            //sendData[7] = 0x0B;
-            sendData = buildCheckData(sendData, sendData.Length - 2);
-            string str = AcSerialBean.byteToHexStr(sendData, " ");
-            byte[] reviceData = new byte[15];
-            bool isOk = false;
-            sb.SendCommand(sendData, ref reviceData, 100, out isOk);
-            LogUtil.debug(LogName + "发送数据：" + str + "，收到数据 ：" + AcSerialBean.byteToHexStr(reviceData, " "));
-            ValueBuffer[port] = getReviceData(reviceData);
-            return ValueBuffer[port];
-        }
-        catch (Exception e)
-        {
-            LogUtil.debug(LogName + e.ToString());
-            return ValueBuffer[port];
-        }
-        finally
-        {
-            Monitor.Exit(sb);
-        }
-    }
-
-    public static double queryData(string port)
+    
+    public static bool queryData(string port,out double weight)
     {        
-        double weight = 0d;
+        weight = 0d;
         AcSerialBean sb = GetSerialBean(port);
         if (sb == null)
         {
-            return weight;
+            return false;
         }
 
         if (!Monitor.TryEnter(sb))
-            return ValueBuffer[port];
+            return false;
 
         try
         {
@@ -184,20 +138,19 @@ public class OKLEController
             bool isOk = false;
             sb.SendCommand(sendData, ref reviceData, 100, out isOk);
             //LogUtil.debug(LogName + "发送数据：" + str + "，收到数据 ：" + AcSerialBean.byteToHexStr(reviceData, " "));
-            ValueBuffer[port] = getReviceData(reviceData);
-            return ValueBuffer[port];
+            return getReviceData(reviceData,out weight);
         }
         catch(Exception e) {
             LogUtil.debug(LogName + e.ToString());
-            return ValueBuffer[port];
+            return false;
         }
         finally {
             Monitor.Exit(sb);
         }
     }
-    private static double getReviceData(byte[] dataArray)
+    private static bool getReviceData(byte[] dataArray, out double value)
     {
-        double value = 0d;
+        value = 0d;
         try
         {
             //3D 53 47 2B 30 30 32 30 2E 30 31 6B BE 0D 0A
@@ -208,18 +161,23 @@ public class OKLEController
             {
                 var numstr = tempstr.Substring(3, 8);
                 if (!double.TryParse(numstr, out value))
+                {
                     LogUtil.info(LogName + "转换出错：" + numstr.ToString());
+                    return false;
+                }
+                return true;
             }
             else
             {
                 LogUtil.info(LogName + "转换出错：" + tempstr.ToString());
+                return false;
             }
         }
         catch (Exception ex)
         {
             LogUtil.info(LogName + "转换出错：" + ex.ToString());
         }
-        return value;
+        return false;
     }
 
 

DeviceLibrary/DeviceLibrary/ServerCommunication.cs

@@ -241,7 +241,7 @@ namespace DeviceLibrary
             }
             if (resultOperation.op.Equals(1))
             {
-                ReviceInStoreProcess("", resultOperation);
+                ReviceInStoreProcess(resultOperation.data["barcode"], resultOperation);
             }
             else if (resultOperation.op.Equals(2))
             {

DeviceLibrary/theMachine/BoxTransport.cs

@@ -21,6 +21,8 @@ namespace DeviceLibrary
         MoveInfo MoveInfo;
         public string ErrMsgTxt = "";
 
+        public bool IgnoreX09 = false;
+
         public event Action<string, StoreMoveType, bool> InOutEndProcessEvent;
         public bool IsComplateOrFree { get => MoveInfo.MoveStep == MoveStep.Wait; }
         public bool IsTakedBox { get => MoveInfo.MoveStep >= MoveStep.StoreTS10; }
@@ -137,7 +139,8 @@ namespace DeviceLibrary
                     MoveInfo.log($"{storeMoveType}:进出轴到达取料点");
                     break;
                 case MoveStep.StoreTS07:
-                    GetCamera(From.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.In));
+                    GetCamera(From.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromIn));
+                    RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromInSide));
                     MoveInfo.NextMoveStep(MoveStep.StoreTS08);
                     YAxis.AbsMove(MoveInfo, From.Yaxis_PH, Config.Yaxis_P4_speed);
                     MoveInfo.log($"{storeMoveType}:上下轴到达取料高点");
@@ -145,23 +148,26 @@ namespace DeviceLibrary
                 case MoveStep.StoreTS08:
                     MoveInfo.NextMoveStep(MoveStep.StoreTS09);
                     ZAxis.AbsMove(MoveInfo, Config.Zaxis_P1, Config.Zaxis_P1_speed);
+                    IgnoreX09 = false;
                     MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
                     break;
                 case MoveStep.StoreTS09:
-                    GetCamera(From.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.Out));
+                    GetCamera(From.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromOut));
+                    RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.FromOutSide));
                     if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
                         IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
                     {
                         Msg.add("伸缩叉2侧X10/X11检测到有物料无法继续,请检查", MsgLevel.alarm);
                         RobotManage.UserPause("伸缩叉2侧X10/X11检测到有物料无法继续,请检查");
                     }
-                    else if (IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.LOW))
+                    else if (!IgnoreX09 && IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.LOW))
                     {
-                        Msg.add("出库时伸缩叉X09检测到有物料无法继续,请检查", MsgLevel.alarm);
-                        RobotManage.UserPause("出库时伸缩叉X09检测到有物料无法继续,请检查");
+                        Msg.add("出库时伸缩叉X09没有检测到有物料无法继续,请检查", MsgLevel.alarm,ErrInfo.X09_BoxNotDetect);
+                        RobotManage.UserPause("出库时伸缩叉X09没有检测到有物料无法继续,请检查");
                     }
                     else
                     {
+                        IgnoreX09 = false;
                         MoveInfo.NextMoveStep(MoveStep.StoreTS10);
                         if (isSameSide(To.Xaxis_P2))
                         {
@@ -188,7 +194,8 @@ namespace DeviceLibrary
                     MoveInfo.log($"{storeMoveType}:进出轴到达目的地");
                     break;
                 case MoveStep.StoreTS13:
-                    GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.In));
+                    GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToIn));
+                    RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.ToInSide));
                     MoveInfo.NextMoveStep(MoveStep.StoreTS14);
                     YAxis.AbsMove(MoveInfo, To.Yaxis_PL, Config.Yaxis_P4_speed);
                     MoveInfo.log($"{storeMoveType}:上下轴到达目的地低点");
@@ -199,7 +206,8 @@ namespace DeviceLibrary
                     MoveInfo.log($"{storeMoveType}:进出轴到达待机点");
                     break;
                 case MoveStep.StoreTS15:
-                    GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.Out));
+                    GetCamera(To.Zaxis_P2).CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(To.posid, WareCode, storeMoveType, FixtureState.ToOut));
+                    RobotManage.CameraB.CameraGrabOne(RobotManage.CameraA.GetFixtureStateFilename(From.posid, WareCode, storeMoveType, FixtureState.ToOutSide));
                     if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
                         IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
                     {
@@ -245,7 +253,8 @@ namespace DeviceLibrary
         }
 
         HIKCamera GetCamera(int pos) {
-            return pos > 0 ? RobotManage.CameraA : RobotManage.CameraB;
+            //return pos > 0 ? RobotManage.CameraA : RobotManage.CameraB;
+            return RobotManage.CameraA;
         }
     }
 }

DeviceLibrary/theMachine/Common.cs

@@ -311,6 +311,7 @@ namespace DeviceLibrary
         public static List<Msg> msg = new List<Msg>(); 
         public string msgtxt;
         public MsgLevel msgLevel;
+        public ErrInfo errInfo;
         public DateTime datetime;
 
         public static List<Msg> get() {
@@ -322,13 +323,13 @@ namespace DeviceLibrary
             List<Msg> mm = new List<Msg>(msg);
             return mm;
         }
-        public static void add(string m, MsgLevel ml)
+        public static void add(string m, MsgLevel ml, ErrInfo errInfo= ErrInfo.Empty)
         {
             lock (msg)
             {
                 var fm = msg.Find((x) => x.msgtxt == m);
                 if (fm==null)
-                    msg.Add(new Msg { msgtxt = m, msgLevel = ml, datetime = DateTime.Now });
+                    msg.Add(new Msg { msgtxt = m, msgLevel = ml, datetime = DateTime.Now, errInfo = errInfo });
             }
         }
         static bool _setlogones = false;
@@ -348,6 +349,11 @@ namespace DeviceLibrary
         info,
         alarm
     }
+    public enum ErrInfo {
+        Empty,
+        X09_BoxNotDetect,
+        ResetBtn,
+    }
     public class IdWorker
     {
         private long workerId;

DeviceLibrary/theMachine/JobList.cs

@@ -17,7 +17,10 @@ namespace DeviceLibrary
             lock (jobInfos)
             {
                 if (lastoutpos == jobInfo.PosId)
+                {
+                    LogUtil.info("出库任务正在执行:" + jobInfo.ToStr());
                     return;
+                }
                 var l = jobInfos.ToList().Find((x) => { return x.PosId == jobInfo.PosId; });
                 if (l == null)
                 {
@@ -39,6 +42,10 @@ namespace DeviceLibrary
         public static int Count {
             get => jobInfos.Count;
         }
+        public static void ClearLastPosid(string posid) {
+            if (lastoutpos == posid)
+                lastoutpos = "";
+        }
     }
     class InStoreJob : JobInfo
     {

DeviceLibrary/theMachine/MainMachine _BtnProcess.cs

@@ -41,5 +41,10 @@ namespace DeviceLibrary
                 LogUtil.info("踩下出口脚踏开关,出口没有对接小车结束");
             }
         }
+        void Reset_BTN() {
+            Msg.add("按下复位按钮", MsgLevel.info, ErrInfo.ResetBtn);
+            LogUtil.info("按下复位按钮");
+            ProcessMsgEvent?.Invoke(Msg.get());
+        }
     }
 }

DeviceLibrary/theMachine/MainMachine _IN.cs

@@ -6,6 +6,7 @@ using System.Collections.Generic;
 using System.Drawing;
 using System.Linq;
 using System.Text;
+using System.Threading;
 using System.Threading.Tasks;
 
 namespace DeviceLibrary
@@ -38,8 +39,16 @@ namespace DeviceLibrary
             get
             {   if (RobotManage.StoreType == StoreType.TypeA)
                 {
-                    var weight = OKLEController.queryData(Config.WeightSensorPort);
-                    return weight - Config.WeightSensorBase;
+                    for(int i=0;i<5;i++)
+                    {
+                        if (OKLEController.queryData(Config.WeightSensorPort, out double weight))
+                        {
+                            return weight - Config.WeightSensorBase;
+                        }
+                        Thread.Sleep(1000);
+                    }
+                    LogUtil.info("读取重量超时");
+                    return double.MaxValue;
                 }
                 else
                     return 0;
@@ -85,6 +94,7 @@ namespace DeviceLibrary
                         InMoveInfo.log($"检测到周转箱到位信号,线体运转2秒");
                         LineIn.LineRun("prework", 2);
                         InMoveInfo.NextMoveStep(MoveStep.In01);
+                        InMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
                     }
                     else 
                     {
@@ -94,9 +104,10 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.In01:
                     InMoveInfo.NextMoveStep(MoveStep.In02);
-                    if (CurrentWeight <= Config.StoreWeightLimited)
+                    var boxCurrentWeight = CurrentWeight;
+                    if (boxCurrentWeight <= Config.StoreWeightLimited)
                     {
-                        InMoveInfo.log($"开始拍照扫码");
+                        InMoveInfo.log($"开始拍照扫码,重量:{boxCurrentWeight}kg");
                         if (RobotManage.InoutDebugMode)
                         {
                             InMoveInfo.NextMoveStep(MoveStep.InWaitServerCallback);
@@ -106,7 +117,7 @@ namespace DeviceLibrary
                     else
                     {
                         Msg.add("周转箱超重", MsgLevel.warning);
-                        InMoveInfo.log($"周转箱超重");
+                        InMoveInfo.log($"周转箱超重 重量:{boxCurrentWeight}");
                         InMoveInfo.NextMoveStep(MoveStep.Wait);
                     }
                     break;
@@ -272,17 +283,17 @@ namespace DeviceLibrary
                 {
                     IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
                     Task.Delay(10).Wait();
-                    List<CodeInfo> LastCodeList, LastCodeList2;
+                    List<CodeInfo> LastCodeList;
                     LastCodeList = CodeManager.CameraScan(new List<string> { Config.CameraName });
-                    BoxParam labelParam = new BoxParam();
-                    labelParam.codeInfos = new List<CodeInfo>(LastCodeList);
+                    //BoxParam labelParam = new BoxParam();
+                    //labelParam.codeInfos = new List<CodeInfo>(LastCodeList);
                     
-                    if (!Common.codeProcess(labelParam, out _))
-                    {
-                        Task.Delay(500).Wait();
-                        LastCodeList2 = CodeManager.CameraScan(new List<string> { Config.CameraName });
-                        LastCodeList.AddRange(LastCodeList2);
-                    }
+                    //if (!Common.codeProcess(labelParam, out _))
+                    //{
+                    //    Task.Delay(500).Wait();
+                    //    LastCodeList2 = CodeManager.CameraScan(new List<string> { Config.CameraName });
+                    //    LastCodeList.AddRange(LastCodeList2);
+                    //}
                     //IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
 
                     return LastCodeList;

DeviceLibrary/theMachine/MainMachine _Store.cs

@@ -102,7 +102,7 @@ namespace DeviceLibrary
                         OutMoveInfo.MoveParam = StoreMoveInfo.MoveParam.clone();
                         StoreMoveInfo.log($"周转箱已到达目的地");
                         ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreBoxEnd);
-                        
+                        OutStoreJobList.ClearLastPosid(StoreMoveInfo.MoveParam.PosID);
                         StoreMoveInfo.EndMove();
                     }
                     break;

DeviceLibrary/theMachine/MainMachine.cs

@@ -122,6 +122,7 @@ namespace DeviceLibrary
             AlarmBuzzer.SetOnOffAction(() =>{ IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH); }, () => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW); });
 
             IOMonitor.RegisterIO(IO_Type.OutLeave_BTN, Config, IO_VALUE.HIGH, OutLeave_BTN,2500,100);
+            IOMonitor.RegisterIO(IO_Type.Reset_BTN, Config, IO_VALUE.HIGH, Reset_BTN, 2500,100);
             LedProcessInit();
         }
         private (bool, string) ZAxis_interference(int from, int to)
@@ -356,7 +357,6 @@ namespace DeviceLibrary
                     }
                     break;
                 case MoveStep.HEND_HomeReset:
-                    OKLEController.SetZero(Config.WeightSensorPort);
                     forceHome = false;
                     InMoveInfo.NewMove(MoveStep.Wait);
                     OutMoveInfo.NewMove(MoveStep.Wait);
@@ -515,5 +515,9 @@ namespace DeviceLibrary
             return 0;
         }
 
+        public void IgnoreX09() {
+            boxTransport.IgnoreX09 = true;
+            LogUtil.info("按下X09忽略");
+        }
     }
 }

DeviceLibrary/theMachine/RobotManage.cs

@@ -69,7 +69,6 @@ namespace DeviceLibrary
                         msg += $"称重传感器初始化失败 Port:{Config.WeightSensorPort}\n";
                     }
                 }
-                OKLEController.SetZero(Config.WeightSensorPort);
                 if (!CameraA.LoadCameraConfig("CameraA", out string errmsg))
                 {
                     IsLoadOk = false;

TheMachine/Form1.Designer.cs

@@ -39,6 +39,8 @@ namespace TheMachine
             this.关于ToolStripMenuItem = new System.Windows.Forms.ToolStripMenuItem();
             this.tabControl1 = new System.Windows.Forms.TabControl();
             this.tabPage1 = new System.Windows.Forms.TabPage();
+            this.btn_inreset = new System.Windows.Forms.Button();
+            this.btn_outreset = new System.Windows.Forms.Button();
             this.pictureBox2 = new System.Windows.Forms.PictureBox();
             this.pictureBox1 = new System.Windows.Forms.PictureBox();
             this.btn_PauseBuzzer = new System.Windows.Forms.Button();
@@ -50,8 +52,7 @@ namespace TheMachine
             this.listView1 = new System.Windows.Forms.ListView();
             this.btn_stop = new System.Windows.Forms.Button();
             this.btn_run = new System.Windows.Forms.Button();
-            this.btn_outreset = new System.Windows.Forms.Button();
-            this.btn_inreset = new System.Windows.Forms.Button();
+            this.btn_IgnoreX09 = new System.Windows.Forms.Button();
             this.menuStrip1.SuspendLayout();
             this.tabControl1.SuspendLayout();
             this.tabPage1.SuspendLayout();
@@ -144,6 +145,7 @@ namespace TheMachine
             this.tabPage1.Controls.Add(this.btn_outreset);
             this.tabPage1.Controls.Add(this.pictureBox2);
             this.tabPage1.Controls.Add(this.pictureBox1);
+            this.tabPage1.Controls.Add(this.btn_IgnoreX09);
             this.tabPage1.Controls.Add(this.btn_PauseBuzzer);
             this.tabPage1.Controls.Add(this.cb_EnableBuzzer);
             this.tabPage1.Controls.Add(this.cb_IgnoreGratingSignal);
@@ -156,6 +158,26 @@ namespace TheMachine
             this.tabPage1.Text = "信息";
             this.tabPage1.UseVisualStyleBackColor = true;
             // 
+            // btn_inreset
+            // 
+            this.btn_inreset.Location = new System.Drawing.Point(657, 219);
+            this.btn_inreset.Name = "btn_inreset";
+            this.btn_inreset.Size = new System.Drawing.Size(191, 40);
+            this.btn_inreset.TabIndex = 272;
+            this.btn_inreset.Text = "入料线状态重置";
+            this.btn_inreset.UseVisualStyleBackColor = true;
+            this.btn_inreset.Click += new System.EventHandler(this.btn_inreset_Click);
+            // 
+            // btn_outreset
+            // 
+            this.btn_outreset.Location = new System.Drawing.Point(657, 265);
+            this.btn_outreset.Name = "btn_outreset";
+            this.btn_outreset.Size = new System.Drawing.Size(191, 40);
+            this.btn_outreset.TabIndex = 272;
+            this.btn_outreset.Text = "出料线状态重置";
+            this.btn_outreset.UseVisualStyleBackColor = true;
+            this.btn_outreset.Click += new System.EventHandler(this.btn_outreset_Click);
+            // 
             // pictureBox2
             // 
             this.pictureBox2.BackColor = System.Drawing.Color.Gainsboro;
@@ -288,25 +310,17 @@ namespace TheMachine
             this.btn_run.UseVisualStyleBackColor = true;
             this.btn_run.Click += new System.EventHandler(this.btn_run_Click);
             // 
-            // btn_outreset
-            // 
-            this.btn_outreset.Location = new System.Drawing.Point(657, 265);
-            this.btn_outreset.Name = "btn_outreset";
-            this.btn_outreset.Size = new System.Drawing.Size(191, 40);
-            this.btn_outreset.TabIndex = 272;
-            this.btn_outreset.Text = "出料线状态重置";
-            this.btn_outreset.UseVisualStyleBackColor = true;
-            this.btn_outreset.Click += new System.EventHandler(this.btn_outreset_Click);
-            // 
-            // btn_inreset
+            // btn_IgnoreX09
             // 
-            this.btn_inreset.Location = new System.Drawing.Point(657, 208);
-            this.btn_inreset.Name = "btn_inreset";
-            this.btn_inreset.Size = new System.Drawing.Size(191, 40);
-            this.btn_inreset.TabIndex = 272;
-            this.btn_inreset.Text = "入料线状态重置";
-            this.btn_inreset.UseVisualStyleBackColor = true;
-            this.btn_inreset.Click += new System.EventHandler(this.btn_inreset_Click);
+            this.btn_IgnoreX09.BackColor = System.Drawing.Color.OrangeRed;
+            this.btn_IgnoreX09.Location = new System.Drawing.Point(657, 155);
+            this.btn_IgnoreX09.Name = "btn_IgnoreX09";
+            this.btn_IgnoreX09.Size = new System.Drawing.Size(201, 40);
+            this.btn_IgnoreX09.TabIndex = 6;
+            this.btn_IgnoreX09.Text = "忽略X09错误,并继续运行";
+            this.btn_IgnoreX09.UseVisualStyleBackColor = false;
+            this.btn_IgnoreX09.Visible = false;
+            this.btn_IgnoreX09.Click += new System.EventHandler(this.btn_IgnoreX09_Click);
             // 
             // Form1
             // 
@@ -363,6 +377,7 @@ namespace TheMachine
         private System.Windows.Forms.PictureBox pictureBox1;
         private System.Windows.Forms.Button btn_inreset;
         private System.Windows.Forms.Button btn_outreset;
+        private System.Windows.Forms.Button btn_IgnoreX09;
     }
 }
 

TheMachine/Form1.cs

@@ -247,12 +247,24 @@ namespace TheMachine
             listView1.Items.Clear();
             foreach (Msg msg in msgs)
             {
-                ListViewItem lvi = new ListViewItem(new string[] {"", msg.datetime.ToString(), msg.msgtxt });
-                if (msg.msgLevel==MsgLevel.info)
+                ListViewItem lvi = new ListViewItem(new string[] { "", msg.datetime.ToString(), msg.msgtxt });
+                if (msg.msgLevel == MsgLevel.info)
                     lvi.ForeColor = Color.DarkGreen;
                 else
                     lvi.ForeColor = Color.Red;
                 listView1.Items.Add(lvi);
+                if (msg.errInfo == ErrInfo.X09_BoxNotDetect)
+                {
+                    btn_IgnoreX09.Visible = true;
+                }
+                else if (msg.errInfo == ErrInfo.ResetBtn)
+                {
+                    Task.Run(()=> {
+                        if (!RobotManage.isRunning || userpause)
+                        btn_run_Click(this, EventArgs.Empty);
+                    });
+                    
+                }
             }
             this.ResumeLayout(true);
         }
@@ -271,6 +283,7 @@ namespace TheMachine
                     RobotManage_UserPauseSet(this, false);
                     //(sender as Button).Text = "暂停运行";
                 }
+                LogUtil.info("用户按下启动");
             }
             else if (!userpause)
             {
@@ -308,12 +321,14 @@ namespace TheMachine
             }
         }
         private void btn_stop_Click(object sender, EventArgs e)
-        {
-            btn_run.Text = "启动";
-            Task.Run(()=>{RobotManage.Stop(); });
+        {           
+            
             RobotManage.UserPause(false);
             userpause = false;
+            Task.Run(() => { RobotManage.Stop(); });
             btn_stop.Enabled = false;
+            btn_run.Text = "启动";
+            btn_run.BackColor = Color.Transparent;
         }
 
         private void 退出ToolStripMenuItem_Click(object sender, EventArgs e)
@@ -427,5 +442,11 @@ namespace TheMachine
 
             RobotManage.mainMachine.OutMoveInfo.NewMove(MoveStep.OutReset);
         }
+
+        private void btn_IgnoreX09_Click(object sender, EventArgs e)
+        {
+            RobotManage.mainMachine.IgnoreX09();
+            btn_IgnoreX09.Visible = false;
+        }
     }
 }

TheMachine/IOControls.Designer.cs

@@ -225,6 +225,7 @@ namespace TheMachine
             // 
             // timer1
             // 
+            this.timer1.Interval = 1500;
             this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
             // 
             // label_weight

TheMachine/IOControls.cs

@@ -77,8 +77,8 @@ namespace TheMachine
             if (RobotManage.StoreType == StoreType.TypeA)
             {
                 if (!this.Visible) return;
-                var w = OKLEController.queryData(Config.WeightSensorPort);
-                label_weight.Text = $"称重读数: {w:0.00}kg";
+                if (OKLEController.queryData(Config.WeightSensorPort,out double w))
+                    label_weight.Text = $"称重读数: {w:0.00}kg";
             }
             else {
                 timer1.Enabled = false;