1

DeviceLibrary/DeviceLibrary.csproj

@@ -62,6 +62,7 @@
     <Reference Include="System" />
     <Reference Include="System.Core" />
     <Reference Include="System.Drawing" />
+    <Reference Include="System.Web" />
     <Reference Include="System.Windows.Forms" />
     <Reference Include="System.Xml.Linq" />
     <Reference Include="System.Data.DataSetExtensions" />
@@ -86,6 +87,7 @@
     <Compile Include="theMachine\MainMachine _BtnProcess.cs" />
     <Compile Include="theMachine\MainMachine _Common.cs" />
     <Compile Include="theMachine\MainMachine _Out.cs" />
+    <Compile Include="theMachine\MainMachine _AutoInOutTest.cs" />
     <Compile Include="theMachine\MainMachine _Store.cs" />
     <Compile Include="theMachine\MainMachine _IN.cs" />
     <Compile Include="theMachine\MainMachine _IOMonitor.cs" />

DeviceLibrary/DeviceLibrary/CodeManager.cs

@@ -128,7 +128,7 @@ namespace DeviceLibrary
 
          
         [HandleProcessCorruptedStateExceptions]
-        public static (List<CodeInfo>,string) CameraScan(List<string> cameraNameList)
+        public static List<CodeInfo> CameraScan(List<string> cameraNameList)
         { 
             List<CodeInfo> codeList = new List<CodeInfo>();
             string bitmapfilename = "";
@@ -163,58 +163,26 @@ namespace DeviceLibrary
                         }
                         LogUtil.info("  【" + cameraName + "】取图片完成，开始扫码");
                         string r = "";
-
-                        //bmp.RotateFlip(RotateFlipType.Rotate270FlipNone);
-                        //List<CodeInfo> tlci = EyemDecode2.Decoder(ref bmp);
-
-                        //foreach (CodeInfo code in tlci)
-                        //{
-                        //    LogUtil.info("  【" + cameraName + "】[eyemDecode]" + code.CodeType + "(X: " + code.X + "，Y: " + code.Y + ") " + code.CodeStr);
-                        //    //string str = CodeManager.ReplaceCode(code.CodeStr);
-                        //    lock (codeList)
-                        //    {
-                        //        if (!codeList.Contains(code))
-                        //        {
-                        //            codeList.Add(code);
-                        //            r = r + "##" + code.CodeStr;
-                        //        }
-                        //    }
-                        //}
-
+                        RemoteDecodeHelper.RemoteDecodeParam remoteDecodeParam = new RemoteDecodeHelper.RemoteDecodeParam
+                        {
+                            codeTypeList = codeTypeList.ToArray(),
+                            codeCount = 3,
+                            timeout = 3000
+                        };
                         List<CodeInfo> cc = new List<CodeInfo>();
-                        foreach (string codeType in codeTypeList)
+                        cc = RemoteDecodeHelper.DecodeRequest(ho_Image, remoteDecodeParam);
+                        if (cc != null)
                         {
-                            //判断是否是一维码
-                            if (codeType.ToLower().Equals("barcode"))
-                            {
-                                cc = HDCodeHelper.DecodeBarCode(ho_Image);
-                            }
-                            else
-                            {
-                                cc = HDCodeHelper.DecodeCode(ho_Image, codeType, GetCodeParamFilePath(codeType), QRCodeCount, 3000);
-                                cc.ForEach((x) => { x.CodeType = codeType; });
-                            }
-                            LogUtil.info("  【" + cameraName + "】[Halcon]" + codeType + "," + QRCodeCount + "," + cc.Count);
-                            foreach (CodeInfo c in cc)
-                            {
-                                LogUtil.info("  【" + cameraName + "】[Halcon]" + c.CodeType + "(X: " + c.X + "，Y: " + c.Y + ") " + c.CodeStr);
-                                c.CodeStr = CodeManager.ReplaceCode(c.CodeStr);
-                                lock (codeList)
-                                {
-                                    if (!codeList.Contains(c))
-                                    {
-                                        codeList.Add(c);
-                                        r = r + "##" + c.CodeStr;
-                                    }
-                                }
-                            }
-                        }
-
+                            codeList.AddRange(cc);
 
-                        //if (codeList.Count() == 0)
-                        //{
-                        bitmapfilename =SaveImageToFile("mimo", cameraName, bmp);
-                       // }
+                            codeList.ForEach((c) => {
+                                string str = CodeManager.ReplaceCode(c.CodeStr);
+                                r += "##" + str;
+                            });
+                        }else
+                        {
+                            bitmapfilename = SaveImageToFile("mimo", cameraName, bmp);
+                        }
                         LogUtil.info(" 【" + cameraName + "】" + " 扫码完成【" + FormUtil.GetSpanStr(DateTime.Now - startTime) + "】 ：" + r);
                     }
                     catch (AccessViolationException e)
@@ -249,7 +217,7 @@ namespace DeviceLibrary
                 LogUtil.error( " 扫码出错：" + ex.ToString());
                 //throw new Exception("扫码出错");
             }
-            return (codeList,bitmapfilename);
+            return codeList;
         }
         /// <summary>
         /// 

DeviceLibrary/DeviceLibrary/LineRunMonitor.cs

@@ -54,6 +54,33 @@ namespace DeviceLibrary
             return IOManager.GetDOValue("", 0x00, LineIO);
         }
 
+        DateTime pauseTime= DateTime.MinValue;
+        public void Pause() {
+            lineTimer.Enabled = false;
+            pauseTime = DateTime.Now;
+            DOMove(LineIO, IO_VALUE.LOW);
+            LogUtil.info(Name + $" 线体管理器 暂停线体.");
+        }
+        public void Resume() {
+
+            if (pauseTime != DateTime.MinValue)
+            {
+                lock (linrunlist)
+                {
+                    if (linrunlist.Count > 0)
+                    {
+                        foreach (var k in linrunlist.Keys)
+                        {
+                            linrunlist[k] += DateTime.Now - pauseTime;
+                        }
+                        DOMove(LineIO, IO_VALUE.HIGH);
+                    }
+                }
+            }
+            pauseTime = DateTime.MinValue;
+            lineTimer.Enabled = true;
+            LogUtil.info(Name + $" 线体管理器 恢复运行线体.");
+        }
 
         /// <summary>
         /// 控制线体运转

DeviceLibrary/DeviceLibrary/OKLEController.cs

@@ -147,7 +147,6 @@ public class OKLEController
         //01 03 00 00 00 02 C4 0B
         byte[] sendData = new byte[8];
         sendData[0] = 0x01;
-
         sendData[1] = 0x03;
         sendData[2] = 0x00;
         sendData[3] = 0x00;

DeviceLibrary/DeviceLibrary/ServerCommunication.cs

@@ -11,8 +11,8 @@ namespace DeviceLibrary
     class ServerCommunication
     {
         public StoreStatus storeStatus = StoreStatus.Debugging;
-        static string server = ConfigAppSettings.GetValue(ConfigHelper.Config.Get("http_server"));
-        static string CID = ConfigAppSettings.GetValue(ConfigHelper.Config.Get("CID"));
+        static string server = ConfigHelper.Config.Get("http_server");
+        static string CID = ConfigHelper.Config.Get("CID");
         int StoreID = 1;
         string StoreName;
         
@@ -257,7 +257,7 @@ namespace DeviceLibrary
                     return;
                 }
                 //TODO:判断BOX是否处于可以入库状态，如果调试或急停中，需要返回给服务器；
-                if (RobotManage.mainMachine.IsInStoreReady())
+                if (RobotManage.mainMachine.IsInStoreReady)
                 {
                     WarnMsg = "";
                     JobInfo inStoreJob = new JobInfo(message, posId);
@@ -348,6 +348,65 @@ namespace DeviceLibrary
                 }
             }
         }
+
+        private static string Addr_cancelPutInTask = "/service/store/cancelPutInTask";
+        public string cancelPutInTask(string deviceName, string barcode)
+        {
+            string msg = "";
+            try
+            {
+
+                Dictionary<string, string> paramMap = new Dictionary<string, string>();
+                paramMap.Add("barcode", barcode);
+
+                string server = GetAddr(Addr_cancelPutInTask, paramMap);
+                DateTime startTime = DateTime.Now;
+                string resultStr = HttpHelper.Post(server, "");
+                LogUtil.info(deviceName + "cancelPutInTask    " + FormUtil.GetSpanStr(DateTime.Now - startTime) + "  【" + server + "】【" + resultStr + "】");
+
+                ResultData data = JsonHelper.DeserializeJsonToObject<ResultData>(resultStr);
+
+                if (data == null)
+                {
+                    return msg = deviceName + " cancelPutInTask【 " + barcode + "】 没有收到服务器反馈";
+                }
+                else if (data.code.Equals(0).Equals(false))
+                {
+                    return msg = deviceName + " cancelPutInTask【 " + barcode + "】   ：" + data.msg;
+                }
+
+                return "";
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error(deviceName + " " + ex.ToString());
+            }
+            return msg;
+        }
+        private static string GetAddr(string addr, Dictionary<string, string> paramsMap)
+        {
+            if (server.EndsWith("/"))
+            {
+                server = server.Substring(0, server.Length - 1);
+            }
+            string path = server + addr.Trim() + "?";
+            foreach (string paramName in paramsMap.Keys)
+            {
+                string par = System.Web.HttpUtility.UrlEncode(paramsMap[paramName], System.Text.Encoding.UTF8);
+                path += paramName + "=" + par + "&";
+            }
+            path = path.Substring(0, path.Length - 1);
+            return path;
+        }
+    }
+    public class ResultData
+    {
+        //{"code":0,"msg":"ok","data":"7"} 
+        public int code { get; set; }
+
+        public string msg { get; set; }
+
+        public Dictionary<string, string> data { get; set; }
     }
     /// <summary>
     ///1=设备联机（正常就绪）（入库后，BOX恢复原始状态）（出库后，移载装置恢复原始状态），

DeviceLibrary/theMachine/BoxTransport.cs

@@ -61,7 +61,18 @@ namespace DeviceLibrary
             //thread = new Thread(new ThreadStart(Run));
             //thread.Start();
         }
+        bool isSameSide(int from)
+        {
+            var p = XAxis.GetAclPosition();
+            var rtx = p + Config.XAxis.CanErrorCountMax;
+            var ltx = p- Config.XAxis.CanErrorCountMax;
+            if (rtx >= Config.Xaxis_P1 && rtx >= from)
+                return true;
+            if (ltx <= Config.Xaxis_P1 && ltx <= from)
+                return true;
 
+            return false;
+        }
         public bool Process()
         {
             if (mainMachine.CheckWait(MoveInfo))
@@ -75,13 +86,13 @@ namespace DeviceLibrary
                     if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.LOW) &&
                         IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.LOW))
                     {
-                        Msg.add("伸缩叉检测到有物料无法继续,请检查", MsgLevel.warning);
-                        RobotManage.UserPause(true);
+                        Msg.add("伸缩叉2侧检测到有物料无法继续,请检查", MsgLevel.warning);
+                        RobotManage.UserPause("伸缩2侧叉检测到有物料无法继续,请检查");
                     }
                     else if (IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.HIGH))
                     {
-                        Msg.add("伸缩叉检测到有物料无法继续,请检查", MsgLevel.warning);
-                        RobotManage.UserPause(true);
+                        Msg.add("出库时伸缩叉检测到有物料无法继续,请检查", MsgLevel.warning);
+                        RobotManage.UserPause("出库时伸缩叉检测到有物料无法继续,请检查");
                     }
                     else
                     {
@@ -96,10 +107,12 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.StoreTS03:
                     MoveInfo.NextMoveStep(MoveStep.StoreTS04);
-                    //if (From.Xaxis_P2<=Config.Xaxis_P1+Config.XAxis.CanErrorCountMax)
-                    YAxis.AbsMove(MoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed);
-                    XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed);
-                    MoveInfo.log($"{storeMoveType}:上下轴,行走机构返回待机点P1");
+                    if (isSameSide(From.Xaxis_P2))
+                    {
+                        YAxis.AbsMove(MoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed);
+                        XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed);
+                        MoveInfo.log($"{storeMoveType}:上下轴,行走机构返回待机点P1");
+                    }
                     break;
                 case MoveStep.StoreTS04:
                     MoveInfo.NextMoveStep(MoveStep.StoreTS05);
@@ -130,20 +143,23 @@ namespace DeviceLibrary
                     if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.LOW) &&
                         IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.LOW))
                     {
-                        Msg.add("伸缩叉检测到有物料无法继续,请检查", MsgLevel.warning);
-                        RobotManage.UserPause(true);
+                        Msg.add("伸缩叉2侧检测到有物料无法继续,请检查", MsgLevel.warning);
+                        RobotManage.UserPause("伸缩叉2侧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))
                     {
-                        Msg.add("伸缩叉没有取到物料,请检查", MsgLevel.warning);
-                        RobotManage.UserPause(true);
+                        Msg.add("出库时伸缩叉没有取到物料,请检查", MsgLevel.warning);
+                        RobotManage.UserPause("出库时伸缩叉没有取到物料,请检查");
                     }
                     else
                     {
                         MoveInfo.NextMoveStep(MoveStep.StoreTS10);
-                        YAxis.AbsMove(MoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed);
-                        XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed);
-                        MoveInfo.log($"{storeMoveType}:上下轴,行走机构返回待机点P1");
+                        if (isSameSide(To.Xaxis_P2))
+                        {
+                            YAxis.AbsMove(MoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed);
+                            XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed);
+                            MoveInfo.log($"{storeMoveType}:上下轴,行走机构返回待机点P1");
+                        }
                         InOutEndProcess(StoreMoveType.OutStore, From.posid);
                     }
                     break;
@@ -177,12 +193,12 @@ namespace DeviceLibrary
                         IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.LOW))
                     {
                         Msg.add("伸缩叉检测到有物料无法继续,请检查", MsgLevel.warning);
-                        RobotManage.UserPause(true);
+                        RobotManage.UserPause("伸缩叉检测到有物料无法继续,请检查");
                     }
                     else if (IOManager.IOValue(IO_Type.ForkMaterial_Check).Equals(IO_VALUE.HIGH))
                     {
-                        Msg.add("伸缩叉上任然检测到物料,请检查", MsgLevel.warning);
-                        RobotManage.UserPause(true);
+                        Msg.add("入库后伸缩叉上任然检测到物料,请检查", MsgLevel.warning);
+                        RobotManage.UserPause("入库后伸缩叉上任然检测到物料,请检查");
                     }
                     else
                     {
@@ -192,9 +208,9 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.StoreTS16:
                     MoveInfo.NextMoveStep(MoveStep.StoreTS17);
-                    YAxis.AbsMove(MoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed);
-                    XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed);
-                    MoveInfo.log($"{storeMoveType}:上下轴,行走机构返回待机点P1");
+                    //YAxis.AbsMove(MoveInfo, Config.Yaxis_P1, Config.Yaxis_P1_speed);
+                    //XAxis.AbsMove(MoveInfo, Config.Xaxis_P1, Config.Xaxis_P1_speed);
+                    //MoveInfo.log($"{storeMoveType}:上下轴,行走机构返回待机点P1");
                     ErrMsgTxt = "";
                     break;
                 case MoveStep.StoreTS17:

DeviceLibrary/theMachine/LabelParam.cs

@@ -95,12 +95,12 @@ namespace DeviceLibrary
         {
             if (IsNg)
             {
-                return "[" + WareCode + "], [" + PlateW + "x" + PlateH + "]";
+                return $"入库NG:{NgMsg}[{WareCode}]";
             }
             else
             {
 
-                return "[" + WareCode + "], [" + PlateW + "x" + PlateH + "]";
+                return $"库位号:[{PosID}][{WareCode}] ";
             }
         }
 

DeviceLibrary/theMachine/MainMachine _AutoInOutTest.cs

+using CodeLibrary;
+using OnlineStore.Common;
+using OnlineStore.LoadCSVLibrary;
+using System;
+using System.Collections.Generic;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace DeviceLibrary
+{
+    partial class MainMachine
+    {
+        public bool StartAutoInOutTest(int posindex, out string errmsg)
+        {
+            errmsg = "";
+            if (!boxTransport.IsComplateOrFree)
+            {
+                errmsg = "料仓忙碌中,无法启动";
+                return false;
+            }
+            if(!IsInStoreReady)
+            {
+                errmsg = "入库周转箱没有准备好,无法启动";
+                return false;
+            }
+            if (!IsOutLiftEmpty)
+            {
+                errmsg = "出库口有周转箱,无法启动";
+                return false;
+            }
+            poslist =CSVPositionReader<ACStorePosition>.getPositionList();
+            AutoInOutTest = true;
+            StopAutoInOut = false;
+            CurrentPosIndex = posindex;
+            //AIOTMoveInfo.NewMove(MoveStep.Wait);
+            return true;
+        }
+        public void StopAutoInOutTest()
+        {
+            StopAutoInOut = true;
+        }
+        List<ACStorePosition> poslist;
+        int CurrentPosIndex = 0;
+        public bool AutoInOutTest = false;
+        bool StopAutoInOut = false;
+        void AutoInOutTestProcess()
+        {
+            if (CheckWait(AIOTMoveInfo))
+                return;
+            //常规上料扫码流程
+            switch (AIOTMoveInfo.MoveStep)
+            {
+                case MoveStep.Wait:
+                    if (InMoveInfo.MoveStep == MoveStep.InWaitBoxLeave)
+                    {
+                        AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn01);
+                        AIOTMoveInfo.log($"入库周转箱已准备好");
+                    }
+                    break;
+                case MoveStep.StoreIn01:
+                    AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn02);
+                    var ac = poslist[CurrentPosIndex];
+                    if (!boxTransport.Start(new BoxStorePosition(Config, StoreSide.A), new BoxStorePosition(ac), StoreMoveType.InStore)) {
+                        AIOTMoveInfo.log($"料仓周转启动失败");
+                        AutoInOutTest = false;
+                        StopAutoInOut = true;
+                        return;
+                    }
+                    AIOTMoveInfo.log($"开始转运周转箱");                    
+                    break;
+                case MoveStep.StoreIn02:
+                    if (boxTransport.IsTakedBox)
+                    {
+                        AIOTMoveInfo.NextMoveStep(MoveStep.StoreIn03);
+                        InMoveInfo.NextMoveStep(MoveStep.InBoxLeaved);
+                        AIOTMoveInfo.log($"周转箱已取走");
+                    }                  
+                    else
+                    {
+                            Msg.add("入料线等待周转箱离开", MsgLevel.info);
+                    }
+                    break;
+                case MoveStep.StoreIn03:
+                    if (boxTransport.IsComplateOrFree)
+                    {
+                        AIOTMoveInfo.log($"周转箱已到达目的地");
+                        ac = poslist[CurrentPosIndex];
+                        CurrentPosIndex--;
+                        if (CurrentPosIndex < 0 || StopAutoInOut)
+                        {
+                            AIOTMoveInfo.log($"已达到最后一个库位{CurrentPosIndex},或手动停止{StopAutoInOut},自动出入库停止,将周转箱送至出口");
+                            AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut10);
+                            return;
+                        }
+                        var bc = poslist[CurrentPosIndex];
+                        if (!boxTransport.Start(new BoxStorePosition(ac), new BoxStorePosition(bc), StoreMoveType.InStore))
+                        {
+                            AIOTMoveInfo.log($"料仓周转启动失败");
+                            AutoInOutTest = false;
+                            StopAutoInOut = true;
+                            return;
+                        }
+                    }
+                    break;
+                case MoveStep.StoreOut10:
+                    if (!IsOutLiftEmpty)
+                    {
+                        Msg.add("出口位置被占用无法送出料箱",MsgLevel.warning);
+                        return;
+                    }
+                    AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut11);
+                    ac = poslist[CurrentPosIndex];
+                    if (!boxTransport.Start(new BoxStorePosition(ac), new BoxStorePosition(Config, StoreSide.B), StoreMoveType.OutStore))
+                    {
+                        AIOTMoveInfo.log($"料仓周转启动失败");
+                        AutoInOutTest = false;
+                        StopAutoInOut = true;
+                        return;
+                    }
+                    AIOTMoveInfo.log($"开始转运周转箱");
+                    break;
+                case MoveStep.StoreOut11:
+                    if (boxTransport.IsTakedBox)
+                    {
+                        AIOTMoveInfo.NextMoveStep(MoveStep.StoreOut12);
+                        AIOTMoveInfo.log($"周转箱已取走");
+                    }
+                    else
+                    {
+                        Msg.add("出料线等待周转箱到达", MsgLevel.info);
+                    }
+                    break;
+                case MoveStep.StoreOut12:
+                    if (boxTransport.IsComplateOrFree)
+                    {
+                        OutMoveInfo.NextMoveStep(MoveStep.OutBoxPutOn);
+                        AIOTMoveInfo.log($"周转箱已到达目的地");
+                        AIOTMoveInfo.EndMove();
+                        AutoInOutTest = false;
+                    }
+                    break;
+                default:
+                    AIOTMoveInfo.log($"未找到对应步骤:{AIOTMoveInfo.MoveStep}");
+                    break;
+            }
+        }
+    }
+}

DeviceLibrary/theMachine/MainMachine _IN.cs

@@ -12,30 +12,47 @@ namespace DeviceLibrary
 {
     partial class MainMachine
     {
-        public bool IsInStoreReady() {
-
-            return InMoveInfo.MoveStep == MoveStep.InWaitServerCallback;
-
+        /// <summary>
+        /// InMoveInfo.MoveStep == MoveStep.InWaitServerCallback
+        /// </summary>
+        public bool IsInStoreReady {
+            get=> InMoveInfo.MoveStep == MoveStep.InWaitServerCallback;
         }
+        /// <summary>
+        /// if (InMoveInfo.MoveStep == MoveStep.InWaitServerCallback)
+        /// </summary>
+        /// <param name="jobInfo"></param>
+        /// <returns></returns>
         public bool StartInStore(JobInfo jobInfo) {
-            if (InMoveInfo.MoveStep == MoveStep.InWaitServerCallback)
+            if (IsInStoreReady)
             {
+                InMoveInfo.MoveParam.WareCode = jobInfo.WareNum;
                 InMoveInfo.MoveParam.PosID = jobInfo.PosId;
                 InMoveInfo.NextMoveStep(MoveStep.StartInStore);
                 return true;
             }
             return false;
         }
+        double CurrentWeight
+        {
+            get
+            {
+                var weight = OKLEController.queryData(Config.WeightSensorPort);
+                return weight - Config.WeightSensorBase;
+            }
+        }
         void InProcess()
         {
             if (CheckWait(InMoveInfo))
                 return;
             
-            //常规上料扫码流程
             switch (InMoveInfo.MoveStep)
             {
                 case MoveStep.Wait:
-                    if (IOValue(IO_Type.InStart_BTN).Equals(IO_VALUE.HIGH))
+                    if (CurrentWeight > Config.StoreWeightLimited)
+                    {
+                        Msg.add($"周转箱超重,当前重量:{CurrentWeight}kg,最大限重{Config.StoreWeightLimited}kg", MsgLevel.warning);
+                    }else if (IOValue(IO_Type.InStart_BTN).Equals(IO_VALUE.HIGH))
                     {
                         InMoveInfo.log($"踩下启动脚踏");
                         InMoveInfo.NextMoveStep(MoveStep.InPre01);
@@ -72,15 +89,10 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.In01:
                     InMoveInfo.NextMoveStep(MoveStep.In02);
-                    var weight = OKLEController.queryData(Config.WeightSensorPort);
-                    weight = weight - Config.WeightSensorBase;
-                    if (weight <= Config.StoreWeightLimited)
+                    if (CurrentWeight <= Config.StoreWeightLimited)
                     {
                         InMoveInfo.log($"开始拍照扫码");
-                        if(RobotManage.InoutDebugMode)
-                            InMoveInfo.NextMoveStep(MoveStep.InWaitServerCallback);
-                        else
-                            ScanCode();
+                        ScanCode();
                     }
                     else
                     {
@@ -92,7 +104,7 @@ namespace DeviceLibrary
                 case MoveStep.In02:
                     if (InScanTask.IsCompleted)
                     {
-                        var (x, s) = InScanTask.Result;
+                        var x = InScanTask.Result;
                         if (x.Count == 0)
                         {
                             InMoveInfo.NextMoveStep(MoveStep.In01);
@@ -105,11 +117,9 @@ namespace DeviceLibrary
                             InMoveInfo.log($"已完成扫码,等待服务器反馈库位 Count={x.Count}");
                             InMoveInfo.MoveParam.IsNg = false;
                             InMoveInfo.MoveParam.codeInfos = x;
-                            InMoveInfo.MoveParam.bitmapfilename = s;
                             var cc = x.Select((a) =>a.CodeStr);
                             ServerCM.SendInStoreRequest(cc.ToArray());
-                        }
-                        
+                        }                        
                     }
                     else if (InMoveInfo.IsTimeOut(10))
                     {
@@ -118,7 +128,9 @@ namespace DeviceLibrary
                     }
                     break;
                 case MoveStep.InWaitServerCallback:
-                    if (InMoveInfo.IsTimeOut(15))
+                    if (InMoveInfo.IsTimeOut(5))
+                        Msg.add("等待服务器返回库位", MsgLevel.info);
+                    else if (InMoveInfo.IsTimeOut(15))
                     {
                         InMoveInfo.NextMoveStep(MoveStep.Wait);
                         InMoveInfo.log($"等待服务器返回库位超时");
@@ -129,18 +141,19 @@ namespace DeviceLibrary
                     CylinderMove(InMoveInfo, IO_Type.InStop_Down, IO_Type.InStop_Up,IO_VALUE.LOW);
                     InSideLift.LiftUp(InMoveInfo);
                     InMoveInfo.log($"放下入料阻挡");
-                    
                     break;
                 case MoveStep.In06:
                     InMoveInfo.NextMoveStep(MoveStep.In07);
                     LineIn.LineRun("work", 999);
-                    InMoveInfo.log($"启动滚筒");
+                    CylinderMove(InMoveInfo, IO_Type.InMaterialLocation_Bck, IO_Type.InMaterialLocation_Fwd,  IO_VALUE.HIGH);
+                    InMoveInfo.log($"料箱定位前进");
                     break;
                 case MoveStep.In07:
                     if (IOValue(IO_Type.InOverHead_Check).Equals(IO_VALUE.HIGH)) {
                         LineIn.LineStop("work");
                         InMoveInfo.log($"检测到物料超高,停止滚筒");
                         InMoveInfo.NextMoveStep(MoveStep.InOverHead);
+                        ServerCM.cancelPutInTask("", InMoveInfo.MoveParam.WareCode);
                         return;
                     }
                     //IOValue(IO_Type.InEndMaterialTop_Check).Equals(IO_VALUE.HIGH) && 
@@ -158,6 +171,11 @@ namespace DeviceLibrary
                     }
                     break;
                 case MoveStep.In08:
+                    InMoveInfo.NextMoveStep(MoveStep.In09);
+                    CylinderMove(InMoveInfo, IO_Type.InMaterialLocation_Bck, IO_Type.InMaterialLocation_Fwd, IO_VALUE.LOW);
+                    InMoveInfo.log("料箱定位后退");
+                    break;
+                case MoveStep.In09:
                     InMoveInfo.NextMoveStep(MoveStep.InWaitBoxLeave);
                     InSideLift.LiftUp(InMoveInfo);
                     InMoveInfo.log("顶升上升,等待周转箱到位");
@@ -185,13 +203,22 @@ namespace DeviceLibrary
                     break;
             }
         }
-        string RightState() {
+        string InState() {
             string state = "";
+            if (InMoveInfo.MoveStep >= MoveStep.In02)
+            {
+                return InMoveInfo.MoveParam.ToStr();
+            }
+            else if (InMoveInfo.MoveStep >= MoveStep.Wait)
+            {
+                state = "空闲中";
+            }
+            else if (InMoveInfo.MoveStep < MoveStep.In02)
             {
-                return "无料串";
+                state = "入库扫描";
             }
 
-            return state;
+                return state;
         }
         public bool IsScanRunning() {
             if (InScanTask == null)
@@ -202,7 +229,7 @@ namespace DeviceLibrary
         /// <summary>
         /// 扫码线程
         /// </summary>
-        Task<(List<CodeInfo>,string)> InScanTask;
+        Task<List<CodeInfo>> InScanTask;
         void ScanCode() {
             InMoveInfo.log("开始扫码");
             //RightMoveInfo.OneWaitCanEndStep = true;
@@ -210,25 +237,24 @@ namespace DeviceLibrary
             //RightMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
             try
             {
-                InScanTask = Task.Run(new Func<(List<CodeInfo>,string)>(()=>
+                InScanTask = Task.Run(new Func<List<CodeInfo>>(()=>
                 {
                     IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
-                    string filename;
                     Task.Delay(10).Wait();
                     List<CodeInfo> LastCodeList, LastCodeList2;
-                    (LastCodeList, filename) = CodeManager.CameraScan(new List<string> { Config.CameraName });
+                    LastCodeList = CodeManager.CameraScan(new List<string> { Config.CameraName });
                     BoxParam labelParam = new BoxParam();
                     labelParam.codeInfos = new List<CodeInfo>(LastCodeList);
                     
                     if (!Common.codeProcess(labelParam, out _))
                     {
                         Task.Delay(500).Wait();
-                        (LastCodeList2, filename) = CodeManager.CameraScan(new List<string> { Config.CameraName });
+                        LastCodeList2 = CodeManager.CameraScan(new List<string> { Config.CameraName });
                         LastCodeList.AddRange(LastCodeList2);
                     }
                     //IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
 
-                    return (LastCodeList, filename);
+                    return LastCodeList;
                 }));
             }
             catch (Exception ex)

DeviceLibrary/theMachine/MainMachine _IOMonitor.cs

@@ -14,8 +14,7 @@ namespace DeviceLibrary
     partial class MainMachine
     {
         void ioMonitor()
-        {
-            
+        {           
 
             //右侧料串已空
             //if (RightMoveInfo.IsStep(MoveStep.Wait) && IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.HIGH) && RightShelfNoTray)

DeviceLibrary/theMachine/MainMachine _LabelProcess.cs

-using CodeLibrary;
-using OnlineStore.Common;
-using OnlineStore.LoadCSVLibrary;
-using System;
-using System.Collections.Generic;
-using System.Drawing;
-using System.Linq;
-using System.Text;
-
-using System.Threading.Tasks;
-
-namespace DeviceLibrary
-{
-    partial class MainMachine
-    {
-
-        void LabelProcess()
-        {
-            if (CheckWait(LabelMoveInfo))
-                return;
-
-            switch (LabelMoveInfo.MoveStep)
-            {
-                case MoveStep.Lbl01:
-                    LabelMoveInfo.NextMoveStep(MoveStep.Lbl_WaitPrint);
-                    Label_X_Axis.AbsMove(LabelMoveInfo, Config.Label_X_P2, Config.Label_X_P2_speed);
-                    Label_Y_Axis.AbsMove(LabelMoveInfo, Config.Label_Y_P2, Config.Label_Y_P2_speed);
-                    Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P2, Config.Label_Z_P2_speed);
-                    Label_R_Axis.AbsMove(LabelMoveInfo, Config.Label_R_P2, Config.Label_Z_P2_speed);                    
-                    LabelMoveInfo.log("Label_XYZ转到取标点,等待标签打印完毕");
-                    break;
-                case MoveStep.Lbl_WaitPrint:
-                    if (LastPrintStatus == Asa.PrintLabel.PrinterStatus.Idle) {
-                        LabelMoveInfo.NextMoveStep(MoveStep.Lbl_Printted);
-                    }
-                    break;
-                case MoveStep.Lbl_Printted:
-                    LabelMoveInfo.NextMoveStep(MoveStep.Lbl03);
-                    LastPrintStatus = Asa.PrintLabel.PrinterStatus.Unknown;
-                    IOMove(IO_Type.LabelCylinder_Work, IO_VALUE.HIGH);
-                    Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P3, Config.Label_Z_P3_speed);
-                    //CylinderMove(LabelMoveInfo, IO_Type.LabelCylinder_Bck, IO_Type.LabelCylinder_Fwd);
-                    
-                    LabelMoveInfo.log("标签打印完毕,取标气缸下降,开始吸气.");
-                    break;
-                case MoveStep.Lbl03:
-                    LabelMoveInfo.NextMoveStep(MoveStep.Lbl04);
-                    LabelMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
-                    break;
-                case MoveStep.Lbl04:
-                    LabelMoveInfo.NextMoveStep(MoveStep.Lbl05);
-                    Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P2, Config.Label_Z_P2_speed);
-                    //CylinderMove(LabelMoveInfo, IO_Type.LabelCylinder_Fwd, IO_Type.LabelCylinder_Bck);                    
-                    LabelMoveInfo.log("标签打印完毕,取标气缸上升,取起标签.");
-                    break;
-                case MoveStep.Lbl05:
-                    if (LeftMoveInfo.MoveStep == MoveStep.L20_WaitLabel)
-                    {
-                        LabelMoveInfo.NextMoveStep(MoveStep.Lbl10);
-                    }
-                    else if (LabelMoveInfo.IsTimeOut(60)) {
-                        LabelMoveInfo.log("等待左侧料串可贴标.");
-                    }
-                    break;
-                case MoveStep.Lbl10:
-                    if (!Label_Y_Axis.IsSafe(Config.Label_Y_P3,out string msg)) {
-                        Msg.add(msg, MsgLevel.warning);
-                        return;
-                    }
-                    //照片中料盘中心点像素位置
-                    Point Right_Batch_Point = new Point(RobotManage.Config.Right_Batch_X, RobotManage.Config.Right_Batch_Y);
-                    //不同尺寸料盘需要在照片上便宜的贴标像素
-                    int widthOffset = Config.Label_Offset_Pixel_7;
-                    switch (LabelMoveInfo.MoveParam.PlateW) {
-                        case 13:
-                            widthOffset = Config.Label_Offset_Pixel_13;
-                            break;
-                        case 15:
-                            widthOffset = Config.Label_Offset_Pixel_15;
-                            break;
-                    }
-                    //计算照片中贴标的像素位置
-                    Point p = Common.CalcLabelPoint(LabelMoveInfo.MoveParam, Right_Batch_Point, Config.Label_R_Offset, Config.Label_R_Angle_Diff, out int labelAngle);
-
-                    if (labelAngle > 350)
-                        labelAngle = 350;
-
-                    //计算贴标角度的脉冲值
-                    int labelAxisPos = Config.Label_R_360 / 350 * labelAngle;
-                    //计算像素点位与中心点的差
-                    Point Label_p3 = new Point(p.X - Right_Batch_Point.X , p.Y - Right_Batch_Point.Y);
-                    //计算像素*脉冲像素比得到脉冲值+中心点基准脉冲
-                    Label_p3.X = (int)(Label_p3.X * Config.Cam_Pixel_X_Ratio) + Config.Label_X_P3;
-                    Label_p3.Y = (int)(Label_p3.Y * Config.Cam_Pixel_Y_Ratio) + Config.Label_Y_P3;
-
-                    LabelMoveInfo.log($"计算贴标像素点位为{p},轴点位为{Label_p3},角度{labelAngle},R轴{labelAxisPos},盘宽{LabelMoveInfo.MoveParam.PlateW}");
-                    LabelMoveInfo.NextMoveStep(MoveStep.Lbl11);
-                    Label_X_Axis.AbsMove(LabelMoveInfo, Label_p3.X, Config.Label_X_P3_speed);
-                    Label_Y_Axis.AbsMove(LabelMoveInfo, Label_p3.Y, Config.Label_Y_P3_speed);
-                    Label_R_Axis.AbsMove(LabelMoveInfo, labelAxisPos, Config.Label_R_P2_speed);
-                    Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P4, Config.Label_Z_P4_speed);
-                    
-                    LabelMoveInfo.log("Label_XYZ转到贴标点.");
-                    break;
-                case MoveStep.Lbl11:
-                    LabelMoveInfo.NextMoveStep(MoveStep.Lbl12);
-                    Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P5, Config.Label_Z_P5_speed);
-                    LabelMoveInfo.log("下降.");
-                    break;
-                case MoveStep.Lbl12:
-                    LabelMoveInfo.NextMoveStep(MoveStep.Lbl13);
-                    IOMove(IO_Type.LabelCylinder_Work, IO_VALUE.LOW);
-                    LabelMoveInfo.log("关闭吸气.");
-                    break;
-                case MoveStep.Lbl13:
-                    LabelMoveInfo.NextMoveStep(MoveStep.Lbl14);
-                    Label_Z_Axis.AbsMove(LabelMoveInfo, Config.Label_Z_P4, Config.Label_Z_P4_speed);                    
-                    LabelMoveInfo.log("上升.");
-                    break;
-                case MoveStep.Lbl14:
-                    LeftMoveInfo.NextMoveStep(MoveStep.L30_LabelFinish);
-                    LabelMoveInfo.NextMoveStep(MoveStep.Lbl01);
-                    LabelMoveInfo.log("完成贴标.");
-                    break;
-                default:
-                    LabelMoveInfo.log($"未找到对应步骤:{LabelMoveInfo.MoveStep}");
-                    break;
-            }
-        }
-
-        string LabelState() {
-            string state = "";
-            if (LabelMoveInfo.MoveStep >= MoveStep.Lbl_Printted) {
-                state += "标签已打印,当前ReelID:" + LabelMoveInfo.MoveParam.WareCode;
-            }
-            if (LabelMoveInfo.MoveStep == MoveStep.Lbl01)
-            {
-                state += "等待标签打印";
-            }
-            if (LabelMoveInfo.MoveStep == MoveStep.Wait)
-            {
-                state += "等待中";
-            }
-            return state;
-        }
-
-
-    }
-}

DeviceLibrary/theMachine/MainMachine _Out.cs

@@ -32,11 +32,12 @@ namespace DeviceLibrary
                         OutMoveInfo.NextMoveStep(MoveStep.WaitErr);
                     }
                     else if (IOValue(IO_Type.OutEntryMaterialTop_Check).Equals(IO_VALUE.HIGH))
-                    {                        
+                    {
                         Msg.add("检测到出料口有周转箱", MsgLevel.warning);
-                        //OutMoveInfo.log($"检测到出料口有周转箱");
-                    }
-                    
+                        OutMoveInfo.log($"检测到出料口有周转箱,送出");
+
+                        OutMoveInfo.NextMoveStep(MoveStep.OutBoxPutOn);
+                    }                    
                     break;
                 case MoveStep.WaitErr:
                     OutMoveInfo.NextMoveStep(MoveStep.Wait);
@@ -44,7 +45,7 @@ namespace DeviceLibrary
                     OutMoveInfo.log($"出料口周转箱顶升上升");
                     break;
                 case MoveStep.OutBoxPutOn:
-                    if (IOValue(IO_Type.OutEntryMaterialTop_Check).Equals(IO_VALUE.HIGH))
+                    if (IOValue(IO_Type.OutEntryMaterialTop_Check).Equals(IO_VALUE.LOW))
                     {
                         Msg.add("出口没有检测到周转箱", MsgLevel.warning);
                     }
@@ -57,14 +58,15 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.Out01:
                     OutMoveInfo.NextMoveStep(MoveStep.Out02);
-                    if (IOMonitor.IODebound(IO_Type.OutStopMaterial_Check,Config,IO_VALUE.LOW,2000)&& IOMonitor.IODebound(IO_Type.OutExitMaterial_Check, Config, IO_VALUE.LOW, 2000))
+                    if (IOMonitor.IODebound(IO_Type.OutStopMaterial_Check, Config, IO_VALUE.LOW, 2000) && IOMonitor.IODebound(IO_Type.OutExitMaterial_Check, Config, IO_VALUE.LOW, 2000))
                     {
                         LineOut.LineRun("out", 999);
                         CylinderMove(OutMoveInfo, IO_Type.OutStop_Down, IO_Type.OutStop_Up, IO_VALUE.LOW);
                         OutMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.OutExitMaterial_Check, IO_VALUE.HIGH));
                         OutMoveInfo.log($"线体转动");
                     }
-                    else {
+                    else
+                    {
                         Msg.add("等待出口清空周转箱", MsgLevel.warning);
                     }
                     break;
@@ -75,11 +77,14 @@ namespace DeviceLibrary
                     OutMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
                     break;
                 case MoveStep.Out03:
+                    OutMoveInfo.NextMoveStep(MoveStep.Out04);
                     CylinderMove(OutMoveInfo, IO_Type.OutStop_Down, IO_Type.OutStop_Up, IO_VALUE.HIGH);
                     OutSideLift.LiftDown(OutMoveInfo);
                     OutMoveInfo.log($"出料中间阻挡升起");
                     ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreEnd);
-                    OutMoveInfo.EndMove();
+                    break;
+                case MoveStep.Out04:
+                    OutMoveInfo.NextMoveStep(MoveStep.Wait);
                     break;
                 default:
                     OutMoveInfo.log($"未找到对应步骤:{OutMoveInfo.MoveStep}");
@@ -88,8 +93,13 @@ namespace DeviceLibrary
         }
         string OutState() {
             string state = "";
+            if (OutMoveInfo.MoveStep >= MoveStep.OutBoxPutOn)
+            {
+                return "送出周转箱:" + OutMoveInfo.MoveParam.ToStr();
+            }
+            else
             {
-                return "无料串";
+                return "最后的周转箱:" + OutMoveInfo.MoveParam.ToStr();
             }
 
             return state;

DeviceLibrary/theMachine/MainMachine _Printer.cs

-using CodeLibrary;
-using OnlineStore.Common;
-using OnlineStore.LoadCSVLibrary;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-using System.Windows.Forms;
-
-namespace DeviceLibrary
-{
-    partial class MainMachine
-    {
-
-        
-        //Asa.PrintLabel PrintBean = null;
-        public void InitPrint()
-        {
-            //RobotManage.PrintBean = new Asa.PrintLabel(Application.StartupPath + "\\Label");
-            RobotManage.PrintBean.PrintStatusChanged += Print_PrintStatusChanged;
-            /*
-            System.Drawing.Printing.PrintDocument print = new System.Drawing.Printing.PrintDocument();
-            string sDefault = print.PrinterSettings.PrinterName;//默认打印机名
-            LogUtil.info("PrintLabel 本机默认打印机：" + sDefault);
-            int index = 1;
-            foreach (string sPrint in System.Drawing.Printing.PrinterSettings.InstalledPrinters)//获取所有打印机名称
-            {
-                LogUtil.info("PrintLabel 打印机_" + index + "_名称：" + sPrint);
-                index++;
-            }*/
-        }
-
-        public Asa.PrintLabel.PrinterStatus LastPrintStatus = Asa.PrintLabel.PrinterStatus.Unknown;
-        void Print_PrintStatusChanged(Asa.PrintLabel.PrinterStatus sta, string msg)
-        {
-            if (sta.Equals(LastPrintStatus).Equals(false))
-            {
-                LogUtil.info("PrintLabel 收到打印机新状态：【" + sta + "】【" + msg + "】，替换原来的状态【" + LastPrintStatus + "】 ");
-            }
-            else
-            {
-                if (sta == Asa.PrintLabel.PrinterStatus.Idle) {
-                    //Task.Run(()=> {
-                    //    while (true)
-                    //    {
-                    //        if (LabelMoveInfo.IsStep(MoveStep.Lbl_WaitPrint))
-                    //        {
-                    //            LabelMoveInfo.NextMoveStep(MoveStep.Lbl_Printted);
-                    //            break;
-                    //        }
-                    //        Task.Delay(500).Wait();
-                    //    }
-                    //});
-                }
-                LogUtil.info(" PrintLabel 收到打印机新状态：【" + sta + "】【" + msg + "】，与之前状态一样 ");
-            }
-            LastPrintStatus = sta;
-        }
-        public string LastPrintLabel="";
-        void StartPrintLabel(LabelParam labelParam)
-        {
-            try
-            {
-                LastPrintStatus= Asa.PrintLabel.PrinterStatus.Unknown;
-                LogUtil.info("调用 PrintLabel 打印标签 StartPrintLabel  ,[" + labelParam.WareCode + "] [" + labelParam.QTY + "]  开始");
-
-                Dictionary<string, string> text = new Dictionary<string, string>
-                {
-                        { "code", labelParam.WareCode },
-                        { "ri", labelParam.RI },
-                        { "pn", labelParam.PN },
-                        { "batch", labelParam.Batch },
-                        { "qty", labelParam.QTY.ToString() }
-                };
-
-
-                LastPrintLabel = labelParam.PN;
-                RobotManage.PrintBean.Print(text);
-                LogUtil.info("PrintLabel 打印标签 StartPrintLabel 结束  ");
-            }
-            catch (Exception ex)
-            {
-                LogUtil.error("PrintLabel 打印标签 StartPrintLabel 错误：" + ex.ToString());
-            }
-        }
-
-        public Task DoPrint(LabelParam labelParam) {
-
-            return Task.Run(() =>
-            {
-                StartPrintLabel(labelParam);
-            });
-        }
-
-    }
-}

DeviceLibrary/theMachine/MainMachine _Store.cs

@@ -98,8 +98,8 @@ namespace DeviceLibrary
                 case MoveStep.StoreOut12:
                     if (boxTransport.IsComplateOrFree)
                     {
-
                         OutMoveInfo.NextMoveStep(MoveStep.OutBoxPutOn);
+                        OutMoveInfo.MoveParam = StoreMoveInfo.MoveParam.clone();
                         StoreMoveInfo.log($"周转箱已到达目的地");
                         ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreBoxEnd);
                         
@@ -111,5 +111,19 @@ namespace DeviceLibrary
                     break;
             }
         }
+        string StoreState() {
+            string state = "空闲中";
+            if (StoreMoveInfo.MoveStep >= MoveStep.StoreOut10)
+            {
+                state = $"出库中,库位号:{StoreMoveInfo.MoveParam.PosID}";
+            }
+            else if (StoreMoveInfo.MoveStep >= MoveStep.StoreIn01)
+            {
+                state = $"入库中,库位号:{StoreMoveInfo.MoveParam.PosID}";
+            }
+
+
+            return state;
+        }
     }
 }

DeviceLibrary/theMachine/MainMachine.cs

@@ -39,6 +39,7 @@ namespace DeviceLibrary
         public MoveInfo InMoveInfo;
         public MoveInfo OutMoveInfo;
         MoveInfo StoreMoveInfo;
+        MoveInfo AIOTMoveInfo;
 
         public delegate void ProcessMsg(List<Msg> msg);
         public event ProcessMsg ProcessMsgEvent;
@@ -79,13 +80,14 @@ namespace DeviceLibrary
             Config = _config;            
             
             InMoveInfo = new MoveInfo("A侧取料");
-            //InMoveInfo.SetStateDelegate(RightState);            
+            InMoveInfo.SetStateDelegate(InState);            
             StoreMoveInfo = new MoveInfo("出入库");
-            //StoreMoveInfo.SetStateDelegate(MiddleState);
+            StoreMoveInfo.SetStateDelegate(StoreState);
             OutMoveInfo = new MoveInfo("B侧出料");
-            //OutMoveInfo.SetStateDelegate(LeftState);
+            OutMoveInfo.SetStateDelegate(OutState);
             ResetMoveInfo = new MoveInfo("重置");
-
+            AIOTMoveInfo = new MoveInfo("出入库测试");
+            //MoveInfo.List.Remove(AIOTMoveInfo);
 
             #region 初始化led灯
             AlarmLed = new Led(Config.DOList[IO_Type.Alarm_Led].GetIOAddr());
@@ -118,7 +120,6 @@ namespace DeviceLibrary
             //BoxTransport_InOutEndProcessEvent;
             //ProcessMsgEvent += MainMachine_ProcessMsgEvent;
 
-
             AlarmBuzzer.SetOnOffAction(() =>{ IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.HIGH); }, () => { IOMove(IO_Type.Alarm_Buzzer, IO_VALUE.LOW); });
 
             LedProcessInit();
@@ -188,6 +189,11 @@ namespace DeviceLibrary
                     {
                         BtnProcess();
                         canRunning = SafeCheck();
+                        if (canRunning && !lastSafeCheckStatus)
+                        { 
+                        
+                        }
+                        lastSafeCheckStatus = canRunning;
                     }
                     Thread.Sleep(200);
                     if (!canRunning || !mstart)
@@ -197,7 +203,10 @@ namespace DeviceLibrary
                         ioMonitor();
                         InProcess();
                         boxTransport.Process();
-                        StoreProcess();
+                        if (RobotManage.mainMachine.AutoInOutTest)
+                            AutoInOutTestProcess();
+                        else
+                            StoreProcess();
                         OutProcess();
                     }
                     else if (runStatus == RunStatus.HomeReset)
@@ -339,7 +348,27 @@ namespace DeviceLibrary
         bool lastSafeCheckStatus = true;
         bool SafeCheck() {
             bool ok = true;
-             if (IOValue(IO_Type.InSide_SafetyGrating).Equals(IO_VALUE.LOW))
+            if (IOValue(IO_Type.InEntry_SafetyGrating).Equals(IO_VALUE.LOW))
+            {
+                if (!IgnoreSafecheck && !IgnoreGratingSignal
+                    && IOValue(IO_Type.InFrontCar_Check).Equals(IO_VALUE.LOW))
+                {
+                    ok = false;
+                    DeviceSuddenStop();
+                }
+                Msg.add("安全光栅被遮挡" + (ok ? "[已忽略]" : ""), MsgLevel.warning);
+            }else if (IOValue(IO_Type.OutExit_SafetyGrating).Equals(IO_VALUE.LOW))
+            {
+                if (!IgnoreSafecheck && !IgnoreGratingSignal
+                    && IOValue(IO_Type.InFrontCar_Check).Equals(IO_VALUE.LOW))
+                {
+                    ok = false;
+                    DeviceSuddenStop();
+                }
+                Msg.add("安全光栅被遮挡" + (ok ? "[已忽略]" : ""), MsgLevel.warning);
+            }
+
+            if (IOValue(IO_Type.InSide_SafetyGrating).Equals(IO_VALUE.LOW))
             {
                 if (!IgnoreSafecheck && !IgnoreGratingSignal
                     && IOValue(IO_Type.InFrontCar_Check).Equals(IO_VALUE.LOW))
@@ -378,7 +407,7 @@ namespace DeviceLibrary
                 }
                 Msg.add("后门没有关闭" + (ok ? "[已忽略]" : ""), MsgLevel.warning);
             }
-            lastSafeCheckStatus = ok;
+            
             return ok;
         }
 
@@ -389,13 +418,18 @@ namespace DeviceLibrary
                 //AxisBean.StopMultiAxis(new List<AxisBean>() { Take_Middle_Axis, Take_UpDown_Axis, Label_X_Axis,Label_Y_Axis, Label_Z_Axis, Label_R_Axis });
                 AxisBean.StopMultiAxis(AxisBean.List);
                 MoveInfo.List.ForEach((m) => { m.CanWhileCount = 5; });
-
+                LineIn.Pause();
+                LineOut.Pause();
                 if (runStatus == RunStatus.HomeReset)
                 {
                     ResetMoveInfo.NewMove(MoveStep.H01_HomeReset);
                 }
             }
         }
+        void DeviceResume() {
+            LineIn.Resume();
+            LineOut.Resume();
+        }
 
         /// <summary>
         /// 最后一次气压检测变为0的时间

DeviceLibrary/theMachine/MoveStep.cs

@@ -34,6 +34,8 @@ namespace DeviceLibrary
         In06,
         In07,
         In08,
+        In09,
+        In10,
         InWaitBoxLeave,   //等待料箱入库
         InBoxLeaved,      //料箱已取走
         InOverHead,

TheMachine/UC/uc_boxdebug.Designer.cs

@@ -39,6 +39,7 @@ namespace TheMachine
             this.timer1 = new System.Windows.Forms.Timer(this.components);
             this.dataGridView1 = new System.Windows.Forms.DataGridView();
             this.storePosControl1 = new TheMachine.StorePosControl();
+            this.btn_autoinout = new System.Windows.Forms.Button();
             this.groupInout.SuspendLayout();
             ((System.ComponentModel.ISupportInitialize)(this.dataGridView1)).BeginInit();
             this.SuspendLayout();
@@ -46,6 +47,7 @@ namespace TheMachine
             // groupInout
             // 
             this.groupInout.Controls.Add(this.cb_inoutdebugmode);
+            this.groupInout.Controls.Add(this.btn_autoinout);
             this.groupInout.Controls.Add(this.btnInStore);
             this.groupInout.Controls.Add(this.btnOutStore);
             this.groupInout.Location = new System.Drawing.Point(2, 315);
@@ -152,6 +154,20 @@ namespace TheMachine
             this.storePosControl1.TabIndex = 225;
             this.storePosControl1.Tag = "not";
             // 
+            // btn_autoinout
+            // 
+            this.btn_autoinout.BackColor = System.Drawing.SystemColors.Control;
+            this.btn_autoinout.Enabled = false;
+            this.btn_autoinout.FlatStyle = System.Windows.Forms.FlatStyle.Flat;
+            this.btn_autoinout.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btn_autoinout.Location = new System.Drawing.Point(6, 162);
+            this.btn_autoinout.Name = "btn_autoinout";
+            this.btn_autoinout.Size = new System.Drawing.Size(173, 32);
+            this.btn_autoinout.TabIndex = 102;
+            this.btn_autoinout.Text = "自动库位测试";
+            this.btn_autoinout.UseVisualStyleBackColor = false;
+            this.btn_autoinout.Click += new System.EventHandler(this.btn_autoinout_Click);
+            // 
             // uc_boxdebug
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
@@ -182,5 +198,6 @@ namespace TheMachine
         private System.Windows.Forms.Label label_size;
         private StorePosControl storePosControl1;
         private System.Windows.Forms.CheckBox cb_inoutdebugmode;
+        private System.Windows.Forms.Button btn_autoinout;
     }
 }

TheMachine/UC/uc_boxdebug.cs

@@ -34,11 +34,6 @@ namespace TheMachine
                 Init();
             }
         }
-        private string StartAuto { get => "开始自动出入库"; }
-        private string StopAuto { get => "停止自动出入库"; }
-        private string AutoOut { get => "自动出库："; }
-        private string AutoIn { get => "自动入库："; }
-        public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
         Dictionary<string,PosState> posState = new Dictionary<string, PosState>();
         //如果总配置文件存在，保存到总的配置文件
         static string appPath = Application.StartupPath;
@@ -51,7 +46,6 @@ namespace TheMachine
         public uc_boxdebug()
         {
             InitializeComponent();
-
         }
 
         public void Init()
@@ -263,7 +257,8 @@ namespace TheMachine
                 string selectPositionNum = cmbPosition.Text;
                 JobInfo jobInfo = new JobInfo("IN_TEST", selectPositionNum);
                 if (!RobotManage.mainMachine.StartInStore(jobInfo)) {
-                    MessageBox.Show("周转箱没有到位");
+                    MessageBox.Show("周转箱没有到位,无法手动入库");
+                    return;
                 }
                 LogUtil.info($"手动入库:{selectPositionNum}");
             }
@@ -278,7 +273,6 @@ namespace TheMachine
             if (RobotManage.mainMachine.runStatus == RunStatus.Running)
             {
                 string selectPositionNum = cmbPosition.Text;
-                JobInfo jobInfo = new JobInfo("IN_TEST", selectPositionNum);
                 if (RobotManage.mainMachine.boxTransportIsFree) {
                     LogUtil.info($"手动出库:{selectPositionNum}");
                     RobotManage.mainMachine.AddOutStoreTask(selectPositionNum);
@@ -286,56 +280,13 @@ namespace TheMachine
                 else
                 {
                     MessageBox.Show("料仓正在出入库中,无法手动出库");
-                }
-                
+                }                
             }
             else
             {
                 MessageBox.Show("请先启动料仓！");
             }
         }
-        private void btnStartAuTo_Click(object sender, EventArgs e)
-        {/*
-            if (RobotManage.storeRunStatus >= StoreRunStatus.HomeMoving)
-            {
-                if (store.autoNext)
-                {
-                    store.autoNext = false;
-                    btnStartAuTo.Text = StartAuto;
-                }
-                else
-                {
-                    DialogResult res = MyMessage.Show("确定开始自动出入库？", "提示", MessageBoxButtons.YesNo);
-                    if (res.Equals(DialogResult.Yes))
-                    {
-                        store.autoNext = true;
-                        int jiange = FormUtil.GetIntValue(txtJiange);
-                        store.autoJiange = jiange;
-                        if (!string.IsNullOrEmpty(cmbPosition.Text))
-                        {
-                            int currIndex = store.PositionNumList.IndexOf(cmbPosition.Text); ;
-                            store.autoPositionIndex = currIndex;
-                            store.AutoStartIndex = currIndex;
-                            store.Double_Alternate = checkBox_Double_Alternate.Checked;
-                            store.Alternate = false;
-                            store.hasDoublePlate = false;
-                            string poText = cmbPosition.Text;
-                            store.autoMsg = AutoIn + "：" + poText;
-                            LogUtil.info(LOGGER, store.StoreName + "开启自动出入库模式，开始位置【" + poText + "】（索引=" + currIndex + "）,间隔=" + jiange + "，入库开始！");
-                            //store.StartOutStoreMove(new InOutStoreParam("", poText));
-                            store.StartInStoreMove(new InOutStoreParam("", poText));
-                        }
-                        btnStartAuTo.Text = StopAuto;
-                    }
-                }
-            }
-            else
-            {
-                MyMessage.Show("请先启动料仓！");
-            }*/
-        }
-
-
 
         bool preOpen = false;
         public void StoreOpenStatus(bool isOpen)
@@ -355,6 +306,21 @@ namespace TheMachine
             if (!Visible)
                 return;
 
+            if (!cb_inoutdebugmode.Checked)
+                return;
+
+            if (RobotManage.mainMachine.AutoInOutTest)
+            {
+                btnOutStore.Enabled = false;
+                btnInStore.Enabled = false;
+                btn_autoinout.Text = "停止自动库位测试";
+            }
+            else
+            {
+                btnOutStore.Enabled = true;
+                btnInStore.Enabled = true;
+                btn_autoinout.Text = "自动库位测试";
+            }
         }
         private void dataGridView1_CellContentClick(object sender, DataGridViewCellEventArgs e)
         {
@@ -376,6 +342,35 @@ namespace TheMachine
             RobotManage.InoutDebugMode = cb_inoutdebugmode.Checked;
             btnInStore.Enabled= cb_inoutdebugmode.Checked;
             btnOutStore.Enabled= cb_inoutdebugmode.Checked;
+            btn_autoinout.Enabled=cb_inoutdebugmode.Checked;
+        }
+
+        private void btn_autoinout_Click(object sender, EventArgs e)
+        {
+            if (RobotManage.mainMachine.AutoInOutTest)
+            {
+                RobotManage.mainMachine.StopAutoInOutTest();
+                MessageBox.Show("自动出入库过程会再周转箱送至出口后自动停止");
+                return;
+            }
+
+            if (RobotManage.mainMachine.runStatus == RunStatus.Running)
+            {
+                DialogResult res = MessageBox.Show("确定开始自动库位测试？\n请确保料仓库位全部为空,请先在入口放入一个周转箱.", "提示", MessageBoxButtons.YesNo);
+                if (res == DialogResult.No)
+                    return;
+                int posindex = RobotManage.PositionNumList.IndexOf(cmbPosition.Text);
+                if (!RobotManage.mainMachine.StartAutoInOutTest(posindex,out string errmsg))
+                {
+                    MessageBox.Show(errmsg);
+                    return;
+                }
+                (sender as Button).Text = "停止自动库位测试";
+            }
+            else
+            {
+                MessageBox.Show("请先启动料仓！");
+            }
         }
     }
 }