Merge branch 'master' of http://106.15.194.121:8083/liutao/SO1057_XLC_Store

DeviceLibrary/DeviceLibrary/ServerCommunication.cs

@@ -73,7 +73,7 @@ namespace DeviceLibrary
 
         public void ProcessMsg(List<Msg> msg)
         {
-            WarnMsg = string.Join(",", msg.Select(x =>
+            WarnMsg = string.Join(" \r\n", msg.Select(x =>
             {
                 //if (x.msgLevel == MsgLevel.warning || x.msgLevel == MsgLevel.alarm)
                 {
@@ -245,7 +245,7 @@ namespace DeviceLibrary
             }
             else if (!RobotManage.isRunning)
             {
-                sendmsg = "设备未启动";
+                sendmsg = "I=设备未启动";
             }
 
             lineOperation.msg = sendmsg;

DeviceLibrary/theMachine/AxisBean.cs

@@ -170,6 +170,8 @@ namespace DeviceLibrary
                 //判断是否需要重新运动
                 if (MoveInfo.CanWhileCount > 0)
                 {
+                    var errCode = AxisManager.GetErrorCode(deviceName, axisNo);
+                    LogUtil.info($"{MoveInfo.Name} {MoveInfo.MoveStep} {axis.DisplayStr} 报警码:{errCode.ToString("X8")}");
                     string clearMsg = "";
                     //判断轴是否报警
                     if (MoveInfo.CanWhileCount <= 3)
@@ -189,7 +191,7 @@ namespace DeviceLibrary
                         AxisManager.SuddenStop(axis.DeviceName, axis.GetAxisValue());
                         Thread.Sleep(100);
                     }
-                    LogUtil.error($"{ MoveInfo.Name} {MoveInfo.MoveStep} {axis.DisplayStr}目标位置{targetPosition}当前位置{outCount}，误差过大，{clearMsg}重新开始运动，剩余{MoveInfo.CanWhileCount}次");
+                    LogUtil.error($"{MoveInfo.Name} {MoveInfo.MoveStep} {axis.DisplayStr}目标位置{targetPosition}当前位置{outCount}，误差过大，{clearMsg}重新开始运动，剩余{MoveInfo.CanWhileCount}次");
                     var AddSpeed = axis.AddSpeed > 0 ? axis.AddSpeed : targetSpeed * 4;
                     var DelSpeed = axis.DelSpeed > 0 ? axis.DelSpeed : targetSpeed * 4;
                     AxisManager.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed, AddSpeed, DelSpeed);// , axis.AddSpeed, axis.DelSpeed);