1

Common/Setting_Init.cs

@@ -54,6 +54,8 @@ namespace OnlineStore.Common
         [MyConfigComment("扫码读码匹配参数")]
         public static MyConfig<string> CodeScan_ParamPath = "Conifg\\";
 
+        [MyConfigComment("允许解锁安全门的氮气阈值")]
+        public static MyConfig<double> Nitrogen_Safe_Maximum = 80;
 
     }
     public enum StoreType

Common/util/HumitureController.cs

@@ -90,14 +90,14 @@ namespace OnlineStore.Common
             }
             IsRun = false;
         }
-        public static  ASTemperateParam LastData = new ASTemperateParam(0, 0);
+        public static  ASTemperateParam LastData = new ASTemperateParam(0, 0,0);
         public static ASTemperateParam QueryData()
         {
-            ASTemperateParam param = new ASTemperateParam(0, 0);
+            ASTemperateParam param = new ASTemperateParam(0, 0, 0);
             List<double> data = queryData();
-            if (data.Count.Equals(2))
+            if (data.Count.Equals(3))
             {
-                param = new ASTemperateParam(data[1], data[0]);
+                param = new ASTemperateParam(data[1], data[0], data[2]);
             }
             LastData = param;
             return param;
@@ -130,7 +130,7 @@ namespace OnlineStore.Common
             sendData[2] = 0x00;
             sendData[3] = 0x00;
             sendData[4] = 0x00;
-            sendData[5] = 0x02;
+            sendData[5] = 0x03;
             sendData[6] = 0x00;
             sendData[7] = 0x00;
             sendData = buildCheckData(sendData, sendData.Length - 2);
@@ -143,115 +143,7 @@ namespace OnlineStore.Common
         }
 
        
-        public static int QueryHistoryCount()
-        {
-            if (IsRun.Equals(false) || HumitureControllerType.Equals(2).Equals(false))
-            {
-                return -1;
-            }
-            byte[] sendData = new byte[8];
-            sendData[0] = 0x01;
-            sendData[1] = 0x04;
-            sendData[2] = 0x20;
-            sendData[3] = 0x00;
-            byte[] addrByte = AcSerialBean.StringToByte("2000");
-            if (addrByte.Length == 1)
-            {
-                sendData[2] = 0x00;
-                sendData[3] = addrByte[0];
-            }
-            else if (addrByte.Length == 2)
-            {
-                sendData[3] = addrByte[1];
-                sendData[2] = addrByte[0];
-            }
-            sendData[4] = 0x00;
-            sendData[5] = 0x02;
-            sendData[6] = 0x00;
-            sendData[7] = 0x00;
-            sendData = buildCheckData(sendData, sendData.Length - 2);
-            string str = AcSerialBean.byteToHexStr(sendData);
-            LogUtil.debug("温湿度控制器发送数据：" + str);
-            byte[] reviceData = new byte[9];
-            bool isOk = false;
-            sb.SendCommand(sendData, ref reviceData, 100, out isOk);
-            return getReviceIntData(reviceData);
-        }
-        public static int QueryCurrCount()
-        {
-            if (IsRun.Equals(false) || HumitureControllerType.Equals(2).Equals(false))
-            {
-                return -1;
-            }
-            byte[] sendData = new byte[8];
-            sendData[0] = 0x01;
-            sendData[1] = 0x04;
-            sendData[2] = 0x20;
-            sendData[3] = 0x02;
-            sendData[4] = 0x00;
-            sendData[5] = 0x02;
-            sendData[6] = 0x00;
-            sendData[7] = 0x00;
-            sendData = buildCheckData(sendData, sendData.Length - 2);
-            string str = AcSerialBean.byteToHexStr(sendData);
-            LogUtil.debug("温湿度控制器发送数据：" + str);
-            byte[] reviceData = new byte[9];
-            bool isOk = false;
-            sb.SendCommand(sendData, ref reviceData, 100, out isOk);
-            return getReviceIntData(reviceData);
-        }
-        public static List<object> QueryHistory()
-        {
-            List<object> list = new List<object>();
-            if (IsRun.Equals(false)||HumitureControllerType.Equals(2).Equals(false))
-            {
-                return list;
-            }
-            byte[] sendData = new byte[8];
-            sendData[0] = 0x01;
-            sendData[1] = 0x04;
-            sendData[2] = 0x20;
-            sendData[3] = 0x04;
-            sendData[4] = 0x00;
-            sendData[5] = 0x05;
-            sendData[6] = 0x00;
-            sendData[7] = 0x00;
-            sendData = buildCheckData(sendData, sendData.Length - 2);
-            string str = AcSerialBean.byteToHexStr(sendData);
-            LogUtil.debug("温湿度控制器发送数据：" + str);
-            byte[] reviceData = new byte[15];
-            bool isOk = false;
-            sb.SendCommand(sendData, ref reviceData, 100, out isOk);
-
-            try
-            {
-                if (reviceData != null && reviceData.Length >= 9)
-                {
-
-                    string temp = String.Format("{0:X2}", reviceData[3]) + String.Format("{0:X2}", reviceData[4]);
-                    string hum = String.Format("{0:X2}", reviceData[5]) + String.Format("{0:X2}", reviceData[6]);
-                    double tempV = (double)Convert.ToInt32(temp, 16) / 10;
-                    double humV = (double)Convert.ToInt32(hum, 16) / 10;
-
-                    int year = Convert.ToInt32(String.Format("{0:X2}", reviceData[7]), 16);
-                    int mouth = Convert.ToInt32(String.Format("{0:X2}", reviceData[8]), 16);
-                    int day = Convert.ToInt32(String.Format("{0:X2}", reviceData[9]), 16);
-                    int hour = Convert.ToInt32(String.Format("{0:X2}", reviceData[10]), 16);
-                    int minute = Convert.ToInt32(String.Format("{0:X2}", reviceData[11]), 16);
-                    int second = Convert.ToInt32(String.Format("{0:X2}", reviceData[12]), 16);
-
-                    DateTime time = new DateTime(year, mouth, day, hour, minute, second);
-                    list.Add(tempV);
-                    list.Add(humV);
-                    list.Add(time);
-                }
-            }
-            catch (Exception ex)
-            {
-                LOGGER.Info(LogName + "转换出错：" + ex.ToString());
-            }
-            return list;
-        }
+       
 
         
         private static byte[] buildCheckData(byte[] sendData, int length)
@@ -274,29 +166,6 @@ namespace OnlineStore.Common
             return sendData;
         }
 
-        private static int getReviceIntData(byte[] dataArray)
-        {
-            List<double> list = new List<double>();
-            try
-            {
-                if (dataArray == null)
-                {
-                    return -1;
-                }
-                if (dataArray.Length >= 9)
-                {
-                    string data = String.Format("{0:X2}", dataArray[5]) + String.Format("{0:X2}", dataArray[6]+String.Format("{0:X2}", dataArray[3]) + String.Format("{0:X2}", dataArray[4])  );
-                    int tempV = Convert.ToInt32(data, 16);
-                    return tempV;
-                }
-            }
-            catch (Exception ex)
-            {
-                LOGGER.Info(LogName + "转换出错：" + ex.ToString());
-            }
-            return -1;
-        }
-
         private static List<double> getReviceData(byte[] dataArray)
         {
             List<double> list = new List<double>(); 
@@ -311,10 +180,13 @@ namespace OnlineStore.Common
 
                     string temp = String.Format("{0:X2}", dataArray[3])+ String.Format("{0:X2}", dataArray[4]);
                     string hum = String.Format("{0:X2}", dataArray[5]) + String.Format("{0:X2}", dataArray[6]);
+                    string Oxygen = String.Format("{0:X2}", dataArray[7]) + String.Format("{0:X2}", dataArray[8]);
                     double tempV = (double)Convert.ToInt32(temp, 16)/10;
                     double humV =(double) Convert.ToInt32(hum, 16)/10;
+                    double OxygenV = (double) Convert.ToInt32(Oxygen, 16)/10;
                     list.Add(tempV);
                     list.Add(humV);
+                    list.Add(OxygenV);
                 }
             }
             catch (Exception ex)

Common/util/HumitureServer.cs

@@ -31,49 +31,6 @@ namespace OnlineStore.Common
             return temperate;
         }
         /// <summary>
-        /// 显示用的温湿度信息(改为计算平均温湿度)
-        /// </summary> 
-        public static ASTemperateParam GetTemperateParam(List<string> ipAddrList)
-        {
-            ASTemperateParam temperate = null;
-            int allCount = 0;
-            double wenDu = 0;
-            double shiDu = 0;
-            foreach (string addr in ipAddrList)
-            {
-                ASTemperateParam param = GetTemperateParam(addr);
-                if (param != null && param.IsValid())
-                {
-                    allCount++;
-                    wenDu = wenDu + param.Temperate;
-                    shiDu = shiDu + param.Humidity;
-                }
-            }
-            if (allCount > 0)
-            {
-                double avgWendu = Math.Round(wenDu / allCount, 1);
-                double avgShidu = Math.Round(shiDu / allCount, 1);
-                temperate = new ASTemperateParam(avgWendu, avgShidu);
-            }
-            return temperate;
-        }
-        public static double GetMaxHumidity(List<string> ipAddrList)
-        {
-            double maxValue = 0;
-            foreach (string addr in ipAddrList)
-            {
-                ASTemperateParam param = GetTemperateParam(addr);
-                if (param != null && param.IsValid())
-                {
-                    if (param.Humidity > maxValue)
-                    {
-                        maxValue = param.Humidity;
-                    }
-                }
-            }
-            return maxValue;
-        }
-        /// <summary>
         /// 温湿度传感器服务器
         /// </summary>
         private static UdpServer temperateTcpServer = null;
@@ -225,13 +182,14 @@ namespace OnlineStore.Common
             this.UpdateTime = updateTime;
         }
         //获取平均值时使用此 参数，只做显示用
-        public ASTemperateParam(double wendu, double shidu)
+        public ASTemperateParam(double wendu, double shidu,double oxygenV)
         {
             this.IpAddress = "";
             this.DeviceAddress = "";
             this.Password = "";
             this.Temperate = wendu;
             this.Humidity = shidu;
+            this.OxygenV = oxygenV;
             this.UpdateTime = DateTime.Now;
         }
         /// <summary>
@@ -272,5 +230,9 @@ namespace OnlineStore.Common
         /// 湿度
         /// </summary>
         public double Humidity { get; set; }
+        /// <summary>
+        /// 氧含量
+        /// </summary>
+        public double OxygenV { get; set; }
     }
 }

DeviceLibrary/DeviceLibrary/CodeManager.cs

@@ -70,7 +70,7 @@ namespace DeviceLibrary
         }
 
 
-        private static void LoadCamera(bool isReLoad)
+        public static void LoadCamera(bool isReLoad)
         {
             if (isReLoad || Camera._cam == null)
             {
@@ -155,7 +155,7 @@ namespace DeviceLibrary
                                 continue;
                             retrytime++;
                             LogUtil.info($"bitmap为空重试第{retrytime}次");
-                            CloseCamera(cameraName);
+                            LoadCamera(true);
                             Task.Delay(1500).Wait();
                             goto retry;
                         }

DeviceLibrary/theMachine/AxisBean.cs

@@ -21,7 +21,7 @@ namespace DeviceLibrary
         /// <summary>
         /// 干涉检测回调 from, to
         /// </summary>
-        public event Func<int,int,(bool,string)> interference;
+        public event Func<int, int, (bool, string)> interference;
         public string AxisName;
         public bool ForceSafeCheck = false;
         public AxisBean(ConfigMoveAxis axisConfig, string deviceName)
@@ -92,7 +92,7 @@ namespace DeviceLibrary
             LogUtil.info("ServoOff【" + AxisName + "】");
             AxisManager.ServoOff(Config.DeviceName, Config.GetAxisValue());
         }
-        public void HomeMove(MoveInfo MoveInfo,bool force=true)
+        public void HomeMove(MoveInfo MoveInfo, bool force = true)
         {
             if (!force && AxisManager.GetHomeEndStatus(Config.DeviceName, (short)Config.GetAxisValue()) == 3)
             {
@@ -101,8 +101,12 @@ namespace DeviceLibrary
             }
             Config.TargetPosition = 0;
             LogUtil.info(AxisName + "speed[" + Config.HomeHighSpeed + "]开始原点返回");
-            MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
-            AxisManager.HomeMove(Config.DeviceName, (short)Config.GetAxisValue(), Config.HomeHighSpeed, Config.HomeLowSpeed, Config.HomeAddSpeed);
+            if (MoveInfo != null)
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, true));
+            var HomeLowSpeed = Config.HomeLowSpeed > 0 ? Config.HomeLowSpeed : Config.HomeHighSpeed / 10;
+            var HomeAddSpeed = Config.HomeAddSpeed > 0 ? Config.HomeAddSpeed : Config.HomeHighSpeed * 5;
+
+            AxisManager.HomeMove(Config.DeviceName, (short)Config.GetAxisValue(), Config.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed);
         }
 
         /// <summary>
@@ -111,9 +115,12 @@ namespace DeviceLibrary
         public void AbsMove(MoveInfo MoveInfo, int targetPosition, int targetSpeed)
         {
             if (IsInPosition(targetPosition))
+            {
+                LogUtil.info(AxisName + $" 已在目标点:{targetPosition}");
                 return;
+            }
 
-            if (ForceSafeCheck && !IsSafe(targetPosition,out string msg))
+            if (ForceSafeCheck && !IsSafe(targetPosition, out string msg))
             {
                 Msg.add(msg, MsgLevel.alarm);
                 RobotManage.UserPause(msg);
@@ -129,7 +136,9 @@ namespace DeviceLibrary
             {
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(Config, targetPosition, targetSpeed));
                 Config.TargetPosition = targetPosition;
-                AxisManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPosition, targetSpeed, targetSpeed * 4, targetSpeed * 4);// Config.AddSpeed, Config.DelSpeed);
+                var AddSpeed = Config.AddSpeed > 0 ? Config.AddSpeed : targetSpeed * 4;
+                var DelSpeed = Config.DelSpeed > 0 ? Config.DelSpeed : targetSpeed * 4;
+                AxisManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPosition, targetSpeed, AddSpeed, DelSpeed);// Config.AddSpeed, Config.DelSpeed);
             }
         }
 
@@ -179,7 +188,9 @@ namespace DeviceLibrary
                         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");
-                    AxisManager.AbsMove(axis.DeviceName, axis.GetAxisValue(), targetPosition, targetSpeed, targetSpeed * 4, targetSpeed * 4);// , axis.AddSpeed, axis.DelSpeed);
+                    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);
                     MoveInfo.CanWhileCount--;
                     Thread.Sleep(200);
                 }
@@ -239,7 +250,7 @@ namespace DeviceLibrary
         /// <summary>
         /// 绝对运动至点，不等待结果
         /// </summary> 
-        private void AbsMove(int targetPos, double targetSpeed)
+        private void AbsMove(int targetPos, int targetSpeed)
         {
             if (targetPos.Equals(-1))
             {
@@ -255,7 +266,9 @@ namespace DeviceLibrary
             {
                 targetSpeed = Config.TargetSpeed * targetSpeed;
             }
-            AxisManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPos, (int)targetSpeed, (int)targetSpeed * 4, (int)targetSpeed * 4);// , Config.AddSpeed, Config.DelSpeed);
+            var AddSpeed = Config.AddSpeed > 0 ? Config.AddSpeed : targetSpeed * 4;
+            var DelSpeed = Config.DelSpeed > 0 ? Config.DelSpeed : targetSpeed * 4;
+            AxisManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPos, targetSpeed, AddSpeed, DelSpeed);// , Config.AddSpeed, Config.DelSpeed);
 
         }
         /// <summary>
@@ -280,7 +293,8 @@ namespace DeviceLibrary
             AxisManager.RelMove(Config.DeviceName, Config.GetAxisValue(), targetPos, (int)targetSpeed, (int)targetSpeed * 4, (int)targetSpeed * 4);// , Config.AddSpeed, Config.DelSpeed);
 
         }
-        public bool IsBusy {
+        public bool IsBusy
+        {
             get => AxisManager.GetBusyStatus(Config.DeviceName, Config.GetAxisValue()) == 1;
         }
         public bool IsServeoOn
@@ -295,15 +309,17 @@ namespace DeviceLibrary
         /// 判断轴运动是否安全
         /// </summary>
         /// <returns></returns>
-        public bool IsSafe(int Targetpos,out string msg) {
+        public bool IsSafe(int Targetpos, out string msg)
+        {
             msg = "";
             if (interference == null)
                 return true;
             bool result;
             var from = GetAclPosition();
-            (result,msg) = interference.Invoke(from, Targetpos);
+            (result, msg) = interference.Invoke(from, Targetpos);
 
-            if (result) {
+            if (result)
+            {
                 LogUtil.info(AxisName + $" 干涉:{msg},From:{from},To:{Targetpos}");
             }
 
@@ -313,19 +329,15 @@ namespace DeviceLibrary
 
         #region  匀速上升处理 
         private System.Timers.Timer axisCheckTimer = null;
-        internal string TargetIoType = "";
+        internal string[] TargetIoType = new string[] { };
         internal IO_VALUE TargetIoValue = IO_VALUE.HIGH;
-        public bool BatchAxisStartCheck(string targetIo, IO_VALUE value = IO_VALUE.HIGH)
+        public bool BatchAxisStartCheck(string[] targetIo, IO_VALUE value = IO_VALUE.HIGH)
         {
-            if (String.IsNullOrEmpty(targetIo))
-            {
-                targetIo = "";
-            }
             if (axisCheckTimer == null)
             {
                 axisCheckTimer = new System.Timers.Timer();
                 axisCheckTimer.AutoReset = true;
-                axisCheckTimer.Interval += 30;
+                axisCheckTimer.Interval += 15;
                 axisCheckTimer.Elapsed += CheckTimer_Elapsed;
                 axisCheckTimer.Enabled = false;
             }
@@ -345,21 +357,21 @@ namespace DeviceLibrary
             return true;
         }
         private bool IsInProcess = false;
-        private DateTime lastOkTime = DateTime.Now;
         private void CheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
         {
-            TimeSpan pan = DateTime.Now - lastOkTime;
-            if (IsInProcess && pan.TotalMilliseconds < 100) { return; }
+            if (IsInProcess) { return; }
             try
             {
-
                 IsInProcess = true;
-                lastOkTime = DateTime.Now;
-                if (IOManager.IOValue(TargetIoType).Equals(TargetIoValue))
+                foreach (var io in TargetIoType)
                 {
-                    StopAxisCheckMove();
-                    LogUtil.info(AxisName + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，停止运动");
-                    SuddenStop();
+                    if (IOManager.IOValue(io).Equals(TargetIoValue))
+                    {
+                        SuddenStop();
+                        StopAxisCheckMove();
+                        LogUtil.info(AxisName + "上料轴，检测到 " + io + "=" + TargetIoValue + "，停止运动");
+                        break;
+                    }
                 }
             }
             catch (Exception ex)
@@ -400,7 +412,7 @@ namespace DeviceLibrary
         public static void CloseMultiAxis(List<AxisBean> axisArray)
         {
             foreach (AxisBean axis in axisArray)
-            {                
+            {
                 axis.ServoOff();
                 Thread.Sleep(10);
             }

DeviceLibrary/theMachine/MainMachine _IOMonitor.cs

@@ -42,7 +42,7 @@ namespace DeviceLibrary
             else
             {
                 var timediff = DateTime.Now - lastBtnUpPressTime;
-                if (timediff.TotalSeconds < 1 && trueCount == 2) {
+                if (timediff.TotalSeconds < 3 && trueCount == 2) {
                     if (btnUP_L && btnUP_R)
                     {
                         BtnAction = BtnActionE.Mid_Up;
@@ -100,7 +100,7 @@ namespace DeviceLibrary
                 else {
                     Msg.add(ld.Name + msg, MsgLevel.info);
                 }
-            }            
+            }
 
 
         }
@@ -111,10 +111,17 @@ namespace DeviceLibrary
         DateTime lastAirprocesstime = DateTime.Now;
         void airprocess()
         {
+            if (IOManager.IOValue(IO_Type.AirValve_Open).Equals(IO_VALUE.HIGH) || IOManager.IOValue(IO_Type.FrontDoor_Check).Equals(IO_VALUE.LOW) || IOManager.IOValue(IO_Type.BackDoor_Check).Equals(IO_VALUE.LOW))
+            {
+                IOMove(IO_Type.AirValue, IO_VALUE.LOW);
+                return;
+            }
+            
             if ((DateTime.Now - lastAirprocesstime).TotalSeconds < 5)
                 return;
             lastAirprocesstime = DateTime.Now;
 
+            IOManager.IOMove(IO_Type.SafeDoor_Lock, IO_VALUE.HIGH);
             //var temp = HumitureController.QueryData();
             var temp = HumitureController.LastData;
             Current_Humidity = temp.Humidity;

DeviceLibrary/theMachine/MainMachine.cs

@@ -103,7 +103,7 @@ namespace DeviceLibrary
             };
             //BoxTransport_InOutEndProcessEvent;
             //ProcessMsgEvent += MainMachine_ProcessMsgEvent;
-
+            CodeManager.LoadCamera(true);
             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);

DeviceLibrary/theMachine/RobotManage.cs

@@ -93,6 +93,7 @@ namespace DeviceLibrary
             }
             catch (Exception ex) {
                 LoadFinishEvent?.Invoke(false, ex.Message);
+                LogUtil.error(ex.Message);
                 return;
             }
             LoadFinishEvent?.Invoke(IsConfigMode ? IsConfigMode : IsLoadOk, msg);

LoadCVSLibrary/Config/Config.csv

@@ -123,3 +123,5 @@ DO,0,右线体防护门上升,Right_Door_Up,26,HC,Y26,,,,,,,,,,
 DO,0,右线体防护门下降,Right_Door_Down,27,HC,Y27,,,,,,,,,,
 DO,0,分拣台上升,Mid_Up,28,HC,Y28,,,,,,,,,,
 DO,0,分拣台下降,Mid_Down,29,HC,Y29,,,,,,,,,,
+DO,0,安全门关闭,SafeDoor_Lock,30,HC,Y30,,,,,,,,,,
+DO,0,空气阀门打开,AirValve_Open,31,HC,Y31,,,,,,,,,,

LoadCVSLibrary/storeConfig/config/IO_Type.cs

@@ -338,6 +338,14 @@ namespace OnlineStore.LoadCSVLibrary
         public static string Mid_Down = "Mid_Down";
 
 
+        /// <summary>
+        ///  DO,0,安全门关闭,SafeDoor_Lock,30,HC,Y30,,,,,,,,,,
+        /// </summary>
+        public static string SafeDoor_Lock = "SafeDoor_Lock";
+        /// <summary>
+        ///  DO,0,空气阀门打开,AirValve_Open,31,HC,Y31,,,,,,,,,,
+        /// </summary>
+        public static string AirValve_Open = "AirValve_Open";
     }
     public enum IO_VALUE
     {

TheMachine/Form1.Designer.cs

@@ -51,6 +51,7 @@ 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_opendoor = new System.Windows.Forms.Button();
             this.menuStrip1.SuspendLayout();
             this.tabControl1.SuspendLayout();
             this.tabPage1.SuspendLayout();
@@ -142,6 +143,7 @@ namespace TheMachine
             // 
             this.tabPage1.Controls.Add(this.pictureBox2);
             this.tabPage1.Controls.Add(this.pictureBox1);
+            this.tabPage1.Controls.Add(this.btn_opendoor);
             this.tabPage1.Controls.Add(this.btn_IgnoreX09);
             this.tabPage1.Controls.Add(this.btn_PauseBuzzer);
             this.tabPage1.Controls.Add(this.cb_EnableBuzzer);
@@ -299,6 +301,18 @@ namespace TheMachine
             this.btn_run.UseVisualStyleBackColor = true;
             this.btn_run.Click += new System.EventHandler(this.btn_run_Click);
             // 
+            // btn_opendoor
+            // 
+            this.btn_opendoor.BackColor = System.Drawing.Color.White;
+            this.btn_opendoor.Location = new System.Drawing.Point(657, 236);
+            this.btn_opendoor.Name = "btn_opendoor";
+            this.btn_opendoor.Size = new System.Drawing.Size(201, 40);
+            this.btn_opendoor.TabIndex = 6;
+            this.btn_opendoor.Text = "解锁舱门";
+            this.btn_opendoor.UseVisualStyleBackColor = false;
+            this.btn_opendoor.Visible = false;
+            this.btn_opendoor.Click += new System.EventHandler(this.btn_opendoor_Click);
+            // 
             // Form1
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 14F);
@@ -353,6 +367,7 @@ namespace TheMachine
         private System.Windows.Forms.PictureBox pictureBox2;
         private System.Windows.Forms.PictureBox pictureBox1;
         private System.Windows.Forms.Button btn_IgnoreX09;
+        private System.Windows.Forms.Button btn_opendoor;
     }
 }
 

TheMachine/Form1.cs

@@ -154,6 +154,8 @@ namespace TheMachine
         }
         void SetState(List<MoveInfo> moveInfoList)
         {
+            if (RobotManage.mainMachine == null)
+                return;
             this.SuspendLayout();
             stateView.Items.Clear();
             foreach (MoveInfo moveInfo in moveInfoList)
@@ -448,5 +450,13 @@ namespace TheMachine
             RobotManage.mainMachine.IgnoreX09();
             btn_IgnoreX09.Visible = false;
         }
+
+        private void btn_opendoor_Click(object sender, EventArgs e)
+        {
+            LogUtil.info("用户点击打开舱门");
+            RobotManage.UserPause(true);
+            FrmReleaseDoor frmReleaseDoor = new FrmReleaseDoor();
+            frmReleaseDoor.ShowDialog();
+        }
     }
 }

TheMachine/FrmReleaseDoor.Designer.cs

+
+namespace TheMachine
+{
+    partial class FrmReleaseDoor
+    {
+        /// <summary>
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows Form Designer generated code
+
+        /// <summary>
+        /// Required method for Designer support - do not modify
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.components = new System.ComponentModel.Container();
+            this.btn_cancel = new System.Windows.Forms.Button();
+            this.lbl_lockstatus = new System.Windows.Forms.Label();
+            this.lbl_airstatus = new System.Windows.Forms.Label();
+            this.timer1 = new System.Windows.Forms.Timer(this.components);
+            this.SuspendLayout();
+            // 
+            // btn_cancel
+            // 
+            this.btn_cancel.Font = new System.Drawing.Font("微软雅黑", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.btn_cancel.Location = new System.Drawing.Point(202, 318);
+            this.btn_cancel.Name = "btn_cancel";
+            this.btn_cancel.Size = new System.Drawing.Size(234, 49);
+            this.btn_cancel.TabIndex = 0;
+            this.btn_cancel.Text = "取消开启或关闭门锁";
+            this.btn_cancel.UseVisualStyleBackColor = true;
+            this.btn_cancel.Click += new System.EventHandler(this.btn_cancel_Click);
+            // 
+            // lbl_lockstatus
+            // 
+            this.lbl_lockstatus.Font = new System.Drawing.Font("微软雅黑", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.lbl_lockstatus.Location = new System.Drawing.Point(99, 24);
+            this.lbl_lockstatus.Name = "lbl_lockstatus";
+            this.lbl_lockstatus.Size = new System.Drawing.Size(469, 75);
+            this.lbl_lockstatus.TabIndex = 1;
+            this.lbl_lockstatus.Text = "门锁状态:已锁定";
+            // 
+            // lbl_airstatus
+            // 
+            this.lbl_airstatus.Font = new System.Drawing.Font("微软雅黑", 14.25F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
+            this.lbl_airstatus.Location = new System.Drawing.Point(99, 112);
+            this.lbl_airstatus.Name = "lbl_airstatus";
+            this.lbl_airstatus.Size = new System.Drawing.Size(469, 149);
+            this.lbl_airstatus.TabIndex = 1;
+            this.lbl_airstatus.Text = "舱内氮气含量:";
+            // 
+            // timer1
+            // 
+            this.timer1.Enabled = true;
+            this.timer1.Interval = 1500;
+            this.timer1.Tick += new System.EventHandler(this.timer1_Tick);
+            // 
+            // FrmReleaseDoor
+            // 
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
+            this.ClientSize = new System.Drawing.Size(662, 394);
+            this.Controls.Add(this.lbl_airstatus);
+            this.Controls.Add(this.lbl_lockstatus);
+            this.Controls.Add(this.btn_cancel);
+            this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.FixedSingle;
+            this.MaximizeBox = false;
+            this.MinimizeBox = false;
+            this.Name = "FrmReleaseDoor";
+            this.ShowIcon = false;
+            this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
+            this.Text = "解锁门锁";
+            this.Load += new System.EventHandler(this.FrmReleaseDoor_Load);
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.Button btn_cancel;
+        private System.Windows.Forms.Label lbl_lockstatus;
+        private System.Windows.Forms.Label lbl_airstatus;
+        private System.Windows.Forms.Timer timer1;
+    }
+}
\ No newline at end of file

TheMachine/FrmReleaseDoor.cs

+using DeviceLibrary;
+using OnlineStore.Common;
+using OnlineStore.LoadCSVLibrary;
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace TheMachine
+{
+    public partial class FrmReleaseDoor : Form
+    {
+        public FrmReleaseDoor()
+        {
+            InitializeComponent();
+        }
+
+        private void timer1_Tick(object sender, EventArgs e)
+        {
+            IOManager.IOMove(IO_Type.AirValve_Open, IO_VALUE.HIGH);
+            IOManager.IOMove(IO_Type.AirValue, IO_VALUE.LOW);
+            var dd=HumitureController.QueryData();
+            var nitrogen = 100- dd.OxygenV-1;
+
+            if (nitrogen <= Setting_Init.Nitrogen_Safe_Maximum) {
+                IOManager.IOMove(IO_Type.SafeDoor_Lock, IO_VALUE.LOW);
+            }
+
+
+            lbl_airstatus.Text = $"当前氮气含量:{nitrogen:0.0}%, 等待低于{Setting_Init.Nitrogen_Safe_Maximum}%后解锁舱门";
+            var islock = IOManager.IOValue(IO_Type.SafeDoor_Lock).Equals(IO_VALUE.HIGH);
+            var isair = IOManager.IOValue(IO_Type.AirValve_Open).Equals(IO_VALUE.HIGH);
+            lbl_lockstatus.Text = $"当前门锁状态:{(islock ? "已锁门" : "已解锁")}\r\n空气阀状态:{(isair ? "已打开" : "已关闭")}";
+        }
+
+        private void FrmReleaseDoor_Load(object sender, EventArgs e)
+        {
+            LogUtil.info("请求打开舱门开始");
+            IOManager.IOMove(IO_Type.AirValve_Open, IO_VALUE.HIGH);
+            Thread.Sleep(1000);
+            IOManager.IOMove(IO_Type.AirValue, IO_VALUE.LOW);
+        }
+
+        private void btn_cancel_Click(object sender, EventArgs e)
+        {
+            if (IOManager.IOValue(IO_Type.FrontDoor_Check).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.BackDoor_Check).Equals(IO_VALUE.HIGH))
+            {
+                timer1.Stop();
+                IOManager.IOMove(IO_Type.SafeDoor_Lock, IO_VALUE.HIGH);
+                Thread.Sleep(200);
+                IOManager.IOMove(IO_Type.SafeDoor_Lock, IO_VALUE.HIGH);
+                IOManager.IOMove(IO_Type.AirValve_Open, IO_VALUE.LOW);
+                this.Close();
+            }
+            else
+            {
+                MessageBox.Show("请先关闭料仓门");
+            }
+        }
+    }
+}

TheMachine/FrmReleaseDoor.resx

+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <metadata name="timer1.TrayLocation" type="System.Drawing.Point, System.Drawing, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a">
+    <value>17, 17</value>
+  </metadata>
+</root>
\ No newline at end of file

TheMachine/SettingControl.cs

@@ -130,7 +130,7 @@ namespace TheMachine
                 return;
             }
             var t = HumitureController.LastData;
-            lbl_hmdstate.Text += "温度"+$":{t.Temperate}℃, "+ "湿度"+$":{t.Humidity}%";
+            lbl_hmdstate.Text += "温度"+$":{t.Temperate}℃, "+ "湿度"+$":{t.Humidity}%, " + "氮气" + $":{100-t.OxygenV-1}%";
         }
     }
 }

TheMachine/TheMachine.csproj

@@ -93,6 +93,12 @@
     <Compile Include="Form1.Designer.cs">
       <DependentUpon>Form1.cs</DependentUpon>
     </Compile>
+    <Compile Include="FrmReleaseDoor.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="FrmReleaseDoor.Designer.cs">
+      <DependentUpon>FrmReleaseDoor.cs</DependentUpon>
+    </Compile>
     <Compile Include="Frm_AxisMoveByIO.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -153,6 +159,9 @@
     <EmbeddedResource Include="Form1.resx">
       <DependentUpon>Form1.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="FrmReleaseDoor.resx">
+      <DependentUpon>FrmReleaseDoor.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="Frm_AxisMoveByIO.resx">
       <DependentUpon>Frm_AxisMoveByIO.cs</DependentUpon>
     </EmbeddedResource>