1

DeviceLibrary/DeviceLibrary/CodeManager.cs

@@ -147,7 +147,8 @@ namespace DeviceLibrary
                     try
                     try
                     {
                     {
                         bool nohalcon = true;
                         bool nohalcon = true;
-                        ho_Image = Camera._cam.CaptureOnImage(cameraName, out bmp, nohalcon);
+                        //ho_Image = Camera._cam.CaptureOnImage(cameraName, out bmp, nohalcon);
+                        bmp = Camera._cam.GrabOneImage(cameraName);
                         if (bmp == null)
                         if (bmp == null)
                         {
                         {
                             if (retrytime > 2)
                             if (retrytime > 2)

DeviceLibrary/theMachine/InOutDevice_IN.cs

@@ -74,6 +74,7 @@ namespace DeviceLibrary
                     Line.LineRun("work", false, 10);
                     Line.LineRun("work", false, 10);
                     MiddleStop(MoveInfo, IO_VALUE.HIGH);
                     MiddleStop(MoveInfo, IO_VALUE.HIGH);
                     FrontStop(MoveInfo, IO_VALUE.LOW);
                     FrontStop(MoveInfo, IO_VALUE.LOW);
+                    IOMove(DO_Agv_Rsp, IO_VALUE.HIGH);
                     MoveInfo.log("线体正转,放下前阻挡");
                     MoveInfo.log("线体正转,放下前阻挡");
                     break;
                     break;
                 case MoveStep.In02:
                 case MoveStep.In02:
@@ -82,10 +83,12 @@ namespace DeviceLibrary
                         MoveInfo.NextMoveStep(MoveStep.In03);
                         MoveInfo.NextMoveStep(MoveStep.In03);
                         Lift.LiftDown(null);
                         Lift.LiftDown(null);
                         MoveInfo.log("检测到周转箱2,升降台下降,前往中间阻挡");
                         MoveInfo.log("检测到周转箱2,升降台下降,前往中间阻挡");
+                        IOMove(DO_Agv_Rsp, IO_VALUE.LOW);
                     }
                     }
                     else if (MoveInfo.IsTimeOut(3))
                     else if (MoveInfo.IsTimeOut(3))
                     {
                     {
                         MoveInfo.log("没有检测到周转箱,结束入库");
                         MoveInfo.log("没有检测到周转箱,结束入库");
+                        IOMove(DO_Agv_Rsp, IO_VALUE.LOW);
                         Line.LineStop("work");
                         Line.LineStop("work");
                         MoveInfo.EndMove();
                         MoveInfo.EndMove();
                     }
                     }

DeviceLibrary/theMachine/InOutDevice_OUT.cs

@@ -109,6 +109,7 @@ namespace DeviceLibrary
                     {
                     {
                         MoveInfo.NextMoveStep(MoveStep.Out09);
                         MoveInfo.NextMoveStep(MoveStep.Out09);
                         Line.LineRun("work", true, 3);
                         Line.LineRun("work", true, 3);
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
                     }
                     }
                     else if (MoveInfo.IsTimeOut(15))
                     else if (MoveInfo.IsTimeOut(15))
                     {
                     {

TheMachine/Form1.cs

@@ -99,7 +99,10 @@ namespace TheMachine
             AlarmBuzzer.BuzzerStateChange += AlarmBuzzer_BuzzerStateChange;
             AlarmBuzzer.BuzzerStateChange += AlarmBuzzer_BuzzerStateChange;
             RobotManage.LoadFinishEvent += RobotManage_LoadFinishEvent;
             RobotManage.LoadFinishEvent += RobotManage_LoadFinishEvent;
             AddForm("日志", lc);
             AddForm("日志", lc);
-            RobotManage.Init();
+            var loadtask = Task.Run(() =>
+            {
+                RobotManage.Init();
+            });
             RobotManage.UserPauseSet += RobotManage_UserPauseSet;
             RobotManage.UserPauseSet += RobotManage_UserPauseSet;
 
 
             RobotManage.CameraA.camera_event += CameraA_camera_event;
             RobotManage.CameraA.camera_event += CameraA_camera_event;
@@ -221,6 +224,15 @@ namespace TheMachine
 
 
         private void RobotManage_LoadFinishEvent(bool state, string msg)
         private void RobotManage_LoadFinishEvent(bool state, string msg)
         {
         {
+
+            if (InvokeRequired)
+            {
+                Invoke((EventHandler)delegate {
+                    RobotManage_LoadFinishEvent(state,msg);
+                });
+                return;
+            }
+
             if (state)
             if (state)
             {
             {
                 btn_run.Enabled = true;
                 btn_run.Enabled = true;
@@ -243,6 +255,14 @@ namespace TheMachine
         }
         }
         void SetMsg(List<Msg> msgs)
         void SetMsg(List<Msg> msgs)
         {
         {
+            if (InvokeRequired) {
+                Invoke((EventHandler)delegate {
+                    SetMsg(msgs);
+                });
+                return;
+            }
+
+
             this.SuspendLayout();
             this.SuspendLayout();
             listView1.Items.Clear();
             listView1.Items.Clear();
             foreach (Msg msg in msgs)
             foreach (Msg msg in msgs)