1

DeviceLibrary/theMachine/RobotManage.cs

@@ -19,7 +19,7 @@ namespace DeviceLibrary
         public static bool IsLoadOk = true;
         public static bool IsConfigMode = false;
         public static bool InoutDebugMode = false;
-        public delegate void LoadFinish(bool state,string msg);
+        public delegate void LoadFinish(bool state, string msg);
         public static event LoadFinish LoadFinishEvent;
 
         public static event EventHandler<bool> UserPauseSet;
@@ -31,20 +31,27 @@ namespace DeviceLibrary
         public static List<HumitureController> humitureControllers = new List<HumitureController>();
         public static double averageHumidity()
         {
-            return humitureControllers.FindAll(s => s.LastData.Humidity > 0).Average(x => x.LastData.Humidity);
+            var ss = humitureControllers.FindAll(s => s.LastData.Humidity > 0);
+            if (ss != null && ss.Count > 0)
+                return ss.Average(x => x.LastData.Humidity);
+            return 0;
         }
         public static double averageTemp()
         {
-            return humitureControllers.FindAll(s => s.LastData.Temperate > 0).Average(x => x.LastData.Temperate);
+            var ss = humitureControllers.FindAll(s => s.LastData.Temperate > 0);
+            if (ss != null && ss.Count > 0)
+                return ss.Average(x => x.LastData.Temperate);
+            return 0;
         }
 
-        public static HIKCamera CameraA=new HIKCamera();
-        public static HIKCamera CameraB= new HIKCamera();
-        public static void Init() {
+        public static HIKCamera CameraA = new HIKCamera();
+        public static HIKCamera CameraB = new HIKCamera();
+        public static void Init()
+        {
             string msg = "";
             try
             {
-                mainMachine = null;                
+                mainMachine = null;
                 string configFile = Path.Combine(baseDir, "config\\Config.csv");
                 Config = new Robot_Config(0, "", configFile);
                 Config = (Robot_Config)CSVConfigReader.LoadConfig(Config);
@@ -56,7 +63,8 @@ namespace DeviceLibrary
                     LogUtil.info("加载位置文件：" + positionConfigFile);
                     CSVPositionReader<ACStorePosition>.ReloadCSVFile(positionConfigFile);
                 }
-                else {
+                else
+                {
                     IsLoadOk = false;
                     msg += "找不到库位配置文件\n";
                 }
@@ -70,16 +78,17 @@ namespace DeviceLibrary
                     msg += "IO板卡初始化失败\n";
                 }
                 var hports = Setting_Init.Device_Humiture_Port.Val.Split(',');
-                foreach(var p in hports)
-                {                    
+                foreach (var p in hports)
+                {
                     var hc = new HumitureController();
                     if (!hc.Init(p))
                     {
-                        LogUtil.info("尝试打开端口:" + p+" 失败");
+                        LogUtil.info("尝试打开端口:" + p + " 失败");
                         IsLoadOk = false;
                         msg += "温湿度传感器初始化失败,端口:" + $"{p}\n";
                     }
-                    else {
+                    else
+                    {
                         LogUtil.info("尝试打开端口:" + p + " 成功");
                         humitureControllers.Add(hc);
                     }
@@ -102,22 +111,25 @@ namespace DeviceLibrary
                 if (!CameraB.LoadCameraConfig("CameraB", out errmsg))
                 {
                     //IsLoadOk = false;
-                    msg += errmsg+"\r\n";
+                    msg += errmsg + "\r\n";
                 }
                 //IOManager.IOMove(IO_Type.Device_Led, IO_VALUE.HIGH);
                 //IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
                 LoadFinishEvent?.Invoke(IsConfigMode ? IsConfigMode : IsLoadOk, msg);
             }
-            catch (Exception ex) {
+            catch (Exception ex)
+            {
                 LoadFinishEvent?.Invoke(false, ex.Message);
-                LogUtil.error(ex.Message+ex.StackTrace);
+                LogUtil.error(ex.Message + ex.StackTrace);
                 return;
             }
         }
-        public static void LoadDebug() {
+        public static void LoadDebug()
+        {
             LoadFinishEvent?.Invoke(true, "打开调试模式");
         }
-        public static void Start() {
+        public static void Start()
+        {
             //Init();
             if (!IsLoadOk)
             {
@@ -130,20 +142,21 @@ namespace DeviceLibrary
 
             isRunning = true;
             GC.KeepAlive(mainThread);
-            Task.Run(()=> {
+            Task.Run(() =>
+            {
                 AxisBean.List.ForEach((x) => { AxisManager.AlarmClear(x.Config.DeviceName, x.Config.GetAxisValue()); });
 
                 Task.Delay(1000).Wait();
                 if (mainMachine.DeviceCheck())
                     mainMachine.BeginHomeReset(true);
             });
-            
+
         }
 
         public static void Stop()
         {
             LogUtil.info("开始停止系统.");
-            
+
             mainMachine.Stop();
             mainMachine.UserPause = false;
             //IOManager.CloseAllConnection();
@@ -160,14 +173,15 @@ namespace DeviceLibrary
         }
         public static void UserPause(bool userpause)
         {
-            UserPause("", userpause,false);
+            UserPause("", userpause, false);
         }
-        public static void UserPause(string msg="",bool userpause=true,bool upload=true) {
+        public static void UserPause(string msg = "", bool userpause = true, bool upload = true)
+        {
             if (userpause)
             {
-                if(string.IsNullOrEmpty(msg))
+                if (string.IsNullOrEmpty(msg))
                 {
-                    if(upload)
+                    if (upload)
                     {
                         Msg.add("用户暂停", MsgLevel.critical);
                     }