1

张东亮
Commit 60bd1e2b 由 张东亮 编写于 2025-09-10 13:13:18 +0800
DeviceLibrary/theMachine/RobotManage.cs
--- a/DeviceLibrary/theMachine/RobotManage.cs
查看文件 @60bd1e2
+++ b/DeviceLibrary/theMachine/RobotManage.cs
查看文件 @60bd1e2
@@ -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 CameraA = new HIKCamera();
-        public static HIKCamera CameraB= new HIKCamera();
+        public static HIKCamera CameraB = new HIKCamera();
-        public static void Init() {
+        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);
                    }