1

Common/CodeResourceControl.cs

@@ -6,6 +6,7 @@ using System.ComponentModel;
 using System.IO;
 using System.Linq;
 using System.Text;
+using System.Text.RegularExpressions;
 using System.Threading.Tasks;
 using System.Windows.Forms;
 using System.Windows.Forms.Layout;
@@ -179,7 +180,8 @@ namespace OnlineStore
                 if ((strCurLanguage == null || strCurLanguage.Equals("")) && (!defaultStr.Equals("")))
                 {
                     strCurLanguage = defaultStr;
-                    NoIdLog(id, defaultStr);
+                    if (HasChinese(defaultStr))
+                        NoIdLog(id, defaultStr);
                 }
             }
             catch (Exception ex)
@@ -220,6 +222,10 @@ namespace OnlineStore
             }
         
         }
+        static bool HasChinese(string txt)
+        {
+            return Regex.IsMatch(txt.ToString(), @"[\u4E00-\u9FA5]+");
+        }
         private static bool checkInterid(string id) {
             return true;
             string[] interstring = new string[] { "_txt", "_lbl" };

DeviceLibrary/DeviceLibrary/AxisBean.cs

@@ -105,8 +105,14 @@ namespace DeviceLibrary
                 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);
+            for (int i = 0; i < 3; i++)
+            {
+                AxisManager.SuddenStop(Config);
+                var r=AxisManager.HomeMove(Config.DeviceName, (short)Config.GetAxisValue(), Config.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed);
+                if (r)
+                    break;
+                Thread.Sleep(100);
+            }
         }
 
         /// <summary>
@@ -141,7 +147,50 @@ namespace DeviceLibrary
                 AxisManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPosition, targetSpeed, AddSpeed, DelSpeed);// Config.AddSpeed, Config.DelSpeed);
             }
         }
+        public Task<bool> AbsMoveASYNC(int targetPosition, int targetSpeed,int waitsecond=5)
+        {
+            return Task.Run(new Func<bool>(()=> {
+                if (IsInPosition(targetPosition))
+                {
+                    LogUtil.info(AxisName + $" 已在目标点:{targetPosition}");
+                    return true;
+                }
 
+                if (ForceSafeCheck && !IsSafe(targetPosition, out string msg))
+                {
+                    Msg.add(msg, MsgLevel.alarm);
+                    LogUtil.info(AxisName + $" 不在安全点无法运行:{msg}");
+                    RobotManage.UserPause(msg);
+                    return false;
+                }
+                var AddSpeed = Config.AddSpeed > 0 ? Config.AddSpeed : targetSpeed * 4;
+                var DelSpeed = Config.DelSpeed > 0 ? Config.DelSpeed : targetSpeed * 4;
+                if (IsBusy) {
+                    return false;
+                }
+                int retrytime = 0;
+            retry:
+                DateTime start = DateTime.Now;
+                AxisManager.AbsMove(Config.DeviceName, Config.GetAxisValue(), targetPosition, targetSpeed, AddSpeed, DelSpeed);// Config.AddSpeed, Config.DelSpeed);
+                while (!IsBusy) {
+                    Task.Delay(100).Wait();
+                    if ((DateTime.Now - start).TotalSeconds > waitsecond)
+                    {
+                        AxisManager.SuddenStop(Config);
+                        break;
+                    }
+                }
+                if (Math.Abs(targetPosition- GetAclPosition())>100) {
+                    retrytime++;
+                    if (retrytime >= 4)
+                        return false;
+                    LogUtil.error(AxisName+$"目标位置{targetPosition}当前位置{GetAclPosition()}，误差过大，重新开始运动，第{retrytime}次");
+                    goto retry;
+                }
+                return true;
+            }));
+            
+        }
         public void SpeedMove(int targetSpeed)
         {
             AxisManager.SpeedMove(Config.DeviceName, Config.GetAxisValue(), targetSpeed, targetSpeed * 4, targetSpeed * 4);

DeviceLibrary/DeviceLibrary/AxisManager.cs

@@ -49,9 +49,9 @@ namespace DeviceLibrary
         {
             instance.RelMove(portName, slvAddr, position, targetSpeed, ptpAcc, ptpDec);
         }
-        public static void HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc)
+        public static bool HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc)
         {
-            instance.HomeMove(portName, slvAddr, highVel, lowVel, acc);
+           return instance.HomeMove(portName, slvAddr, highVel, lowVel, acc);
         }
 
         public static void SpeedMove(string portName, short slvAddr, int speed,int acc,int dec)

DeviceLibrary/DeviceLibrary/HC/HCAxisManager.cs

@@ -74,9 +74,9 @@ namespace DeviceLibrary
             return (int)HCBoardManager.GetAxisPrfPos(slvAddr);
         }
 
-        public void HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc)
+        public bool HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc)
         {
-            HCBoardManager.StartHomeMove(slvAddr,(uint) highVel, (uint)lowVel, (uint)acc);
+           return HCBoardManager.StartHomeMove(slvAddr,(uint) highVel, (uint)lowVel, (uint)acc);
         } 
         public bool IsHomeMoveEnd(string portName, short slvAddr)
         {

DeviceLibrary/DeviceLibrary/IAxisManager.cs

@@ -24,7 +24,7 @@ namespace DeviceLibrary
         void ServoOn(string portName, short slvAddr);
         void ServoOff(string portName, short slvAddr); 
         void RelMove(string portName, short slvAddr, int position, int targetSpeed  , int ptpAcc , int ptpDec  ); 
-        void HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc);
+        bool HomeMove(string portName, short slvAddr, int highVel, int lowVel, int acc);
 
         void SpeedMove(string portName, short slvAddr, int speed,int acc,int dec);
         void SuddenStop(string portName, short slvAddr);

DeviceLibrary/DeviceLibrary/LimitedRotary.cs

@@ -70,13 +70,21 @@ namespace DeviceLibrary
                 try
                 {
                     if (needclamp)
-                    { 
+                    {
                         RobotManage.mainMachine.CylinderMove(null, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.HIGH);
-                        while (!IOManager.IOValue(IO_Type.Tin_Dock_Rotate_Clamp).Equals(IO_VALUE.HIGH)) {
+                        while (!IOManager.IOValue(IO_Type.Tin_Dock_Rotate_Clamp).Equals(IO_VALUE.HIGH))
+                        {
+                            Task.Delay(100).Wait();
+                        }
+                    }
+                    else {
+                        RobotManage.mainMachine.CylinderMove(null, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.LOW);
+                        while (!IOManager.IOValue(IO_Type.Tin_Dock_Rotate_Clamp).Equals(IO_VALUE.LOW))
+                        {
                             Task.Delay(100).Wait();
                         }
                     }
-                    var len = (int)(StrokeLength * 1.3);
+                    var len = (int)(StrokeLength * 1.6);
                     if (isHorizontal)
                         len = len * -1;
                     if (!axisBean.IsServeoOn)
@@ -97,6 +105,9 @@ namespace DeviceLibrary
                             Pause();
                             return true;
                         }
+                        if (!axisBean.IsBusy) {
+                            axisBean.RelMove(len, (double)upspeed);
+                        }
                     }
                     Task.Delay(100).Wait();
                     axisBean.SuddenStop();
@@ -246,10 +257,14 @@ namespace DeviceLibrary
                 var len = (int)(StrokeLength / 90 * degree);
                 if (Math.Abs(degreeAdd + degree) > 90)
                 {
+                    RobotManage.mainMachine.CylinderMove(null, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.LOW);
+                    while (!IOManager.IOValue(IO_Type.Tin_Dock_Rotate_Clamp).Equals(IO_VALUE.HIGH))
+                    {
+                        Task.Delay(30).Wait();
+                    }
                     if (len > 0)
                     {
-                        TurnToEnd(true).Wait();
-                        
+                        TurnToEnd(true).Wait();                        
                     }
                     else if (len < 0)
                     {
@@ -262,7 +277,7 @@ namespace DeviceLibrary
                     Task.Delay(30).Wait();
                 }
                 //moveInfo.log($"len:{len}");
-                axisBean.RelMove(len * -1, (double)upspeed);
+                axisBean.RelMove(len, (double)upspeed);
                 Task.Delay(50).Wait();
                 while (axisBean.IsBusy)
                 {

DeviceLibrary/DeviceLibrary/PrinterHelper.cs

@@ -15,7 +15,7 @@ namespace DeviceLibrary
         string Port;
         public PrinterHelper() {
             
-            print = new Asa.PrintLabel(Application.StartupPath + "\\Label",300);
+            print = new Asa.PrintLabel(Application.StartupPath + "\\Label",200);
             
         }
 

DeviceLibrary/DeviceLibrary/ServerCommunication.cs

@@ -232,7 +232,7 @@ namespace DeviceLibrary
             }
             else if (!RobotManage.isRunning)
             {
-                sendmsg = "设备未启动";
+                sendmsg = crc.GetString("Res0059","设备未启动");
             }
 
             lineOperation.msg = sendmsg;
@@ -652,7 +652,8 @@ namespace DeviceLibrary
 
         public string msg { get; set; }
 
-        public Dictionary<string, object> data { get; set; }
+        //public Dictionary<string, object> data { get; set; }
+        public object data { get; set; }
     }
     /// <summary>
     ///1=设备联机（正常就绪）（入库后，BOX恢复原始状态）（出库后，移载装置恢复原始状态），
@@ -721,4 +722,4 @@ namespace DeviceLibrary
         InStoreError = 14,
 
     }
-}
+}
\ No newline at end of file

DeviceLibrary/theMachine/BoxTransport.cs

@@ -218,8 +218,15 @@ namespace DeviceLibrary
                     {
                         MoveInfo.NextMoveStep(MoveStep.StoreTS29);
                         MoveInfo.log("LabelP=>RFIDP 直接结束");
+                    }    
+                    else if (To.posid == MainMachine.RFIDP)
+                    {
+                        MoveInfo.NextMoveStep(MoveStep.StoreTS29);
+                        Z_Axis.AbsMove(MoveInfo, To.Z_Axis_P3, Config.Z_Axis_P1_speed);
+                        MoveInfo.log($"{storeMoveType}:Z轴到达目的地低点:{To.Z_Axis_P3}");
+                        MoveInfo.log("???=>RFIDP 升降轴直接到P3 直接结束");
                     }
-                    else
+                    else if (To.posid != MainMachine.LabelP)
                     {
                         var zp2 = To.Z_Axis_P3 - 205000;
                         if (zp2 < 0)

DeviceLibrary/theMachine/CameraPointTest.cs

@@ -7,6 +7,7 @@ using System.Drawing;
 using System.Drawing.Imaging;
 using System.IO;
 using System.Linq;
+using System.Runtime.ExceptionServices;
 using System.Runtime.InteropServices;
 using System.Text;
 using System.Threading.Tasks;
@@ -82,15 +83,15 @@ namespace DeviceLibrary
                         }
                         break;
                     case TestStorePointPort.上层左侧:
-                        startindex = RobotManage.AllPositionMapNumList.IndexOf("LA1");
+                        startindex = RobotManage.AllPositionMapNumList.IndexOf("SA1");
                         haslistindex = TestStorePoint(RobotManage.CameraA.GetImage(2), TestStorePointPort.上层左侧);
                         break;
                     case TestStorePointPort.上层右侧:
-                        startindex = RobotManage.AllPositionMapNumList.IndexOf("LA1");
+                        startindex = RobotManage.AllPositionMapNumList.IndexOf("SA1");
                         haslistindex = TestStorePoint(RobotManage.CameraA.GetImage(3), TestStorePointPort.上层右侧);
                         break;
                     case TestStorePointPort.下层左侧:
-                        startindex = RobotManage.AllPositionMapNumList.IndexOf("LA1");
+                        startindex = RobotManage.AllPositionMapNumList.IndexOf("SH1");
                         haslistindex = TestStorePoint(RobotManage.CameraA.GetImage(2), TestStorePointPort.下层左侧);
                         break;
                     case TestStorePointPort.下层右侧:
@@ -122,7 +123,7 @@ namespace DeviceLibrary
                 return new List<string>();
             }
         }
-
+        [HandleProcessCorruptedStateExceptions]
         public static List<int> TestStorePoint(Bitmap bmp, TestStorePointPort tp)
         {
 
@@ -137,11 +138,12 @@ namespace DeviceLibrary
             List<Point> points = CameraData[Name].ObjectPoint;
             if (bmp == null)
                 return new List<int>(points.Count);
-
+            
             List<int> haslist = new List<int>();
-            var bd = bmp.LockBits(new Rectangle(0, 0, bmp.Width, bmp.Height), ImageLockMode.ReadOnly, bmp.PixelFormat);
+            BitmapData bd=null;
             try
             {
+                bd = bmp.LockBits(new Rectangle(0, 0, bmp.Width, bmp.Height), ImageLockMode.ReadOnly, bmp.PixelFormat);
                 for (int i = 0; i < points.Count; i++)
                 {
                     var p = points[i];
@@ -166,27 +168,39 @@ namespace DeviceLibrary
                     var s = cl.Average(cc => cc.S);
                     var v = cl.Average(cc => cc.V);
 
-                    var has = s > CameraData[Name].S && h > 80 && h < 150;
+                    var has = s > CameraData[Name].S && h > 60 && h < 200;
                     haslist.Add(has ? 1 : 0);
                 }
             }
-            catch (Exception ex)
+            catch (AccessViolationException ex)
+            {
+                LogUtil.error("TestStorePoint AccessViolationException:" + ex.ToString());
+            }catch (Exception ex)
             {
                 LogUtil.error("TestStorePoint:" + ex.ToString());
             }
             finally
             {
-                bmp.UnlockBits(bd);
+                if (bd!=null)
+                    bmp.UnlockBits(bd);
             }
             //Size pointsize = new Size(30, 30);
             SolidBrush red = new SolidBrush(Color.Red);
             SolidBrush gray = new SolidBrush(Color.Gray);
-            var g = Graphics.FromImage(bmp);
-            for (int i = 0; i < CameraData[Name].ObjectPoint.Count; i++) {
-                g.FillEllipse(haslist[i]==1?red:gray, GetCR(CameraData[Name].ObjectPoint[i], 30));
+            try
+            {
+                var g = Graphics.FromImage(bmp);
+                for (int i = 0; i < CameraData[Name].ObjectPoint.Count; i++)
+                {
+                    g.FillEllipse(haslist[i] == 1 ? red : gray, GetCR(CameraData[Name].ObjectPoint[i], 30));
+                }
+                g.Save();
+                bmp.Save(tp.ToString() + ".bmp");
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("TestStorePoint:" + ex.ToString());
             }
-            g.Save();
-            bmp.Save(tp.ToString() + ".bmp");
             TestStorePointEvent?.Invoke(tp, bmp);
             return haslist;
         }

DeviceLibrary/theMachine/LabelParam.cs

@@ -75,7 +75,7 @@ namespace DeviceLibrary
         public string Batch { get; set; }
         public bool ReelOnFixture { get; internal set; } = false;
         public string OutPosID { get; internal set; }
-
+        public DateTime dateTime = DateTime.Now;
         public int HeightPos = 0;
         public ReelParam clone()
         {

DeviceLibrary/theMachine/MainMachine _Common.cs

@@ -77,8 +77,9 @@ namespace DeviceLibrary
                     {
                         isOk = false;
                         WarnMsg = msg;
-                        Alarm(AlarmType.AxisMoveError, WarnMsg);
+                        ///Alarm(AlarmType.AxisMoveError, WarnMsg);
                         Msg.add(WarnMsg, MsgLevel.alarm);
+                        RobotManage.UserPause(WarnMsg);
                         break;
                     }
                 }

DeviceLibrary/theMachine/MainMachine.cs

@@ -73,6 +73,7 @@ namespace DeviceLibrary
         public bool isInSuddenDown = false;
 
 
+        public List<ReelParam> NGInfoList = new List<ReelParam>();
 
         public MainMachine(Robot_Config _config) {
             Config = _config;
@@ -206,6 +207,8 @@ namespace DeviceLibrary
                         boxTransport.Process();
                         if (RobotManage.InoutDebugMode)
                             AutoInOutTestProcess();
+                        else if (DemoTestMode)
+                            TFIDSelfTestProcess();
                         else
                             StoreDemoProcess();
 
@@ -218,8 +221,9 @@ namespace DeviceLibrary
                 }
                 catch (Exception ex)
                 {
+                    LogUtil.error("Mainprocess:" + ex);
                     Msg.add(ex.ToString(), MsgLevel.warning);
-                    Msg.setlogones();
+                    //Msg.setlogones();
                 }
                 finally {
                     var m = Msg.get();
@@ -324,8 +328,9 @@ namespace DeviceLibrary
                     
                     ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset_01);
                     ResetMoveInfo.log("锁定抽屉");
-                    IOMove(IO_Type.Entry_Drawer_Lock, IO_VALUE.HIGH);
+                    //IOMove(IO_Type.Entry_Drawer_Lock, IO_VALUE.HIGH);
                     IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.HIGH);
+                    CylinderMove(ResetMoveInfo, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.LOW);
                     Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);                                        
                     break;
                 case MoveStep.H02_HomeReset_01:
@@ -367,8 +372,8 @@ namespace DeviceLibrary
                             StoreMoveInfo.log("检测到上次正在贴标:" + Setting_Init.Runtime_Step + "," + Setting_Init.Runtime_Posid);
                             //LabelingMoveInfo.NextMoveStep(MoveStep.Labeling01);
                             //StoreMoveInfo.NextMoveStep(MoveStep.StoreIn03);
-                            Msg.add("重置前物料正在贴标,无法继续,请手动处理", MsgLevel.warning, ErrInfo.LabelInPaste);
-                            RobotManage.UserPause("重置前物料正在贴标,无法继续,请手动处理");
+                            Msg.add(crc.GetString("Res0133","重置前物料正在贴标,无法继续,请手动处理"), MsgLevel.warning, ErrInfo.LabelInPaste);
+                            RobotManage.UserPause(crc.GetString("Res0133","重置前物料正在贴标,无法继续,请手动处理"));
                         }
                     }
                     break;
@@ -408,7 +413,7 @@ namespace DeviceLibrary
                     ok = false;
                     DeviceSuddenStop();
                 }
-                Msg.add("打印机维护门未关闭" + (ok ? ignorestring : ""), MsgLevel.alarm);
+                Msg.add(crc.GetString("Res0134","打印机维护门未关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
             }
             if (IOValue(IO_Type.LeftDoor_Check).Equals(IO_VALUE.HIGH))
             {
@@ -431,7 +436,7 @@ namespace DeviceLibrary
 
             if (IOValue(IO_Type.SafeDoor_Disable).Equals(IO_VALUE.LOW) && IOValue(IO_Type.DoorLock_Check).Equals(IO_VALUE.LOW))
             {
-                Msg.add("防护门没有锁定", MsgLevel.warning);
+                Msg.add(crc.GetString("Res0135","防护门没有锁定"), MsgLevel.warning);
                 DeviceSuddenStop();
                 ok = false;
 
@@ -509,7 +514,7 @@ namespace DeviceLibrary
                 if (span.TotalSeconds > RobotManage.Config.AirCheckSeconds)
                 {
                     ok = false;
-                    Msg.add(crc.GetString("Res0103","气压不足"), MsgLevel.warning);
+                    Msg.add(crc.GetString("Res0103","气压不足"), MsgLevel.alarm);
                 }
             }
             else {

DeviceLibrary/theMachine/MainMachine_Labeling.cs

@@ -42,17 +42,17 @@ namespace DeviceLibrary
                     LabelingMoveInfo.MoveParam = new ReelParam();
                     break;
                 
+                //case MoveStep.Labeling03:
+                //    LabelingMoveInfo.NextMoveStep(MoveStep.Labeling04);
+                //    RotateEquip.LockAndTurnDegree(-20);                   
+                //    break;
                 case MoveStep.Labeling03:
-                    LabelingMoveInfo.NextMoveStep(MoveStep.Labeling04);
-                    RotateEquip.LockAndTurnDegree(-20);                   
-                    break;
-                case MoveStep.Labeling04:
-                    if (RotateEquip.TurnWork.IsCompleted) {
-                        LabelingMoveInfo.NextMoveStep(MoveStep.Labeling04a);
+                    if (RotateEquip.TurnWork==null || RotateEquip.TurnWork.IsCompleted) {
+                        LabelingMoveInfo.NextMoveStep(MoveStep.Labeling04);
                         TakePicture();
                     }
                     break;
-                case MoveStep.Labeling04a:
+                case MoveStep.Labeling04:
                     if (IsTackPictureFinish)
                     {
                         if (TakePictureTask.Result)
@@ -62,7 +62,7 @@ namespace DeviceLibrary
                             ScanCode();
                         }
                         else {
-                            LabelingMoveInfo.NextMoveStep(MoveStep.Labeling04);
+                            LabelingMoveInfo.NextMoveStep(MoveStep.Labeling03);
                             LabelingMoveInfo.log("拍照失败,重试");
                         }
                     }
@@ -76,8 +76,7 @@ namespace DeviceLibrary
                             CodeList.AddRange(xx);
 
                             if (HasRightCode(CodeList.ToArray(), LabelingMoveInfo.MoveParam))
-                            {
-                                
+                            {                                
                                 LabelingMoveInfo.MoveParam.IsNg = false;
                                 LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
                                 LabelingMoveInfo.MoveParam.PlateH = 50;
@@ -93,20 +92,20 @@ namespace DeviceLibrary
                         ScanTimes++;
                         if (ScanTimes >= 18*2)
                         {
-                            LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
+                            LabelingMoveInfo.NextMoveStep(MoveStep.Labeling08);
                             LabelingMoveInfo.log($"未识别到有效二维码,送到NG口");
                             LabelingMoveInfo.MoveParam.IsNg = true;
                             LabelingMoveInfo.MoveParam.NgMsg = crc.GetString(L.not_detect_reel_code, "未识别到有效二维码");
                         }
                         else { 
-                            LabelingMoveInfo.NextMoveStep(MoveStep.Labeling04);
+                            LabelingMoveInfo.NextMoveStep(MoveStep.Labeling03);
                             LabelingMoveInfo.log("继续扫码");
                         }
                     }
                     break;
                 case MoveStep.Labeling06:
                     LabelingMoveInfo.NextMoveStep(MoveStep.Labeling07);
-                    RotateEquip.TurnDegree(-45);
+                    RotateEquip.TurnDegree(-75);
                     //LabelingMoveInfo.log("滚动锡膏");
                     break;
                 case MoveStep.Labeling07:
@@ -124,7 +123,7 @@ namespace DeviceLibrary
                             LabelingMoveInfo.log("未找到绿色区域");
                             LabelingMoveInfo.NextMoveStep(MoveStep.Labeling08);
                             LabelingMoveInfo.MoveParam.IsNg = true;
-                            LabelingMoveInfo.MoveParam.NgMsg = "未找到绿色区域";
+                            LabelingMoveInfo.MoveParam.NgMsg = crc.GetString("Res0136","未找到绿色区域");
                             ServerCM.cancelPutInTask("",LabelingMoveInfo.MoveParam.WareCode);
                         }//else
                             //LabelingMoveInfo.log("本次未找到绿色区域,转动后再次查找,"+ ScanTimes);
@@ -241,6 +240,9 @@ namespace DeviceLibrary
                         Setting_Init.Runtime_Step = Runtime_StepE.LabelPasteFinish;
                         LabelingMoveInfo.log("贴标完成");
                         RotateEquip.TurnToEnd(false);
+
+                        if (LabelingMoveInfo.MoveParam.IsNg)
+                            Setting_Init.Runtime_Posid = "NG";
                     }
                     break;
                 case MoveStep.Labeling57:

DeviceLibrary/theMachine/MainMachine_RFIDSelftest.cs

@@ -15,6 +15,7 @@ namespace DeviceLibrary
 {
     partial class MainMachine
     {
+        public bool DemoTestMode = false;
         List<string> DemoTestList;
         int DemoTestIndex = 0;
         int DemoTestCount = 0;
@@ -28,7 +29,11 @@ namespace DeviceLibrary
                 case MoveStep.Wait:
                     break;
                 case MoveStep.StoreIn01:
-                    DemoTestList = CameraPointTest.GetThingStoreName(TestStorePointPort.上层左侧);
+                    StoreMoveInfo.NextMoveStep(MoveStep.StoreOut10);
+                    if (IOManager.IOValue(IO_Type.Tside_Right).Equals(IO_VALUE.HIGH))
+                        DemoTestList = CameraPointTest.GetThingStoreName(TestStorePointPort.上层右侧);
+                    else
+                        DemoTestList = CameraPointTest.GetThingStoreName(TestStorePointPort.上层左侧);
 
                     if (DemoTestList.Count == 0)
                         return;
@@ -46,7 +51,7 @@ namespace DeviceLibrary
                     }
                     else if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.LOW))
                     {
-                        Msg.add("出库任务正在执行,请关好抽屉", MsgLevel.warning);
+                        Msg.add(crc.GetString("Res0137","出库任务正在执行,请关好抽屉"), MsgLevel.warning);
                     }
                     else {
                         IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.HIGH);
@@ -56,7 +61,8 @@ namespace DeviceLibrary
                         StoreMoveInfo.NextMoveStep(MoveStep.StoreOut12);
                         var from = CSVPositionReader<ACStorePosition>.GetPositon(DemoTestList[DemoTestIndex]);
                         var to = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
-                        boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.OutStore, true);
+                    StoreMoveInfo.MoveParam.ReelOnFixture = false;
+                    boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.OutStore, true);
                         StoreMoveInfo.log($"开始转运出库");                    
                     break;
                 case MoveStep.StoreOut12:
@@ -71,7 +77,7 @@ namespace DeviceLibrary
                                 if (data[0] != 0xFF)
                                 {
                                     ds = Encoding.ASCII.GetString(data).Trim();
-                                    if (StoreMoveInfo.MoveParam.WareCode.IndexOf(ds)>-1)
+                                    //if (StoreMoveInfo.MoveParam.WareCode.IndexOf(ds)>-1)
                                     {
                                         StoreMoveInfo.MoveParam.RFID = ds;
                                         StoreMoveInfo.log("读取到 RFID:" + ds + " , "+ RobotManage.RFID.HexBuff(data));

DeviceLibrary/theMachine/MoveStep.cs

@@ -115,7 +115,6 @@ namespace DeviceLibrary
         Labeling02,
         Labeling03,
         Labeling04,
-        Labeling04a,
         Labeling05,
         Labeling06,
         Labeling07,

DeviceLibrary/theMachine/RobotManage.cs

@@ -129,8 +129,8 @@ namespace DeviceLibrary
                 }
                 CodeManager.LoadConfig();
                 CodeManager.CameraScan(CodeManager.hikNameList);
-                mainMachine = new MainMachine(RobotManage.Config);
                 
+
                 //mainMachine.ScanCode();
                 //Thread.Sleep(5000);
                 if (!IOManager.ConnectionIOList(new List<string>()))
@@ -148,7 +148,7 @@ namespace DeviceLibrary
                 {
                     CameraA.Open();
                 }
-
+                mainMachine = new MainMachine(RobotManage.Config);
                 if (!dauxiKS107.OpenPort(Setting_Init.Device_DauxiKS107_Port, out _)) {
                     IsLoadOk = false;
                     msg += crc.GetString("Res0119","液位传感器初始化失败,端口:") + $"{Setting_Init.Device_DauxiKS107_Port}\n";
@@ -168,7 +168,7 @@ namespace DeviceLibrary
                 if (!RFID.IsConn)
                 {
                     IsLoadOk = false;
-                    msg += "RFID连接失败,IP:" + $"{Setting_Init.Device_RFID_IP}\n";
+                    msg += crc.GetString("Res0142","RFID连接失败,IP:") + $"{Setting_Init.Device_RFID_IP}\n";
                 }
                 else
                     LogUtil.info("RFID连接成功,IP:"+ Setting_Init.Device_RFID_IP);

TheMachine/Form1.cs

@@ -127,6 +127,31 @@ namespace TheMachine
             stateView.ColumnWidthChanging += listView_ColumnWidthChanging;
             #endregion
 
+            #region 状态信息ngview初始化
+            NgInfoView.View = View.Details;
+            ColumnHeader n1 = new ColumnHeader();
+            n1.Text = "";
+            n1.Width = 0;
+            ColumnHeader n2 = new ColumnHeader();
+            n2.Text = crc.GetString("Res0002","时间");
+            n2.Width = 120;
+            ColumnHeader n3 = new ColumnHeader();
+            n3.Text = "SerialNumber";
+            n3.Width = 120;
+
+            ColumnHeader n4 = new ColumnHeader();
+            n4.Text = crc.GetString("Res0145","放置库位");
+            n4.Width = 120;
+            ColumnHeader n5 = new ColumnHeader();
+            n5.Text = crc.GetString("Res0146","NG原因");
+            n5.Width = 370;
+            NgInfoView.Columns.Add(n1);
+            NgInfoView.Columns.Add(n2);
+            NgInfoView.Columns.Add(n3);
+            NgInfoView.Columns.Add(n4);
+            NgInfoView.Columns.Add(n5);
+            NgInfoView.ColumnWidthChanging += listView_ColumnWidthChanging;
+            #endregion
             LogUtil.info("开始初始化");
             cb_EnableBuzzer.Checked = Setting_Init.Device_EnableBuzzer;
             AlarmBuzzer.BuzzerStateChange += AlarmBuzzer_BuzzerStateChange;
@@ -221,6 +246,12 @@ namespace TheMachine
                 stateView.Items.Add(lvi);
 
             }
+            //NgInfoView.Items.Clear();
+            //foreach (var moveInfo in RobotManage.mainMachine.NGInfoList)
+            //{
+            //    ListViewItem lvi = new ListViewItem(new string[] { "", moveInfo.dateTime.ToString("hh:mm:ss"), moveInfo.ReeID, moveInfo.PosID, moveInfo.NgMsg });
+            //    NgInfoView.Items.Add(lvi);
+            //}
             this.ResumeLayout(true);
             
         }
@@ -266,7 +297,7 @@ namespace TheMachine
                 addTablePage();
                 RobotManage.LoadDebug();
                 //cb_IgnoreGratingSignal.Visible = true;
-                cb_IgnoreSafecheck.Visible = true;
+                //cb_IgnoreSafecheck.Visible = true;
             }
             else
             {
@@ -399,7 +430,7 @@ namespace TheMachine
                 }
                 else if (msg.errInfo == ErrInfo.LabelInPaste)
                 {
-                    if (FrmAlarm.ShowAlarmDialog("贴标区内可能有物料未完成贴标,请手动取出") == DialogResult.OK)
+                    if (FrmAlarm.ShowAlarmDialog(crc.GetString("Res0143","贴标区内可能有物料未完成贴标,请手动取出")) == DialogResult.OK)
                     {
                         LogUtil.info("用户确认已处理");
                         Setting_Init.Runtime_Step = Runtime_StepE.None;
@@ -630,6 +661,10 @@ namespace TheMachine
             stateView.Columns[2].Text = crc.GetString("Res0004","步骤");
             stateView.Columns[3].Text = crc.GetString("Res0001","信息");
 
+            NgInfoView.Columns[1].Text = crc.GetString("Res0002","时间");
+            NgInfoView.Columns[3].Text = crc.GetString("Res0145","放置库位");
+            NgInfoView.Columns[4].Text = crc.GetString("Res0146","NG原因");
+
             启用调试模式ToolStripMenuItem.Text = !RobotManage.IsConfigMode ? crc.GetString("Res0012","启用配置模式") : crc.GetString("Res0013","停用配置模式");
             
             btn_run.Text = crc.GetString("Res0017","启动");
@@ -719,5 +754,15 @@ namespace TheMachine
             IOManager.IOMove(IO_Type.PrinterDoor_Lock, IO_VALUE.LOW);
             RobotManage.mainMachine.PrintDoorOpen = true;
         }
+
+        private void cb_cycledemo_CheckedChanged(object sender, EventArgs e)
+        {
+            RobotManage.mainMachine.DemoTestMode = cb_cycledemo.Checked;
+            if (cb_cycledemo.Checked && RobotManage.mainMachine.StoreMoveInfo.MoveStep == MoveStep.Wait)
+                RobotManage.mainMachine.StoreMoveInfo.NextMoveStep(MoveStep.StoreIn01);
+            else if (!cb_cycledemo.Checked)
+                RobotManage.mainMachine.StoreMoveInfo.NextMoveStep(MoveStep.Wait);
+
+        }
     }
 }
\ No newline at end of file

TheMachine/IOControls.cs

-using DeviceLibrary;
+using DeviceLibrary;
 using OnlineStore;
 using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
@@ -110,9 +110,9 @@ namespace TheMachine
             var result = RobotManage.RFID.WriteEPC(Encoding.ASCII.GetBytes(epc));
             if (result)
             {
-                MessageBox.Show("写入成功");
+                MessageBox.Show(crc.GetString("Res0144","写入成功"));
                 return;
             }
         }
     }
-}
+}
\ No newline at end of file

TheMachine/UC/UC_LedConfig.Designer.cs

@@ -51,6 +51,7 @@ namespace TheMachine.UC
             this.tableLayoutPanel1.RowStyles.Add(new System.Windows.Forms.RowStyle(System.Windows.Forms.SizeType.Absolute, 20F));
             this.tableLayoutPanel1.Size = new System.Drawing.Size(537, 234);
             this.tableLayoutPanel1.TabIndex = 0;
+            this.tableLayoutPanel1.Tag = "not";
             // 
             // button_reset
             // 

TheMachine/UC/UC_LedConfig.cs

@@ -21,12 +21,14 @@ namespace TheMachine.UC
             InitializeComponent();
             this.Tag = "not";
             crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
+            crc.LanguageProcess(this);
         }
         private void Crc_LanguageChangeEvent(object sender, EventArgs e)
         {
             if (Config == null)
                 return;
             LoadLedList();
+            crc.LanguageProcess(this);
         }
         private DeviceConfig _Config;
         public DeviceConfig Config