1

Common/Runtime_Step.cs

@@ -9,14 +9,37 @@ namespace OnlineStore
     public enum Runtime_StepE
     public enum Runtime_StepE
     {
     {
         None,
         None,
+        /// <summary>
+        /// 准备放入扫码贴标区
+        /// </summary>
         InToLabel,
         InToLabel,
+        /// <summary>
+        /// 进入扫码贴标区
+        /// </summary>
         LabelProcess,
         LabelProcess,
+        /// <summary>
+        /// 标签已打印
+        /// </summary>
         Printed,
         Printed,
+        /// <summary>
+        /// 标签已获取
+        /// </summary>
         LabelGot,
         LabelGot,
+        /// <summary>
+        /// 标签中
+        /// </summary>
         LabelPaste,
         LabelPaste,
+        /// <summary>
+        /// 标签完成
+        /// </summary>
+        LabelPasteFinish,
+        /// <summary>
+        /// 正在进入库位
+        /// </summary>
         InToStore,
         InToStore,
+        /// <summary>
+        /// 正在出库
+        /// </summary>
         Out
         Out
-
-
     }
     }
 }
 }

Common/bean/Bean.cs

@@ -66,11 +66,11 @@ namespace OnlineStore.Common
         /// =4时扫码入库
         /// =4时扫码入库
         /// =5时服务器发送预警温度
         /// =5时服务器发送预警温度
         /// </summary>
         /// </summary>
-        private Dictionary<string, string> _data = new Dictionary<string, string>();
-        public Dictionary<string, string> data
+        //private Dictionary<string, string> _data = new Dictionary<string, string>();
+        public Dictionary<string, object> data
         {
         {
-            get { return _data; }
-            set { _data = value; }
+            get;
+            set;
         }
         }
         /// <summary>
         /// <summary>
         /// 整体料仓状态
         /// 整体料仓状态
@@ -295,9 +295,9 @@ namespace OnlineStore.Common
         public static string outDoorStatus= "outDoorStatus";
         public static string outDoorStatus= "outDoorStatus";
         public static string open= "open";
         public static string open= "open";
         public static string close= "close";
         public static string close= "close";
-        public static string openInLock;
-        public static string closeInLock;
-        public static string closeOutLock;
-        public static string openOutLock;
+        public static string openInLock= "openInLock";
+        public static string closeInLock = "closeInLock";
+        public static string closeOutLock = "closeOutLock";
+        public static string openOutLock = "openOutLock";
     }
     }
 }
 }

DeviceLibrary/DeviceLibrary/LimitedRotary.cs

@@ -148,8 +148,8 @@ namespace DeviceLibrary
                 else if (len < 0)
                 else if (len < 0)
                 {
                 {
                     TurnToEnd(true, true).Wait();
                     TurnToEnd(true, true).Wait();
-                    Task.Delay(500).Wait();
-                    TurnToEnd(false, false).Wait();
+                    //Task.Delay(500).Wait();
+                    //TurnToEnd(false, false).Wait();
                 }
                 }
                 
                 
             });
             });
@@ -189,6 +189,42 @@ namespace DeviceLibrary
                 TurnToEnd(false).Wait();
                 TurnToEnd(false).Wait();
             });
             });
         }
         }
+        public void TurnDouble()
+        {
+            TurnWork = Task.Run(() =>
+            {
+
+                if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
+                {
+                    moveInfo.log($"急停未解除");
+                    return;
+                }
+
+                if (!axisBean.IsServeoOn)
+                    axisBean.Open(true, out string msg);
+                var len = (int)(StrokeLength / 90 * 45);
+                if (len > 0)
+                {
+                    TurnToEnd(false).Wait();
+                }
+
+                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))
+                {
+                    Task.Delay(100).Wait();
+                }
+                TurnToEnd(true, true).Wait();
+                TurnToEnd(false, false).Wait();
+                TurnToEnd(true, true).Wait();
+                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_Release).Equals(IO_VALUE.HIGH))
+                {
+                    Task.Delay(100).Wait();
+                }
+
+                TurnToEnd(false).Wait();
+            });
+        }
         public void TurnRound2()
         public void TurnRound2()
         {
         {
             TurnWork = Task.Run(() =>
             TurnWork = Task.Run(() =>

DeviceLibrary/DeviceLibrary/PrinterHelper.cs

@@ -15,7 +15,7 @@ namespace DeviceLibrary
         string Port;
         string Port;
         public PrinterHelper() {
         public PrinterHelper() {
             
             
-            print = new Asa.PrintLabel(Application.StartupPath + "\\Label");
+            print = new Asa.PrintLabel(Application.StartupPath + "\\Label",300);
             
             
         }
         }
 
 
@@ -48,9 +48,10 @@ namespace DeviceLibrary
             {
             {
                 string labelname = Setting_Init.Printer_Labelname;
                 string labelname = Setting_Init.Printer_Labelname;
                 Dictionary<string, string> data = new Dictionary<string, string>();
                 Dictionary<string, string> data = new Dictionary<string, string>();
-                data.Add("RI", reel.ReeID);
-                //data.Add("PN", reel.PN);
-                //data.Add("QTY", reel.QTY.ToString());
+                data.Add("PN", reel.PN);
+                data.Add("LOT", reel.LOT);
+                data.Add("EXP", reel.EXP);
+                data.Add("SN", reel.SN);
                 data.Add("datetime", DateTime.Now.ToString());
                 data.Add("datetime", DateTime.Now.ToString());
                 LogUtil.info($"打印标签:{reel.ToDetailStr()}");
                 LogUtil.info($"打印标签:{reel.ToDetailStr()}");
                 var result = Print(labelname, data, out string msg);
                 var result = Print(labelname, data, out string msg);

DeviceLibrary/DeviceLibrary/ServerCommunication.cs

@@ -101,17 +101,8 @@ namespace DeviceLibrary
                 var code = ProcessCode(codelist, reel.PlateW, reel.PlateH);
                 var code = ProcessCode(codelist, reel.PlateW, reel.PlateH);
                 Operation operation = getLineBoxStatus();
                 Operation operation = getLineBoxStatus();
                 operation.op = 1;
                 operation.op = 1;
-                operation.data = new Dictionary<string, string>() { { "code", code }, { "boxId", StoreID.ToString() }, { "doorReelSignal", "1" } };
-
-                if (reel.PlateH == 100 && Setting_Init.Device_SingleInSingleOut)
-                {
-                    //singleIn   单盘入库
-                    operation.data.Add("singleIn", "true");
-                }
-                else
-                {
-                    operation.data.Add("singleIn", "false");
-                }
+                operation.data = new Dictionary<string, object>() { { "code", code }, { "boxId", StoreID.ToString() }, { "doorReelSignal", "1" } };
+                operation.data.Add("singleIn", "false");                
                 int retrytimes = 0;
                 int retrytimes = 0;
             retry:
             retry:
                 Operation resultOperation = HttpHelper.Post(GetPostApi(), operation, 15000, printlog);
                 Operation resultOperation = HttpHelper.Post(GetPostApi(), operation, 15000, printlog);
@@ -143,12 +134,12 @@ namespace DeviceLibrary
 
 
                 if (resultOperation == null)
                 if (resultOperation == null)
                 {
                 {
-                    LogUtil.info($"SendStoreState error,posid:{posid}, storeStatus:{storeStatus}");
+                    LogUtil.error($"SendStoreState error,posid:{posid}, storeStatus:{storeStatus}");
                     return false;
                     return false;
                 }
                 }
                 if (operation.seq != resultOperation.seq)
                 if (operation.seq != resultOperation.seq)
                 {
                 {
-                    LogUtil.info($"SendStoreState seq error,posid:{posid}, storeStatus:{storeStatus}");
+                    LogUtil.error($"SendStoreState seq error,posid:{posid}, storeStatus:{storeStatus}");
                     return false;
                     return false;
                 }
                 }
 
 
@@ -205,6 +196,8 @@ namespace DeviceLibrary
 
 
 
 
             lineOperation.data = GetBtnStatus();
             lineOperation.data = GetBtnStatus();
+            lineOperation.data.Add("inArea", CameraPointTest.inArea);
+            lineOperation.data.Add("outArea", CameraPointTest.outArea);
             lineOperation.status = (int)storeStatus;
             lineOperation.status = (int)storeStatus;
 
 
             //判断如果是等待料盘拿走超时，状态改为4Warning
             //判断如果是等待料盘拿走超时，状态改为4Warning
@@ -324,7 +317,7 @@ namespace DeviceLibrary
             {
             {
                 var barcode = "";
                 var barcode = "";
                 if (resultOperation.data.ContainsKey("code"))
                 if (resultOperation.data.ContainsKey("code"))
-                    barcode = resultOperation.data["code"];
+                    barcode = resultOperation.data["code"].ToString();
                 ReviceInStoreProcess(barcode, resultOperation);
                 ReviceInStoreProcess(barcode, resultOperation);
             }
             }
             else if (resultOperation.op.Equals(2))
             else if (resultOperation.op.Equals(2))
@@ -339,11 +332,11 @@ namespace DeviceLibrary
             if (resultOperation.data != null)
             if (resultOperation.data != null)
             {
             {
                 string result = "";
                 string result = "";
-                Dictionary<string, string> dataMap = resultOperation.data;
+                Dictionary<string, object> dataMap = resultOperation.data;
 
 
                 if (dataMap.ContainsKey(ParamDefine.queueTaskCount))
                 if (dataMap.ContainsKey(ParamDefine.queueTaskCount))
                 {
                 {
-                    var s = dataMap[ParamDefine.queueTaskCount];
+                    var s = dataMap[ParamDefine.queueTaskCount].ToString();
                     if (int.TryParse(s, out int c))
                     if (int.TryParse(s, out int c))
                     {
                     {
                         queueTaskCount = c;
                         queueTaskCount = c;
@@ -395,9 +388,9 @@ namespace DeviceLibrary
 
 
         }
         }
 
 
-        public Dictionary<string, string> GetBtnStatus()
+        public Dictionary<string, object> GetBtnStatus()
         {
         {
-            Dictionary<string, string> map = new Dictionary<string, string>();
+            Dictionary<string, object> map = new Dictionary<string, object>();
             map.Add(ParamDefine.inDoorStatus, ParamDefine.disable);
             map.Add(ParamDefine.inDoorStatus, ParamDefine.disable);
             map.Add(ParamDefine.outDoorStatus, ParamDefine.disable);
             map.Add(ParamDefine.outDoorStatus, ParamDefine.disable);
 
 
@@ -444,12 +437,12 @@ namespace DeviceLibrary
         /// <param name="resultOperation"></param>
         /// <param name="resultOperation"></param>
         private void ReviceInStoreProcess(string message, Operation resultOperation)
         private void ReviceInStoreProcess(string message, Operation resultOperation)
         {
         {
-            Dictionary<string, string> data = resultOperation.data;
+            Dictionary<string, object> data = resultOperation.data;
             if (data != null && data.ContainsKey(ParamDefine.posId) && data.ContainsKey(ParamDefine.plateH) && data.ContainsKey(ParamDefine.plateW))
             if (data != null && data.ContainsKey(ParamDefine.posId) && data.ContainsKey(ParamDefine.plateH) && data.ContainsKey(ParamDefine.plateW))
             {
             {
                 //服务器返回时有：posId库位编号，plateW:料盘宽度,plateH：料盘高度，
                 //服务器返回时有：posId库位编号，plateW:料盘宽度,plateH：料盘高度，
                 //postId格式BoxId#位置
                 //postId格式BoxId#位置
-                string posId = data[ParamDefine.posId];
+                string posId = data[ParamDefine.posId].ToString();
 
 
                 //int storeId = int.Parse(posArray[0]);
                 //int storeId = int.Parse(posArray[0]);
                 //根据发送的posId获取位置列表
                 //根据发送的posId获取位置列表
@@ -462,35 +455,23 @@ namespace DeviceLibrary
                     LogUtil.info("收到服务器入库命令：入库未找到库位：二维码【" + message + "】库位【" + posId + "】");
                     LogUtil.info("收到服务器入库命令：入库未找到库位：二维码【" + message + "】库位【" + posId + "】");
                     return;
                     return;
                 }
                 }
-                //TODO:判断BOX是否处于可以入库状态，如果调试或急停中，需要返回给服务器；
-                if (RobotManage.mainMachine.IsInStoreReady)
-                {
-                    WarnMsg = "";
-                    JobInfo inStoreJob = new JobInfo(message, posId);
-                    RobotManage.mainMachine.StartInStore(inStoreJob);
-                    //如果当前正在出入库中，需要记录下来，等待空闲时执行
-                    LogUtil.info(StoreName + " 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】 开始入库！");
-                }
-                else
-                {
-                    SendStoreState("", StoreStatus.InStoreError);
-                }
+
+                WarnMsg = "";
+                JobInfo inStoreJob = new JobInfo(message, posId);
+                RobotManage.mainMachine.LabelingMoveInfo.MoveParam.PosID = inStoreJob.PosId;
+                //如果当前正在出入库中，需要记录下来，等待空闲时执行
+                LogUtil.info(StoreName + " 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】 开始入库！");
+
             }
             }
-            else if (RobotManage.mainMachine.LabelingMoveInfo.MoveStep == MoveStep.InWaitServerCallback)
+            else
             {
             {
                 string msg = resultOperation.msg;
                 string msg = resultOperation.msg;
                 SendStoreState("", StoreStatus.InStoreError);
                 SendStoreState("", StoreStatus.InStoreError);
                 RobotManage.mainMachine.LabelingMoveInfo.MoveParam.IsNg = true;
                 RobotManage.mainMachine.LabelingMoveInfo.MoveParam.IsNg = true;
                 RobotManage.mainMachine.LabelingMoveInfo.MoveParam.NgMsg = msg;
                 RobotManage.mainMachine.LabelingMoveInfo.MoveParam.NgMsg = msg;
-                RobotManage.mainMachine.LabelingMoveInfo.NextMoveStep(MoveStep.WaitInStore);
-                //RobotManage.mainMachine.NGPuted(msg);
+                RobotManage.mainMachine.LabelingMoveInfo.MoveParam.PosID = "NG";
                 LogUtil.info("服务器没有正确返回库位. msg=" + msg);
                 LogUtil.info("服务器没有正确返回库位. msg=" + msg);
             }
             }
-            else
-            {
-
-            }
-
         }
         }
 
 
         public float Max_Humidity;
         public float Max_Humidity;
@@ -503,11 +484,11 @@ namespace DeviceLibrary
         {
         {
             if (resultOperation.data == null)
             if (resultOperation.data == null)
                 return;
                 return;
-            Dictionary<string, string> data = resultOperation.data;
+            Dictionary<string, object> data = resultOperation.data;
             if (data.ContainsKey(ParamDefine.maxHumidity) && data.ContainsKey(ParamDefine.maxTemperature))
             if (data.ContainsKey(ParamDefine.maxHumidity) && data.ContainsKey(ParamDefine.maxTemperature))
             {
             {
-                string maxHumidity = data[ParamDefine.maxHumidity];
-                string maxTemp = data[ParamDefine.maxTemperature];
+                string maxHumidity = data[ParamDefine.maxHumidity].ToString();
+                string maxTemp = data[ParamDefine.maxTemperature].ToString();
                 LogUtil.info("收到服务器温湿度预警值：maxHumidity=" + maxHumidity + ",maxTemperature=" + maxTemp);
                 LogUtil.info("收到服务器温湿度预警值：maxHumidity=" + maxHumidity + ",maxTemperature=" + maxTemp);
 
 
                 try
                 try
@@ -529,15 +510,15 @@ namespace DeviceLibrary
         private void ReviceOutStoreProcess(Operation resultOperation)
         private void ReviceOutStoreProcess(Operation resultOperation)
         {
         {
             DateTime time = DateTime.Now;
             DateTime time = DateTime.Now;
-            Dictionary<string, string> data = resultOperation.data;
+            Dictionary<string, object> data = resultOperation.data;
             if (data != null && data.ContainsKey(ParamDefine.posId)
             if (data != null && data.ContainsKey(ParamDefine.posId)
                    && data.ContainsKey(ParamDefine.plateH) && data.ContainsKey(ParamDefine.plateW))
                    && data.ContainsKey(ParamDefine.plateH) && data.ContainsKey(ParamDefine.plateW))
             {
             {
-                string posIdStr = data[ParamDefine.posId];
-                string plateWStr = data[ParamDefine.plateW];
-                string plateHStr = data[ParamDefine.plateH];
-                string singleOut = data[ParamDefine.singleOut];
-                string code = "";
+                string posIdStr = data[ParamDefine.posId].ToString();
+                string plateWStr = data[ParamDefine.plateW].ToString();
+                string plateHStr = data[ParamDefine.plateH].ToString();
+                string singleOut = data[ParamDefine.singleOut].ToString();
+                object code = "";
                 if (!data.TryGetValue("code", out code))
                 if (!data.TryGetValue("code", out code))
                     data.TryGetValue(ParamDefine.barcode, out code);
                     data.TryGetValue(ParamDefine.barcode, out code);
                 LogUtil.info("收到服务器出库消息：poaIs=" + posIdStr + ",platew=" + plateWStr + ",plateh=" + plateHStr + ",singleOut=" + singleOut + ",code=" + code);
                 LogUtil.info("收到服务器出库消息：poaIs=" + posIdStr + ",platew=" + plateWStr + ",plateh=" + plateHStr + ",singleOut=" + singleOut + ",code=" + code);
@@ -565,7 +546,7 @@ namespace DeviceLibrary
                     }
                     }
                     else
                     else
                     {
                     {
-                        RobotManage.mainMachine.AddOutStoreTask(code, posId);
+                        RobotManage.mainMachine.AddOutStoreTask(code.ToString(), posId);
                     }
                     }
                 }
                 }
                 TimeSpan span = DateTime.Now - time;
                 TimeSpan span = DateTime.Now - time;

DeviceLibrary/theMachine/BoxTransport.cs

@@ -177,8 +177,11 @@ namespace DeviceLibrary
                 case MoveStep.StoreTS08:
                 case MoveStep.StoreTS08:
                     MoveInfo.NextMoveStep(MoveStep.StoreTS09);
                     MoveInfo.NextMoveStep(MoveStep.StoreTS09);
                     RobotManage.mainMachine.CylinderMove(MoveInfo, IO_Type.Taking_Release, IO_Type.Taking_Clamp, IO_VALUE.HIGH);
                     RobotManage.mainMachine.CylinderMove(MoveInfo, IO_Type.Taking_Release, IO_Type.Taking_Clamp, IO_VALUE.HIGH);
-                    if (storeMoveType== StoreMoveType.InStore)
+                    Setting_Init.Runtime_Posid = To.posid;
+                    if (storeMoveType== StoreMoveType.InStore && To.posid==MainMachine.LabelP)
                         Setting_Init.Runtime_Step = Runtime_StepE.InToLabel;
                         Setting_Init.Runtime_Step = Runtime_StepE.InToLabel;
+                    if (storeMoveType == StoreMoveType.InStore && To.posid != MainMachine.LabelP)
+                        Setting_Init.Runtime_Step = Runtime_StepE.InToStore;
                     else if (storeMoveType == StoreMoveType.OutStore)
                     else if (storeMoveType == StoreMoveType.OutStore)
                         Setting_Init.Runtime_Step = Runtime_StepE.Out;
                         Setting_Init.Runtime_Step = Runtime_StepE.Out;
 
 

DeviceLibrary/theMachine/CameraPointTest.cs

@@ -13,9 +13,15 @@ using System.Threading.Tasks;
 
 
 namespace DeviceLibrary
 namespace DeviceLibrary
 {
 {
+    [Serializable]
     public enum TestStorePointPort {
     public enum TestStorePointPort {
        入口, 出口, 上层左侧, 上层右侧, 下层左侧, 下层右侧,贴标
        入口, 出口, 上层左侧, 上层右侧, 下层左侧, 下层右侧,贴标
     }
     }
+    [Serializable]
+    public class tstoredata {
+        public string name="";
+        public List<int> Value = new List<int>();
+    }
     public class CameraPointTest
     public class CameraPointTest
     {
     {
         static CameraData CameraData;
         static CameraData CameraData;
@@ -24,9 +30,26 @@ namespace DeviceLibrary
         {
         {
             var fd = File.ReadAllText("Config\\CameraPointTest.json");
             var fd = File.ReadAllText("Config\\CameraPointTest.json");
             CameraData = JsonConvert.DeserializeObject<CameraData>(fd);
             CameraData = JsonConvert.DeserializeObject<CameraData>(fd);
+            for (int i = 0; i < 5; i++)
+            {
+                inArea.Add(new tstoredata());
+                inArea[i].name = "L" + ((char)(0x41 + i)).ToString();
+                for (int j = 0; j < 4; j++)
+                {
+                    inArea[i].Value.Add(-1);
+                }
+            }
+            for (int i = 0; i < 5; i++)
+            {
+                outArea.Add(new tstoredata());
+                outArea[i].name = "U" + ((char)(0x41 + i)).ToString();
+                outArea[i].Value.Add(-1);                
+            }
         }
         }
         public static event EventHandler<Bitmap> TestStorePointEvent;
         public static event EventHandler<Bitmap> TestStorePointEvent;
 
 
+        public static List<tstoredata> inArea = new List<tstoredata>();
+        public static List<tstoredata> outArea = new List<tstoredata>();
         public static List<string> GetThingStoreName(TestStorePointPort tp,bool TestHas=true) {
         public static List<string> GetThingStoreName(TestStorePointPort tp,bool TestHas=true) {
             //var tl = Test(tp);
             //var tl = Test(tp);
             try
             try
@@ -39,10 +62,24 @@ namespace DeviceLibrary
                     case TestStorePointPort.入口:
                     case TestStorePointPort.入口:
                         startindex = RobotManage.AllPositionMapNumList.IndexOf("LA1");
                         startindex = RobotManage.AllPositionMapNumList.IndexOf("LA1");
                         haslistindex = TestStorePoint(RobotManage.CameraA.GetImage(0), TestStorePointPort.入口);
                         haslistindex = TestStorePoint(RobotManage.CameraA.GetImage(0), TestStorePointPort.入口);
+                        int index = 0;
+                        for (int i = 0; i < 5; i++) {
+                            for (int j = 0; j < 4; j++)
+                            {
+                                inArea[i].Value[j]=haslistindex[index];
+                                index++;
+                            }
+                        }
                         break;
                         break;
                     case TestStorePointPort.出口:
                     case TestStorePointPort.出口:
                         startindex = RobotManage.AllPositionMapNumList.IndexOf("UA1");
                         startindex = RobotManage.AllPositionMapNumList.IndexOf("UA1");
                         haslistindex = TestStorePoint(RobotManage.CameraA.GetImage(1), TestStorePointPort.出口);
                         haslistindex = TestStorePoint(RobotManage.CameraA.GetImage(1), TestStorePointPort.出口);
+                        index = 0;
+                        for (int i = 0; i < 5; i++)
+                        {
+                            outArea[i].Value[0]=haslistindex[index];
+                            index++;
+                        }
                         break;
                         break;
                     case TestStorePointPort.上层左侧:
                     case TestStorePointPort.上层左侧:
                         startindex = RobotManage.AllPositionMapNumList.IndexOf("LA1");
                         startindex = RobotManage.AllPositionMapNumList.IndexOf("LA1");
@@ -206,42 +243,59 @@ namespace DeviceLibrary
             return StorePoint;
             return StorePoint;
         }
         }
 
 
-        public static int ScanRectangle() {
-            var r = CameraData[TestStorePointPort.贴标.ToString()].ObjectPoint;
+        public static bool ScanRectangle() {
+            var r = CameraData[TestStorePointPort.贴标.ToString()].PointList;
             Point Start = r[0];
             Point Start = r[0];
             Point End = r[1];
             Point End = r[1];
-            int width = Start.X = End.X;
-            int height = Start.Y = End.Y;
+            int width = End.X - Start.X;
+            int height = End.Y - Start.Y;
             LogUtil.info($"开始扫描绿色区域:{Start},{width}x{height}");
             LogUtil.info($"开始扫描绿色区域:{Start},{width}x{height}");
             var bmp = Camera._cam.GrabOneImage(CodeManager.hikNameList[0], PixelType.RGB8);
             var bmp = Camera._cam.GrabOneImage(CodeManager.hikNameList[0], PixelType.RGB8);
-            var bd = bmp.LockBits(new Rectangle(0, 0, bmp.Width, bmp.Height), ImageLockMode.ReadOnly, bmp.PixelFormat);
-            List<Rectangle> RectScanList = new List<Rectangle>();
-            int RectScanindex = 0;
+            //var bmp = new Bitmap("Image_20221208134139341.bmp");
+            var bd = bmp.LockBits(new Rectangle(0, 0, bmp.Width, bmp.Height), ImageLockMode.ReadWrite, bmp.PixelFormat);
             int HeightCount = 0;
             int HeightCount = 0;
+            int errlinecount = 0;
             try {
             try {
+                
                 for (int i = 0; i < height; i++)
                 for (int i = 0; i < height; i++)
                 {
                 {
                     int linecount = 0;
                     int linecount = 0;
+                    
                     for (int j = 0; j < width; j++)
                     for (int j = 0; j < width; j++)
                     {
                     {
-                        var x = Start.X + j;
-                        var y = Start.Y + i;
-                        var addr = y * bd.Stride + x * 4;
+                        var x = Start.X+ j;
+                        var y = Start.Y + height - i;
+                        var addr = y * bd.Stride + x * 3;
                         var cr = Marshal.ReadByte(bd.Scan0, addr + 2);
                         var cr = Marshal.ReadByte(bd.Scan0, addr + 2);
                         var cg = Marshal.ReadByte(bd.Scan0, addr + 1);
                         var cg = Marshal.ReadByte(bd.Scan0, addr + 1);
                         var cb = Marshal.ReadByte(bd.Scan0, addr);
                         var cb = Marshal.ReadByte(bd.Scan0, addr);
                         var hh = ColorHelper.RgbToHsv(new ColorRGB(cr, cg, cb));
                         var hh = ColorHelper.RgbToHsv(new ColorRGB(cr, cg, cb));
                         var s = hh.S;
                         var s = hh.S;
                         var h = hh.H;
                         var h = hh.H;
-                        var has = s > 15 && h > 80 && h < 150;
-                        if (has) linecount++;//本行绿色计数
+                        var has = s > 15 && h > 90 && h < 150;
+                        if (has)
+                        {
+                            linecount++;//本行绿色计数
+                            Marshal.WriteByte(bd.Scan0, addr + 2, 0xFF);
+                            Marshal.WriteByte(bd.Scan0, addr + 1, 0);
+                            Marshal.WriteByte(bd.Scan0, addr, 0);
+                        }
                     }
                     }
-                    if (linecount < width * 0.9)
+                    if (linecount < width * 0.6)
                     {
                     {
-                        return HeightCount;
+                        errlinecount++;
+                        HeightCount = 0;
+                        if (errlinecount > 60)
+                        {
+                            return false;
+                        }
+                        //return HeightCount;
                     }
                     }
                     else {
                     else {
                         HeightCount++;
                         HeightCount++;
+                        if (HeightCount > 50) {
+                            return true;
+                        }
                     }
                     }
                 }
                 }
             }
             }
@@ -252,8 +306,9 @@ namespace DeviceLibrary
             finally
             finally
             {
             {
                 bmp.UnlockBits(bd);
                 bmp.UnlockBits(bd);
-            }
-            return HeightCount;
+                bmp.Save("\\Image\\LabelDebug\\" + DateTime.Now.ToString("yyyyMMddHHmmss") + "-"+ errlinecount +"-"+ HeightCount + ".bmp");
+            }            
+            return false;
         }
         }
     }
     }
     public class CameraData : Dictionary<string, CameraPointData> { }
     public class CameraData : Dictionary<string, CameraPointData> { }

DeviceLibrary/theMachine/Common.cs

@@ -367,7 +367,8 @@ namespace DeviceLibrary
         ResetBtn,
         ResetBtn,
         RunBtn,
         RunBtn,
         SuddenStop,
         SuddenStop,
-        X09_Clear
+        X09_Clear,
+        LabelInPaste
     }
     }
     public class IdWorker
     public class IdWorker
     {
     {

DeviceLibrary/theMachine/LabelParam.cs

@@ -52,6 +52,9 @@ namespace DeviceLibrary
         /// 物料编码
         /// 物料编码
         /// </summary>
         /// </summary>
         public string PN { get; set; }
         public string PN { get; set; }
+        public string LOT { get; set; }
+        public string EXP { get; set; }
+        public string SN { get; set; }
         /// <summary>
         /// <summary>
         /// 数量
         /// 数量
         /// </summary>
         /// </summary>
@@ -99,7 +102,7 @@ namespace DeviceLibrary
         }
         }
         public string ToDetailStr()
         public string ToDetailStr()
         {
         {
-            return $"{DateTime.Now:HH:mm:ss},{ReeID},{PN},{NgMsg},{WareCode}";
+            return $"{DateTime.Now:HH:mm:ss},{SN},{LOT},{EXP},{PN},{NgMsg},{WareCode}";
         }
         }
     }
     }
     [Serializable]
     [Serializable]

DeviceLibrary/theMachine/MainMachine.cs

@@ -274,6 +274,17 @@ namespace DeviceLibrary
                         Msg.add(crc.GetString("Res0095","出料抽屉没有关闭"), MsgLevel.alarm);
                         Msg.add(crc.GetString("Res0095","出料抽屉没有关闭"), MsgLevel.alarm);
                         return;
                         return;
                     }
                     }
+                    if (IOValue(IO_Type.Taking_Clamp).Equals(IO_VALUE.LOW))
+                    {
+                        if (Setting_Init.Runtime_Step >= Runtime_StepE.Printed && Setting_Init.Runtime_Step < Runtime_StepE.LabelPasteFinish)
+                        {
+                            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");
+                        }
+                    }
                     ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset_01);
                     ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset_01);
                     ResetMoveInfo.log("锁定抽屉");
                     ResetMoveInfo.log("锁定抽屉");
                     IOMove(IO_Type.Entry_Drawer_Lock, IO_VALUE.HIGH);
                     IOMove(IO_Type.Entry_Drawer_Lock, IO_VALUE.HIGH);

DeviceLibrary/theMachine/MoveStep.cs

@@ -32,72 +32,7 @@ namespace DeviceLibrary
         HEND_HomeReset,
         HEND_HomeReset,
 
 
         
         
-        StringLoad_01,
-        StringLoad_01a,
-        StringLoad_02,
-        StringLoad_02a,
-        StringLoad_02b,
-        StringLoad_03,
-        StringLoad_04,
-        StringLoad_05,
-        StringLoad_06,
-        StringLoad_07,
-        StringReadyGet,
-        StringReelGet,
-        StringReelGetFail,
-        StringReelGetFail_02,
-        StringReadyPut,
-        StringReelPut,
-        StringReelPut_01,
-        StringReelPut_02,
-        StringReelPut_03,
-        StringReelPut_04,
-        StringOut_01,
-        StringOut_02,
-        StringOut_03,
-        StringOut_Released,
-        StringOut_05,
-        StringOut_06,
-        StringOut_07,
-
-        ReelClamp_01,
-        ReelClamp_02,
-        ReelClamp_03,
-        ReelClamp_04,
-        ReelClamp_05,
-        ReelClamp_WaitGaugeHeight,
-        ReelClamp_GetHeight,
-        ReelClamp_06,
-        ReelClamp_07,
-        ReelClamp_08,
-        ReelClamp_09,
-        ReelClamp_10,
-        ReelClamp_11,
-        InWaitServerCallback,
-        WaitInStore,
-        ReelTaked,
-        NGOUT_00,
-        NGOUT_01,
-        NGOUT_02,
-        NGOUT_03,
-        NGOUT_04,
-        NGOUT_05,
-        NGOUT_06,
-        NGOUT_07,
-        NGOUT_08,
-        NGOUT_09,
-        NGOUT_10,
-        NGOUT_11,
-        SingleIn,
-        SingleIn_01,
-        SingleIn_02,
-        SingleInReady,
-        SingleInRun,
-        SingleInRun_01,
-        SingleInRun_02,
-        SingleInRun_03,
-        SingleInRun_04,
-        SingleInRun_05,
+        
 
 
         OutBoxPutOn,
         OutBoxPutOn,
         Out01,
         Out01,
@@ -184,6 +119,7 @@ namespace DeviceLibrary
         Labeling07,
         Labeling07,
         Labeling08,
         Labeling08,
         Labeling09,
         Labeling09,
+        WaitInStore,
         Labeling10,
         Labeling10,
         Labeling11,
         Labeling11,
         Labeling12,
         Labeling12,

TheMachine/Form1.cs

@@ -397,7 +397,21 @@ namespace TheMachine
                 {
                 {
                     btn_IgnoreX09.Visible = false;
                     btn_IgnoreX09.Visible = false;
                 }
                 }
-                
+                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)
+                    {
+                        LogUtil.info("用户确认已处理");
+                        Setting_Init.Runtime_Step = Runtime_StepE.None;
+                        RobotManage.UserPause(false);
+                    }
+                    else {
+
+                        btn_stop_Click(this, EventArgs.Empty);
+                        LogUtil.info("用户取消处理,系统停止");
+                    }
+                }
+
             }
             }
             this.ResumeLayout(true);
             this.ResumeLayout(true);
         }
         }

TheMachine/FrmAlarm.Designer.cs

+
+namespace TheMachine
+{
+    partial class FrmAlarm
+    {
+        /// <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.btn_ok = new System.Windows.Forms.Button();
+            this.btn_cancel = new System.Windows.Forms.Button();
+            this.lbl_info = new System.Windows.Forms.Label();
+            this.SuspendLayout();
+            // 
+            // btn_ok
+            // 
+            this.btn_ok.Location = new System.Drawing.Point(493, 374);
+            this.btn_ok.Name = "btn_ok";
+            this.btn_ok.Size = new System.Drawing.Size(232, 54);
+            this.btn_ok.TabIndex = 0;
+            this.btn_ok.Text = "已处理完毕,继续运行";
+            this.btn_ok.UseVisualStyleBackColor = true;
+            this.btn_ok.Click += new System.EventHandler(this.btn_ok_Click);
+            // 
+            // btn_cancel
+            // 
+            this.btn_cancel.Location = new System.Drawing.Point(12, 374);
+            this.btn_cancel.Name = "btn_cancel";
+            this.btn_cancel.Size = new System.Drawing.Size(232, 54);
+            this.btn_cancel.TabIndex = 1;
+            this.btn_cancel.Text = "暂不处理,停止运行";
+            this.btn_cancel.UseVisualStyleBackColor = true;
+            this.btn_cancel.Click += new System.EventHandler(this.btn_cancel_Click);
+            // 
+            // lbl_info
+            // 
+            this.lbl_info.Font = new System.Drawing.Font("Arial", 42F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
+            this.lbl_info.ForeColor = System.Drawing.Color.Red;
+            this.lbl_info.Location = new System.Drawing.Point(12, 39);
+            this.lbl_info.Name = "lbl_info";
+            this.lbl_info.Size = new System.Drawing.Size(713, 261);
+            this.lbl_info.TabIndex = 2;
+            this.lbl_info.Text = "123123123123";
+            this.lbl_info.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // FrmAlarm
+            // 
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.None;
+            this.ClientSize = new System.Drawing.Size(770, 459);
+            this.ControlBox = false;
+            this.Controls.Add(this.lbl_info);
+            this.Controls.Add(this.btn_cancel);
+            this.Controls.Add(this.btn_ok);
+            this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.None;
+            this.MaximizeBox = false;
+            this.MinimizeBox = false;
+            this.Name = "FrmAlarm";
+            this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
+            this.Text = "FrmAlarm";
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.Button btn_ok;
+        private System.Windows.Forms.Button btn_cancel;
+        public System.Windows.Forms.Label lbl_info;
+    }
+}
\ No newline at end of file

TheMachine/FrmAlarm.cs

+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace TheMachine
+{
+    public partial class FrmAlarm : Form
+    {
+        public FrmAlarm()
+        {
+            InitializeComponent();
+        }
+
+        public static DialogResult ShowAlarmDialog(string info) {
+            FrmAlarm frmAlarm = new FrmAlarm();
+            frmAlarm.lbl_info.Text = info;
+            return frmAlarm.ShowDialog();
+        }
+
+        private void btn_cancel_Click(object sender, EventArgs e)
+        {
+            DialogResult = DialogResult.Cancel;
+            Close();
+        }
+
+        private void btn_ok_Click(object sender, EventArgs e)
+        {
+            DialogResult = DialogResult.OK;
+            Close();
+        }
+    }
+}

TheMachine/FrmAlarm.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>
+</root>
\ No newline at end of file

TheMachine/Program.cs

@@ -25,6 +25,7 @@ namespace TheMachine
         static void Main()
         static void Main()
         {
         {
             CameraPointTest.Init();
             CameraPointTest.Init();
+            //CameraPointTest.ScanRectangle();
             //var bmpfile = @"D:\rick\vs\SO20031_TinStorage\料架照片\106_监控点1_106_20221125194616_31932401.bmp";
             //var bmpfile = @"D:\rick\vs\SO20031_TinStorage\料架照片\106_监控点1_106_20221125194616_31932401.bmp";
             //var bmp = new Bitmap(bmpfile);
             //var bmp = new Bitmap(bmpfile);
             //var r = Common.CalcStoreBMP(bmp,4, 5);
             //var r = Common.CalcStoreBMP(bmp,4, 5);

TheMachine/TheMachine.csproj

@@ -96,6 +96,12 @@
     <Compile Include="Form1.Designer.cs">
     <Compile Include="Form1.Designer.cs">
       <DependentUpon>Form1.cs</DependentUpon>
       <DependentUpon>Form1.cs</DependentUpon>
     </Compile>
     </Compile>
+    <Compile Include="FrmAlarm.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="FrmAlarm.Designer.cs">
+      <DependentUpon>FrmAlarm.cs</DependentUpon>
+    </Compile>
     <Compile Include="IOControls.cs">
     <Compile Include="IOControls.cs">
       <SubType>UserControl</SubType>
       <SubType>UserControl</SubType>
     </Compile>
     </Compile>
@@ -175,6 +181,7 @@
     </Compile>
     </Compile>
     <EmbeddedResource Include="AboutBox1.resx">
     <EmbeddedResource Include="AboutBox1.resx">
       <DependentUpon>AboutBox1.cs</DependentUpon>
       <DependentUpon>AboutBox1.cs</DependentUpon>
+      <SubType>Designer</SubType>
     </EmbeddedResource>
     </EmbeddedResource>
     <EmbeddedResource Include="AxisControl.resx">
     <EmbeddedResource Include="AxisControl.resx">
       <DependentUpon>AxisControl.cs</DependentUpon>
       <DependentUpon>AxisControl.cs</DependentUpon>
@@ -183,6 +190,9 @@
     <EmbeddedResource Include="Form1.resx">
     <EmbeddedResource Include="Form1.resx">
       <DependentUpon>Form1.cs</DependentUpon>
       <DependentUpon>Form1.cs</DependentUpon>
     </EmbeddedResource>
     </EmbeddedResource>
+    <EmbeddedResource Include="FrmAlarm.resx">
+      <DependentUpon>FrmAlarm.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="IOControls.resx">
     <EmbeddedResource Include="IOControls.resx">
       <DependentUpon>IOControls.cs</DependentUpon>
       <DependentUpon>IOControls.cs</DependentUpon>
     </EmbeddedResource>
     </EmbeddedResource>