增加取标贴标吹气

Common/CodeResourceControl.cs

-using log4net;
+using ConfigHelper;
+using log4net;
 using OnlineStore.Common;
 using System;
 using System.Collections.Generic;
@@ -13,9 +14,32 @@ using System.Windows.Forms.Layout;
 
 namespace OnlineStore
 {
+
+    public class CrcObject {
+        public string msg;
+        public string key;
+
+        public CrcObject(string key, string msg)
+        {
+            this.key = key;
+            this.msg = msg;
+        }
+
+        public override string ToString()
+        {
+            return msg.ToString();
+        }
+        public static implicit operator string(CrcObject m1)
+        {
+            if (m1 == null)
+                return null;
+            return m1.msg;
+        }
+    }
+
     public class crc : CodeResourceControl
     {
-        
+            
     }
     public class CodeResourceControl
     {
@@ -166,12 +190,12 @@ namespace OnlineStore
         {
             return GetString(id.ToString(), defaultStr);
         }
-        public static string GetString(string id, string defaultStr)
+        public static CrcObject GetString(string id, string defaultStr)
         {
             string strCurLanguage = defaultStr;
             var haslang = getLangRes(CurrLanguage);
             if (!haslang) {
-                return strCurLanguage;
+                return new CrcObject(id, strCurLanguage);
             }
             try
             {
@@ -200,7 +224,7 @@ namespace OnlineStore
             {
                 strCurLanguage = "";
             }
-            return strCurLanguage;
+            return new CrcObject(id, strCurLanguage);
         }
         public static string GetString(string id, string defaultStr, params object[] param)
         {
@@ -314,7 +338,7 @@ namespace OnlineStore
                     var newStr = GetString(GetTextIdStr(className, con.Name), txt);
                     if (!newStr.Equals(""))
                     {
-                        Con_SetTxt(con, newStr.Replace("\\n", "\n"));
+                        Con_SetTxt(con, newStr.ToString().Replace("\\n", "\n"));
                         //haslang = true;
                     }
                 }

Common/Setting_Init.cs

@@ -35,6 +35,8 @@ namespace OnlineStore.Common
         public static MyConfig<string> Device_DauxiKS107_Port = "COM3";
         [MyConfigComment("RFID IP")]
         public static MyConfig<string> Device_RFID_IP = "192.168.110.21";
+        [MyConfigComment("RFID IP2")]
+        public static MyConfig<string> Device_RFID_IP2 = "192.168.110.21";
         [MyConfigComment("是否启用校准库位")]
         public static MyConfig<bool> Device_Use_Fixpos = false;
         [MyConfigComment("屏蔽日志窗口")]

Common/bean/Bean.cs

@@ -291,6 +291,8 @@ namespace OnlineStore.Common
 
         public static string disable = "disable";
         public static string queueTaskCount="queueTaskCount";
+        public static string selfAudit = "selfAudit";
+        public static string selfAuditException = "selfAuditException";
         public static string inDoorStatus= "inDoorStatus";
         public static string outDoorStatus= "outDoorStatus";
         public static string open= "open";

DeviceLibrary/DeviceLibrary.csproj

@@ -107,7 +107,7 @@
     <Compile Include="theMachine\MainMachine _AutoInOutTest.cs" />
     <Compile Include="theMachine\MainMachine_Labeling.cs" />
     <Compile Include="theMachine\MainMachine_RFIDSelftest.cs" />
-    <Compile Include="theMachine\MainMachine_StoreDemo.cs" />
+    <Compile Include="theMachine\MainMachine_Store.cs" />
     <Compile Include="theMachine\MainMachine _IOMonitor.cs" />
     <Compile Include="theMachine\MainMachine _LedProcess.cs" />
     <Compile Include="theMachine\MainMachine.cs" />

DeviceLibrary/DeviceLibrary/AxisBean.cs

-using OnlineStore.Common;
+using OnlineStore;
+using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using System;
 using System.Collections.Generic;
@@ -36,6 +37,9 @@ namespace DeviceLibrary
             Msg = "";
             string portName = Config.DeviceName;
             short slvAddr = Config.GetAxisValue();
+            if (AxisManager.IsServeoOn(portName, slvAddr)) { 
+                return true;
+            }
             AxisManager.AlarmClear(portName, slvAddr);
             Thread.Sleep(50);
             AxisManager.ServoOn(portName, slvAddr);
@@ -79,7 +83,7 @@ namespace DeviceLibrary
                 else
                 {
                     AxisManager.ServoOff(portName, slvAddr);
-                    msg = "打开轴" + Config.Explain + "失败 ";
+                    msg = crc.GetString("Res0158.2bf5c941","打开轴") + Config.Explain + crc.GetString("Res0159.33d2a704","失败 ");
                     LogUtil.info(AxisName + msg);
                     return false;
                 }
@@ -128,7 +132,7 @@ namespace DeviceLibrary
 
             if (ForceSafeCheck && !IsSafe(targetPosition,out string msg))
             {
-                Msg.add(msg, MsgLevel.alarm);
+                Msg.add(Config.ProName,msg, MsgLevel.alarm);
                 RobotManage.UserPause(msg);
                 return;
             }
@@ -158,7 +162,7 @@ namespace DeviceLibrary
 
                 if (ForceSafeCheck && !IsSafe(targetPosition, out string msg))
                 {
-                    Msg.add(msg, MsgLevel.alarm);
+                    Msg.add(Config.ProName, msg, MsgLevel.alarm);
                     LogUtil.info(AxisName + $" 不在安全点无法运行:{msg}");
                     RobotManage.UserPause(msg);
                     return false;
@@ -224,7 +228,7 @@ namespace DeviceLibrary
                         int isAlarm = AxisManager.GetAlarmStatus(deviceName, axisNo);
                         if (isAlarm.Equals(1))
                         {
-                            clearMsg = "清理报警，";
+                            clearMsg = crc.GetString("Res0160.cbd5d752","清理报警，");
                             AxisManager.AlarmClear(deviceName, axisNo);
                             Thread.Sleep(200);
                             AxisManager.ServoOn(deviceName, axisNo);
@@ -273,7 +277,7 @@ namespace DeviceLibrary
                 }
                 else
                 {
-                    msg = MoveInfo.Name + " " + MoveInfo.MoveStep + axis.DisplayStr + ",收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
+                    msg = MoveInfo.Name + " " + MoveInfo.MoveStep + axis.DisplayStr + crc.GetString("Res0161.405c5a9e",",收到原点完成信号，当前位置[") + outCount + crc.GetString("Res0162.6658614e","]，误差过大，需要报警");
                     LogUtil.error(msg);
                 }
             }
@@ -467,4 +471,4 @@ namespace DeviceLibrary
 
     }
 
-}
+}
\ No newline at end of file

DeviceLibrary/DeviceLibrary/DauxiKS107Controller.cs

-using OnlineStore.Common;
+using OnlineStore;
+using OnlineStore.Common;
 using System;
 using System.Collections.Generic;
+using System.Diagnostics;
 using System.IO.Ports;
 using System.Linq;
 using System.Text;
@@ -17,13 +19,12 @@ public class DauxiKS107Controller
     private SerialPort _serialPort = null;
     string comPortName;
     System.Timers.Timer timer;
-    public bool IsAlarm;
+    public int Distance;
     public DauxiKS107Controller()
     {
-        timer = new System.Timers.Timer(5*60*1000);
+        timer = new System.Timers.Timer(5*1000);
         timer.Elapsed += Timer_Elapsed;
         timer.AutoReset = true;
-        IsAlarm = false;
     }
     ~DauxiKS107Controller() {
         LogUtil.info($"液位传感器退出");
@@ -34,11 +35,29 @@ public class DauxiKS107Controller
     }
     private void Timer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
     {
-        Quary(out int value, out string errmsg);
-        LogUtil.info($"读取到液位:{value}mm,err:{errmsg}");
-        if (value > 0)
+        bool readok = true;
+        for (int i = 0; i < 5; i++)
         {
-            IsAlarm = value < 180;
+            if (Quary(out int value, out string errmsg))
+            {
+                Debug.WriteLine($"读取到液位:{value}mm,err:{errmsg}");
+                readok = true;
+                if (value > 0)
+                {
+                    Distance = value;
+                    return;
+                }
+            }
+            else {
+                readok = false;
+            }
+        }
+        if (!readok)
+        {
+            LogUtil.info($"液位传感器读取失败,重新打开");
+            if (!OpenPort(comPortName, out string errmsg)) {
+                LogUtil.info($"液位传感器打开失败:"+ errmsg);
+            }
         }
     }
     
@@ -50,14 +69,19 @@ public class DauxiKS107Controller
     {
 
         comPortName = _comport;
-        _serialPort = new SerialPort(comPortName, baudRate, parity, dataBits, stopBits);
-        _serialPort.RtsEnable = true;  //自动请求
-        _serialPort.ReadTimeout = 100;//超时
-        errmsg = "";
-        bool ok = false;
         //如果串口是打开的，先关闭 
+
+        if (_serialPort == null)
+        {
+            _serialPort = new SerialPort(comPortName, baudRate, parity, dataBits, stopBits);
+            _serialPort.RtsEnable = true;  //自动请求
+            _serialPort.ReadTimeout = 100;//超时
+        }
         if (_serialPort.IsOpen)
             _serialPort.Close();
+        errmsg = "";
+        bool ok = false;
+
         try
         {
             //打开串口
@@ -84,7 +108,7 @@ public class DauxiKS107Controller
     static byte[] quarycommand = new byte[] { 0xe8, 0x02, 0xb0 };
     public bool Quary(out int value, out string errmsg) {
         errmsg = "";
-        byte[] buf = new byte[50];
+        byte[] buf = new byte[8];
         value = 0;
         try
         {
@@ -98,6 +122,7 @@ public class DauxiKS107Controller
             }
             else
             {
+                errmsg = crc.GetString("Res0170.6832e9a0","返回数据不正确:")+BitConverter.ToString(buf);
                 return false;
             }
         }
@@ -108,4 +133,3 @@ public class DauxiKS107Controller
         return true;
     }
 }
-

DeviceLibrary/DeviceLibrary/LimitedRotary.cs

@@ -32,6 +32,7 @@ namespace DeviceLibrary
             upspeed = _upspeed;
             StrokeLength = _StrokeLength;
             SafetyDevice.AddDevice(this);
+            TurnWork = Task.Run(() => { });
         }
         public bool isAtTOP
         {

DeviceLibrary/DeviceLibrary/ServerCommunication.cs

@@ -32,7 +32,8 @@ namespace DeviceLibrary
 
         string WarnMsg = "";
         private System.Timers.Timer serverConnectTimer = new System.Timers.Timer();
-
+        public bool selfAudit = false;
+        public bool selfAuditException = false;
         object serverclock = new object();
         public ServerCommunication()
         {
@@ -347,7 +348,20 @@ namespace DeviceLibrary
                         queueTaskCount = -1;
                     }
                 }
-
+                if (dataMap.ContainsKey(ParamDefine.selfAudit))
+                {
+                    if (!string.IsNullOrEmpty(dataMap[ParamDefine.selfAudit].ToString()))
+                        selfAudit = true;
+                }
+                else
+                    selfAudit = false;
+                if (dataMap.ContainsKey(ParamDefine.selfAuditException))
+                {
+                    if (dataMap[ParamDefine.selfAuditException].ToString()=="true")
+                    selfAuditException = true;
+                }
+                else
+                    selfAuditException = false;
 
                 if (dataMap.ContainsKey(ParamDefine.openInLock) && dataMap[ParamDefine.openInLock].Equals(ParamDefine.doit))
                 {
@@ -359,11 +373,19 @@ namespace DeviceLibrary
                 {
                     LogUtil.info(StoreName + "收到服务器命令：closeInLock=doit");
                     IOManager.IOMove(IO_Type.Entry_Drawer_Lock, IO_VALUE.HIGH);
-                    RobotManage.mainMachine.NGInfoList = new List<ReelParam>();
-                    Setting_Init.Runtime_NGINFOLIST = JsonConvert.SerializeObject(RobotManage.mainMachine.NGInfoList);
-                    RobotManage.mainMachine.StoreMoveInfo.NewMove(MoveStep.StoreIn01);
-                    RobotManage.mainMachine.StoreMoveInfo.log(StoreName + " 服务器锁定抽屉,开始入库");
-                    result = "";
+                    if (!selfAuditException)
+                    {
+                        RobotManage.mainMachine.newDrawer = false;
+                        RobotManage.mainMachine.NGInfoList = new List<ReelParam>();
+                        Setting_Init.Runtime_NGINFOLIST = JsonConvert.SerializeObject(RobotManage.mainMachine.NGInfoList);
+                        RobotManage.mainMachine.StoreMoveInfo.NewMove(MoveStep.StoreIn01);
+                        RobotManage.mainMachine.StoreMoveInfo.log(StoreName + " 服务器锁定抽屉,开始入库");
+                    }
+                    else
+                    {
+                        RobotManage.mainMachine.StoreMoveInfo.log(StoreName + " 服务器锁定抽屉,有自检错误,不允许入库");
+                        result = crc.GetString("Res0171.14f1eca7","有自检错误,仅锁入库抽屉");
+                    }
                 }
 
                 if (dataMap.ContainsKey(ParamDefine.openOutLock) && dataMap[ParamDefine.openOutLock].Equals(ParamDefine.doit))
@@ -412,7 +434,7 @@ namespace DeviceLibrary
                 && RobotManage.mainMachine.StoreMoveInfo.MoveStep == MoveStep.Wait)
             {
                 map[ParamDefine.inDoorStatus] = ParamDefine.close;
-            }else if (IOManager.IOValue(IO_Type.Entry_Drawer_Lock).Equals(IO_VALUE.LOW)
+            }else if ((RobotManage.mainMachine.newDrawer || IOManager.IOValue(IO_Type.Entry_Drawer_Lock).Equals(IO_VALUE.LOW))
                 && RobotManage.mainMachine.StoreMoveInfo.MoveStep == MoveStep.Wait)
             {
                 map[ParamDefine.inDoorStatus] = ParamDefine.open;
@@ -554,7 +576,17 @@ namespace DeviceLibrary
                     }
                     else
                     {
-                        RobotManage.mainMachine.AddOutStoreTask(code.ToString(), posId);
+
+                        var ngReel = false;
+                        object ngMsg = "";
+                        if (data.ContainsKey("ngReel") && data["ngReel"].ToString().ToLower() == "true")
+                        {
+                            ngReel = true;
+                            data.TryGetValue("ngMsg", out ngMsg);
+                        }
+
+                        
+                        RobotManage.mainMachine.AddOutStoreTask(code.ToString(), posId, ngReel, ngMsg.ToString());
                     }
                 }
                 TimeSpan span = DateTime.Now - time;
@@ -633,6 +665,103 @@ namespace DeviceLibrary
             }
             return msg;
         }
+
+        public JobInfo SelfAudit_getNetPos()
+        {
+            string msg = "";
+            try
+            {
+                Dictionary<string, string> paramMap = new Dictionary<string, string>();
+                paramMap.Add("cid", CID);
+                string server = GetAddr("/rest/device/selfAudit/getNetPos", paramMap);
+                DateTime startTime = DateTime.Now;
+                string resultStr = HttpHelper.Post(server, "");
+                LogUtil.info("SelfAudit:" + FormUtil.GetSpanStr(DateTime.Now - startTime) + "  【" + server + "】【" + resultStr + "】");
+
+                ResultData data = JsonHelper.DeserializeJsonToObject<ResultData>(resultStr);
+
+                if (data == null)
+                {
+                    return null;
+                }
+                else if (data.code.Equals(0).Equals(false))
+                {
+                    return null;
+                }
+                try
+                {
+                    //data 中包含：posName 库位号，barcode 条码，batchNo 盘点批次号
+                    var d = JsonConvert.DeserializeObject<Dictionary<string, string>>(data.data.ToString());
+                    var posName = d["posName"];
+                    var barcode = d["barcode"];
+                    var batchNo = d["batchNo"];
+                    var j = new JobInfo(barcode, posName);
+                    j.batchNo = batchNo;
+                    return j;
+                }
+                catch (Exception ex) {
+                    LogUtil.info("SelfAudit:" + data.data.ToString());
+                    return null;
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("SelfAudit: " + ex.ToString());
+            }
+            return null;
+        }
+        public string SelfAudit_posOutEnd(string posName)
+        {
+            string msg = "";
+            try
+            {
+                Dictionary<string, string> paramMap = new Dictionary<string, string>();
+                paramMap.Add("posName", posName);
+
+                string server = GetAddr("/rest/device/selfAudit/posOutEnd", paramMap);
+                string resultStr = HttpHelper.Post(server, "");
+
+                ResultData data = JsonHelper.DeserializeJsonToObject<ResultData>(resultStr);
+                if (data == null)
+                    return msg = " DisabledPos【 " + posName + "】 没有收到服务器反馈";
+                else if (data.code.Equals(0).Equals(false))
+                    return msg = " DisabledPos【 " + posName + "】   ：" + data.msg;
+                return "";
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("DisabledPos: " + ex.ToString());
+            }
+            return msg;
+        }
+
+        public string SelfAudit_posSelfAuditEnd(string posName,string barcode,string actualBarcode)
+        {
+            string msg = "";
+            try
+            {
+                Dictionary<string, string> paramMap = new Dictionary<string, string>();
+                paramMap.Add("posName", posName);
+                paramMap.Add("barcode", barcode);
+                paramMap.Add("actualBarcode", actualBarcode);
+
+                string server = GetAddr("/rest/device/selfAudit/posSelfAuditEnd", paramMap);
+                string resultStr = HttpHelper.Post(server, "");
+
+                ResultData data = JsonHelper.DeserializeJsonToObject<ResultData>(resultStr);
+                if (data == null)
+                    return msg = " posSelfAuditEnd【 " + posName + "】没有收到服务器反馈";
+                else if (data.code.Equals(0).Equals(false))
+                    return msg = " posSelfAuditEnd【 " + posName + "】：" + data.msg;
+                return resultStr;
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("DisabledPos: " + ex.ToString());
+            }
+            return msg;
+        }
+
         private static string GetAddr(string addr, Dictionary<string, string> paramsMap)
         {
             if (server.EndsWith("/"))

DeviceLibrary/theMachine/BoxTransport.cs

@@ -28,7 +28,7 @@ namespace DeviceLibrary
 
         public event Action<string, StoreMoveType, bool> InOutEndProcessEvent;
         public bool IsComplateOrFree { get => MoveInfo.MoveStep == MoveStep.Wait && !movelock; }
-        public bool IsTakedReel { get => MoveInfo.MoveStep >= MoveStep.StoreTS20; }
+        public bool IsTakedReel { get => MoveInfo.MoveStep >= MoveStep.StoreTS20 || MoveInfo.MoveStep == MoveStep.Wait; }
         public bool IsPutOnOut {get=> MoveInfo.MoveStep >= MoveStep.StoreTS16; }
         
         public ReelTransport(Robot_Config _Config, MainMachine _mainMachine)
@@ -57,12 +57,15 @@ namespace DeviceLibrary
         bool ignoreFixtureCheck = false;
         int ToCheckOffset = 0;
         int FromCheckOffset = 0;
+        public bool isSelfAudit = false;
+        public bool CheckHasMatetial = false;
         public bool Start(BoxStorePosition from, BoxStorePosition to, StoreMoveType _storeMoveType, bool premove=false)
         {
-
+            
             if (MoveInfo.MoveStep != MoveStep.Wait)
                 return false;
-
+            isSelfAudit = false;
+            CheckHasMatetial = false;
             ignoreFixtureCheck = false;
             storeMoveType = _storeMoveType;
             PreMove = premove;
@@ -113,6 +116,7 @@ namespace DeviceLibrary
                     IgnoreX09 = false;
                     MoveInfo.NextMoveStep(MoveStep.StoreTS02);
                     MoveInfo.log($"{storeMoveType}:开始");
+                    CheckPosStatus(MoveInfo, From.posid, true);
                     break;
                 case MoveStep.StoreTS02:
                     MoveInfo.NextMoveStep(MoveStep.StoreTS03);
@@ -138,25 +142,38 @@ namespace DeviceLibrary
                     if (CheckPosStatus(MoveInfo, From.posid))
                     {
                         MoveInfo.NextMoveStep(MoveStep.StoreTS05);
-                        var zp2 = From.Z_Axis_P3 - 205000;
-                        if (zp2 < 0)
-                            zp2 = 0;
-                        Z_Axis.AbsMove(MoveInfo, zp2, Config.Z_Axis_P1_speed);
-                        MoveInfo.log($"{storeMoveType}:Z轴到达取料前点,{From.Z_Axis_P2}");
+                        if (From.posid != MainMachine.LabelP)
+                        {
+                            var zp2 = From.Z_Axis_P3 - 205000;
+                            if (zp2 < 0)
+                                zp2 = 0;
+                            Z_Axis.AbsMove(MoveInfo, zp2, Config.Z_Axis_P1_speed);
+                            MoveInfo.log($"{storeMoveType}:Z轴到达取料前点,{From.Z_Axis_P2}");
+                        }
                         RobotManage.mainMachine.CylinderMove(MoveInfo, IO_Type.Taking_Release, IO_Type.Taking_Clamp, IO_VALUE.LOW);
                         MoveInfo.log($"{storeMoveType}:松开夹爪");
                         IgnoreX09 = false;
                     }
                     break;
                 case MoveStep.StoreTS05:
-                    if (!ignoreFixtureCheck && FromCheckOffset > 0 && !IgnoreX09 && IOManager.IOValue(FromCheckOffset > 0 ? IO_Type.Taking_Left_Check : IO_Type.Taking_Right_Check).Equals(IO_VALUE.LOW))
+                    if (!ignoreFixtureCheck && FromCheckOffset != 0 && !IgnoreX09 && IOManager.IOValue(FromCheckOffset > 0 ? IO_Type.Taking_Left_Check : IO_Type.Taking_Right_Check).Equals(IO_VALUE.LOW))
                     {
-                        Msg.add(crc.GetString("Res0062", "取料时没有检测到物料信号,请检查."), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
-                        MoveInfo.log($"取料时没有检测到物料信号,请检查.");
-                        RobotManage.UserPause(crc.GetString("Res0063", "取料时没有检测到物料信号,请检查"));
+                        if (isSelfAudit)
+                        {
+                            CheckHasMatetial = false;
+                            MoveInfo.log($"{storeMoveType}:自检时没有检测到物料");
+                            MoveInfo.NextMoveStep(MoveStep.StoreTS26);
+                        }
+                        else
+                        {
+                            Msg.add(crc.GetString("Res0062", "取料时没有检测到物料信号,请检查."), MsgLevel.alarm, ErrInfo.X09_BoxNotDetect);
+                            MoveInfo.log($"取料时没有检测到物料信号,请检查.");
+                            //RobotManage.UserPause(crc.GetString("Res0063", "取料时没有检测到物料信号,请检查"));
+                        }
                     }
                     else
                     {
+                        CheckHasMatetial = true;
                         Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
                         IgnoreX09 = false;
                         MoveInfo.NextMoveStep(MoveStep.StoreTS06);
@@ -203,6 +220,7 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.StoreTS20:
                     MoveInfo.NextMoveStep(MoveStep.StoreTS21);
+                    CheckPosStatus(MoveInfo, To.posid,true);
                     Y_Axis.AbsMove(MoveInfo, To.Y_Axis_P2 + ToCheckOffset, Config.Y_Axis_P1_speed);
                     X_Axis.AbsMove(MoveInfo, To.X_Axis_P2, Config.X_Axis_P1_speed);
                     MoveInfo.log($"{storeMoveType}:XY轴到达目的地检测,X:{To.X_Axis_P2},Y:{To.Y_Axis_P2}+{ToCheckOffset}");
@@ -235,20 +253,24 @@ namespace DeviceLibrary
                             zp2 = 0;
                         Z_Axis.AbsMove(MoveInfo, zp2, Config.Z_Axis_P1_speed);
                     }
+                    else if (To.posid == MainMachine.LabelP)
+                    {
+                       RobotManage.mainMachine.FlipEquip.LiftUp(MoveInfo);
+                    }
                     break;
                 case MoveStep.StoreTS23:
                     if (!ignoreFixtureCheck && ToCheckOffset > 0 && IOManager.IOValue(ToCheckOffset > 0 ? IO_Type.Taking_Left_Check : IO_Type.Taking_Right_Check).Equals(IO_VALUE.HIGH))
                     {
                         Msg.add(crc.GetString("Res0064", "放料时发现库位已经有料,请检查."), MsgLevel.alarm);
                         MoveInfo.log($"放料时发现库位已经有料,请检查.");
-                        RobotManage.UserPause(crc.GetString("Res0065", "放料时发现库位已经有料,请检查"));
+                        //RobotManage.UserPause(crc.GetString("Res0065", "放料时发现库位已经有料,请检查"));
                     }
                     else
                     {
                         Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
                         IgnoreX09 = false;
                         MoveInfo.NextMoveStep(MoveStep.StoreTS24);
-                        MoveInfo.log($"{storeMoveType}:检测无料");
+                        MoveInfo.log($"{storeMoveType}:检测有无物料,有物料");
                     }
 
                     break;
@@ -298,7 +320,7 @@ namespace DeviceLibrary
                     else
                     {
                         MoveInfo.log($"{storeMoveType}:XY返回待机点");
-                        Y_Axis.AbsMove(MoveInfo, Config.Y_Axis_P1, Config.Y_Axis_P1_speed);
+                        //Y_Axis.AbsMove(MoveInfo, Config.Y_Axis_P1, Config.Y_Axis_P1_speed);
                         X_Axis.AbsMove(MoveInfo, Config.X_Axis_P1, Config.X_Axis_P1_speed);
                     }
                     MoveInfo.log($"{storeMoveType}:完成放料");
@@ -319,7 +341,7 @@ namespace DeviceLibrary
             return false;
         }
 
-        bool CheckPosStatus(MoveInfo moveInfo,string posid) {
+        bool CheckPosStatus(MoveInfo moveInfo,string posid,bool precheck=false) {
             if (posid.StartsWith("L"))
             {
                 if (IOManager.IOValue(IO_Type.Entry_Drawer).Equals(IO_VALUE.HIGH) &&
@@ -372,7 +394,7 @@ namespace DeviceLibrary
                     return true;
                 else
                 {
-                    RobotManage.mainMachine.TPMove.ToLow(moveInfo);
+                    RobotManage.mainMachine.TPMove.ToLow(precheck?null:moveInfo);
                     moveInfo.log($"{posid},上层库位移至左侧");
                     return false;
                 }
@@ -383,7 +405,7 @@ namespace DeviceLibrary
                     return true;
                 else
                 {
-                    RobotManage.mainMachine.TPMove.ToHigh(moveInfo);
+                    RobotManage.mainMachine.TPMove.ToHigh(precheck ? null : moveInfo);
                     moveInfo.log($"{posid},上层库位移至右侧");
                     return false;
                 }
@@ -394,7 +416,7 @@ namespace DeviceLibrary
                     return true;
                 else
                 {
-                    RobotManage.mainMachine.TPMove.ToLow(moveInfo);
+                    RobotManage.mainMachine.TPMove.ToLow(precheck ? null : moveInfo);
                     moveInfo.log($"{posid},上层库位移至左侧");
                     return false;
                 }

DeviceLibrary/theMachine/CameraPointTest.cs

@@ -7,16 +7,19 @@ using System.Drawing;
 using System.Drawing.Imaging;
 using System.IO;
 using System.Linq;
+using System.Reflection;
 using System.Runtime.ExceptionServices;
 using System.Runtime.InteropServices;
 using System.Text;
+using System.Text.RegularExpressions;
 using System.Threading.Tasks;
+using System.Xml.Linq;
 
 namespace DeviceLibrary
 {
     [Serializable]
     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,接标台
     }
     [Serializable]
     public class tstoredata {
@@ -69,7 +72,8 @@ namespace DeviceLibrary
                         Dictionary<int, string> ngmsglist = new Dictionary<int, string>();
                         RobotManage.mainMachine.NGInfoList.ForEach(ng=> { 
                         var sindex = RobotManage.AllPositionMapNumList.IndexOf(ng.PosID)-startindex;
-                            ngmsglist.Add(sindex, ng.NgMsg);
+                            if (!ngmsglist.ContainsKey(sindex))
+                                ngmsglist.Add(sindex, ng.NgMsg);
                         });
                         int index = 0;
                         for (int i = 0; i < 5; i++) {
@@ -150,7 +154,7 @@ namespace DeviceLibrary
 
             List<Point> points = CameraData[Name].ObjectPoint;
             if (bmp == null)
-                return new List<int>(points.Count);
+                return Enumerable.Repeat(0, points.Count).ToList();
             
             List<int> haslist = new List<int>();
             BitmapData bd=null;
@@ -217,6 +221,87 @@ namespace DeviceLibrary
             TestStorePointEvent?.Invoke(tp, bmp);
             return haslist;
         }
+
+        public static TestStorePointPort GetTestStorePointPort(string posname) {
+
+            TestStorePointPort testStorePointPort;
+            if (Regex.IsMatch(posname, "^S[A-G]"))
+                testStorePointPort= TestStorePointPort.上层左侧;
+            else if (Regex.IsMatch(posname, "^S[H-N][1-6]$"))
+                testStorePointPort = TestStorePointPort.下层左侧;
+            else
+                testStorePointPort = TestStorePointPort.下层右侧;
+
+            LogUtil.info($"GetTestStorePointPort: {posname}={testStorePointPort}");
+            return testStorePointPort;
+        }
+
+        /// <summary>
+        /// 检测标签是否被取走
+        /// </summary>
+        /// <returns></returns>
+        public static bool TestHasLabelOnDock(bool checkstatus) {
+            var r = CameraPointTest.CameraData[TestStorePointPort.接标台.ToString()].PointList;
+            Point checkpoint = r[0];
+            var bmp = RobotManage.CameraA.GetImage(0);
+            if (bmp == null)
+                return true;
+
+            //bmp = new Bitmap("d:\\新建分组1_监控点1_106_20220818172856_3997146.bmp");
+
+            BitmapData bd = null;
+            try
+            {
+                bd = bmp.LockBits(new Rectangle(0, 0, bmp.Width, bmp.Height), ImageLockMode.ReadOnly, bmp.PixelFormat);
+
+                var p = checkpoint;
+                p.X = p.X - 8;
+                p.Y = p.Y - 8;
+                var cl = new List<ColorHSV>();
+                for (int j = 0; j < 16; j++)
+                {
+                    for (int k = 0; k < 16; k++)
+                    {
+                        var x = p.X + j;
+                        var y = p.Y + k;
+                        var addr = y * bd.Stride + x * 4;
+                        var cr = Marshal.ReadByte(bd.Scan0, addr + 2);
+                        var cg = Marshal.ReadByte(bd.Scan0, addr + 1);
+                        var cb = Marshal.ReadByte(bd.Scan0, addr);
+                        var hh = ColorHelper.RgbToHsv(new ColorRGB(cr, cg, cb));
+                        cl.Add(hh);
+                    }
+                }
+                var h = cl.Average(cc => cc.H);
+                var s = cl.Average(cc => cc.S);
+                var v = cl.Average(cc => cc.V);
+
+                var has = (h>180 && h<260) || s<10;
+                has =  s < 15;
+                LogUtil.info($"TestHasLabelOnDock checkstatus:{checkstatus}, h:{h},s:{s},v:{v},config_s:{CameraData[TestStorePointPort.接标台.ToString()].S}");
+
+                if (has != checkstatus)
+                {
+                    Directory.CreateDirectory("\\image\\LabelDock");
+                    bmp.Save("\\image\\LabelDock\\"+ checkstatus +"_"+ DateTime.Now.ToString("yyyyMMddHHmmss")+".jpg");
+                }
+                return has;
+            }
+            catch (AccessViolationException ex)
+            {
+                LogUtil.error("TestHasLabelOnDock AccessViolationException:" + ex.ToString());
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("TestHasLabelOnDock:" + ex.ToString());
+            }
+            finally
+            {
+                if (bd != null)
+                    bmp.UnlockBits(bd);
+            }
+            return false;
+        }
         /// <summary>
         /// 按中心点扩展一个矩形区域
         /// </summary>

DeviceLibrary/theMachine/Common.cs

 using CodeLibrary;
+using OnlineStore;
 using OnlineStore.Common;
 using System;
 using System.Collections.Generic;
@@ -322,6 +323,7 @@ namespace DeviceLibrary
     {
         public static List<Msg> msg = new List<Msg>(); 
         public string msgtxt;
+        public string msgkey;
         public MsgLevel msgLevel;
         public ErrInfo errInfo;
         public DateTime datetime;
@@ -335,13 +337,26 @@ namespace DeviceLibrary
             List<Msg> mm = new List<Msg>(msg);
             return mm;
         }
-        public static void add(string m, MsgLevel ml, ErrInfo errInfo= ErrInfo.Empty)
+        public static void add(string m, MsgLevel ml, ErrInfo errInfo = ErrInfo.Empty)
         {
             lock (msg)
             {
                 var fm = msg.Find((x) => x.msgtxt == m);
-                if (fm==null)
-                    msg.Add(new Msg { msgtxt = m, msgLevel = ml, datetime = DateTime.Now, errInfo = errInfo });
+                if (fm == null)
+                    msg.Add(new Msg { msgtxt = m, msgkey = "", msgLevel = ml, datetime = DateTime.Now, errInfo = errInfo });
+            }
+        }
+        public static void add(CrcObject m, MsgLevel ml, ErrInfo errInfo= ErrInfo.Empty)
+        {
+            add(m.key, m.msg, ml, errInfo);
+        }
+        public static void add(string key,string m, MsgLevel ml, ErrInfo errInfo = ErrInfo.Empty)
+        {
+            lock (msg)
+            {
+                var fm = msg.Find((x) => x.msgtxt == m);
+                if (fm == null)
+                    msg.Add(new Msg { msgtxt = m, msgkey = key, msgLevel = ml, datetime = DateTime.Now, errInfo = errInfo });
             }
         }
         static bool _setlogones = false;

DeviceLibrary/theMachine/JobList.cs

@@ -79,6 +79,10 @@ namespace DeviceLibrary
         /// 料盘高
         /// </summary>
         public int plateH { get; set; }
+        public string batchNo { get; set; }
+
+        public bool isNG { get; set; }
+        public string NgMsg { get; set; }
 
         public string ToStr()
         {

DeviceLibrary/theMachine/MainMachine _Common.cs

@@ -48,7 +48,7 @@ namespace DeviceLibrary
             MoveInfo.WaitList.ForEach((w) => {
                 if (w.WaitType.Equals(WaitEnum.W014_Msg)) {
                     w.IsEnd = true;
-                    Msg.add(w.ActionMsg, w.Data);
+                    Msg.add("WaitType."+ w.WaitType, w.ActionMsg, w.Data);
                 }
             });
             foreach (WaitResultInfo wait in MoveInfo.WaitList)
@@ -78,7 +78,7 @@ namespace DeviceLibrary
                         isOk = false;
                         WarnMsg = msg;
                         ///Alarm(AlarmType.AxisMoveError, WarnMsg);
-                        Msg.add(WarnMsg, MsgLevel.alarm);
+                        Msg.add("WaitType."+wait.WaitType,WarnMsg, MsgLevel.alarm);
                         RobotManage.UserPause(WarnMsg);
                         break;
                     }
@@ -118,7 +118,7 @@ namespace DeviceLibrary
                 else if (wait.WaitType.Equals(WaitEnum.W013_Action))
                 {
                     wait.IsEnd = wait.Action.Invoke(wait);
-                    LogUtil.info($"{Name} 自定义等待 IsEnd={wait.IsEnd},Type={wait.Action.GetType()}");
+                    LogUtil.info($"{Name} 自定义等待 IsEnd={wait.IsEnd},Msg={wait.ActionMsg}");
                 }
                 else if (wait.WaitType.Equals(WaitEnum.W008_BatchAxis))
                 {
@@ -183,7 +183,7 @@ namespace DeviceLibrary
             }
             else if (span.TotalSeconds > MoveInfo.TimeOutSeconds)
             {
-                WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待" + "}" + NotOkMsg + "超时" + "[" + Math.Round(span.TotalSeconds, 1) + "]" + "秒";
+                WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "]" + "等待" + "}" + NotOkMsg + "超时";
 
                 int second = (int)(MoveInfo.TimeOutSeconds / span.TotalSeconds) * 10;
                 if (second > 120)
@@ -197,7 +197,7 @@ namespace DeviceLibrary
                 LogUtil.error(WarnMsg, logType + 100, second);
                 //MoveInfo.errlog(WarnMsg);
                 //Alarm(AlarmType.IoSingleTimeOut,  WarnMsg);
-                Msg.add(WarnMsg, MsgLevel.alarm);
+                Msg.add("MoveStep.",WarnMsg, MsgLevel.alarm);
             }
             return true;
         }
@@ -259,8 +259,8 @@ namespace DeviceLibrary
                 //    return;
                 (IoLowType, IoHighType) = (IoHighType, IoLowType);
             }
-            //if (IOManager.DOValue(IoHighType).Equals(IO_VALUE.HIGH))
-            //    return;
+            if (IOManager.IOValue(IoHighType).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IoLowType).Equals(IO_VALUE.LOW))
+                return;
             IOMove(IoLowType, IO_VALUE.LOW);
             IOMove(IoHighType, IO_VALUE.HIGH);
             if (moveInfo != null)
@@ -270,7 +270,7 @@ namespace DeviceLibrary
             }
         }
         public IO_VALUE IOValue(string ioType) => IOManager.IOValue(ioType);
-        void IOMove(string IoType, IO_VALUE value, bool isCheck = false, int msTime = 0)
+        public void IOMove(string IoType, IO_VALUE value, bool isCheck = false, int msTime = 0)
         {
             if (msTime <= 0)
             {

DeviceLibrary/theMachine/MainMachine _IOMonitor.cs

@@ -42,6 +42,12 @@ namespace DeviceLibrary
             //{
             //    RightDoorOpen = false;
             //}
+
+            if (RobotManage.dauxiKS107.Distance < 180) {
+                Msg.add(crc.GetString("Res0163.f6ad5099","冷凝液回收桶已满"), MsgLevel.warning);
+            }
+
+
             if (IOValue(IO_Type.Airpressure_Check).Equals(IO_VALUE.LOW)) {
                 Msg.add(crc.GetString("Res0079","未检测到气压信号."), MsgLevel.warning);
             }

DeviceLibrary/theMachine/MainMachine.cs

@@ -73,6 +73,8 @@ namespace DeviceLibrary
         /// </summary>
         public bool isInSuddenDown = false;
 
+        bool selfAuditMode = false;
+
 
         public List<ReelParam> NGInfoList = new List<ReelParam>();
 
@@ -99,7 +101,7 @@ namespace DeviceLibrary
             //Y_Axis.ForceSafeCheck = true;
             Y_Axis.interference += Y_Axis_interference;
             Z_Axis = new AxisBean(Config.Z_Axis, Name);
-
+            Z_Axis.interference += Z_Axis_interference;
             Flip_Axis = new AxisBean(Config.Flip_Axis, Name);
             Rotate_Axis = new AxisBean(Config.Rotate_Axis, Name);
             Crc_LanguageChangeEvent(null, EventArgs.Empty);
@@ -141,13 +143,17 @@ namespace DeviceLibrary
             
         }
 
+
         private void Entry_Drawer_Open()
         {
-            nglist = new List<string>();
-        }private void RightDoor_Close()
+            nglist = new List<string>();            
+        }
+        private void RightDoor_Close()
         {
             IOMove(IO_Type.RightDoor_Lock, IO_VALUE.HIGH);
-        }private void LeftDoor_Close()
+            RobotManage.mainMachine.NGInfoList = new List<ReelParam>();
+        }
+        private void LeftDoor_Close()
         {
             IOMove(IO_Type.LeftDoor_Lock, IO_VALUE.HIGH);
         }private void PrinterDoor_Close()
@@ -157,6 +163,7 @@ namespace DeviceLibrary
         private void Entry_Drawer_Close()
         {
             IOMove(IO_Type.Entry_Drawer_Lock, IO_VALUE.HIGH);
+            newDrawer = true;
             CameraPointTest.GetThingStoreName(TestStorePointPort.入口);
         }
         private void Out_Drawer_Close()
@@ -184,6 +191,15 @@ namespace DeviceLibrary
                 return (true, crc.GetString("Res0093","Z轴不在待机位,不允许移动"));
         }
 
+        private (bool, string) Z_Axis_interference(int arg1, int arg2)
+        {
+            if (X_Axis.IsBusy)
+                return (true, "The other axes are moving, and this axis cannot be moved");
+            if (Y_Axis.IsBusy)
+                return (true, "The other axes are moving, and this axis cannot be moved");
+
+            return (false, "");
+        }
         private void Crc_LanguageChangeEvent(object sender, EventArgs e)
         {
             StoreMoveInfo.Name = crc.GetString("Res0088","进出库调度");
@@ -202,7 +218,7 @@ namespace DeviceLibrary
             while (mstart) {
                 try
                 {
-                    Thread.Sleep(200);
+                    Thread.Sleep(100);
                     ioMonitor();
                     canRunning = DeviceCheck();
                     if (canRunning)
@@ -217,16 +233,15 @@ namespace DeviceLibrary
                         continue;
                     if (runStatus == RunStatus.Running)
                     {
-                        
                         boxTransport.Process();
                         if (RobotManage.InoutDebugMode)
                             AutoInOutTestProcess();
-                        else if (DemoTestMode)
+                        else if (selfAuditMode)
                             TFIDSelfTestProcess();
                         else
                             StoreDemoProcess();
-
-                        LabelingProcess();
+                        
+                        LabelingProcess();                        
                     }
                     else if (runStatus == RunStatus.HomeReset)
                     {
@@ -236,7 +251,7 @@ namespace DeviceLibrary
                 catch (Exception ex)
                 {
                     LogUtil.error("Mainprocess:" + ex);
-                    Msg.add(ex.ToString(), MsgLevel.warning);
+                    Msg.add("Mainprocess", ex.ToString(), MsgLevel.warning);
                     //Msg.setlogones();
                 }
                 finally {
@@ -275,7 +290,7 @@ namespace DeviceLibrary
         }
         public void Start() {
             ServerCM.StartConnectServer();
-            Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
+            Msg.add("","", MsgLevel.info, ErrInfo.X09_Clear);
             LeftDoorOpen = false;
             RightDoorOpen = false;
             PrintDoorOpen = false;
@@ -301,7 +316,7 @@ namespace DeviceLibrary
             Alarm(AlarmType.None);
             StopMove(true);
             LedProcess(null);
-            Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);
+            Msg.add("","", MsgLevel.info, ErrInfo.X09_Clear);
 
         }
         public void BeginHomeReset(bool firstRun=false) {
@@ -342,10 +357,11 @@ 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);
+                    IOMove(IO_Type.Label_PasteBlow, IO_VALUE.LOW);
                     CylinderMove(ResetMoveInfo, IO_Type.Tin_Dock_Rotate_Release, IO_Type.Tin_Dock_Rotate_Clamp, IO_VALUE.LOW);
-                    Msg.add("", MsgLevel.info, ErrInfo.X09_Clear);                                        
+                    Msg.add("","", MsgLevel.info, ErrInfo.X09_Clear);
                     break;
                 case MoveStep.H02_HomeReset_01:
                     ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
@@ -381,11 +397,12 @@ namespace DeviceLibrary
                     ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
                     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)
+                        if (false && 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);
+                            LabelingMoveInfo.MoveParam.IsNg = true;
                             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"));
                         }
@@ -427,7 +444,7 @@ namespace DeviceLibrary
                     ok = false;
                     DeviceSuddenStop();
                 }
-                Msg.add(crc.GetString("Res0134","打印机维护门未关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
+                Msg.add("printdoor",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))
             {
@@ -436,7 +453,7 @@ namespace DeviceLibrary
                     ok = false;
                     DeviceSuddenStop();
                 }
-                Msg.add(crc.GetString("Res0097","左侧防护门没有关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
+                Msg.add("leftsafedoor",crc.GetString("Res0097","左侧防护门没有关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
             }
             if (IOValue(IO_Type.RightDoor_Check).Equals(IO_VALUE.HIGH))
             {
@@ -445,7 +462,7 @@ namespace DeviceLibrary
                     ok = false;
                     DeviceSuddenStop();
                 }
-                Msg.add(crc.GetString("Res0098","右侧防护门没有关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
+                Msg.add("rightsafedoor", crc.GetString("Res0098","右侧防护门没有关闭") + (ok ? ignorestring : ""), MsgLevel.alarm);
             }
 
             if (IOValue(IO_Type.SafeDoor_Disable).Equals(IO_VALUE.LOW) && IOValue(IO_Type.DoorLock_Check).Equals(IO_VALUE.LOW))
@@ -453,8 +470,26 @@ namespace DeviceLibrary
                 Msg.add(crc.GetString("Res0135","防护门没有锁定"), MsgLevel.warning);
                 DeviceSuddenStop();
                 ok = false;
+            }
 
+            if (StoreMoveInfo.MoveStep != MoveStep.Wait && IOValue(IO_Type.Entry_Drawer_Lock).Equals(IO_VALUE.LOW))
+            {
+                Msg.add(crc.GetString("Res0164.37b8d13a","出入库时请关好入库抽屉"), MsgLevel.alarm);
+                DeviceSuddenStop();
+                ok = false;
             }
+            if (StoreMoveInfo.MoveStep != MoveStep.Wait && StoreMoveInfo.MoveStep < MoveStep.StoreOut14 && IOValue(IO_Type.Out_Drawer_Lock).Equals(IO_VALUE.LOW))
+            {
+                Msg.add(crc.GetString("Res0165.970b4edb","出入库时请关好出库抽屉"), MsgLevel.alarm);
+                DeviceSuddenStop();
+                ok = false;
+            }
+
+            if (ServerCM.selfAuditException)
+            {
+                Msg.add(crc.GetString("Res0172.8f1fa034","自检测到有错误物料,请处理"), MsgLevel.alarm);
+            }
+
             if (!lastSafeCheckStatus && ok)
             {
 
@@ -514,6 +549,12 @@ namespace DeviceLibrary
                     ok = false;
                 }
             }
+
+            if (ok && !AxisBean.RunMultiAxis(true, out string msg, AxisBean.List))
+            {
+                ok = false;
+                Msg.add(msg, MsgLevel.warning);
+            }
             if (RobotManage.InoutDebugMode)
             {
                 Msg.add(crc.GetString("Res0102","进出库调试模式"), MsgLevel.info);
@@ -548,7 +589,7 @@ namespace DeviceLibrary
                             {
                                 if (runStatus == RunStatus.Running || ResetMoveInfo.IsStep(MoveStep.H06_HomeReset))
                                 {
-                                    Msg.add(crc.GetString(configMoveAxis.ProName, configMoveAxis.Explain) + $"[{configMoveAxis.GetAxisValue()}]:"
+                                    Msg.add(configMoveAxis.ProName,crc.GetString(configMoveAxis.ProName, configMoveAxis.Explain) + $"[{configMoveAxis.GetAxisValue()}]:"
                                     + crc.GetString("Res0104", "运动报警"), MsgLevel.alarm);
                                     RobotManage.UserPause(crc.GetString("Res0105","压紧轴报警"), true);
                                     AxisManager.AlarmClear(configMoveAxis.DeviceName, configMoveAxis.GetAxisValue());
@@ -557,7 +598,7 @@ namespace DeviceLibrary
                             }
                             else
                             {
-                                Msg.add(crc.GetString(configMoveAxis.ProName, configMoveAxis.Explain) + $"[{configMoveAxis.GetAxisValue()}]:"
+                                Msg.add(configMoveAxis.ProName, crc.GetString(configMoveAxis.ProName, configMoveAxis.Explain) + $"[{configMoveAxis.GetAxisValue()}]:"
                                 + crc.GetString("Res0104","运动报警"), MsgLevel.alarm, ErrInfo.SuddenStop);
                                 ButtenEvent?.Invoke(null, ErrInfo.SuddenStop);
                             }

DeviceLibrary/theMachine/MainMachine_Labeling.cs

@@ -36,7 +36,7 @@ namespace DeviceLibrary
                     LabelingMoveInfo.NextMoveStep(MoveStep.Labeling03);
                     CylinderMove(LabelingMoveInfo, IO_Type.Tin_Dock_Left, IO_Type.Tin_Dock_Right, IO_VALUE.HIGH);
                     CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Back, IO_Type.Label_Dock_Front, IO_VALUE.HIGH);
-                    //LabelingMoveInfo.log("锡膏横移到右侧");
+                    LabelingMoveInfo.log("锡膏横移到右侧");
                     ScanTimes = 0;
                     CodeList = new List<CodeInfo>();
                     LabelingMoveInfo.MoveParam = new ReelParam();
@@ -47,8 +47,10 @@ namespace DeviceLibrary
                 //    RotateEquip.LockAndTurnDegree(-20);                   
                 //    break;
                 case MoveStep.Labeling03:
-                    if (RotateEquip.TurnWork==null || RotateEquip.TurnWork.IsCompleted) {
+                    if (RotateEquip.TurnWork == null || RotateEquip.TurnWork.IsCompleted)
+                    {
                         LabelingMoveInfo.NextMoveStep(MoveStep.Labeling04);
+                        LabelingMoveInfo.log("TakePicture");
                         TakePicture();
                     }
                     break;
@@ -86,6 +88,34 @@ namespace DeviceLibrary
                                 ServerCM.SendInStoreRequest(new string[] { LabelingMoveInfo.MoveParam.WareCode }, LabelingMoveInfo.MoveParam, true);
                                 Setting_Init.Runtime_Posid = LabelingMoveInfo.MoveParam.PosID;
                                 Setting_Init.Runtime_RFID = LabelingMoveInfo.MoveParam.RFID;
+
+                                if (LabelingMoveInfo.MoveParam.IsNg) {
+                                    LabelingMoveInfo.NextMoveStep(MoveStep.Labeling08);
+                                    LabelingMoveInfo.log($"获取库位失败,送到NG口:{LabelingMoveInfo.MoveParam.NgMsg}");
+                                    return;
+                                }
+                                PrintTask = RobotManage.printerHelper.PrintLabel(LabelingMoveInfo.MoveParam);
+                                Setting_Init.Runtime_Step = Runtime_StepE.Printed;
+                                LabelingMoveInfo.log("开始打印标签:" + LabelingMoveInfo.MoveParam.ToDetailStr());
+                                Task.Run(() =>
+                                {
+                                    for (int i = 0; i < 100; i++)
+                                    {
+                                        if (PrintTask.IsCompleted)
+                                        {
+                                            var (result, msg) = PrintTask.Result;
+                                            if (result)
+                                            {
+                                                LabelingMoveInfo.log("在线程中检测到打印完成");
+                                                Task.Delay(2000).Wait();
+                                                CylinderMove(null, IO_Type.Label_Dock_Back, IO_Type.Label_Dock_Front, IO_VALUE.LOW);
+                                                IOMove(IO_Type.Label_TakeBlow, IO_VALUE.HIGH, false, 1000);
+                                                break;
+                                            }
+                                        }
+                                        Task.Delay(50).Wait();
+                                    }
+                                });
                                 return;
                             }
                         }
@@ -105,13 +135,20 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.Labeling06:
                     LabelingMoveInfo.NextMoveStep(MoveStep.Labeling07);
-                    RotateEquip.TurnDegree(-75);
+                    RotateEquip.TurnDegree(-90);
                     //LabelingMoveInfo.log("滚动锡膏");
                     break;
                 case MoveStep.Labeling07:
                     if (RotateEquip.TurnWork.IsCompleted)
                     {
                         LabelingMoveInfo.NextMoveStep(MoveStep.Labeling06);
+
+                        {
+                            LabelingMoveInfo.NextMoveStep(MoveStep.Labeling08);
+                            LabelingMoveInfo.log("旋转固定贴标位置");
+                            return;
+                        }
+
                         var hc = CameraPointTest.ScanRectangle();                        
                         ScanTimes++;
                         if (hc)
@@ -139,11 +176,11 @@ namespace DeviceLibrary
                     {
                         if (LabelingMoveInfo.MoveParam.IsNg)
                         {
-                            LabelingMoveInfo.NextMoveStep(MoveStep.Labeling50);
+                            LabelingMoveInfo.NextMoveStep(MoveStep.Labeling56);
                             LabelingMoveInfo.log("物料NG直接退出");
                         }
                         else {
-                            LabelingMoveInfo.NextMoveStep(MoveStep.Labeling10);
+                            LabelingMoveInfo.NextMoveStep(MoveStep.Labeling11);
                             LabelingMoveInfo.log("开始贴标");
                         }
                     }
@@ -155,6 +192,12 @@ namespace DeviceLibrary
                     LabelingMoveInfo.log("开始打印标签:" + LabelingMoveInfo.MoveParam.ToDetailStr());
                     break;
                 case MoveStep.Labeling11:
+                    if (IOValue(IO_Type.Label_Dock_Back).Equals(IO_VALUE.HIGH)) {
+                        LabelingMoveInfo.NextMoveStep(MoveStep.Labeling13);
+                        LabelingMoveInfo.log("检测到接标托盘已到位,开始贴标");
+                        return;
+                    }
+
                     if (PrintTask.IsCompleted)
                     {
                         var (result, msg) = PrintTask.Result;
@@ -163,25 +206,43 @@ namespace DeviceLibrary
                             LabelingMoveInfo.NextMoveStep(MoveStep.Labeling12);
                             LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
                             LabelingMoveInfo.log("打印成功,等待标签被取走");
+                            Task.Run(() => {
+                                Task.Delay(2000).Wait();
+                                IOMove(IO_Type.Label_TakeBlow, IO_VALUE.HIGH, false, 1000);
+                            });
+                            
                         }
                         else
                         {
-                            Msg.add(crc.GetString("Res0106","打印机反馈:") + msg, MsgLevel.alarm);
-                            RobotManage.UserPause(crc.GetString("Res0106","打印机反馈:") + msg);
+                            Msg.add("printinfo", crc.GetString("Res0106", "打印机反馈:") + msg, MsgLevel.alarm);
+                            RobotManage.UserPause(crc.GetString("Res0106", "打印机反馈:") + msg);
                             LabelingMoveInfo.NextMoveStep(MoveStep.Labeling10);
                             LabelingMoveInfo.log("打印失败,再次打印");
                         }
+                    } else if (LabelingMoveInfo.IsTimeOut(10)) {
+                        Msg.add(crc.GetString("Res0166.79cee376","打印响应超时"), MsgLevel.alarm);
                     }
                     break;
                 case MoveStep.Labeling12:
                     LabelingMoveInfo.NextMoveStep(MoveStep.Labeling13);
                     CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Back, IO_Type.Label_Dock_Front, IO_VALUE.LOW);
-                    LabelingMoveInfo.log("开始贴标");                    
+                    LabelingMoveInfo.log("开始贴标");
                     break;
                 case MoveStep.Labeling13:
-                    LabelingMoveInfo.NextMoveStep(MoveStep.Labeling14);
-                    CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Down, IO_Type.Label_Dock_Up, IO_VALUE.HIGH);
-                    //LabelingMoveInfo.log("接标台上升");
+                    if (CameraPointTest.TestHasLabelOnDock(true))
+                    {
+                        LabelingMoveInfo.NextMoveStep(MoveStep.Labeling14);
+                        CylinderMove(LabelingMoveInfo, IO_Type.Label_Dock_Down, IO_Type.Label_Dock_Up, IO_VALUE.HIGH);
+                        //LabelingMoveInfo.log("接标台上升");
+                    }
+                    else {
+                        LabelingMoveInfo.NextMoveStep(MoveStep.Labeling56);
+                        Msg.add(crc.GetString("Res0173.8a024375","没有检测到打印出的标签"), MsgLevel.alarm, ErrInfo.LabelInPaste);
+                        LabelingMoveInfo.MoveParam.IsNg = true;
+                        Setting_Init.Runtime_Posid = "NG";
+                        LabelingMoveInfo.MoveParam.NgMsg = crc.GetString("Res0173.8a024375","没有检测到打印出的标签");
+                        RobotManage.UserPause(crc.GetString("Res0173.8a024375","没有检测到打印出的标签"));
+                    }
                     break;
                 case MoveStep.Labeling14:
                     LabelingMoveInfo.NextMoveStep(MoveStep.Labeling15);
@@ -207,31 +268,61 @@ namespace DeviceLibrary
                     //LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                     break;
                 case MoveStep.Labeling51:
+                    if (CameraPointTest.TestHasLabelOnDock(false))
+                    {
+                        LabelingMoveInfo.NextMoveStep(MoveStep.Labeling56);
+                        Msg.add(crc.GetString("Res0167.8453b300","取标失败"), MsgLevel.alarm, ErrInfo.LabelInPaste);
+                        LabelingMoveInfo.MoveParam.IsNg = true;
+                        Setting_Init.Runtime_Posid = "NG";
+                        LabelingMoveInfo.MoveParam.NgMsg = crc.GetString("Res0167.8453b300","取标失败");
+                        IOMove(IO_Type.Label_Vacuum, IO_VALUE.LOW);
+                        RobotManage.UserPause(crc.GetString("Res0167.8453b300","取标失败"));
+                        return;
+                    }
                     LabelingMoveInfo.NextMoveStep(MoveStep.Labeling52);
                     CylinderMove(null, IO_Type.Labeling_Down, IO_Type.Labeling_Up, IO_VALUE.LOW);
+                    IOMove(IO_Type.Label_PasteBlow, IO_VALUE.HIGH);
                     //LabelingMoveInfo.log("贴标下降");
                     Setting_Init.Runtime_Step = Runtime_StepE.LabelPaste;
                     //LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                     break;
                 case MoveStep.Labeling52:
-                    LabelingMoveInfo.NextMoveStep(MoveStep.Labeling53);
+                    LabelingMoveInfo.NextMoveStep(MoveStep.Labeling52_2);
                     IOMove(IO_Type.Label_Vacuum, IO_VALUE.LOW);
-                    RotateEquip.TurnDouble();
+                    RotateEquip.TurnDegree(30);
+                    break;
+                case MoveStep.Labeling52_2:
+                    if (RotateEquip.TurnWork.IsCompleted)
+                    {
+                        LabelingMoveInfo.NextMoveStep(MoveStep.Labeling53);
+                        RotateEquip.TurnDouble();
+                    }
                     break;
                 case MoveStep.Labeling53:
                     if (RotateEquip.TurnWork.IsCompleted)
                     {
                         LabelingMoveInfo.NextMoveStep(MoveStep.Labeling54);
+                        RotateEquip.TurnDegree(-45);
+                        //RotateEquip.TurnDouble();
                     }
                     break;
                 case MoveStep.Labeling54:
-                    LabelingMoveInfo.NextMoveStep(MoveStep.Labeling55);
-                    CylinderMove(null, IO_Type.Labeling_Down, IO_Type.Labeling_Up, IO_VALUE.HIGH);
-                    //LabelingMoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+                    if (RotateEquip.TurnWork.IsCompleted)
+                    {
+                        LabelingMoveInfo.NextMoveStep(MoveStep.Labeling56);
+                        CylinderMove(null, IO_Type.Labeling_Down, IO_Type.Labeling_Up, IO_VALUE.HIGH);
+                        //RotateEquip.TurnDegree(90);
+                        RotateEquip.TurnDouble();
+                    }
                     break;
                 case MoveStep.Labeling55:
-                    LabelingMoveInfo.NextMoveStep(MoveStep.Labeling56);
-                    RotateEquip.TurnDegree(90);
+                    if (RotateEquip.TurnWork.IsCompleted)
+                    {
+                        LabelingMoveInfo.NextMoveStep(MoveStep.Labeling56);
+                        //RotateEquip.TurnDegree(90);
+                        RotateEquip.TurnDouble();
+                        //RotateEquip.TurnDouble();
+                    }
                     break;
                 case MoveStep.Labeling56:
                     if (RotateEquip.TurnWork.IsCompleted)
@@ -240,7 +331,7 @@ namespace DeviceLibrary
                         Setting_Init.Runtime_Step = Runtime_StepE.LabelPasteFinish;
                         LabelingMoveInfo.log("贴标完成");
                         RotateEquip.TurnToEnd(false);
-
+                        IOMove(IO_Type.Label_PasteBlow, IO_VALUE.LOW);
                         if (LabelingMoveInfo.MoveParam.IsNg)
                             Setting_Init.Runtime_Posid = "NG";
                     }
@@ -397,7 +488,7 @@ namespace DeviceLibrary
                     reelParam.SN = cs[5].Substring(1);
                     reelParam.WareCode = rightcode;
                     reelParam.ReeID = reelParam.SN;
-                    reelParam.RFID = reelParam.SN.Substring(1);
+                    reelParam.RFID = "S"+reelParam.SN;
 
                     return true;
                 }

DeviceLibrary/theMachine/MainMachine_RFIDSelftest.cs

 using CodeLibrary;
+using Newtonsoft.Json;
 using OnlineStore;
 using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
@@ -6,6 +7,7 @@ using System;
 using System.Collections.Generic;
 using System.Drawing;
 using System.Linq;
+using System.Security.Cryptography;
 using System.Text;
 using System.Text.RegularExpressions;
 using System.Threading;
@@ -19,6 +21,7 @@ namespace DeviceLibrary
         List<string> DemoTestList;
         int DemoTestIndex = 0;
         int DemoTestCount = 0;
+        bool issame = false;
         void TFIDSelfTestProcess()
         {
             if (CheckWait(StoreMoveInfo))
@@ -27,84 +30,152 @@ namespace DeviceLibrary
             switch (StoreMoveInfo.MoveStep)
             {
                 case MoveStep.Wait:
+                    if (selfAuditMode&&!ServerCM.selfAudit)
+                    {
+                        StoreMoveInfo.log("自检模式结束");
+                        selfAuditMode = false;
+                        return;
+                    }
+                    StoreMoveInfo.NextMoveStep(MoveStep.StoreIn01);
+                    StoreMoveInfo.log("自检模式开始");
                     break;
                 case MoveStep.StoreIn01:
-                    StoreMoveInfo.NextMoveStep(MoveStep.StoreIn02);
-                    Y_Axis.AbsMove(StoreMoveInfo, Config.Y_Axis_P1, Config.Y_Axis_P1_speed);
-                    X_Axis.AbsMove(StoreMoveInfo, Config.X_Axis_P1, Config.X_Axis_P1_speed);
+                    if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Entry_Drawer).Equals(IO_VALUE.HIGH))
+                    {
+                        var slist = CameraPointTest.GetThingStoreName(TestStorePointPort.入口);
+                        if (slist.Count == 0)
+                        {
+                            IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.HIGH);
+                            IOMove(IO_Type.Entry_Drawer_Lock, IO_VALUE.HIGH);
+                            StoreMoveInfo.NextMoveStep(MoveStep.StoreIn02);
+                            Y_Axis.AbsMove(StoreMoveInfo, 0, Config.Y_Axis_P1_speed);
+                            X_Axis.AbsMove(StoreMoveInfo, 0, Config.X_Axis_P1_speed);
+                        }
+                        else {
+                            IOValue(IO_Type.Entry_Drawer_Lock).Equals(IO_VALUE.LOW);
+                            Msg.add(crc.GetString("Res0174.f33f9554","开始自检时请清空入库抽屉"), MsgLevel.alarm);
+                        }
+                    }
+                    else {                       
+
+                        Msg.add(crc.GetString("Res0168.e90e8acf","开始自检时请关好抽屉"), MsgLevel.alarm);
+                    }
                     break;
                 case MoveStep.StoreIn02:
-                    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)
+                    if (!ServerCM.selfAudit) {
+                        StoreMoveInfo.NextMoveStep(MoveStep.Wait);
                         return;
-                    DemoTestIndex = 0;
-
-                    break;
-                case MoveStep.StoreOut10:
-                    if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Out_Drawer_Lock).Equals(IO_VALUE.HIGH))
-                    {
-                        StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11);
                     }
-                    else if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.LOW) && IOValue(IO_Type.Out_Drawer_Lock).Equals(IO_VALUE.HIGH))
-                    {
-                        IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.LOW);
+                    var job = ServerCM.SelfAudit_getNetPos();
+                    
+                    if (job == null) {
+                        Msg.add(crc.GetString("Res0169.ee0b269b","开始自检,但服务器没有返回正确库位信息."), MsgLevel.alarm);
                     }
-                    else if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.LOW))
+                    else
                     {
-                        Msg.add(crc.GetString("Res0137","出库任务正在执行,请关好抽屉"), MsgLevel.warning);
+                        StoreMoveInfo.NextMoveStep(MoveStep.StoreIn03);
+                        StoreMoveInfo.MoveParam.WareCode = job.WareNum;
+                        StoreMoveInfo.MoveParam.PosID = job.PosId;
+                        TestStorePointPort tspp = CameraPointTest.GetTestStorePointPort(job.PosId);
+                        if (tspp == TestStorePointPort.上层左侧 || tspp == TestStorePointPort.下层右侧)
+                        {
+                            RobotManage.mainMachine.TPMove.ToLow(StoreMoveInfo);
+                            StoreMoveInfo.log($"{job.WareNum},上层库位移至左侧");
+                        }
+                        else if (tspp == TestStorePointPort.下层左侧)
+                        {
+                            RobotManage.mainMachine.TPMove.ToHigh(StoreMoveInfo);
+                            StoreMoveInfo.log($"{job.WareNum},上层库位移至右侧");
+                        }
+
+                        
+
+
+                        
                     }
-                    else {
-                        IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.HIGH);
+                    break;
+                case MoveStep.StoreIn03:
+                    StoreMoveInfo.NextMoveStep(MoveStep.StoreOut10);
+                    {
+                        var tspp = CameraPointTest.GetTestStorePointPort(StoreMoveInfo.MoveParam.PosID);
+                        var slist = CameraPointTest.GetThingStoreName(tspp);
+                        var hasthing = slist.Contains(StoreMoveInfo.MoveParam.PosID);
+                        if (!hasthing)
+                        {
+                            StoreMoveInfo.NextMoveStep(MoveStep.StoreIn02);
+                            ServerCM.SelfAudit_posSelfAuditEnd(StoreMoveInfo.MoveParam.PosID, "", "");
+                            StoreMoveInfo.log($"自检:{StoreMoveInfo.MoveParam.PosID},没有物料");
+                            return;
+                        }
                     }
                     break;
-                case MoveStep.StoreOut11:
-                        StoreMoveInfo.NextMoveStep(MoveStep.StoreOut12);
-                        var from = CSVPositionReader<ACStorePosition>.GetPositon(DemoTestList[DemoTestIndex]);
-                        var to = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
+                case MoveStep.StoreOut10:
+                    StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11);
+                    var from = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
+                    var to = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
                     StoreMoveInfo.MoveParam.ReelOnFixture = false;
                     boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.OutStore, true);
-                        StoreMoveInfo.log($"开始转运出库");                    
+                    boxTransport.isSelfAudit= true;
+                    StoreMoveInfo.log($"开始转运出库");
                     break;
+                case MoveStep.StoreOut11:
                 case MoveStep.StoreOut12:
                     if (boxTransport.IsComplateOrFree)
                     {
-                        bool issame = false;
+                        if (!boxTransport.CheckHasMatetial)
+                        {
+                            StoreMoveInfo.NextMoveStep(MoveStep.StoreIn02);
+                            ServerCM.SelfAudit_posSelfAuditEnd(StoreMoveInfo.MoveParam.PosID, "", "");
+                            StoreMoveInfo.log($"自检:{StoreMoveInfo.MoveParam.PosID},没有物料");
+                            return;
+                        }
+                        ServerCM.SelfAudit_posOutEnd(StoreMoveInfo.MoveParam.PosID);
+
+                        issame = false;
                         string ds="";
                         for (int i = 0; i < 15; i++)
                         {                            
-                            if (RobotManage.RFID.ReadEPC(12, out byte[] data))
+                            if (RobotManage.RFID.ReadEPC(16, out byte[] data))
                             {
                                 if (data[0] != 0xFF)
                                 {
                                     ds = Encoding.ASCII.GetString(data).Trim();
-                                    //if (StoreMoveInfo.MoveParam.WareCode.IndexOf(ds)>-1)
+                                    if (!string.IsNullOrEmpty(ds))
                                     {
                                         StoreMoveInfo.MoveParam.RFID = ds;
-                                        StoreMoveInfo.log("读取到 RFID:" + ds + " , "+ RobotManage.RFID.HexBuff(data));
-                                        issame = true;
-                                        break;
+                                        StoreMoveInfo.log("读取到 RFID:" + ds + " , " + RobotManage.RFID.HexBuff(data));
+                                        if (StoreMoveInfo.MoveParam.WareCode.IndexOf(ds) > -1)
+                                        {
+                                            issame = true;
+                                            break;
+                                        }
+                                    }
+                                }                                
+                            }
+                            if (!issame) {
+                                if (RobotManage.RFID2.ReadEPC(16, out data))
+                                {
+                                    if (data[0] != 0xFF)
+                                    {
+                                        ds = Encoding.ASCII.GetString(data).Trim();
+                                        if (!string.IsNullOrEmpty(ds))
+                                        {
+                                            StoreMoveInfo.MoveParam.RFID = ds;
+                                            StoreMoveInfo.log("读取到 RFID2:" + ds + " , " + RobotManage.RFID.HexBuff(data));
+                                            if (StoreMoveInfo.MoveParam.WareCode.IndexOf(ds) > -1)
+                                            {
+                                                issame = true;
+                                                break;
+                                            }
+                                        }
                                     }
-                                    
                                 }
                             }
                             Thread.Sleep(200);
                         }
-
-                        if (!issame)
-                        {
-                            //StoreMoveInfo.log("读取到 RFID:" + ds);
-                            //Msg.add("读取到的RFID与物料信息不符:" + ds, MsgLevel.alarm);
-                            //RobotManage.UserPause("读取到的RFID与物料信息不符");
-                        }
-
                         StoreMoveInfo.NextMoveStep(MoveStep.StoreOut13);
                         from = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
-                        to = CSVPositionReader<ACStorePosition>.GetPositon(DemoTestList[DemoTestIndex]);
+                        to = CSVPositionReader<ACStorePosition>.GetPositon(StoreMoveInfo.MoveParam.PosID);
                         StoreMoveInfo.MoveParam.ReelOnFixture = true;
                         boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.OutStore, true);
                         StoreMoveInfo.log($"开始转运出库");
@@ -113,11 +184,26 @@ namespace DeviceLibrary
                 case MoveStep.StoreOut13:
                     if (boxTransport.IsComplateOrFree)
                     {
-                        StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11);
-                        DemoTestIndex++;
-                        if (DemoTestIndex >= DemoTestList.Count)
-                            DemoTestIndex = 0;
-                        DemoTestCount++;
+                        StoreMoveInfo.NextMoveStep(MoveStep.StoreIn01);
+                        if (!issame)
+                        {
+                            var crfid = StoreMoveInfo.MoveParam.RFID;
+                            if (string.IsNullOrEmpty(crfid))
+                            {
+                                crfid = "Rfid read fail";
+                                StoreMoveInfo.MoveParam.NgMsg = "Rfid read fail";
+                            }else
+                                StoreMoveInfo.MoveParam.NgMsg = crc.GetString("Res0175.61bd5a58","RFID不符");
+
+                            NGInfoList.Add(StoreMoveInfo.MoveParam.clone());
+                            ServerCM.SelfAudit_posSelfAuditEnd(StoreMoveInfo.MoveParam.PosID, StoreMoveInfo.MoveParam.WareCode, crfid);
+                            StoreMoveInfo.log($"自检:{StoreMoveInfo.MoveParam.PosID},{StoreMoveInfo.MoveParam.WareCode}!={StoreMoveInfo.MoveParam.RFID}物料数据不符");
+                        }
+                        else
+                        {
+                            ServerCM.SelfAudit_posSelfAuditEnd(StoreMoveInfo.MoveParam.PosID, StoreMoveInfo.MoveParam.WareCode, StoreMoveInfo.MoveParam.WareCode);
+                            StoreMoveInfo.log($"自检:{StoreMoveInfo.MoveParam.PosID},{StoreMoveInfo.MoveParam.WareCode}=={StoreMoveInfo.MoveParam.RFID}物料数据符合");
+                        }
                     }
                     break;
                 default:

DeviceLibrary/theMachine/MainMachine_StoreDemo.cs → DeviceLibrary/theMachine/MainMachine_Store.cs

@@ -16,20 +16,27 @@ namespace DeviceLibrary
 {
     partial class MainMachine
     {
+
         public const string LabelP = "LabelP";
         public const string RFIDP = "RFIDP";
 
         StoreJobList OutStoreJobList = new StoreJobList(crc.GetString("Res0108", "批量"));
         public bool HasJob { get => OutStoreJobList.Count > 0; }
-        public void AddOutStoreTask(string warecode, string posId)
+        public void AddOutStoreTask(string warecode, string posId,bool ngReel, string ngMsg)
         {
             JobInfo jobInfo = new JobInfo(warecode, posId);
+            jobInfo.isNG = ngReel;
+            jobInfo.NgMsg = ngMsg;
             OutStoreJobList.Enqueue(jobInfo);
             LogUtil.info($"添加出库任务队列: {posId},当前任务数量: {OutStoreJobList.Count}");
         }
         public bool IsInStoreReady { get => true; }
 
         List<string> nglist = new List<string>();
+        /// <summary>
+        /// 是否新入抽屉
+        /// </summary>
+        public bool newDrawer=true;
 
         void StoreDemoProcess()
         {
@@ -41,7 +48,7 @@ namespace DeviceLibrary
                 case MoveStep.Wait:
                     StoreMoveInfo.MoveParam.ReelOnFixture = false;
                     if (IOValue(IO_Type.Taking_Clamp).Equals(IO_VALUE.LOW)) {
-                        if (Setting_Init.Runtime_Step == Runtime_StepE.LabelProcess)
+                        if (false && Setting_Init.Runtime_Step == Runtime_StepE.LabelProcess)
                         {
                             StoreMoveInfo.log("检测到上次正在贴标:" + Setting_Init.Runtime_Step + "," + Setting_Init.Runtime_Posid + "," + Setting_Init.Runtime_FromPosid);
                             if (!string.IsNullOrEmpty(Setting_Init.Runtime_FromPosid))
@@ -57,12 +64,14 @@ namespace DeviceLibrary
                             return;
 
                         }
-                        else if (Setting_Init.Runtime_Step == Runtime_StepE.LabelPasteFinish)
+                        else if (Setting_Init.Runtime_Step >= Runtime_StepE.LabelProcess && Setting_Init.Runtime_Step <= Runtime_StepE.LabelPasteFinish)
                         {
                             StoreMoveInfo.log("检测到上次已完成贴标:" + Setting_Init.Runtime_Step + "," + Setting_Init.Runtime_Posid + "," + Setting_Init.Runtime_RFID);
                             StoreMoveInfo.NewMove(MoveStep.StoreIn03);
                             if (Setting_Init.Runtime_Posid.Val == "NG")
-                                LabelingMoveInfo.MoveParam.IsNg = true;                            
+                                LabelingMoveInfo.MoveParam.IsNg = true;
+                            LabelingMoveInfo.MoveParam.PosID = Setting_Init.Runtime_Posid;
+                            LabelingMoveInfo.MoveParam.RFID = Setting_Init.Runtime_RFID;
                             StoreMoveInfo.MoveParam.PosID = Setting_Init.Runtime_Posid;
                             StoreMoveInfo.MoveParam.RFID = Setting_Init.Runtime_RFID;
                             return;
@@ -93,6 +102,10 @@ namespace DeviceLibrary
                             //StoreMoveInfo.log($"检测到入库抽屉已锁定");
                         }
                         Setting_Init.Runtime_Step = Runtime_StepE.None;
+
+                        if (ServerCM.selfAudit) {
+                            selfAuditMode = true;
+                        }
                         return;
                     }
                     if (Setting_Init.Runtime_Step!= Runtime_StepE.None)
@@ -178,7 +191,7 @@ namespace DeviceLibrary
                         
                         if (StoreMoveInfo.MoveParam.IsNg)
                         {
-                            StoreMoveInfo.NextMoveStep(MoveStep.StoreIn06);
+                            StoreMoveInfo.NextMoveStep(MoveStep.StoreIn08);
                             StoreMoveInfo.log($"收到完成贴标NG");
                         }
                         else
@@ -217,16 +230,22 @@ namespace DeviceLibrary
                 case MoveStep.StoreIn05:
                     if (boxTransport.IsComplateOrFree)
                     {
-                        if (StoreMoveInfo.MoveParam.RFID.Length > 12)
-                            StoreMoveInfo.MoveParam.RFID = StoreMoveInfo.MoveParam.RFID.Substring(0, 12);
+                        if (StoreMoveInfo.MoveParam.RFID.Length > 16)
+                            StoreMoveInfo.MoveParam.RFID = StoreMoveInfo.MoveParam.RFID.Substring(0, 16);
                         bool writeok = false;
+                        var r=RobotManage.RFID.ReOpen();
+                        var r1=RobotManage.RFID2.ReOpen();
+                        StoreMoveInfo.log("连接rfid:" + r+ "rfid2:" + r1);
                         for (int i = 0; i < 15; i++)
                         {
                             if (string.IsNullOrEmpty(StoreMoveInfo.MoveParam.RFID))
                                 break;
-                            RobotManage.RFID.WriteEPC(Encoding.ASCII.GetBytes(StoreMoveInfo.MoveParam.RFID));
+                            var epc = StoreMoveInfo.MoveParam.RFID.PadRight(16);
+                            RobotManage.RFID.WriteByte(550, new byte[] { 0x40, 0x00 });
+                            Thread.Sleep(300);
+                            RobotManage.RFID.WriteEPC(Encoding.ASCII.GetBytes(epc));
                             Thread.Sleep(500);
-                            if (RobotManage.RFID.ReadEPC(12, out byte[] data))
+                            if (RobotManage.RFID.ReadEPC(16, out byte[] data))
                             {
                                 if (data[0] != 0xFF)
                                 {
@@ -243,9 +262,33 @@ namespace DeviceLibrary
                                     }
                                 }
                             }
+                            if (!writeok) {
+                                RobotManage.RFID2.WriteByte(550, new byte[] { 0x40, 0x00 });
+                                Thread.Sleep(300);
+                                RobotManage.RFID2.WriteEPC(Encoding.ASCII.GetBytes(epc));
+                                Thread.Sleep(500);
+                                if (RobotManage.RFID2.ReadEPC(16, out data))
+                                {
+                                    if (data[0] != 0xFF)
+                                    {
+                                        var ds = Encoding.ASCII.GetString(data).Trim();
+                                        if (ds == StoreMoveInfo.MoveParam.RFID)
+                                        {
+                                            StoreMoveInfo.log("RFID2 写入成功:" + ds);
+                                            writeok = true;
+                                            break;
+                                        }
+                                        else
+                                        {
+                                            StoreMoveInfo.log("失败的 RFID2:" + ds);
+                                        }
+                                    }
+                                }
+                            }
+
                             if (!writeok)
                             {
-                                var of = i * 1000 * (i % 2 == 0 ? 1 : -1);
+                                var of = i * 2000 * (i % 2 == 0 ? 1 : -1);
                                 var zp = Z_Axis.GetAclPosition() + of;
                                 var yp = Y_Axis.GetAclPosition() + of;
                                 var zt = Z_Axis.AbsMoveASYNC(zp, Config.Z_Axis_P1_speed);
@@ -255,14 +298,13 @@ namespace DeviceLibrary
                             //Thread.Sleep(100);
                         }
                         if (!writeok) {
-                            StoreMoveInfo.NextMoveStep(MoveStep.StoreIn06);
+                            StoreMoveInfo.NextMoveStep(MoveStep.StoreIn08);
                             StoreMoveInfo.MoveParam.ReelOnFixture = true;
                             StoreMoveInfo.MoveParam.IsNg = true;
                             StoreMoveInfo.MoveParam.NgMsg = crc.GetString("Res0139", "RFID 写入失败");
                             StoreMoveInfo.log($"RFID 写入失败 NG");
                             ServerCM.cancelPutInTask("", StoreMoveInfo.MoveParam.WareCode);
-                            //Msg.add(crc.GetString("Res0139","RFID 写入失败"),MsgLevel.alarm);
-                            //RobotManage.UserPause(crc.GetString("Res0139","RFID 写入失败"));
+                            Z_Axis.AbsMove(StoreMoveInfo, Config.Z_Axis_P1, Config.Z_Axis_P1_speed);
                             return;
                         }
 
@@ -303,7 +345,7 @@ namespace DeviceLibrary
                         //    StoreMoveInfo.log($"检测到空库位:{outposid}, 其他空库位:{string.Join(",", olist)}");
                         //}
                         //nglist.Add(outposid);
-                        ServerCM.cancelPutInTask("", StoreMoveInfo.MoveParam.PosID);
+                        ServerCM.cancelPutInTask("", StoreMoveInfo.MoveParam.WareCode);
                         nglist.Add(Setting_Init.Runtime_FromPosid);
                         StoreMoveInfo.MoveParam.PosID = Setting_Init.Runtime_FromPosid;
                         StoreMoveInfo.NextMoveStep(MoveStep.StoreIn09);
@@ -322,8 +364,11 @@ namespace DeviceLibrary
                 case MoveStep.StoreIn09:
                     if (boxTransport.IsComplateOrFree)
                     {
-                        if(!StoreMoveInfo.MoveParam.IsNg)
-                            ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreEnd);
+                        if (!StoreMoveInfo.MoveParam.IsNg)
+                        {
+                            if (!ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.InStoreEnd))
+                            { }
+                        }
                         if (OutStoreJobList.Count==0)
                             StoreMoveInfo.NewMove(MoveStep.StoreIn01);
                         else
@@ -344,7 +389,7 @@ namespace DeviceLibrary
                     }
                     else if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.LOW))
                     {
-                        Msg.add(crc.GetString("Res0137","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.alarm);
                     }
                     else {
                         IOMove(IO_Type.Out_Drawer_Lock, IO_VALUE.HIGH);
@@ -357,25 +402,61 @@ namespace DeviceLibrary
                     Setting_Init.Runtime_WareCode = StoreMoveInfo.MoveParam.WareCode;
                     {
                         var outposid="";
-                        var olist = CameraPointTest.GetThingStoreName(TestStorePointPort.出口);
-                        StoreMoveInfo.log($"检测到出库口有料库位:{string.Join(",", olist)}");
-                        olist = RobotManage.AllPositionMapNumList.ToList().Where(p => { return p.StartsWith("U") && !olist.Contains(p); }).ToList();
-                        if (olist.Count == 0)
+                        if (!ServerCM.selfAuditException)
                         {
-                            OutStoreJobList.ClearLastPosid();
-                            StoreMoveInfo.NextMoveStep(MoveStep.StoreOut13);
-                            StoreMoveInfo.log($"没有检测到出库未有空位");
-                            return;
+                            var olist = CameraPointTest.GetThingStoreName(TestStorePointPort.出口);
+                            StoreMoveInfo.log($"检测到出库口有料库位:{string.Join(",", olist)}");
+                            olist = RobotManage.AllPositionMapNumList.ToList().Where(p => { return p.StartsWith("U") && !olist.Contains(p); }).ToList();
+                            olist.Reverse();
+                            if (olist.Count == 0)
+                            {
+                                OutStoreJobList.ClearLastPosid();
+                                StoreMoveInfo.NextMoveStep(MoveStep.StoreOut13);
+                                StoreMoveInfo.log($"没有检测到出库未有空位");
+                                return;
+                            }
+                            else
+                            {
+                                outposid = olist[0];
+                                StoreMoveInfo.log($"检测到出库位有料:{outposid}, 其他有料出库位:{string.Join(",", olist)}");
+                            }
+                            StoreMoveInfo.MoveParam.IsNg = false;          
                         }
-                        else
-                        {
-                            outposid = olist[0];
-                            StoreMoveInfo.log($"检测到出库位有料:{outposid}, 其他有料出库位:{string.Join(",", olist)}");
+                        else {
+                            var olist = CameraPointTest.GetThingStoreName(TestStorePointPort.入口);
+                            StoreMoveInfo.log($"检测到入库口有料库位:{string.Join(",", olist)}");
+                            olist = RobotManage.AllPositionMapNumList.ToList().Where(p => { return p.StartsWith("L") && !p.StartsWith("La") && !olist.Contains(p); }).ToList();
+                            StoreMoveInfo.log($"检测到入库口无料库位:{string.Join(",", olist)}");
+                            if (olist.Count == 0)
+                            {
+                                OutStoreJobList.ClearLastPosid();
+                                StoreMoveInfo.NextMoveStep(MoveStep.Wait);
+                                StoreMoveInfo.log($"没有检测到NG出库未有空位");
+                                return;
+                            }
+                            else
+                            {
+                                outposid = olist[0];
+                                StoreMoveInfo.log($"检测到NG出库可用:{outposid}, 其他NG可用出库位:{string.Join(",", olist)}");
+                            }
+                            StoreMoveInfo.MoveParam.IsNg = true;
+                            StoreMoveInfo.MoveParam.dateTime = DateTime.Now;
+                            var n = StoreMoveInfo.MoveParam.clone();
+                            n.PosID = outposid;
+                            NGInfoList.Add(n);
+                            Setting_Init.Runtime_NGINFOLIST = JsonConvert.SerializeObject(NGInfoList);
                         }
-
                         StoreMoveInfo.NextMoveStep(MoveStep.StoreOut11);
                         from = CSVPositionReader<ACStorePosition>.GetPositon(inposid);
-                        to = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
+                        if (StoreMoveInfo.MoveParam.IsNg)
+                        {
+                            StoreMoveInfo.NextMoveStep(MoveStep.StoreOut12);
+                            to = CSVPositionReader<ACStorePosition>.GetPositon(outposid);//NG出库直接去入口库位
+                        }
+                        else
+                        {
+                            to = CSVPositionReader<ACStorePosition>.GetPositon(RFIDP);
+                        }
                         StoreMoveInfo.MoveParam.OutPosID = outposid;
                         //StoreMoveInfo.MoveParam.ReelOnFixture = false;
                         boxTransport.Start(new BoxStorePosition(Config, from, StoreMoveInfo.MoveParam), new BoxStorePosition(Config, to, StoreMoveInfo.MoveParam), StoreMoveType.OutStore, true);
@@ -391,7 +472,7 @@ namespace DeviceLibrary
                         string ds="";
                         for (int i = 0; i < 15; i++)
                         {                            
-                            if (RobotManage.RFID.ReadEPC(12, out byte[] data))
+                            if (RobotManage.RFID.ReadEPC(16, out byte[] data))
                             {
                                 if (data[0] != 0xFF)
                                 {
@@ -402,8 +483,23 @@ namespace DeviceLibrary
                                         StoreMoveInfo.log("读取到 RFID:" + ds + " , "+ RobotManage.RFID.HexBuff(data));
                                         issame = true;
                                         break;
+                                    }                                    
+                                }
+                            }
+                            if (!issame) {
+                                if (RobotManage.RFID2.ReadEPC(16, out data))
+                                {
+                                    if (data[0] != 0xFF)
+                                    {
+                                        ds = Encoding.ASCII.GetString(data).Trim();
+                                        if (StoreMoveInfo.MoveParam.WareCode.IndexOf(ds) > -1)
+                                        {
+                                            StoreMoveInfo.MoveParam.RFID = ds;
+                                            StoreMoveInfo.log("读取到 RFID2:" + ds + " , " + RobotManage.RFID2.HexBuff(data));
+                                            issame = true;
+                                            break;
+                                        }
                                     }
-                                    
                                 }
                             }
                             Thread.Sleep(200);
@@ -412,7 +508,7 @@ namespace DeviceLibrary
                         if (!issame)
                         {
                             StoreMoveInfo.log("读取到 RFID:" + ds);
-                            Msg.add(crc.GetString("Res0140","读取到的RFID与物料信息不符:") + ds, MsgLevel.alarm);
+                            Msg.add("rfid.nomatch", crc.GetString("Res0140","读取到的RFID与物料信息不符:") + ds, MsgLevel.alarm);
                             RobotManage.UserPause(crc.GetString("Res0141","读取到的RFID与物料信息不符"));
                         }
 
@@ -427,23 +523,41 @@ namespace DeviceLibrary
                 case MoveStep.StoreOut12:
                     if (boxTransport.IsComplateOrFree)
                     {
-                        ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreEnd);
+                        ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreBoxEnd);
+                        ServerCM.SendStoreState(StoreMoveInfo.MoveParam.PosID, StoreStatus.OutStoreEnd);                        
                         StoreMoveInfo.log("出库完成");
                         StoreMoveInfo.NextMoveStep(MoveStep.Wait);
                         OutStoreJobList.ClearLastPosid();
-                        
-                        var olist = CameraPointTest.GetThingStoreName(TestStorePointPort.出口);
-                        StoreMoveInfo.log($"检测到出库口有料库位:{string.Join(",", olist)}");
-                        olist = RobotManage.AllPositionMapNumList.ToList().Where(p => { return p.StartsWith("U") && !olist.Contains(p); }).ToList();
-                        if (olist.Count == 0) {
-                            StoreMoveInfo.NextMoveStep(MoveStep.StoreOut13);
-                            StoreMoveInfo.log($"出库库位已用完");
+                        if (!StoreMoveInfo.MoveParam.IsNg)
+                        {
+                            var olist = CameraPointTest.GetThingStoreName(TestStorePointPort.出口);
+                            StoreMoveInfo.log($"检测到出库口有料库位:{string.Join(",", olist)}");
+                            olist = RobotManage.AllPositionMapNumList.ToList().Where(p => { return p.StartsWith("U") && !olist.Contains(p); }).ToList();
+                            if (olist.Count == 0)
+                            {
+                                StoreMoveInfo.NextMoveStep(MoveStep.StoreOut13);
+                                StoreMoveInfo.log($"出库库位已用完");
+                            }
                         }
-                        if (OutStoreJobList.Count==0)
+                        else {
+                            var olist = CameraPointTest.GetThingStoreName(TestStorePointPort.入口);
+                            StoreMoveInfo.log($"检测到NG出库口有料库位:{string.Join(",", olist)}");
+                            olist = RobotManage.AllPositionMapNumList.ToList().Where(p => { return p.StartsWith("L") && !p.StartsWith("Lab") && !olist.Contains(p); }).ToList();
+                            StoreMoveInfo.log($"检测到NG出库口无料库位:{string.Join(",", olist)}");
+
+                            //if (olist.Count == 0)
+                            {
+                                StoreMoveInfo.NextMoveStep(MoveStep.Wait);
+                                StoreMoveInfo.log($"NG出库库位已完成");
+                                return;
+                            }
+                        }
+                        if (OutStoreJobList.Count == 0)
                         {
                             StoreMoveInfo.NextMoveStep(MoveStep.StoreOut13);
                             StoreMoveInfo.log($"没有出库任务了");
                         }
+                        
                     }
                     break;
                 case MoveStep.StoreOut13:
@@ -480,7 +594,11 @@ namespace DeviceLibrary
                 case MoveStep.StoreOut17:
                     if (IOValue(IO_Type.Out_Drawer).Equals(IO_VALUE.HIGH))
                     {
-                        StoreMoveInfo.NewMove(MoveStep.StoreIn01);
+                        StoreMoveInfo.log("抽屉已经上锁 newDrawer:"+ newDrawer);
+                        if (!newDrawer)
+                            StoreMoveInfo.NewMove(MoveStep.StoreIn01);
+                        else
+                            StoreMoveInfo.NewMove(MoveStep.Wait);
                     }
                     else
                     {                        

DeviceLibrary/theMachine/MoveStep.cs

@@ -131,6 +131,7 @@ namespace DeviceLibrary
         Labeling50,
         Labeling51,
         Labeling52,
+        Labeling52_2,
         Labeling53,
         Labeling54,
         Labeling55,

DeviceLibrary/theMachine/RobotManage.cs

@@ -79,6 +79,7 @@ namespace DeviceLibrary
         //public static HIKCamera CameraD=new HIKCamera();
         public static DauxiKS107Controller dauxiKS107 = new DauxiKS107Controller();
         public static PuYueRFID_FR540SP_C2S RFID = new PuYueRFID_FR540SP_C2S();
+        public static PuYueRFID_FR540SP_C2S RFID2 = new PuYueRFID_FR540SP_C2S();
         public static PrinterHelper printerHelper = new PrinterHelper();
         public static void Init() {
             string msg = "";
@@ -147,6 +148,14 @@ namespace DeviceLibrary
                 else
                 {
                     CameraA.Open();
+
+                    for (int i = 0; i < 4;i++) {
+                        if (CameraA.GetImage(i) == null)
+                        {
+                            msg += string.Format(crc.GetString("Res0176.7352b919","第{0}个相机打开失败"), i) + "\r\n";
+                            IsLoadOk = false;
+                        }
+                    }
                 }
                 mainMachine = new MainMachine(RobotManage.Config);
                 if (!dauxiKS107.OpenPort(Setting_Init.Device_DauxiKS107_Port, out _)) {
@@ -172,7 +181,17 @@ namespace DeviceLibrary
                 }
                 else
                     LogUtil.info("RFID连接成功,IP:"+ Setting_Init.Device_RFID_IP);
-                //RFID.Init();
+
+                RFID2.IP = Setting_Init.Device_RFID_IP2;
+                RFID2.Open(Setting_Init.Device_RFID_IP2);
+                if (!RFID2.IsConn)
+                {
+                    IsLoadOk = false;
+                    msg += crc.GetString("Res0142","RFID2连接失败,IP:") + $"{Setting_Init.Device_RFID_IP2}\n";
+                }
+                else
+                    LogUtil.info("RFID2连接成功,IP:"+ Setting_Init.Device_RFID_IP2);
+                
                 //RFID.AntennaPower = 4;
                 IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
 

DeviceLibrary/userControl/AxisMoveControl.cs

@@ -287,6 +287,11 @@ namespace DeviceLibrary
             {
                 return;
             }
+            if (!currentAxis.IsSafe(0, out string msg))
+            {
+                MessageBox.Show(msg);
+                return;
+            }
             if (btnAddMove.BackColor.Equals(Color.White))
             {
                 int speed = Convert.ToInt32(comjSpeed.Text);
@@ -316,6 +321,11 @@ namespace DeviceLibrary
             {
                 return;
             }
+            if (!currentAxis.IsSafe(0, out string msg))
+            {
+                MessageBox.Show(msg);
+                return;
+            }
             if (btnDelMove.BackColor.Equals(Color.White))
             {
                 int speed = Convert.ToInt32(comjSpeed.Text);

LoadCVSLibrary/Config/Config.csv

@@ -83,3 +83,5 @@ DO,0,锡膏旋转定位夹紧气缸夹紧,Tin_Dock_Rotate_Clamp,26,HC,Y26,,,,,,,,,,
 DO,0,锡膏翻转机构前进,Tin_Dock_Right,27,HC,Y27,,,,,,,,,,
 DO,0,锡膏翻转机构后退,Tin_Dock_Left,28,HC,Y28,,,,,,,,,,
 DO,0,标签吸盘取料,Label_Vacuum,29,HC,Y29,,,,,,,,,,
+DO,0,标签出标吹气,Label_TakeBlow,30,HC,Y30,,,,,,,,,,
+DO,0,标签贴标吹气,Label_PasteBlow,31,HC,Y31,,,,,,,,,,
\ No newline at end of file

LoadCVSLibrary/storeConfig/config/IO_Type.cs

@@ -213,6 +213,15 @@ namespace OnlineStore.LoadCSVLibrary
         public static string Label_Vacuum = "Label_Vacuum";
 
 
+        /// <summary>
+        ///  DO,0,标签出标吹气,Label_TakeBlow,30,HC,Y30,,,,,,,,,,
+        /// </summary>
+        public static string Label_TakeBlow = "Label_TakeBlow";
+        /// <summary>
+        ///  DO,0,标签贴标吹气,Label_PasteBlow,31,HC,Y31,,,,,,,,,,
+        /// </summary>
+        public static string Label_PasteBlow = "Label_PasteBlow";
+
     }
     public enum IO_VALUE
     {

TheMachine/Form1.cs

@@ -430,10 +430,11 @@ namespace TheMachine
                 }
                 else if (msg.errInfo == ErrInfo.LabelInPaste)
                 {
+                    RobotManage.mainMachine.IOMove(IO_Type.PrinterDoor_Lock, IO_VALUE.LOW);
                     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;
+                        //Setting_Init.Runtime_Step = Runtime_StepE.None;
                         RobotManage.UserPause(false);
                     }
                     else {

TheMachine/FrmAlarm.Designer.cs

@@ -79,6 +79,7 @@ namespace TheMachine
             this.Name = "FrmAlarm";
             this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
             this.Text = "FrmAlarm";
+            this.Load += new System.EventHandler(this.FrmAlarm_Load);
             this.ResumeLayout(false);
 
         }

TheMachine/FrmAlarm.cs

-using System;
+using OnlineStore;
+using System;
 using System.Collections.Generic;
 using System.ComponentModel;
 using System.Data;
@@ -34,5 +35,10 @@ namespace TheMachine
             DialogResult = DialogResult.OK;
             Close();
         }
+
+        private void FrmAlarm_Load(object sender, EventArgs e)
+        {
+            crc.LanguageProcess(this);
+        }
     }
 }

TheMachine/IOControls.Designer.cs

@@ -118,7 +118,6 @@ namespace TheMachine
             this.button10.TabIndex = 6;
             this.button10.Text = "写入RFID EPC";
             this.button10.UseVisualStyleBackColor = false;
-            this.button10.Visible = false;
             this.button10.Click += new System.EventHandler(this.button10_Click);
             // 
             // button9

TheMachine/IOControls.cs

@@ -88,12 +88,23 @@ namespace TheMachine
 
         private void button9_Click(object sender, EventArgs e)
         {
+           var r=  RobotManage.RFID.ReOpen();
+           RobotManage.RFID2.ReOpen();
+            LogUtil.info("RFID.ReOpen:" + r);
             for (int i = 0; i < 6;i++) {
                 Thread.Sleep(200);
-                if (RobotManage.RFID.ReadEPC(12,out byte[] data)) {
+                if (RobotManage.RFID.ReadEPC(16,out byte[] data)) {
                     if (data[0] != 0xFF)
                     {
-                        MessageBox.Show(RobotManage.RFID.HexBuff(data) + "\r\n" + Encoding.ASCII.GetString(data).Trim());
+                        MessageBox.Show("RFID:"+Encoding.ASCII.GetString(data).Trim());
+                        return;
+                    }
+                }
+                if (RobotManage.RFID2.ReadEPC(16, out  data))
+                {
+                    if (data[0] != 0xFF)
+                    {
+                        MessageBox.Show("RFID2:" + RobotManage.RFID2.HexBuff(data) + "\r\n" + Encoding.ASCII.GetString(data).Trim());
                         return;
                     }
                 }
@@ -103,16 +114,82 @@ namespace TheMachine
 
         private void button10_Click(object sender, EventArgs e)
         {
+            var epc = InputBox("Write EPC, maximum 16 words.", "Please enter EPC data, maximum 16 words.", "");
+            
+            var r = RobotManage.RFID.ReOpen();
+            RobotManage.RFID2.ReOpen();
+            LogUtil.info("RFID.ReOpen:" + r+",epc="+ epc);
+            epc = epc.PadRight(16);
+            RobotManage.RFID.WriteByte(550, new byte[] { 0x40, 0x00 });
             Thread.Sleep(300);
-            var epc = "20418002Z-203";
-            epc = "20418002Z-20";
-            epc = epc.PadRight(12);
             var result = RobotManage.RFID.WriteEPC(Encoding.ASCII.GetBytes(epc));
+            result = RobotManage.RFID2.WriteEPC(Encoding.ASCII.GetBytes(epc));
             if (result)
             {
                 MessageBox.Show(crc.GetString("Res0144","写入成功"));
                 return;
             }
         }
+
+        private string InputBox(string Caption, string Hint, string Default)
+        {
+            Form InputForm = new Form();
+            InputForm.MinimizeBox = false;
+            InputForm.MaximizeBox = false;
+            InputForm.StartPosition = FormStartPosition.CenterScreen;
+            InputForm.Width = 360;
+            InputForm.Height = 150;
+            //InputForm.Font.Name = "宋体";
+            //InputForm.Font.Size = 10;
+
+            InputForm.Text = Caption;
+
+            Label lbl = new Label();
+            lbl.Text = Hint;
+            lbl.Left = 10;
+            lbl.Top = 20;
+            lbl.Parent = InputForm;
+            lbl.AutoSize = true;
+
+            TextBox tb = new TextBox();
+            tb.Left = 30;
+            tb.Top = 45;
+            tb.Width = 300;
+            tb.Parent = InputForm;
+            tb.Text = Default;
+            tb.SelectAll();
+
+            Button btnok = new Button();
+            btnok.Left = 30;
+            btnok.Top = 80;
+            btnok.Parent = InputForm;
+            btnok.Text = "Ok";
+            InputForm.AcceptButton = btnok;//回车响应
+
+            btnok.DialogResult = DialogResult.OK;
+
+            Button btncancal = new Button();
+            btncancal.Left = 120;
+            btncancal.Top = 80;
+            btncancal.Parent = InputForm;
+            btncancal.Text = "Cancel";
+            btncancal.DialogResult = DialogResult.Cancel;
+            try
+            {
+                if (InputForm.ShowDialog() == DialogResult.OK)
+                {
+                    return tb.Text;
+                }
+                else
+                {
+                    return "";
+                }
+            }
+            finally
+            {
+                InputForm.Dispose();
+            }
+
+        }
     }
 }
\ No newline at end of file

TheMachine/Program.cs

 using ConfigHelper;
 using DeviceLibrary;
 using log4net.Config;
+using OnlineStore;
 using OnlineStore.Common;
 using System;
 using System.Collections.Generic;
@@ -25,12 +26,13 @@ namespace TheMachine
         static void Main()
         {
             CameraPointTest.Init();
-
+            CameraPointTest.TestHasLabelOnDock(true);
             //CameraPointTest.ScanRectangle();
             //var bmpfile = @"D:\rick\vs\SO20031_TinStorage\TheMachine\bin\Debug\test.bmp";
             //var bmp = new Bitmap(bmpfile);
             //var r = CameraPointTest.TestStorePoint(bmp, TestStorePointPort.入口);
 
+
             _ = new Mutex(true, Application.ProductName, out bool ret);
             if (!ret)
             {

TheMachine/VisionStoreDetect.cs

@@ -133,6 +133,9 @@ namespace TheMachine
                     haslistStoreName = CameraPointTest.GetThingStoreName(TestStorePointPort.下层右侧);
                     LogUtil.info("下层右侧:" + string.Join(",", haslistStoreName));
                 }
+
+                var haslabel = CameraPointTest.TestHasLabelOnDock(true);
+                LogUtil.info("标签台:" + haslabel);
             });
             RobotManage.mainMachine.ScanCode();
         }