1

DeviceLibrary/DeviceLibrary/CodeManager.cs

@@ -173,12 +173,13 @@ namespace DeviceLibrary
          
         [HandleProcessCorruptedStateExceptions]
         public static List<CodeInfo> CameraScan(List<string> cameraNameList)
-        {
+        { 
             HashSet<string> codestr = new HashSet<string>();
             List<CodeInfo> codeList = new List<CodeInfo>();
             string bitmapfilename = "";
             if (cameraNameList == null || cameraNameList.Count <= 0)
             {
+                return codeList;
                 throw new Exception("CameraScan方法没有传入相机名称.");
             }
 

DeviceLibrary/DeviceLibrary/HC/HCIOManager.cs

@@ -37,7 +37,7 @@ namespace OnlineStore.DeviceLibrary.IO
                     return HCBoardManager.OpenCard();
                 }
             }
-            return false;
+            return true;
         }
 
         public IO_VALUE GetDIValue(string deviceName, byte slaveID, ushort index)

DeviceLibrary/theMachine/OutShelfBean.cs

@@ -107,6 +107,10 @@ namespace DeviceLibrary
         }
         public bool ShelfValid()
         {
+            if (CurrShelf == null)
+            {
+                return false;
+            }
             //料架是否有效可放料
             if (CurrShelf.realRFID != "" && CurrShelf.IsNeedLeave == false)
             {

DeviceLibrary/userControl/AxisMoveControl.cs

@@ -28,7 +28,10 @@ namespace DeviceLibrary
             InitializeComponent();
             crc.OpenResourceLog = true;
             crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
-            crc.CurrLanguage = Setting_Init.Device_Default_Language;
+            if (Setting_Init.Device_Default_Language != null)
+            {
+                crc.CurrLanguage = Setting_Init.Device_Default_Language;
+            }
         }
 
         private void Crc_LanguageChangeEvent(object sender, EventArgs e)
@@ -38,6 +41,10 @@ namespace DeviceLibrary
 
         public void LoadData(List<AxisBean> axisList, bool isHc = true)
         {
+            if (axisList == null)
+            {
+                return;
+            }
             //this.boxBean = equipBase;
             this.axisList = axisList;
             //axisList = new List<ConfigMoveAxis>(equipBase.Config.moveAxisList);

LoadCVSLibrary/Config/Config.csv

@@ -66,15 +66,15 @@ DO,0,出料口4定位下降,U4_Location_Down,20,HC,Y20,,,,,,,,,,
 PRO,50,IO信号超时时间（秒）,IOSingle_TimerOut,5,,,,,,,,,,,,
 PRO,0,气压检测超时,AirCheckSeconds,5,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,15,旋转轴待机点P1,Middle_P1,168460,,,50000,,,,,,,,,
+PRO,10,旋转轴待机点P1,Middle_P1,168460,,,50000,,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,16,升降轴待机点P1,UpDown_P1,1006626,,,500000,,,,,,,,,
+PRO,11,升降轴待机点P1,UpDown_P1,1006626,,,500000,,,,,,,,,
 ,16,升降轴每毫米脉冲,UpDown_PoToMM,1000,,,,,,,,,,,,
-PRO,16,升降轴低速,UpDown_S1_Speed,1006626,,,,,,,,,,,,
+PRO,11,升降轴低速,UpDown_S1_Speed,1006626,,,,,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,17,进出轴待机点P1,InOut_P1,0,,,500000,,,,,,,,,
+PRO,12,进出轴待机点P1,InOut_P1,0,,,500000,,,,,,,,,
 ,,,,,,,,,,,,,,,,
-PRO,18,压紧轴待机点P1,Comp_P1,0,,,500000,,,,,,,,,
-PRO,18,压紧轴8mm压紧点P2,Comp_P2,0,,,500000,,,,,,,,,
-PRO,18,压紧轴库位高点偏移毫米,Comp_PH_MM,10,,,,,,,,,,,,
-PRO,18,压紧轴每毫米脉冲,Comp_PoToMM,1000,,,,,,,,,,,,
+PRO,13,压紧轴待机点P1,Comp_P1,0,,,500000,,,,,,,,,
+PRO,13,压紧轴8mm压紧点P2,Comp_P2,0,,,500000,,,,,,,,,
+PRO,13,压紧轴库位高点偏移毫米,Comp_PH_MM,10,,,,,,,,,,,,
+PRO,50,压紧轴每毫米脉冲,Comp_PoToMM,1000,,,,,,,,,,,,

LoadCVSLibrary/position/ACSAStorePosition.cs

@@ -16,23 +16,23 @@ namespace OnlineStore.LoadCSVLibrary
         /// <summary>
         /// 中轴位置（旋转轴库位点）P2
         /// </summary>
-        [CSVAttribute("旋转轴位置P2"), Editable("Middle_Axis")]
+        [CSVAttribute("旋转轴位置P2"), Editable("0")]
         public int XAxis_Position_P2 { get; set; }
         /// <summary>
         /// 升降轴（库位入料前点）P3
         /// </summary>
-        [CSVAttribute("升降轴库位入料高点P3"), Editable("UpDown_Axis")]
+        [CSVAttribute("升降轴库位入料高点P3"), Editable("1")]
         public int UpDownAxis_IHPosition_P3 { get; set; }
         /// <summary>
         /// 升降轴（库位入料缓冲点）P4
         /// </summary>
-        [CSVAttribute("升降轴库位入料低点P4"), Editable("UpDown_Axis")]
+        [CSVAttribute("升降轴库位入料低点P4"), Editable("1")]
         public int UpDownAxis_ILPosition_P4 { get; set; }
 
         /// <summary>
         /// 进出轴（库位点取料点）P3
         /// </summary>
-        [CSVAttribute("进出轴库位点取料点P3"), Editable("InOut_Axis")]
+        [CSVAttribute("进出轴库位点取料点P3"), Editable("2")]
         public int InOutAxis_Position_P3 { get; set; }
         /// <summary>
         /// 备注

LoadCVSLibrary/storeConfig/config/DeviceConfig.cs

@@ -31,6 +31,14 @@ namespace OnlineStore.LoadCSVLibrary
         public static Dictionary<String, ConfigIO> AllDOlist { get; set; }
         public static Dictionary<String, ConfigIO> AllDOEleclist { get; set; }
 
+
+        public void clearList()
+        {
+            this.DIList.Clear();
+            this.DOList.Clear();
+            this.moveAxisList.Clear();
+            this.configList.Clear();
+        }
         public DeviceConfig()
         {
          
@@ -259,7 +267,6 @@ namespace OnlineStore.LoadCSVLibrary
             }
             return null;
         }
-       
     } 
     public class DeviceType
     {

TheMachine/AxisControl.Designer.cs

@@ -60,7 +60,7 @@ namespace TheMachine
             this.configControl1.Location = new System.Drawing.Point(568, 3);
             this.configControl1.Margin = new System.Windows.Forms.Padding(4, 4, 4, 4);
             this.configControl1.Name = "configControl1";
-            this.configControl1.Size = new System.Drawing.Size(647, 627);
+            this.configControl1.Size = new System.Drawing.Size(647, 550);
             this.configControl1.TabIndex = 1;
             this.configControl1.Tag = "not";
             // 

TheMachine/FormMain.cs

@@ -370,8 +370,9 @@ namespace TheMachine
         private void MainMachine_ButtenEvent(object sender, ErrInfo e)
         {
             LogUtil.info("UI " + e.ToString());
-            if (e == ErrInfo.RunBtn || e == ErrInfo.ResetBtn)
-            {
+            if (e == ErrInfo.RunBtn  )
+            //if (e == ErrInfo.RunBtn || e == ErrInfo.ResetBtn)
+                {
 
                 Task.Run(() => {
                     if (!RobotManage.isRunning)

TheMachine/UC/ConfigControl.cs

@@ -115,7 +115,7 @@ namespace TheMachine
                     button.Anchor = (AnchorStyles)(AnchorStyles.Left | AnchorStyles.Right | AnchorStyles.Top | AnchorStyles.Bottom);
                     button.Name = configBase.ProName;
                     button.Text = crc.GetString(configBase.ProName, configBase.Explain);
-                    button.AutoSize = false;
+                    button.AutoSize = true;
                     button.TextAlign = System.Drawing.ContentAlignment.MiddleLeft;
                     button.ForeColor = color;
                     tableLayoutPanel1.Controls.Add(button, c, r);
@@ -229,8 +229,10 @@ namespace TheMachine
             var targetSpeed = int.Parse(speed[0].Text);
             var AddSpeed = configMoveAxis.AddSpeed > 0 ? configMoveAxis.AddSpeed : targetSpeed * 4;
             var DelSpeed = configMoveAxis.DelSpeed > 0 ? configMoveAxis.DelSpeed : targetSpeed * 4;
-            LogUtil.info($"手动点击:{((Button)sender).Text},pos:{targetpos}");
-            AxisManager.AbsMove("", configMoveAxis.GetAxisValue(), targetpos, targetSpeed, AddSpeed, DelSpeed);//, configMoveAxis.AddSpeed, configMoveAxis.DelSpeed);
+        
+                LogUtil.info($"手动点击:{((Button)sender).Text},pos:{targetpos}");
+                AxisManager.AbsMove("", configMoveAxis.GetAxisValue(), targetpos, targetSpeed, AddSpeed, DelSpeed);//, configMoveAxis.AddSpeed, configMoveAxis.DelSpeed);
+ 
             
         }
         AxisBean getConfigMoveAxis(int Axisid)
@@ -284,9 +286,11 @@ namespace TheMachine
                         pi.SetValue(Config, textBox.Text);
                 }
             }
-            CSVConfigReader.SaveConfig(Config.ConfigFilePath, Config);
+            CSVConfigReader.SaveConfig(Config.ConfigFilePath, Config); 
             Config.DIList.Clear();
             Config.DOList.Clear();
+            Config.moveAxisList.Clear();
+            Config.configList.Clear();
             Config = (Robot_Config)CSVConfigReader.LoadConfig(Config);
         }
     }

TheMachine/UC/StorePosControl.cs

 using DeviceLibrary;
+using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using System;
 using System.Collections.Generic;
@@ -187,7 +188,8 @@ namespace TheMachine
             var cc = tableLayoutPanel1.Controls.Find(((Button)sender).Name, false);
             var speed = tableLayoutPanel1.Controls.Find(((Button)sender).Name+ "_speed", false);
 
-            var axis = getConfigMoveAxis((int)((Button)sender).Tag);
+            string tag =(string) ((Button)sender).Tag;
+            var axis = getConfigMoveAxisByname(tag);
             ConfigMoveAxis configMoveAxis = axis.Config;
             var targetpos = int.Parse(cc[1].Text);
             if (!axis.IsSafe(targetpos, out string msg))
@@ -199,6 +201,7 @@ namespace TheMachine
             var AddSpeed = configMoveAxis.AddSpeed > 0 ? configMoveAxis.AddSpeed : targetSpeed * 4;
             var DelSpeed = configMoveAxis.DelSpeed > 0 ? configMoveAxis.DelSpeed : targetSpeed * 4;
             AxisManager.AbsMove("", configMoveAxis.GetAxisValue(), int.Parse(cc[1].Text), targetSpeed, AddSpeed, DelSpeed);//, configMoveAxis.AddSpeed, configMoveAxis.DelSpeed);
+            LogUtil.info("Button_Click "+configMoveAxis.GetNameStr()+"【"+ configMoveAxis.GetAxisValue() + "】 【"+ int.Parse(cc[1].Text) + "】 【"+ targetSpeed + "】 ");
         }
         void setAxisPopup(Control c, string title, ConfigMoveAxis configMoveAxis)
         {
@@ -227,15 +230,24 @@ namespace TheMachine
         {
             //foreach (ConfigMoveAxis configMoveAxis in Config.moveAxisList)
             //{
-            //    if (configMoveAxis.GetAxisValue() == Axisid)
+            //    if (configMoveAxis.GetAxisValue().ToString() == Axisid)
             //        return configMoveAxis;
             //}
             foreach (AxisBean configMoveAxis in AxisBean.List)
-            {
+            { 
+
                 if (configMoveAxis.Config.ProName == Axisid)
                     return configMoveAxis;
             }
-            return null;
+            foreach (AxisBean configMoveAxis in AxisBean.List)
+            {
+
+                if (configMoveAxis.Config.GetAxisValue().ToString() == Axisid)
+                {
+                    return configMoveAxis;
+                }
+            }
+                return null;
         }
         private void ConfigControl_Load(object sender, EventArgs e)
         {
@@ -250,33 +262,50 @@ namespace TheMachine
 
         private void btnSavePos_Click(object sender, EventArgs e)
         {
-            for (int i = 0; i < tableLayoutPanel1.Controls.Count; i++)
+            try
             {
-                if (tableLayoutPanel1.Controls[i].GetType().Name != "TextBox")
-                    continue;
-
-                TextBox textBox = (TextBox)tableLayoutPanel1.Controls[i];
-                PropertyInfo pi = _aCStorePosition.GetType().GetProperty(textBox.Name);
-                if (pi != null)
+                for (int i = 0; i < tableLayoutPanel1.Controls.Count; i++)
                 {
-                    //var cc = Config.configList.Find(new Predicate<ConfigBase>((c) => { return c.ProName == textBox.Name; }));
-                    //if (cc != null)
-                    //    cc.ProValue = textBox.Text;
-                    if (pi.PropertyType.Name == "Int32")
-                        pi.SetValue(_aCStorePosition, int.Parse(textBox.Text));
-                    else if (pi.PropertyType.Name == "Double")
-                        pi.SetValue(_aCStorePosition, double.Parse(textBox.Text));
-                    else
-                        pi.SetValue(_aCStorePosition, textBox.Text);
+                    if (tableLayoutPanel1.Controls[i].GetType().Name != "TextBox")
+                        continue;
+
+                    TextBox textBox = (TextBox)tableLayoutPanel1.Controls[i];
+                    PropertyInfo pi = _aCStorePosition.GetType().GetProperty(textBox.Name);
+                    if (pi != null)
+                    {
+                        //var cc = Config.configList.Find(new Predicate<ConfigBase>((c) => { return c.ProName == textBox.Name; }));
+                        //if (cc != null)
+                        //    cc.ProValue = textBox.Text;
+                        if (pi.PropertyType.Name == "Int32")
+                            pi.SetValue(_aCStorePosition, int.Parse(textBox.Text));
+                        else if (pi.PropertyType.Name == "Double")
+                            pi.SetValue(_aCStorePosition, double.Parse(textBox.Text));
+                        else
+                            pi.SetValue(_aCStorePosition, textBox.Text);
+                    }
                 }
-            }
+                var positionConfigFile = Path.Combine(Application.StartupPath, "config\\Magzine.csv");
+                var positionConfigFile1 = Path.Combine(Application.StartupPath, "config\\Orther.csv");
 
-            var positionConfigFile = Path.Combine(Application.StartupPath, "StoreConfig\\linePositions.csv");
-            var positionConfigFile1 = Path.Combine(Application.StartupPath, "StoreConfig\\fixPositions.csv");
 
+                bool result = CSVPositionReader<ACStorePosition>.SavePostion(positionConfigFile, _aCStorePosition);
+                result = CSVPositionReader<ACStorePosition>.SavePostion(positionConfigFile1, _aCStorePosition);
+                if (result)
+                {
+                    MessageBox.Show("保存成功！");
+                }
+                else
+                {
 
-            bool result = CSVPositionReader<ACStorePosition>.SavePostion(positionConfigFile, _aCStorePosition);
-            result = CSVPositionReader<ACStorePosition>.SavePostion(positionConfigFile1, _aCStorePosition);
+                    MessageBox.Show("保存失败！");
+                }
+
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("保存失败：" + ex.ToString());
+                MessageBox.Show("保存失败！" + ex.ToString());
+            }
         }
     }
 }