1

DeviceLibrary/DeviceLibrary.csproj

@@ -88,6 +88,7 @@
     <Compile Include="DeviceLibrary\ReelParam.cs" />
     <Compile Include="DeviceLibrary\ServerCommunication.cs" />
     <Compile Include="DeviceLibrary\AxisBean.cs" />
+    <Compile Include="theMachine\BaseBean.cs" />
     <Compile Include="theMachine\ReelTransport.cs" />
     <Compile Include="theMachine\Common.cs" />
     <Compile Include="theMachine\InReelBean.cs" />

DeviceLibrary/theMachine/BaseBean.cs

+ 
+namespace DeviceLibrary
+{
+    public class BaseBean
+    {
+
+        public string Name = "";
+
+        public string WarnMsg = "";
+        public MoveInfo MoveInfo;
+        protected void SetWarnMsg(string msg = "", MsgLevel level = MsgLevel.warning, ErrInfo errInfo = ErrInfo.Empty)
+        {
+            if (msg.Equals(""))
+            {
+                WarnMsg = "";
+                return;
+            }
+            WarnMsg = msg;
+            //暂无NG空位
+            Msg.add(msg, level, errInfo);
+            if (RobotManage.mainMachine != null)
+            {
+                RobotManage.mainMachine.MsgEvent(Msg.get());
+            }
+        }
+        protected void ClearWarnMsg(string v)
+        {
+            if (WarnMsg.Contains(v))
+            {
+                SetWarnMsg("");
+            }
+        }
+    }
+}
\ No newline at end of file

DeviceLibrary/theMachine/Common.cs

@@ -6,10 +6,8 @@ using System.Drawing;
 using System.Drawing.Imaging;
 using System.IO;
 using System.Linq;
-using System.Runtime.Serialization.Formatters.Binary;
-using System.Text;
-using System.Text.RegularExpressions;
-using System.Threading.Tasks;
+using System.Runtime.Serialization.Formatters.Binary; 
+using System.Text.RegularExpressions; 
 
 namespace DeviceLibrary
 {
@@ -324,13 +322,28 @@ 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)
             {
+                if (ml.Equals(MsgLevel.info))
+                {
+
+                }
+                else if (ml.Equals(MsgLevel.warning))
+                {
+                    LogUtil.info(m);
+                }
+                else if (ml.Equals(MsgLevel.alarm))
+                {
+
+                    LogUtil.error(m);
+                }
                 var fm = msg.Find((x) => x.msgtxt == m);
-                if (fm==null)
+                if (fm == null)
+                {
                     msg.Add(new Msg { msgtxt = m, msgLevel = ml, datetime = DateTime.Now, errInfo = errInfo });
+                }
             }
         }
         static bool _setlogones = false;

DeviceLibrary/theMachine/InReelBean.cs

-using OnlineStore.Common;
-using OnlineStore.DeviceLibrary;
+using OnlineStore.Common; 
 using OnlineStore.LoadCSVLibrary;
 using System;
 using System.Collections.Generic;
 using System.Diagnostics;
 using System.Linq;
-using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
 
 namespace DeviceLibrary
 {
-  public  class InReelBean
+  public  class InReelBean:BaseBean
     {
-        //设备名称
-        public string Name; 
+     
         //料盘检测信号
         public string Reel_Check = "Reel_Check"; 
-        MoveInfo MoveInfo;
-        public string WarnMsg = "";  
+       
 
         //private string LastCode;
         private List<CodeLibrary.CodeInfo> LastCode;
@@ -45,7 +41,7 @@ namespace DeviceLibrary
             MoveInfo.NewMove(MoveStep.Wait);
             MoveInfo.log("执行重置，清理当前条码："+LastCode);
             LastCode = new List<CodeLibrary.CodeInfo>();
-            WarnMsg = "";  
+            SetWarnMsg();  
         }
 
         public bool ReelReady()
@@ -61,7 +57,7 @@ namespace DeviceLibrary
             MoveInfo.NewMove(MoveStep.Wait);
             MoveInfo.log("料盘已离开：执行重置，清理当前条码：" + LastCode);
             LastCode = new List<CodeLibrary.CodeInfo> ();
-            WarnMsg = "";
+            SetWarnMsg();
         }
 
         bool pause = false;
@@ -96,7 +92,7 @@ namespace DeviceLibrary
                             MoveInfo.NewMove(MoveStep.IN01_WaitCheck);
                             MoveInfo.log("检测到料盘信号");
                             MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(Reel_Check, IO_VALUE.HIGH));
-                            WarnMsg = "";
+                            SetWarnMsg();
                         }
                     }
                     else
@@ -115,7 +111,7 @@ namespace DeviceLibrary
                     }
                     else if (MoveInfo.IsTimeOut(60))
                     {
-                        WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "] 扫码执行结束超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
+                        SetWarnMsg( MoveInfo.Name + "[" + MoveInfo.MoveStep + "] 扫码执行结束超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒");
                     }
                     break;
                 case MoveStep.IN03_GetPos:
@@ -126,7 +122,7 @@ namespace DeviceLibrary
                     }
                     else if (MoveInfo.IsTimeOut(60))
                     {
-                        WarnMsg = MoveInfo.Name + "[" + MoveInfo.MoveStep + "] 获取库位号超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒";
+                        SetWarnMsg( MoveInfo.Name + "[" + MoveInfo.MoveStep + "] 获取库位号超时 [" + Math.Round(MoveInfo.StepSpan().TotalSeconds, 1) + "]秒");
                     }
                     break;
                 case MoveStep.IN05_ReelReady:
@@ -186,7 +182,7 @@ namespace DeviceLibrary
                             if (String.IsNullOrEmpty(shelfRfid))
                             {
                                 //无可用料架
-                                WarnMsg = $"{Name}：{codestr}暂无可用料架";
+                                SetWarnMsg( $"{Name}：{codestr}暂无可用料架");
                                 MoveInfo.errlog("获取库位号: " + WarnMsg + ",等待3秒后重新获取");
                                 Thread.Sleep(3000);
                             }
@@ -204,7 +200,7 @@ namespace DeviceLibrary
                                 }
                                 else
                                 {
-                                    WarnMsg = " getLocation " + outMsg;
+                                    SetWarnMsg( " getLocation " + outMsg);
                                 }
                                 break;
                             }
@@ -218,13 +214,7 @@ namespace DeviceLibrary
             }
         }
 
-        private void ClearWarnMsg(string v)
-        {
-            if (WarnMsg.Contains(v))
-            {
-                WarnMsg = "";
-            }
-        }
+     
 
         bool movelock = false;
         internal void Lock()

DeviceLibrary/theMachine/MainMachine _BtnProcess.cs

@@ -76,7 +76,7 @@ namespace DeviceLibrary
         }
         private void RightNgDoorOpen()
         { 
-            clearNgPos("NG_7");
+            clearNgPos("NG_2");
         }
        
     }

DeviceLibrary/theMachine/MainMachine.cs

 using OnlineStore;
 using OnlineStore.Common;
-using OnlineStore.DeviceLibrary;
 using OnlineStore.LoadCSVLibrary;
 using System;
 using System.Collections.Generic;
 using System.Linq;
-using System.Text;
 using System.Threading;
-using System.Threading.Tasks;
-using System.Windows.Forms;
 
 namespace DeviceLibrary
 {
@@ -75,6 +71,7 @@ namespace DeviceLibrary
 
         public MainMachine(Robot_Config _config) {
             Config = _config;
+            Name = "出料机构";
             crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
             StoreMoveInfo = new MoveInfo("移库调度");
             StoreMoveInfo.SetStateDelegate(StoreState);
@@ -121,11 +118,12 @@ namespace DeviceLibrary
                 inReelBeans.Add(inReel); 
             }
 
-            for (int i = 1; i < 5; i++)
-            {
-                OutShelfBean outShelf = new OutShelfBean("U" + i);
-                outShelfBeans.Add(outShelf.Name, outShelf);
-            }
+            
+            outShelfBeans.Add("U1", new OutShelfBean("U1", Config.RFID_U1));
+            outShelfBeans.Add("U2", new OutShelfBean("U2", Config.RFID_U2));
+            outShelfBeans.Add("U3", new OutShelfBean("U3", Config.RFID_U3));
+            outShelfBeans.Add("U4", new OutShelfBean("U4", Config.RFID_U4));
+
             LedProcessInit();
             LoadOk = true;
         }
@@ -286,7 +284,14 @@ namespace DeviceLibrary
             
 
         }
-        public void BeginHomeReset(bool firstRun=false) {
+        public bool BeginHomeReset(bool firstRun=false) {
+
+            if (IOManager.IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
+            {
+                Msg.add("急停未开，回原失败", MsgLevel.alarm, ErrInfo.SuddenStop);
+                return false;
+            }
+
             if (!firstRun)
             {
                 StopMove();
@@ -307,6 +312,7 @@ namespace DeviceLibrary
             {
                 bean.Reset();
             }
+            return true;
         }
         //强制回原
         bool forceHome=true;
@@ -714,5 +720,10 @@ namespace DeviceLibrary
             }
             return targetPosName;
         }
+
+        public void MsgEvent(List<Msg> msgs)
+        {
+            ProcessMsgEvent?.Invoke(msgs);
+        }
     }
 }
\ No newline at end of file

DeviceLibrary/theMachine/MainMachine_PutReel.cs

-using CodeLibrary;
 using OnlineStore;
-using OnlineStore.Common;
-using OnlineStore.DeviceLibrary;
 using OnlineStore.LoadCSVLibrary; 
 
 namespace DeviceLibrary
@@ -50,6 +47,8 @@ namespace DeviceLibrary
                                     if (ngPos == "")
                                     {
                                         //暂无NG空位
+                                        Msg.add("[" + inReel.Name + "]获取NG库位号失败",MsgLevel.warning,ErrInfo.Empty);
+                                        ProcessMsgEvent?.Invoke(Msg.get());
                                     }
                                     else
                                     {
@@ -73,6 +72,12 @@ namespace DeviceLibrary
                                     StoreMoveInfo.log("出库料准备放料：" + StoreMoveInfo.MoveParam.ToStr());
                                     break;
                                 }
+                                else
+                                {
+                                    //暂无NG空位
+                                    Msg.add("[" + inReel.Name + "]获取库位号失败", MsgLevel.warning, ErrInfo.Empty);
+                                    ProcessMsgEvent?.Invoke(Msg.get());
+                                }
                             }
                         }
                     } 

DeviceLibrary/theMachine/MoveInfo.cs

@@ -112,8 +112,13 @@ namespace DeviceLibrary
         }
         string lastmsg = "";
         public void log(string msg) {
-            msg = $"[{Name}][{moveStep}][{MoveParam.TargetPos}-{MoveParam.WareCode}]{msg}";
 
+
+            msg = $"[{Name}][{moveStep}][{MoveParam.TargetPos}-{MoveParam.WareCode}]: {msg}";
+            if (MoveParam.TargetPos.Equals("") && MoveParam.WareCode.Equals(""))
+            { 
+                msg = $"[{Name}][{moveStep}]: {msg}";
+            }
             if (String.Compare(lastmsg,msg, StringComparison.Ordinal)!=0)
             {
                 lastmsg = msg;

DeviceLibrary/theMachine/OutShelfBean.cs

-using OnlineStore;
-using OnlineStore.Common;
-using OnlineStore.DeviceLibrary;
+using OnlineStore.Common; 
 using OnlineStore.LoadCSVLibrary;
-using System;
-using System.Collections.Generic;
+using System; 
 using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
+using System.Text; 
 
 namespace DeviceLibrary
 {
-    public class OutShelfBean
+    public class OutShelfBean: BaseBean
     {
-        public static PuYueRFID_C2S RFID = null;
-        public string Name; 
-        MoveInfo MoveInfo;
-        public string WarnMsg = "";  
+        public static PuYueRFID_C2S RFID = null; 
+      
         /// <summary>
         /// 出料口定位气缸，high=up，low=down
         /// </summary>
         private CylinderManger locationCylinder; 
         public ShelfInfo CurrShelf; 
         public string rfidIp;
-         
-        public OutShelfBean(string name )
+
+        public OutShelfBean(string name, string ip)
         {
-            this.Name = name;  
-            MoveInfo = new MoveInfo(name );
+            this.Name = name;
+            this.rfidIp = ip;
+            MoveInfo = new MoveInfo(name);
 
             #region 初始化IO
             string ioStr = name + "_";
@@ -43,7 +38,7 @@ namespace DeviceLibrary
             RFID = new PuYueRFID_C2S(rfidIp);
             if (!RFID.Open())
             {
-                LogUtil.info(name + " RFID 打开失败：" + rfidIp);
+                SetWarnMsg(name + " RFID 打开失败：" + rfidIp);
             }
             #endregion
         }
@@ -133,7 +128,7 @@ namespace DeviceLibrary
                 else
                 {
                     locationCylinder.ToHigh(null);
-                    WarnMsg = "定位气缸不到位";
+                    SetWarnMsg( Name+"定位气缸不到位",MsgLevel.alarm);
                 }
             }
             return false;
@@ -352,6 +347,7 @@ namespace DeviceLibrary
             }
             else
             {
+                MoveInfo.log("未读取到RFID，等待1秒后重新读取");
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
             } 
         }
@@ -364,6 +360,7 @@ namespace DeviceLibrary
         }
         private bool ReadShelfId()
         {
+            CurrShelf = new ShelfInfo("");
             if (RFID.Open())
             {
                 if (RFID.ReadByte(0x20, 16, out byte[] data))
@@ -376,14 +373,12 @@ namespace DeviceLibrary
                 else
                 {
                     //读取失败,重试之类
-                    WarnMsg = "RFID[" + rfidIp + "]读取失败";
-                    LogUtil.error(WarnMsg);
+                    SetWarnMsg(Name+ "RFID[" + rfidIp + "]读取失败",MsgLevel.alarm); 
                 }
             }
             else
-            {  
-                WarnMsg = "RFID[" + rfidIp + "]打开失败";
-                LogUtil.error(WarnMsg);
+            {
+                SetWarnMsg(Name + "RFID[" + rfidIp + "]打开失败", MsgLevel.alarm); 
             }
             return false; 
         }

DeviceLibrary/theMachine/RobotManage.cs

@@ -6,9 +6,7 @@ using System.Collections.Generic;
 using System.Diagnostics;
 using System.IO;
 using System.Linq;
-using System.Text;
 using System.Threading;
-using System.Threading.Tasks;
 using System.Windows.Forms;
 
 namespace DeviceLibrary
@@ -62,11 +60,12 @@ namespace DeviceLibrary
 
         //public static SocketScanner socketScanner;
         public static HIKCamera CameraA=new HIKCamera();
-        public static void Init() {
+        public static void Init()
+        {
             string msg = "";
             try
             {
-                mainMachine = null;                
+                mainMachine = null;
                 string configFile = Path.Combine(baseDir, "config\\Config.csv");
                 Config = new Robot_Config(0, "", configFile);
                 Config = (Robot_Config)CSVConfigReader.LoadConfig(Config);
@@ -80,7 +79,8 @@ namespace DeviceLibrary
                     var MagzinePostion = CSVPositionReader<ACStorePosition>.LoadCSVFile(MagzinePostionFile);
                     var OrtherPostion = CSVPositionReader<ACStorePosition>.LoadCSVFile(OrtherPostionFile);
                 }
-                catch(Exception ex) {
+                catch (Exception ex)
+                {
                     LogUtil.info("加载库位失败：" + ex);
                     IsLoadOk = false;
                     msg += "加载库位失败" + "\n";
@@ -92,16 +92,13 @@ namespace DeviceLibrary
                 if (!IOManager.ConnectionIOList(new List<string>()))
                 {
                     IsLoadOk = false;
-                    msg += crc.GetString(L.iocard_init_fail, "IO板卡初始化失败")+ "\n";
-                }
-
-
-              
-
+                    msg += crc.GetString(L.iocard_init_fail, "IO板卡初始化失败") + "\n";
+                } 
                 IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
 
             }
-            catch (Exception ex) {
+            catch (Exception ex)
+            {
                 LoadFinishEvent?.Invoke(false, ex.Message);
                 return;
             }
@@ -118,13 +115,17 @@ namespace DeviceLibrary
                 if (!IsConfigMode)
                     return;
             }
-            mainThread = new Thread(new ThreadStart(mainMachine.Start));
-            mainThread.Start();
+        
 
-            isRunning = true;
-            GC.KeepAlive(mainThread);
+           bool result= mainMachine.BeginHomeReset(true);
+            if (result)
+            {
+                mainThread = new Thread(new ThreadStart(mainMachine.Start));
+                mainThread.Start();
 
-            mainMachine.BeginHomeReset(true);
+                isRunning = true;
+                GC.KeepAlive(mainThread);
+            }
             //Task.Run(()=> {
             //    AxisBean.List.ForEach((x) => { AxisManager.AlarmClear(x.Config.DeviceName, x.Config.GetAxisValue()); });
 

LoadCVSLibrary/Config/Config.csv

@@ -7,8 +7,7 @@ AXIS,,ѹ,Comp_Axis,3,HC,,100000,0,0,0,40000,0,10,700,0,0
 PRO,50,RFID-U1,RFID_U1,192.168.10.1,,,,,,,,,,,,
 PRO,50,RFID-U2,RFID_U2,192.168.10.2,,,,,,,,,,,,
 PRO,50,RFID-U3,RFID_U3,192.168.10.3,,,,,,,,,,,,
-PRO,50,RFID-U4,RFID_U4,192.168.10.4,,,,,,,,,,,,
-PRO,50,RFID-U5,RFID_U5,192.168.10.5,,,,,,,,,,,,
+PRO,50,RFID-U4,RFID_U4,192.168.10.4,,,,,,,,,,,, 
 ,,,,,,,,,,,,,,,,
 DI,0,急停,SuddenStop_BTN,0,HC,X00,,,,,,,,,,
 DI,0,复位,Reset_BTN,1,HC,X01,,,,,,,,,,

LoadCVSLibrary/storeConfig/config/Robot_Config.cs

@@ -60,12 +60,7 @@ namespace OnlineStore.LoadCSVLibrary
         ///  PRO,50,RFID-U4,RFID_U4,192.168.10.4,,,,,,,,,,,,
         /// </summary>
         [ConfigProAttribute("RFID_U4")]
-        public string RFID_U4 { get; set; }
-        /// <summary>
-        ///  PRO,50,RFID-U5,RFID_U5,192.168.10.5,,,,,,,,,,,,
-        /// </summary>
-        [ConfigProAttribute("RFID_U5")]
-        public string RFID_U5 { get; set; }
+        public string RFID_U4 { get; set; } 
 
 
         /// <summary>

TheMachine/FormMain.cs

@@ -76,22 +76,22 @@ namespace TheMachine
             listView1.View = View.Details;
             AddHeader(listView1, "", 0);
             AddHeader(listView1, crc.GetString("Res0048", "时间"), 150);
-            AddHeader(listView1, crc.GetString("Res0047", "信息"), 530);
+            AddHeader(listView1, crc.GetString("Res0047", "信息"), listView1.Width-150-3);
             listView1.ColumnWidthChanging += listView_ColumnWidthChanging;
             #endregion
 
             #region 状态信息listview初始化
             stateView.View = View.Details;
             AddHeader(stateView, "", 0);
-            AddHeader(stateView, crc.GetString("Res0049", "模块"), 200);
+            AddHeader(stateView, crc.GetString("Res0049", "模块"), 120);
             AddHeader(stateView, crc.GetString("Res0050", "步骤"), 200);
-            AddHeader(stateView, crc.GetString("Res0047", "信息"), 500); 
+            AddHeader(stateView, crc.GetString("Res0047", "信息"), stateView.Width-120-200-3); 
             stateView.ColumnWidthChanging += listView_ColumnWidthChanging;
             #endregion
             #region 物料信息显示列表
             listReelInfo.View = View.Details; 
             AddHeader(listReelInfo, "", 0);
-            AddHeader(listReelInfo, "位置", 200);
+            AddHeader(listReelInfo, "位置", 100);
             AddHeader(listReelInfo, "料盘信息", listReelInfo.Width-200-3);
             listReelInfo.ColumnWidthChanging += listView_ColumnWidthChanging;
             #endregion