1

Common/Setting_Init.cs

@@ -64,5 +64,14 @@ namespace OnlineStore.Common
         public static MyConfig<double> XRay_Current = 0.6;
         [MyConfigComment("X高压点亮后延迟,毫秒")]
         public static MyConfig<int> XRay_Light_Delay = 2500;
+
+        [MyConfigComment("条码类型")]
+        public static MyConfig<string> Camera_CodeType = "QR Code#Data Matrix ECC 200";
+        [MyConfigComment("条码解码参数路径")]
+        public static MyConfig<string> Camera_CodeParamPath = "";
+        [MyConfigComment("筛选条码数量")]
+        public static MyConfig<int> Camera_QRCodeCount = 3;
+        [MyConfigComment("解码的超时时间")]
+        public static MyConfig<int> Camera_CodeTimeOut = 2000;
     }
 }

DeviceLibrary/AutoScan/MachineBase.cs

@@ -70,12 +70,12 @@ namespace DeviceLibrary
                 DeviceSuddenStop();
                 ok = false;
             }
-            if (IOManager.GetDIValue("",0,16).Equals(IO_VALUE.LOW))
-            {
-                ok = false;
-                DeviceSuddenStop();
-                Msg.add(crc.GetString("device_safedoor_open", "贴标或出料机构门禁被打开"), MsgLevel.warning);
-            }
+            //if (IOManager.GetDIValue("",0,16).Equals(IO_VALUE.LOW))
+            //{
+            //    ok = false;
+            //    DeviceSuddenStop();
+            //    Msg.add(crc.GetString("device_safedoor_open", "贴标或出料机构门禁被打开"), MsgLevel.warning);
+            //}
             lastSafeCheckStatus = ok;
             return ok;
         }

DeviceLibrary/AutoScan/MoveStep.cs

@@ -32,6 +32,7 @@ namespace DeviceLibrary
 
         XRay_01_LocationDown,
         XRay_02_RunIn,
+        XRay_02_CheckReel,
         XRay_03_CloseDoor,
         XRay_04_OpenXray,
         XRay_04_CheckXray,

DeviceLibrary/AutoScan/XRayMachine.Feeding.cs

@@ -113,7 +113,7 @@ namespace DeviceLibrary
                     }
                     else
                     {
-                        if (IOValue(IO_XRay_Type.Manual_Confirm_BTN).Equals(IO_VALUE.HIGH))
+                        if (IOValue(IO_XRay_Type.SafetyLightCurtains).Equals(IO_VALUE.HIGH))
                         {
                             FeedingMoveinfo.NextMoveStep(MoveStep.Feeding_06_Goto_Xray);
                             FeedingMoveinfo.log($"按下入料按钮, 定位气缸下降");
@@ -201,17 +201,17 @@ namespace DeviceLibrary
             var Tray15 = Math.Max(Tray15_L, Tray15_R);
             Debug.WriteLine($"Tray7:{Tray7},Tray13:{Tray13},Tray15:{Tray15}");
             int v=0;
-            if (Tray15 < overhight && Tray15>0)
+            if (Tray15 < overhight && Tray15>4)
             {
                 if (SensorDebounce.Debounce(Tray15, out v))
                     TrayWidth = 15;
             }
-            else if (Tray13 < overhight && Tray13>0)
+            else if (Tray13 < overhight && Tray13>4)
             {
                 if (SensorDebounce.Debounce(Tray13, out v))
                     TrayWidth = 13;
             }
-            else if (Tray7 < overhight && Tray7 > 0)
+            else if (Tray7 < overhight && Tray7 > 4)
             {
                 if (SensorDebounce.Debounce(Tray7, out v))
                     TrayWidth = 7;

DeviceLibrary/AutoScan/XRayMachine.SideMove.cs

@@ -5,6 +5,7 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 using CodeLibrary;
+using ConfigHelper;
 using Newtonsoft.Json;
 using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
@@ -27,6 +28,7 @@ namespace DeviceLibrary
         bool ExitLine_Reel_IsSafe {
             get => SideMoveInfo.MoveStep == MoveStep.Wait || SideMoveInfo.MoveStep >= MoveStep.SideMove_07;
         }
+        int ZDiff = 0;
         void SideMoveProcess()
         {
             if (CheckWait(SideMoveInfo))
@@ -41,6 +43,13 @@ namespace DeviceLibrary
                         SideMoveInfo.ReelParam = ExitLine_Reel_Info.clone();
                         SideMoveInfo.log("检测到料盘到位");
                     }
+                    else if (ExitLine_Reel_Info != null)
+                    {
+                        if (SideMoveInfo.IsTimeOut(10)) {
+                            Msg.add("等待料盘到达横移机构超时", MsgLevel.warning);
+                            SideMoveInfo.log("等待料盘到达横移机构超时");
+                        }
+                    }
                     else
                     {
                         Msg.add("横移机构等待料盘", MsgLevel.info);
@@ -48,7 +57,6 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.SideMove_01:
                     SideMoveInfo.NextMoveStep(MoveStep.SideMove_02);
-                    ExitLine_Location_Axis.AbsMove(SideMoveInfo, Config.ExitLine_Location_P1, Config.ExitLine_Location_P1_speed);
                     SideMove_Z_Axis.AbsMove(SideMoveInfo, Config.SideMove_Z_P1, Config.SideMove_Z_P1_speed);
                     SideMoveInfo.log("出料档停退到P1");
                     suckReelRetryTimes = 0;
@@ -61,12 +69,16 @@ namespace DeviceLibrary
                 case MoveStep.SideMove_03:
                     SideMoveInfo.NextMoveStep(MoveStep.SideMove_04);
                     var p2 = Config.SideMove_Z_P2 - (SideMoveInfo.ReelParam.PlateH - 8 - suckReelRetryTimes*4) * 1000;
+                    p2 = Config.SideMove_Z_P2;
                     SideMove_Z_Axis.AbsMove(SideMoveInfo, p2, Config.SideMove_Z_P2_speed);
                     CylinderMove(SideMoveInfo, IO_XRay_Type.SideMove_SuckerReel_Off, IO_XRay_Type.SideMove_SuckerReel_On, IO_VALUE.HIGH);
                     SideMoveInfo.log("升降轴到取料点P2:"+ p2);
                     break;
                 case MoveStep.SideMove_04:
                     SideMoveInfo.NextMoveStep(MoveStep.SideMove_05);
+                    var ah = SideMove_Z_Axis.GetAclPosition();
+                    ZDiff = Config.SideMove_Z_P2 - ah;
+                    SideMoveInfo.log($"升降轴下降高度:P2:{Config.SideMove_Z_P2}-AH:{ah} = {ZDiff}");
                     break;
                 case MoveStep.SideMove_05:
                     SideMoveInfo.NextMoveStep(MoveStep.SideMove_06);

DeviceLibrary/AutoScan/XRayMachine.XRay.cs

@@ -29,6 +29,7 @@ namespace DeviceLibrary
         public int relmove;
         const string xraydir = @"\Image\Xray";
         Task GetResultTask = null;
+        bool needhome = false;
         void WorkProcess()
         {
             if (CheckWait(MoveInfo))
@@ -45,7 +46,7 @@ namespace DeviceLibrary
                     CylinderMove(null, IO_XRay_Type.Entry_Close, IO_XRay_Type.Entry_Open, IO_VALUE.HIGH);
                     break;
                 case MoveStep.XRay_02_RunIn:
-                    MoveInfo.NextMoveStep(MoveStep.XRay_03_CloseDoor);
+                    MoveInfo.NextMoveStep(MoveStep.XRay_02_CheckReel);
                     MoveInfo.log($"入料伺服相对运转");
                     //Line_Entry_Axis.RelMove(ResetMoveInfo, Config.Line_Entry_Relative, Config.Line_Entry_Relative_speed);
                     Line_Entry_Axis.SpeedMove(Config.Line_Entry_Relative_speed);
@@ -53,6 +54,19 @@ namespace DeviceLibrary
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                     //MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_XRay_Type.Tray_Inside_Check, IO_VALUE.HIGH));
                     break;
+                case MoveStep.XRay_02_CheckReel:
+                    if (IOValue(IO_XRay_Type.Tray_Inside_Check).Equals(IO_VALUE.HIGH))
+                    {
+                        MoveInfo.NextMoveStep(MoveStep.XRay_03_CloseDoor);
+                        MoveInfo.log($"点料机检测到料盘");
+                    }
+                    else
+                    {
+                        Msg.add("点料机内没有检测到料盘", MsgLevel.warning);
+                        MoveInfo.log($"点料机内没有检测到料盘");
+                        RobotManage.UserPause(true);
+                    }
+                    break;
                 case MoveStep.XRay_03_CloseDoor:
                     MoveInfo.NextMoveStep(MoveStep.XRay_04_OpenXray);
                     MoveInfo.log($"关闭点料机入口门");
@@ -177,10 +191,16 @@ namespace DeviceLibrary
                     if (ExitLine_Reel_IsSafe && ExitLine_Reel_Info==null)
                     {
                         MoveInfo.NextMoveStep(MoveStep.XRay_10_CloseOutDoor);
-                        MoveInfo.log($"打开出口门,送出到贴标机构");
-                        Line_In_Axis.SpeedMove(Config.Line_In_Relative_speed * 2);
+                        MoveInfo.log($"打开出口门,送出到贴标机构,W:{MoveInfo.ReelParam.PlateW}");
+                        Line_In_Axis.RelMove(MoveInfo, Config.Line_In_Relative, Config.Line_In_Relative_speed);
                         IOMove(IO_XRay_Type.ExitLine_Reel_Run, IO_VALUE.HIGH);
                         MoveInfo.StopwatchLog(false, "开始送出");
+                        if (MoveInfo.ReelParam.PlateW == 7)
+                            ExitLine_Location_Axis.AbsMove(MoveInfo, Config.ExitLine_Location_7, Config.ExitLine_Location_7_speed);
+                        else if (MoveInfo.ReelParam.PlateW == 13)
+                            ExitLine_Location_Axis.AbsMove(MoveInfo, Config.ExitLine_Location_13, Config.ExitLine_Location_13_speed);
+                        else if (MoveInfo.ReelParam.PlateW == 15)
+                            ExitLine_Location_Axis.AbsMove(MoveInfo, Config.ExitLine_Location_15, Config.ExitLine_Location_15_speed);
 
                     }
                     else if (MoveInfo.IsTimeOut(30))
@@ -192,12 +212,19 @@ namespace DeviceLibrary
                 case MoveStep.XRay_10_CloseOutDoor:
                     if (IOValue(IO_XRay_Type.ExitLine_Reel_Check).Equals(IO_VALUE.HIGH))
                     {
-                        IOMove(IO_XRay_Type.ExitLine_Reel_Run, IO_VALUE.LOW);
+                        IOMove(IO_XRay_Type.ExitLine_Reel_Run, IO_VALUE.HIGH,false,2000);
                         MoveInfo.NextMoveStep(MoveStep.XRay_11_GetCoutResult);
                         MoveInfo.log($"关闭出口门,停止X光机内线体");
-                        Line_In_Axis.SuddenStop();
                         CylinderMove(null, IO_XRay_Type.Exit_Close, IO_XRay_Type.Exit_Open, IO_VALUE.LOW);
                         MoveInfo.StopwatchLog(false, "到达阻挡");
+
+                        var nextpos = Line_In_Axis.GetAclPosition() + Config.Line_In_Relative;
+                        var nextpresent = (double)nextpos / 1900000d - Math.Truncate((double)nextpos / 1917285d);
+                        needhome = nextpresent >= 0.744437056;
+                        MoveInfo.log($"当前位置:{Line_In_Axis.GetAclPosition()},下一个运行点位置:{nextpos},计算比例:{nextpresent},需要回原:{needhome}");
+                        if (needhome)
+                            Line_In_Axis.HomeMove(MoveInfo);
+
                     }
                     else if (MoveInfo.IsTimeOut(10))
                     {

DeviceLibrary/AutoScan/XRayMachine.cs

@@ -129,7 +129,8 @@ namespace DeviceLibrary
                 {
                     ProcessMsgEventFire(Msg);
                     //ProcessMoveinfoEventFire(MoveInfo.List);
-                    Msg.Clear();
+                    if (canRunning && mstart)
+                        Msg.Clear();
                 }
             }
             LogUtil.info($"{DeviceName} 主线程已退出.");
@@ -218,7 +219,13 @@ namespace DeviceLibrary
                 case MoveStep.H01_HomeReset:
                     ResetMoveInfo.NextMoveStep(MoveStep.H02_HomeReset);
                     ResetMoveInfo.log("正在回原, 托盘下降,门打开");
-                    CylinderMove(ResetMoveInfo, IO_XRay_Type.Location_Cylinder_Down, IO_XRay_Type.Location_Cylinder_Up,IO_VALUE.LOW);
+
+                    if (IOValue(IO_XRay_Type.ExitLine_Reel_Check).Equals(IO_VALUE.LOW))
+                    {
+                        ExitLine_Reel_Info = null;
+                        ResetMoveInfo.log("出料线没有检测到料盘, 删除缓存数据");
+                    }
+                    CylinderMove(ResetMoveInfo, IO_XRay_Type.Location_Cylinder_Down, IO_XRay_Type.Location_Cylinder_Up,IO_VALUE.HIGH);
                     CylinderMove(ResetMoveInfo, IO_XRay_Type.Entry_Close, IO_XRay_Type.Entry_Open);
                     CylinderMove(ResetMoveInfo, IO_XRay_Type.Exit_Close, IO_XRay_Type.Exit_Open);
                     SideMove_Z_Axis.HomeMove(ResetMoveInfo);
@@ -226,14 +233,17 @@ namespace DeviceLibrary
                     break;
                 case MoveStep.H02_HomeReset:
                     ResetMoveInfo.NextMoveStep(MoveStep.H03_HomeReset);
-                    Line_Entry_Axis.RelMove(ResetMoveInfo, Config.Line_Entry_Relative*2, Config.Line_Entry_Relative_speed);
+                    Line_Entry_Axis.SpeedMove(Config.Line_Entry_Relative_speed);
                     Line_In_Axis.RelMove(ResetMoveInfo, Config.Line_In_Relative*2, Config.Line_In_Relative_speed);
+                    IOMove(IO_XRay_Type.ExitLine_Reel_Run, IO_VALUE.HIGH);
                     SideMove_X_Axis.HomeMove(ResetMoveInfo);
                     ResetMoveInfo.log("正在回原");
                     break;
                 case MoveStep.H03_HomeReset:
                     ResetMoveInfo.NextMoveStep(MoveStep.HEND_HomeReset);
                     ResetMoveInfo.log("正在回原, 门关闭");
+                    IOMove(IO_XRay_Type.ExitLine_Reel_Run, IO_VALUE.LOW);
+                    Line_Entry_Axis.SuddenStop();
                     CylinderMove(ResetMoveInfo, IO_XRay_Type.Entry_Close, IO_XRay_Type.Entry_Open,IO_VALUE.LOW);
                     CylinderMove(ResetMoveInfo, IO_XRay_Type.Exit_Close, IO_XRay_Type.Exit_Open, IO_VALUE.LOW);
                     CylinderMove(ResetMoveInfo, IO_XRay_Type.Location_Cylinder_Down, IO_XRay_Type.Location_Cylinder_Up, IO_VALUE.HIGH);
@@ -241,8 +251,10 @@ namespace DeviceLibrary
                 case MoveStep.HEND_HomeReset:
                     ResetMoveInfo.log("回源完成");
                     ResetMoveInfo.EndMove();
-                    //MoveInfo.NewMove(MoveStep.Feeding_05_Goto_Xray);
                     runStatus = RunStatus.Running;
+                    FeedingMoveinfo.EndMove();
+                    MoveInfo.EndMove();
+                    SideMoveInfo.EndMove();
                     break;
             }
         }

DeviceLibrary/AutoScan/common/AxisBean.cs

@@ -159,7 +159,7 @@ namespace DeviceLibrary
             int errorCount = Math.Abs(outCount - targetPosition);
             if (isOk)
             {
-                if (errorCount <= axis.CanErrorCountMax)
+                if (errorCount <= axis.CanErrorCountMax || GetLimitPositiveSingle(axis) == 1)
                 {
                     return true;
                 }
@@ -200,6 +200,16 @@ namespace DeviceLibrary
             }
             return false;
         }
+        static int GetLimitPositiveSingle(ConfigMoveAxis axis)
+        {
+            var p = AxisManager.GetLimitPositiveSingle(axis.DeviceName, axis.GetAxisValue());
+            if (p == 1)
+            {
+                LogUtil.info($"{axis.Explain}[{axis.GetAxisValue()}] 正极限 {(p == 1 ? "点亮" : "未亮")}");
+                return p;
+            }
+            return 0;
+        }
         public static bool ACAxisRELMoveIsEnd(MoveInfo MoveInfo, ConfigMoveAxis axis, int targetPosition, int targetSpeed, out string msg)
         {
             msg = "";

DeviceLibrary/AutoScan/common/LabelParam.cs

@@ -44,10 +44,14 @@ namespace DeviceLibrary
             set
             {
                 _WareCode = value;
-                var w = _WareCode.Split('|');
-                if (w.Length == 5) {
-                    PN = w[0];
-                    ReeID = w[3];
+                if (!string.IsNullOrEmpty(_WareCode))
+                {
+                    var w = _WareCode.Split('|');
+                    if (w.Length == 5)
+                    {
+                        PN = w[0];
+                        ReeID = w[3];
+                    }
                 }
             }
         }

DeviceLibrary/DeviceLibrary.csproj

@@ -50,8 +50,9 @@
     <Reference Include="halcondotnet">
       <HintPath>..\..\RC1271-DUOStore\dll\halcondotnet.dll</HintPath>
     </Reference>
-    <Reference Include="HuichuanLibrary">
-      <HintPath>..\..\HuichuanLibrary\HuichuanLibrary\bin\Debug\HuichuanLibrary.dll</HintPath>
+    <Reference Include="HuichuanLibrary, Version=1.0.0.0, Culture=neutral, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\..\HuichuanLibrary\HuichuanLibrary\bin\Debug\HuichuanLibrary.dll</HintPath>
     </Reference>
     <Reference Include="log4net, Version=1.2.10.0, Culture=neutral, PublicKeyToken=692fbea5521e1304, processorArchitecture=AMD64">
       <SpecificVersion>False</SpecificVersion>

DeviceLibrary/DeviceLibrary/CodeManager.cs

@@ -12,82 +12,56 @@ using CodeLibrary;
 using System.Drawing.Imaging;
 using System.Text.RegularExpressions;
 using System.Threading.Tasks;
+using System.Threading;
+using System.Runtime.InteropServices;
+using System.Drawing.Drawing2D;
+using HalconDotNet;
+using System.Web;
 
 namespace DeviceLibrary
 {
     public class CodeManager
     {
-        public static string CodeType = ConfigAppSettings.GetValue(Setting_Init.CodeType);
-        private static int QRCodeCount = ConfigAppSettings.GetIntValue(Setting_Init.QRCodeCount);
+        public static string CodeType = Setting_Init.Camera_CodeType;
+        private static int QRCodeCount = Setting_Init.Camera_QRCodeCount;
+        private static int CodeTimeOut = Setting_Init.Camera_CodeTimeOut;
         public static List<string> cameraNameList = new List<string>();
         public static List<string> codeTypeList = new List<string>();
         public static List<string> hikNameList = new List<string>();
-        public static List<int> Code_Block_Size_List = new List<int>();
+        public static event EventHandler<Bitmap> camera_event;
         private static char spiltChar = '#';
         /// <summary>
         /// 初始化摄像机名称和二维码类型
         /// </summary> 
         public static void LoadConfig()
         {
+            //onfigHelper.Config.Set("CamTestReel_Test", "Click To Test");
+            //ConfigHelper.AdvanceConfigForm.AddCustomEditor<CameraTest>("CamTestReel_Test");
 
-            string code_block_size_list = ConfigAppSettings.GetValue(Setting_Init.code_block_size_list);
-            var cl = code_block_size_list.Split(',');
-            foreach (string s in cl)
-            {
-                int i;
-                if (int.TryParse(s, out i))
-                {
-                    Code_Block_Size_List.Add(i);
-                }
-            }
-            if (Code_Block_Size_List.Count == 0)
-                Code_Block_Size_List.Add(19);
-
-            string nameStr = ConfigAppSettings.GetValue(Setting_Init.CameraName);
             codeTypeList = new List<string>();
-
-
-            string[] codeArray = CodeType.Split(spiltChar);
-            foreach (string str in codeArray)
-            {
-                if (str.Trim().Equals(""))
-                {
-                    continue;
-                }
-                string file = GetCodeParamFilePath(str.Trim());
-                LogUtil.info("加载到配置二维码类型：" + str.Trim() + "，配置文件：" + file);
-                codeTypeList.Add(str.Trim());
-            }
-
-
-
             HDLogUtil.LogName = "RollingLogFileAppender";
             try
             {
-                string[] nameArray = nameStr.Split(spiltChar);
-                foreach (string str in nameArray)
+                LoadCamera(true);
+
+                codeTypeList = new List<string>();
+                string[] codeArray = CodeType.Split(spiltChar);
+                foreach (string str in codeArray)
                 {
                     if (str.Trim().Equals(""))
                     {
                         continue;
                     }
-                    //LogUtil.info("加载到配置摄像机名称：" + str.Trim());
-                    cameraNameList.Add(str.Trim());
+                    string file = GetCodeParamFilePath(str.Trim());
+                    LogUtil.info("加载到配置二维码类型：" + str.Trim() + "，配置文件：" + file);
+                    codeTypeList.Add(str.Trim());
                 }
-                LoadCamera(false);
                 CodeLibrary.HDCodeLearnHelper.LoadConfig("", CodeType);
+
                 //如果未加载到配置相机，自动配置
                 if (cameraNameList.Count <= 0 && hikNameList.Count > 0)
                 {
                     cameraNameList = new List<string>(hikNameList);
-                    string cameraStr = "";
-                    foreach (string name in hikNameList)
-                    {
-                        cameraStr += name + spiltChar;
-                    }
-                    cameraStr = cameraStr.Substring(0, cameraStr.Length - 1);
-                    ConfigAppSettings.SaveValue(Setting_Init.CameraName, cameraStr);
-                    LogUtil.info("未配置扫码相机，默认【" + Setting_Init.CameraName + "】=【" + cameraStr + "】");
                 }
             }
             catch (Exception ex)
@@ -95,7 +69,9 @@ namespace DeviceLibrary
                 LogUtil.error("解析摄像机配置出错：" + ex.StackTrace);
             }
         }
-        private static void LoadCamera(bool isReLoad)
+
+
+        public static void LoadCamera(bool isReLoad)
         {
             if (isReLoad || Camera._cam == null)
             {
@@ -141,252 +117,159 @@ namespace DeviceLibrary
         {
             Camera._cam.CloseAll();
         }
-        public static List<CodeInfo> CameraScan(List<string> cameraNameList)
-        {
-            var x = CameraScan(cameraNameList, out Bitmap bitmap);
-            bitmap.Dispose();
-            return x;
-        }
+
+
         [HandleProcessCorruptedStateExceptions]
-        public static List<CodeInfo> CameraScan(List<string> cameraNameList,out Bitmap bitmap)
+        public static List<CodeInfo> CameraScan(List<string> cameraNameList)
         {
+            HashSet<string> codestr = new HashSet<string>();
             List<CodeInfo> codeList = new List<CodeInfo>();
-            bitmap = null;
+            string bitmapfilename = "";
             if (cameraNameList == null || cameraNameList.Count <= 0)
             {
                 throw new Exception("CameraScan方法没有传入相机名称.");
             }
+
             try
             {
-                for (int i = 0; i < cameraNameList.Count(); i++)
+                Task[] cameraTask = new Task[cameraNameList.Count()];
+                for (int ii = 0; ii < cameraNameList.Count(); ii++)
                 {
-
-                    var cameraName = cameraNameList[i];
-                    if (cameraName.Trim().Equals(""))
-                    {
-                        continue;
-                    }
-                    DateTime startTime = DateTime.Now;
-                    LogUtil.info(" 【" + cameraName + "】开始取图片");
-                    HalconDotNet.HObject ho_Image = null;
-                    Bitmap bmp = null;
-                    try
+                    var cameraName = cameraNameList[ii];
+                    var idx = ii;
+                    cameraTask[ii] = Task.Run(new Action(() =>
                     {
-                        bool nohalcon = false;
-                        ho_Image = Camera._cam.CaptureOnImage(cameraName, out bmp, nohalcon);
-                        bitmap = Common.DeepClone(bmp);
-                        if (ho_Image == null && !nohalcon)
+                        int retrytime = 0;
+                    retry:
+                        LogUtil.info($"【" + cameraName + "】开始取图片");
+                        if (cameraName.Trim().Equals(""))
                         {
-                            LogUtil.error("  【" + cameraName + "】取图片失败[" + Camera._cam.ErrInfo + "]，关闭相机");
-                            CloseCamera(cameraName);
-                            continue;
+                            return;
                         }
-                        LogUtil.info("  【" + cameraName + "】取图片完成，开始扫码");
-                        string r = "";
-
-                        //foreach (int codesize in Code_Block_Size_List)
+                        DateTime startTime = DateTime.Now;
+                        HalconDotNet.HObject ho_Image = null;
+                        Bitmap bmp = null;
+                        try
                         {
-                            List<CodeInfo> tlci = EyemDecode2.Decoder(ref bmp, null);
-
-                            foreach (CodeInfo code in tlci)
+                            bool nohalcon = true;
+                            ho_Image = Camera._cam.CaptureOnImage(cameraName, out bmp, nohalcon);
+                            if (bmp == null)
                             {
-                                LogUtil.info("  【" + cameraName + "】[eyemDecode]" + code.CodeType + "(X: " + code.X + "，Y: " + code.Y + ") " + code.CodeStr);
-                                lock (codeList)
-                                {
-                                    if (!codeList.Contains(code) && HasRightCode(code.CodeStr))
-                                    {
-                                        codeList.Add(code);
-                                        r = r + "##" + code.CodeStr;
-                                    }
-                                }
+                                if (retrytime > 2)
+                                    return;
+                                retrytime++;
+                                LoadCamera(true);
+                                LogUtil.info($"bitmap为空重试第{retrytime}次");
+                                Task.Delay(1500).Wait();
+                                goto retry;
                             }
-                        }
-                        if (!nohalcon && codeList.Count==0)
-                        {
+                            //HalconDotNet.HOperatorSet.RotateImage()
+                            if (ho_Image == null && !nohalcon)
+                            {
+                                LogUtil.error("  【" + cameraName + "】取图片失败[" + Camera._cam.ErrInfo + "]，关闭相机");
+                                LoadCamera(true);
+                                return;
+                            }
+                            if (idx == 0)
+                                camera_event?.Invoke(null, bmp);
+                            LogUtil.info("  【" + cameraName + "】取图片完成，开始扫码");
+                            string r = "";
+                            RemoteDecodeHelper.RemoteDecodeParam remoteDecodeParam = new RemoteDecodeHelper.RemoteDecodeParam
+                            {
+                                codeTypeList = codeTypeList.ToArray(),
+                                codeCount = QRCodeCount,
+                                timeout = CodeTimeOut
+                            };
                             List<CodeInfo> cc = new List<CodeInfo>();
-                            foreach (string codeType in codeTypeList)
+
+                            cc = RemoteDecodeHelper.DecodeRequest(bmp, remoteDecodeParam);
+                            if (cc != null && cc.Count > 0)
                             {
-                                //判断是否是一维码
-                                if (codeType.ToLower().Equals("barcode"))
-                                {
-                                    cc = HDCodeHelper.DecodeBarCode(ho_Image);
-                                }
-                                else
-                                {
-                                    cc = HDCodeHelper.DecodeCode(ho_Image, codeType, GetCodeParamFilePath(codeType), QRCodeCount, 3000);
-                                }
-                                LogUtil.info("  【" + cameraName + "】[Halcon]" + codeType + "," + QRCodeCount + ","+ cc.Count);
-                                foreach (CodeInfo c in cc)
+                                cc.ForEach((c) =>
                                 {
-                                    LogUtil.info("  【" + cameraName + "】[Halcon]" + c.CodeType + "(X: " + c.X + "，Y: " + c.Y + ") " + c.CodeStr);
+                                    LogUtil.info(c.CodeStr);
                                     c.CodeStr = CodeManager.ReplaceCode(c.CodeStr);
                                     lock (codeList)
                                     {
-                                        if (!codeList.Contains(c) && HasRightCode(c.CodeStr))
+                                        if (!codeList.Any(a=>a.CodeStr == c.CodeStr) && HasRightCode(c.CodeStr))
                                         {
                                             codeList.Add(c);
                                             r = r + "##" + c.CodeStr;
                                         }
                                     }
-                                }
+                                });
                             }
+                            else
+                            {
+                                bitmapfilename = SaveImageToFile("mimo", cameraName, bmp);
+                            }
+                            LogUtil.info(" 【" + cameraName + "】" + " 扫码完成【" + FormUtil.GetSpanStr(DateTime.Now - startTime) + "】 ：" + r);
                         }
-                        if (codeList.Count() != 1)
+                        catch (AccessViolationException e)
                         {
-                            SaveImageToFile("mimo"+ codeList.Count(), cameraName, bmp);
+                            LogUtil.error(" 扫码出现AccessViolationException异常，关闭相机【" + cameraName + "】：" + e.ToString());
+                            Camera._cam.Close(cameraName);
+                            //  GC.Collect();
                         }
-                        LogUtil.info(" 【" + cameraName + "】" + " 扫码完成【" + FormUtil.GetSpanStr(DateTime.Now - startTime) + "】 ：" + r);
-                    }
-                    catch (AccessViolationException e)
-                    {
-                        LogUtil.error(" 扫码出现AccessViolationException异常，关闭相机【" + cameraName + "】：" + e.ToString());
-                        Camera._cam.Close(cameraName);
-                        //  GC.Collect();
-                    }
-                    catch (Exception ex)
-                    {
-                        LogUtil.error(" 扫码出错：" + ex.ToString());
-                    }
-                    finally
-                    {
-                        if (ho_Image != null)
+                        catch (Exception ex)
                         {
-                            ho_Image.Dispose();
+                            LogUtil.error(" 扫码出错：" + ex.ToString());
                         }
-                        if (bmp != null)
-                            bmp.Dispose();
-                    }
+                        finally
+                        {
+                            if (ho_Image != null)
+                            {
+                                ho_Image.Dispose();
+                            }
+                            if (bmp != null)
+                                bmp.Dispose();
+                        }
+
+                    }));
+                    Task.Delay(ii * 700).Wait();
                 }
-                //Task.WaitAll(cameraTask);
-            }
-            catch (AccessViolationException e)
-            {
-                LogUtil.error(" 扫码出现AccessViolationException异常：" + e.ToString());
-                //throw new Exception("扫码出现AccessViolationException异常");
-                //    GC.Collect();
-            }
-            catch (Exception ex)
-            {
-                LogUtil.error(" 扫码出错：" + ex.ToString());
-                //throw new Exception("扫码出错");
-            }
-            return codeList;
-        }
 
-        public static List<CodeInfo> CameraScan2(List<string> cameraNameList)
-        {
-            List<CodeInfo> codeList = new List<CodeInfo>();
-            if (cameraNameList == null || cameraNameList.Count <= 0)
-            {
-                throw new Exception("CameraScan方法没有传入相机名称.");
-            }
-            try
-            {
-                for (int i = 0; i < cameraNameList.Count(); i++)
+                while (!cameraTask[0].IsCompleted)
                 {
-                    var cameraName = cameraNameList[i];
-                    if (cameraName.Trim().Equals(""))
-                    {
-                        continue;
-                    }
-
-                    LogUtil.info(" 【" + cameraName + "】开始取图片处理例程");
-
-                    try
-                    {
-                        var fun1 = new Func<string, Bitmap, object>(decode);
-                        Camera._cam.ProcessOnImage(cameraName, out object[] resule, fun1);
-                        if (resule[0] != null)
-                            codeList = (List<CodeInfo>)resule[0];
-                    }
-                    catch (AccessViolationException e)
-                    {
-                        LogUtil.error(" 扫码出现AccessViolationException异常，关闭相机【" + cameraName + "】：" + e.ToString());
-                    }
-                    catch (Exception ex)
-                    {
-                        LogUtil.error(" 扫码出错：" + ex.ToString());
-                    }
-                    finally
-                    {
-
-                    }
+                    Application.DoEvents();
+                    Thread.Sleep(100);
                 }
             }
             catch (AccessViolationException e)
             {
                 LogUtil.error(" 扫码出现AccessViolationException异常：" + e.ToString());
+                //throw new Exception("扫码出现AccessViolationException异常");
+                //    GC.Collect();
             }
             catch (Exception ex)
             {
                 LogUtil.error(" 扫码出错：" + ex.ToString());
+                //throw new Exception("扫码出错");
             }
             return codeList;
         }
-        public static string GetCodeParamFilePath(string codePath)
-        {
-            string appPath = Application.StartupPath;
-            string path = Path.Combine(appPath, ConfigAppSettings.GetValue(Setting_Init.CodeParamPath));
-            string filePath = Path.Combine(path, codePath + ".dcm");
-            if (File.Exists(filePath))
-            {
-                return filePath;
-            }
-            else
-            {
-                return "";
-            }
-        }
-        static object decode(string cameraName, Bitmap bmp)
-        {
-            DateTime startTime = DateTime.Now;
-            List<CodeInfo> codeList = new List<CodeInfo>();
-            LogUtil.info("取图片完成，开始扫码");
-            string r = "";
-            foreach (int codesize in Code_Block_Size_List)
-            {
-                List<CodeInfo> tlci = EyemDecode2.Decoder(ref bmp);
-                foreach (CodeInfo code in tlci)
-                {
-                    LogUtil.info("  【" + cameraName + "】[eyemDecode]" + code.CodeType + "(X: " + code.X + "，Y: " + code.Y + ") " + code.CodeStr);
-                    lock (codeList)
-                    {
-                        if (!codeList.Contains(code) && HasRightCode(code.CodeStr))
-                        {
-                            codeList.Add(code);
-                            r = r + "##" + code.CodeStr;
-                        }
-                    }
-                }
-            }
-            if (codeList.Count() == 0)
-            {
-                SaveImageToFile("", cameraName, bmp);
-            }
-            LogUtil.info(" 【" + cameraName + "】" + " 扫码完成【" + FormUtil.GetSpanStr(DateTime.Now - startTime) + "】 ：" + r);
-            return codeList;
-        }
 
-        private static void SaveImageToFile(string deviceName, string cameraName, Bitmap bitmap)
+        private static string SaveImageToFile(string deviceName, string cameraName, Bitmap bitmap)
         {
             string date = DateTime.Now.ToString("HH-mm-ss-") + DateTime.Now.Millisecond;
-            string dire = @"D:\image\" + deviceName.Trim().Replace('_', '-') + @"\" + cameraName.Trim().Replace('_', '-').Replace(':', '-') + @"\";
+            string dire = @"\image\" + deviceName.Trim().Replace('_', '-') + @"\" + cameraName.Trim().Replace('_', '-').Replace(':', '-') + @"\";
             string iamgeName = date + ".bmp";
             try
             {
-                Bitmap bit = (Bitmap)bitmap.Clone();
                 if (Directory.Exists(dire).Equals(false))
                 {
                     Directory.CreateDirectory(dire);
                 }
-                bit.Save(dire + iamgeName, ImageFormat.Bmp);
-                bit.Dispose();
-                LogUtil.info(deviceName + "  【" + cameraName + "】扫码失败，保存图片到【" + dire + iamgeName + "】成功");
+                bitmap.Save(dire + iamgeName, ImageFormat.Bmp);
+                //bitmap.Dispose();
+                LogUtil.info(deviceName + "  【" + cameraName + "】扫码完成，保存图片到【" + dire + iamgeName + "】成功");
+
             }
             catch (Exception ex)
             {
                 LogUtil.error("保存" + deviceName + "  【" + cameraName + "】的图片到【" + dire + iamgeName + "】出错" + ex.ToString());
             }
+            return dire + iamgeName;
         }
 
         /// <summary>
@@ -427,6 +310,21 @@ namespace DeviceLibrary
         {
             return Regex.IsMatch(str, @"[\u4e00-\u9fa5]");
         }
+        public static string GetCodeParamFilePath(string codePath)
+        {
+            string appPath = Application.StartupPath;
+            string path = Path.Combine(appPath, Setting_Init.Camera_CodeParamPath);
+            string filePath = Path.Combine(path, codePath + ".dcm");
+            if (File.Exists(filePath))
+            {
+                return filePath;
+            }
+            else
+            {
+                return "";
+            }
+        }
+
         public static bool HasRightCode(string codes)
         {
             //78.10222.20L-016651|-20200826|900|W78016651352000A6|SAMSUNG

DeviceLibrary/DeviceLibrary/HC/HCAxisManager.cs

@@ -110,7 +110,7 @@ namespace DeviceLibrary
 
         public void SpeedMove(string portName, short slvAddr, int speed)
         {
-            HCBoardManager.SpeedMove(slvAddr, speed);
+            HCBoardManager.SpeedMove(slvAddr, speed, speed * 4, speed * 4);
         } 
         public void SuddenStop(string portName, short slvAddr)
         {

SO853-AutoCountMachine/Form1.Designer.cs

@@ -457,7 +457,6 @@ namespace AutoCountMachine
             this.Controls.Add(this.btn_stop);
             this.Controls.Add(this.btn_run);
             this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
-            this.MaximizeBox = false;
             this.Name = "Form1";
             this.StartPosition = System.Windows.Forms.FormStartPosition.Manual;
             this.Text = "Neo Counter X800";

SO853-AutoCountMachine/SO1451-AutoCountMachine.csproj

@@ -214,4 +214,7 @@
     <Content Include="icon.ico" />
   </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+  <PropertyGroup>
+    <PostBuildEvent>start $(TargetDir)</PostBuildEvent>
+  </PropertyGroup>
 </Project>
\ No newline at end of file

SO853-AutoCountMachine/XrayControl.cs

@@ -361,7 +361,7 @@ namespace AutoCountMachine
                     RobotManage.xrayMachine.IOMove(IO_XRay_Type.Xray_Lock, IO_VALUE.HIGH);
                     Task.Delay(1000).Wait();
                     RobotManage.XRay.Start();
-                    Task.Delay(2000).Wait();
+                    Task.Delay(5000).Wait();
                     var b = RobotManage.xrayImage.GenerateTemplate(2);
                     b.Wait();
                     if (b.Result)