添加压紧轴列表, 回原加速度调到6倍, 扫码完后取盘时检测不到盘则取消任务

source/ACSingleStore/ACSingleStore.csproj

@@ -218,7 +218,7 @@
     </EmbeddedResource>
     <None Include="app.manifest" />
     <None Include="packages.config" />
-    <None Include="resource\language.resource">
+    <None Include="resources\language.resource">
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
     </None>
     <None Include="Properties\Settings.settings">
@@ -230,7 +230,7 @@
       <DependentUpon>Settings.settings</DependentUpon>
       <DesignTimeSharedInput>True</DesignTimeSharedInput>
     </Compile>
-    <None Include="resource\ResourceMap.csv">
+    <None Include="resources\ResourceMap.csv">
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
     </None>
   </ItemGroup>

source/ACSingleStore/App.config

@@ -72,7 +72,7 @@
       <level value="Info" />
       <appender-ref ref="RollingLogFileAppender" />
     </logger>
-    <logger name="ResourcesLog" additivity="false">
+    <logger name="LngResource" additivity="false">
       <level value="All" />
       <appender-ref ref="ResourcesLog" />
     </logger>

source/ACSingleStore/FrmIOStatus.Designer.cs

@@ -254,7 +254,7 @@
             this.chbAutoRead.Checked = true;
             this.chbAutoRead.CheckState = System.Windows.Forms.CheckState.Checked;
             this.chbAutoRead.Font = new System.Drawing.Font("微软雅黑", 9F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
-            this.chbAutoRead.Location = new System.Drawing.Point(588, 613);
+            this.chbAutoRead.Location = new System.Drawing.Point(592, 613);
             this.chbAutoRead.Name = "chbAutoRead";
             this.chbAutoRead.Size = new System.Drawing.Size(75, 21);
             this.chbAutoRead.TabIndex = 244;
@@ -538,7 +538,7 @@
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(7F, 17F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
-            this.ClientSize = new System.Drawing.Size(882, 657);
+            this.ClientSize = new System.Drawing.Size(886, 657);
             this.Controls.Add(this.button1);
             this.Controls.Add(this.groupBoxHighState);
             this.Controls.Add(this.groupBoxDowrite);

source/ACSingleStore/FrmLanguare.Designer.cs

@@ -91,10 +91,10 @@
             this.rbtnJapanese.Font = new System.Drawing.Font("微软雅黑", 12F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.rbtnJapanese.Location = new System.Drawing.Point(198, 130);
             this.rbtnJapanese.Name = "rbtnJapanese";
-            this.rbtnJapanese.Size = new System.Drawing.Size(60, 25);
+            this.rbtnJapanese.Size = new System.Drawing.Size(76, 25);
             this.rbtnJapanese.TabIndex = 281;
             this.rbtnJapanese.TabStop = true;
-            this.rbtnJapanese.Text = "日语";
+            this.rbtnJapanese.Text = "日本語";
             this.rbtnJapanese.UseVisualStyleBackColor = true;
             // 
             // FrmLanguare

source/ACSingleStore/FrmStoreBox.cs

@@ -168,11 +168,12 @@ namespace OnlineStore.ACSingleStore
             this.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title);
 
             notifyIcon1.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title);
+            axisMoveControl1.LoadData(store);
+            LoadOk = true;
             this.chbBuzzer.Checked = store.UseBuzzer;
             this.chbTH.Checked = store.UseAirBlow;
-            axisMoveControl1.LoadData(store);
             chbIsDebug.Checked = store.IsDebug;
-            LoadOk = true;
+            
 
             HideForm();
             LogUtil.info("启动完成");
@@ -193,7 +194,7 @@ namespace OnlineStore.ACSingleStore
             iodbgfrm.TopLevel = false;
             tabPage9.Controls.Add(iodbgfrm);
             iodbgfrm.Dock = DockStyle.Fill;
-            iodbgfrm.Anchor = ((AnchorStyles)((AnchorStyles.Top | AnchorStyles.Right | AnchorStyles.Bottom | AnchorStyles.Left)));
+            //iodbgfrm.Anchor = ((AnchorStyles)((AnchorStyles.Top | AnchorStyles.Right | AnchorStyles.Bottom | AnchorStyles.Left)));
             iodbgfrm.Show();
 
 
@@ -444,7 +445,10 @@ namespace OnlineStore.ACSingleStore
         private void AxisABSMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
         {
             moveAxis.TargetPosition = targetPosition;
-            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, targetSpeed*4, targetSpeed*4);
+            //var moveAxis = getAxis(SlvAddr);
+            var addSpeed = moveAxis.AddSpeed > 0 ? moveAxis.AddSpeed : targetSpeed * 4;
+            var delSpeed = moveAxis.DelSpeed > 0 ? moveAxis.DelSpeed : targetSpeed * 4;
+            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, addSpeed, delSpeed);
         }
         private void btnUpDownP1_Click(object sender, EventArgs e)
         {
@@ -598,7 +602,12 @@ namespace OnlineStore.ACSingleStore
                 {
                     Camera._cam.CloseAll();
                 }
+                //CodeResourceControl.OpenResourceLog = true;
+                CodeResourceControl.GetLanguageEvent += () => { return ResourceCulture.CurrLanguage; };
+                CodeResourceControl.CurrLanguage= ResourceCulture.CurrLanguage;
                 CodeLibrary.FrmCodeDecode frm = new CodeLibrary.FrmCodeDecode();
+                frm.CurrLanguage = ResourceCulture.CurrLanguage;
+                frm.LanguageProcess();
                 frm.chbZxing.Checked = false;
                 frm.chbZxing.Visible = false;
                 frm.ShowDialog();
@@ -933,9 +942,9 @@ namespace OnlineStore.ACSingleStore
             short slvAddr = store.Config.UpDown_Axis.GetAxisValue();
             int ioIndex = 0;
             //  if (store.Config.StoreDIList.ContainsKey(IO_Type.UpdownPositionSingal))
-            if (store.Config.StoreDIList.ContainsKey(IO_Type.TrayCheck_Fixture))
+            if (store.Config.StoreDIList.ContainsKey(IO_Type.Laser_detection))
             {
-                ioIndex = store.Config.StoreDIList[IO_Type.TrayCheck_Fixture].GetIOAddr();
+                ioIndex = store.Config.StoreDIList[IO_Type.Laser_detection].GetIOAddr();
             }
             FrmPositionTool frm = new FrmPositionTool(PortName, slvAddr, ioIndex, store.Config.UpDown_Axis.HomeHighSpeed, store.Config.UpDown_Axis.HomeLowSpeed, store.Config.UpDown_Axis.HomeAddSpeed);
             frm.ShowDialog();

source/ACSingleStore/Properties/AssemblyInfo.cs

@@ -9,7 +9,7 @@ using System.Runtime.InteropServices;
 [assembly: AssemblyDescription("")]
 [assembly: AssemblyConfiguration("")]
 [assembly: AssemblyCompany("")]
-[assembly: AssemblyProduct("SO951-HC-ACSingleStore 82710d360fb1b40b2637f7671e0085adf4f5926c")]
+[assembly: AssemblyProduct("SO951-HC-ACSingleStore de14ca3c0b9efddc8beead183e4c06c73936ef8b")]
 [assembly: AssemblyCopyright("Copyright ?  2017")]
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyCulture("")]

source/ACSingleStore/ResourceCulture.cs

@@ -58,7 +58,7 @@ namespace OnlineStore
             //string chinaPath = Application.StartupPath + @"\resource\zh-CN.resource";
             //Dictionary<string, string> ChinaMap = LoadDataMap(chinaPath);
             //Dictionary<string, string> EnglishMap = LoadDataMap(englishPath);
-            string rPath= Application.StartupPath + @"\resource\language.resource";
+            string rPath= Application.StartupPath + @"\resources\language.resource";
             ResourceMap = new Dictionary<string, Dictionary<string, string>>();
             Dictionary<string, string> ChinaMap = new Dictionary<string, string>();
             Dictionary<string, string> EnglishMap = new Dictionary<string, string>();
@@ -186,7 +186,7 @@ namespace OnlineStore
 
         private static Dictionary<string,string> LoadRMap()
         {
-            string path = Application.StartupPath + @"\resource\ResourceMap.csv";
+            string path = Application.StartupPath + @"\resources\ResourceMap.csv";
             Dictionary<string, string> map = new Dictionary<string, string>();
             try
             {

source/ACSingleStore/positionTool/FrmPositionTool.cs

@@ -150,12 +150,18 @@ namespace OnlineStore.ACSingleStore
         {
             int position = Convert.ToInt32(txtPosition.Text);
             int speed = Convert.ToInt32(txtSpeed.Text);
-            ACServerManager.RelMove(PortName, SlvAddr, position, speed, speed*4, speed * 4);
+            var moveAxis = getAxis(SlvAddr);
+            var addSpeed = moveAxis.AddSpeed > 0 ? moveAxis.AddSpeed : speed * 4;
+            var delSpeed = moveAxis.DelSpeed > 0 ? moveAxis.DelSpeed : speed * 4;
+            ACServerManager.RelMove(PortName, SlvAddr, position, speed, addSpeed, delSpeed);
         } 
         private void btnHomeMove_Click(object sender, EventArgs e)
         {
             int speed = Convert.ToInt32(txtSpeed.Text);
-            ACServerManager.HomeMove(PortName, SlvAddr, ptpAcc, ptpDec,homespeed);
+            var moveAxis = getAxis(SlvAddr);
+            var HomeAddSpeed = moveAxis.HomeAddSpeed > 0 ? moveAxis.HomeAddSpeed : moveAxis.HomeHighSpeed * 6;
+            var HomeLowSpeed = moveAxis.HomeLowSpeed > 0 ? moveAxis.HomeLowSpeed : moveAxis.HomeHighSpeed / 10;
+            ACServerManager.HomeMove(PortName, SlvAddr, moveAxis.HomeHighSpeed, HomeAddSpeed, HomeLowSpeed);
         }
         private void btnSpeedMove_Click(object sender, EventArgs e)
         {
@@ -213,7 +219,10 @@ namespace OnlineStore.ACSingleStore
             PositionList = new List<int>();
             LogUtil.info(LogName + "伺服开始运动，速度【" + speed + "】位置【" + position + "】启动定时器 ");
             formMoveStatus(false);
-            ACServerManager.AbsMove(PortName, SlvAddr, position, speed, speed * 4, speed * 4);
+            var moveAxis = getAxis(SlvAddr);
+            var addSpeed = moveAxis.AddSpeed > 0 ? moveAxis.AddSpeed : speed * 4;
+            var delSpeed = moveAxis.DelSpeed > 0 ? moveAxis.DelSpeed : speed * 4;
+            ACServerManager.AbsMove(PortName, SlvAddr, position, speed, addSpeed, delSpeed);
             toolTimer.Start();
         }
         private int P3Offset = 0;
@@ -235,6 +244,7 @@ namespace OnlineStore.ACSingleStore
         {
             toolTimer.Stop();
             ACServerManager.SuddenStop(PortName, SlvAddr);
+            formMoveStatus(true);
         }
 
         private IO_VALUE GetSingleValue()
@@ -370,6 +380,19 @@ namespace OnlineStore.ACSingleStore
         {
             this.Close();
         }
+        ConfigMoveAxis getAxis(short SlvAddr)
+        {
+
+            foreach (ConfigMoveAxis a in StoreManager.Store.moveAxisList)
+            {
+                if (a.IsSameAxis(PortName, SlvAddr))
+                {
+                    return a;
+                }
+            }
+            return null;
+
+        }
     }
    
 }

source/ACSingleStore/useControl/AxisMoveControl.cs

@@ -111,7 +111,10 @@ namespace OnlineStore.DUOStore
             int position = FormUtil.GetIntValue(txtAPosition);
             int speed = FormUtil.GetIntValue(txtASpeed);
             LogUtil.info(boxBean.Name+"点击【绝对运动】，【" + PortName + "_" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
-            AxisManager.AbsMove(PortName, SlvAddr, position, speed, speed*4, speed * 4);
+            var moveAxis = getAxis(SlvAddr);
+            var addSpeed = moveAxis.AddSpeed > 0 ? moveAxis.AddSpeed : speed * 4;
+            var delSpeed = moveAxis.DelSpeed > 0 ? moveAxis.DelSpeed : speed * 4;
+            AxisManager.AbsMove(PortName, SlvAddr, position, speed, addSpeed, delSpeed);
         }
 
         private void btnAxisRMove_Click(object sender, EventArgs e)
@@ -123,7 +126,10 @@ namespace OnlineStore.DUOStore
             int position = FormUtil.GetIntValue(txtAPosition);
             int speed = FormUtil.GetIntValue(txtASpeed);
             LogUtil.info(boxBean.Name+"点击【相对运动】，【" + PortName + "_" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
-            AxisManager.RelMove(PortName, SlvAddr, position, speed, speed*4, speed*4);
+            var moveAxis = getAxis(SlvAddr);
+            var addSpeed = moveAxis.AddSpeed > 0 ? moveAxis.AddSpeed : speed * 4;
+            var delSpeed = moveAxis.DelSpeed > 0 ? moveAxis.DelSpeed : speed * 4;
+            AxisManager.RelMove(PortName, SlvAddr, position, speed, addSpeed, delSpeed);
         }
 
         private void btnAxisVMove_Click(object sender, EventArgs e)
@@ -173,8 +179,10 @@ namespace OnlineStore.DUOStore
                 if (a.IsSameAxis(PortName, SlvAddr))
                 {
                     LogUtil.info(boxBean.Name+"点击【原点返回】，【" + PortName + "_" + SlvAddr + "】 速度【" + a.HomeHighSpeed + "】");
-
-                    AxisManager.HomeMove(PortName, SlvAddr, a.HomeHighSpeed,a.HomeLowSpeed,a.HomeAddSpeed);
+                    var moveAxis = a;
+                    var HomeAddSpeed = moveAxis.HomeAddSpeed > 0 ? moveAxis.HomeAddSpeed : moveAxis.HomeHighSpeed * 6;
+                    var HomeLowSpeed = moveAxis.HomeLowSpeed > 0 ? moveAxis.HomeLowSpeed : moveAxis.HomeHighSpeed / 10;
+                    AxisManager.HomeMove(PortName, SlvAddr, a.HomeHighSpeed,HomeLowSpeed,HomeAddSpeed);
                 }
             }
         }
@@ -333,7 +341,7 @@ namespace OnlineStore.DUOStore
         }
         private void ReadAxisStatus()
         {
-            groupBox2.Text = cmbAxis.Text + "-状态监控";
+            groupBox2.Text = cmbAxis.Text;
             //【1】更新轴号
             short axisNo = SlvAddr;
             if (axisNo < 0)
@@ -421,5 +429,17 @@ namespace OnlineStore.DUOStore
         {
             this.timer1.Stop();
         }
+        ConfigMoveAxis getAxis(short SlvAddr) {
+
+            foreach (ConfigMoveAxis a in axisList)
+            {
+                if (a.IsSameAxis(PortName, SlvAddr))
+                {
+                    return a;
+                }
+            }
+            return null;
+             
+        }
     }
 }

source/ACSingleStore/useControl/uc_boxdebug.cs

@@ -115,8 +115,15 @@ namespace OnlineStore.ACSingleStore.useControl
                 pa[1] += "A";
             if (int.TryParse(pb[1], out _))
                 pb[1] += "A";
-            var isa = Regex.Replace(pa[1], @"[^\d]*", "") + (pa[1][1].Equals('A') ? "1" : "2") + pa[2][0] + pa[3].PadLeft(2, '0');
-            var isb = Regex.Replace(pb[1], @"[^\d]*", "") + (pb[1][1].Equals('A') ? "1" : "2") + pb[2][0] + pb[3].PadLeft(2, '0');
+
+            var pa1 = pa[1][0]+(pa[1][1].Equals('A') ? "1" : "2");
+            var pb1 = pb[1][0] + (pb[1][1].Equals('A') ? "1" : "2");
+
+            var pa2 = pa[2].Length==2? (pa[2][1].Equals('A') ? "1" : "2")+ pa[2][0] : pa[2];
+            var pb2 = pb[2].Length == 2 ? (pb[2][1].Equals('A') ? "1" : "2")+ pb[2][0] : pb[2];
+
+            var isa = Regex.Replace(pa[1], @"[^\d]*", "") + pa1 + pa2 + pa[3].PadLeft(2, '0');
+            var isb = Regex.Replace(pb[1], @"[^\d]*", "") + pb1 + pb2 + pb[3].PadLeft(2, '0');
 
             if (int.Parse(isa) == int.Parse(isb))
                 return 0;
@@ -359,7 +366,10 @@ namespace OnlineStore.ACSingleStore.useControl
         private void AxisABSMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
         {
             moveAxis.TargetPosition = targetPosition;
-            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, targetSpeed * 4, targetSpeed * 4);
+
+            var addSpeed = moveAxis.AddSpeed > 0 ? moveAxis.AddSpeed : targetSpeed * 4;
+            var delSpeed = moveAxis.DelSpeed > 0 ? moveAxis.DelSpeed : targetSpeed * 4;
+            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, addSpeed, delSpeed);
         }
         /// <summary>
         /// 判断进出轴是否在P1点

source/Common/Common.csproj

@@ -62,6 +62,7 @@
     <Reference Include="System.Runtime.CompilerServices.Unsafe, Version=4.0.4.1, Culture=neutral, PublicKeyToken=b03f5f7f11d50a3a, processorArchitecture=MSIL">
       <HintPath>..\..\packages\System.Runtime.CompilerServices.Unsafe.4.5.2\lib\netstandard2.0\System.Runtime.CompilerServices.Unsafe.dll</HintPath>
     </Reference>
+    <Reference Include="System.Web" />
     <Reference Include="System.Windows.Forms" />
     <Reference Include="System.Xml.Linq" />
     <Reference Include="System.Data.DataSetExtensions" />

source/Common/util/HttpHelper.cs

@@ -121,5 +121,65 @@ namespace OnlineStore.Common
             }
             return "";
         }
+
+        private static string Addr_cancelPutInTask = "/service/store/cancelPutInTask";
+        public static string cancelPutInTask(string deviceName, string barcode)
+        {
+            string msg = "";
+            try
+            {
+
+                Dictionary<string, string> paramMap = new Dictionary<string, string>();
+                paramMap.Add("barcode", barcode);
+
+                string server = GetAddr(Addr_cancelPutInTask, paramMap);
+                DateTime startTime = DateTime.Now;
+                string resultStr = HttpHelper.Post(server, "");
+                LogUtil.info(deviceName + "cancelPutInTask    " + FormUtil.GetSpanStr(DateTime.Now - startTime) + "  【" + server + "】【" + resultStr + "】");
+
+                RfidData data = JsonHelper.DeserializeJsonToObject<RfidData>(resultStr);
+
+                if (data == null)
+                {
+                    return msg = deviceName + " cancelPutInTask【 " + barcode + "】 没有收到服务器反馈";
+                }
+                else if (data.code.Equals(0).Equals(false))
+                {
+                    return msg = deviceName + " cancelPutInTask【 " + barcode + "】   ：" + data.msg;
+                }
+
+                return "";
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error(deviceName + " " + ex.ToString());
+            }
+            return msg;
+        }
+        private static string GetAddr(string addr, Dictionary<string, string> paramsMap)
+        {
+            string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
+            if (server.EndsWith("/"))
+            {
+                server = server.Substring(0, server.Length - 1);
+            }
+            string path = server + addr.Trim() + "?";
+            foreach (string paramName in paramsMap.Keys)
+            {
+                string par = System.Web.HttpUtility.UrlEncode(paramsMap[paramName], System.Text.Encoding.UTF8);
+                path += paramName + "=" + par + "&";
+            }
+            path = path.Substring(0, path.Length - 1);
+            return path;
+        }
+        public class RfidData
+        {
+            //{"code":0,"msg":"ok","data":"7"} 
+            public int code { get; set; }
+
+            public string msg { get; set; }
+
+            public Dictionary<string, string> data { get; set; }
+        }
     }
 }
\ No newline at end of file

source/DeviceLibrary/DeviceLibrary.csproj

@@ -36,8 +36,9 @@
     <Prefer32Bit>false</Prefer32Bit>
   </PropertyGroup>
   <ItemGroup>
-    <Reference Include="Asa.Camera.VisionLib">
-      <HintPath>..\..\..\camera\Asa.Camera.VisionLib.dll</HintPath>
+    <Reference Include="Asa.Camera.VisionLib, Version=1.3.7927.28975, Culture=neutral, processorArchitecture=MSIL">
+      <SpecificVersion>False</SpecificVersion>
+      <HintPath>..\..\..\Camera\CameraVisionLib\bin\Debug\Asa.Camera.VisionLib.dll</HintPath>
     </Reference>
     <Reference Include="Asa.IOModule.AIOBOX">
       <HintPath>..\..\dll\Asa.IOModule.AIOBOX.dll</HintPath>

source/DeviceLibrary/StoreConfig/AC/StoreConfig.csv

@@ -36,6 +36,7 @@ PRO,升降轴 进料口出料缓冲点 P8,UpDownAxis_DoorIBPosition_P8,700000,,,,,,
 PRO,旋转轴（轴1）P1 待机原位点,MiddleAxis_P1_Position,151500,,,,,,
 PRO,进出轴（轴3）P1待机原位点,InOutAxis_P1_Position,0,,,,,,
 PRO,压紧轴（轴4）P1待机原位点,CompressAxis_P1_Position,2000,,,,,,
+PRO,L4_压紧轴_P2压紧点范围对应值,_CompAxis_P2_List,8=49928;12=45455;16=42495;,,,,,,
 PRO,是否使用定位气缸,IsHasLocationCylinder,0,,,,,,
 PRO,是否有左右侧门,IsHasDoorLimit,1,,,,,,
 PRO,是否使用压紧轴（1=使用）,IsHasCompress_Axis,1,,,,,,

source/DeviceLibrary/acSingleStore/AC_SA_BoxBean.cs

@@ -123,7 +123,8 @@ namespace OnlineStore.DeviceLibrary
             IOManager.IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
             IOManager.IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.LOW);
             IOManager.IOMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW);
-            //IOManager.IOMove(IO_Type.Device_Led, IO_VALUE.HIGH);
+
+            IOManager.IOMove(IO_Type.Device_Led, IO_VALUE.HIGH);
             LogUtil.info(StoreName + " 初始化完成，OutStoreWaitSeconds=" + OutStoreWaitSeconds);
         }
 
@@ -190,7 +191,7 @@ namespace OnlineStore.DeviceLibrary
         public override bool StartRun()
         {
             LogUtil.info(LOGGER, StoreName + "开始启动，启动时间：" + StartTime.ToString());
-             
+
             autoNext = false;
             mainTimer.Enabled = false;
             alarmType = StoreAlarmType.None;
@@ -388,13 +389,10 @@ namespace OnlineStore.DeviceLibrary
                         return;
                     }
                     //复位和回原点要等轴3进出轴ORG亮了以后才能返回其他轴
-                    LogUtil.info(LOGGER, StoreName + "复位中： 压紧轴，旋转轴，上下轴开始 原点返回");
+                    LogUtil.info(LOGGER, StoreName + "复位中： 旋转轴，上下轴开始 原点返回");
                     StoreMove.NextMoveStep(StoreMoveStep.BOX_H_OtherAxisBack_wait);
                     StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000));
-                    if (IsHasCompress_Axis)
-                    {
-                        ACAxisHomeMove(Config.Comp_Axis);
-                    }
+
                     ACAxisHomeMove(Config.Middle_Axis);
                     ACAxisHomeMove(Config.UpDown_Axis);
                     break;
@@ -403,15 +401,22 @@ namespace OnlineStore.DeviceLibrary
                     StoreMove.WaitList.Add(WaitResultInfo.WaitTime(500));
                     break;
                 case StoreMoveStep.BOX_H_OtherAxisBack:
-
-                    StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1);
+                    StoreMove.NextMoveStep(StoreMoveStep.BOX_H_OtherAxisBack_wait2);
                     StoreMove.WaitList.Add(WaitResultInfo.WaitTime(1000));
-                    LogUtil.info(LOGGER, StoreName + "复位中：旋转轴运动到P1，上下轴走到P1，压紧轴到P1！");
+                    LogUtil.info(LOGGER, StoreName + "复位中：压紧轴，旋转轴运动到P1，上下轴走到P1，压紧轴到P1！");
                     ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1_Position, Config.MiddleAxis_P1_Speed);
                     ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_DoorOPosition_P1, Config.UpDownAxis_P1_Speed);
-                    ComMoveToPosition(Config.CompressAxis_P1_Position,Config.CompAxis_P1_Speed);
+                    if (IsHasCompress_Axis)
+                    {
+                        ACAxisHomeMove(Config.Comp_Axis);
+                    }                    
+                    break;
+                case StoreMoveStep.BOX_H_OtherAxisBack_wait2:
+                    StoreMove.NextMoveStep(StoreMoveStep.BOX_H_MiddleAxisToP1);
+                    StoreMove.WaitList.Add(WaitResultInfo.WaitTime(500));
                     break;
                 case StoreMoveStep.BOX_H_MiddleAxisToP1:
+                    ComMoveToPosition(Config.CompressAxis_P1_Position, Config.CompAxis_P1_Speed);
                     HuichuanLibrary.HCBoardManager.SetAxBacklash(Config.Middle_Axis.GetAxisValue(), Config.MiddleAxis_Reverse_Offset, Config.Middle_Axis.HomeLowSpeed, -1);
                     LogUtil.info(LOGGER, StoreName + "复位完成,设置旋转轴反向间隙:"+ Config.MiddleAxis_Reverse_Offset);
                     storeRunStatus = StoreRunStatus.Runing;
@@ -1715,7 +1720,7 @@ namespace OnlineStore.DeviceLibrary
 
             return CalHeight(Value);
         }
-
+        
         private int CalHeight(double Value)
         {
             int result = 0;
@@ -1730,6 +1735,7 @@ namespace OnlineStore.DeviceLibrary
             else
             {
                 result = (int)Math.Floor(1F * (Value) / 4) * 4;
+                result = (int)Math.Floor(1F * (Value));
                 if (result <= 8)
                 {
                     result = 8;
@@ -1753,12 +1759,20 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (result >= 16)
             {
-                result = 24;
+                result = 16;
             }
             else if (result >= 13)
             {
                 result = 12;
             }
+            else if (result >= 5)
+            {
+                result = 8;
+            }
+            else 
+            {
+                result = 0;
+            }
 
             return result;
         }
@@ -2190,10 +2204,16 @@ namespace OnlineStore.DeviceLibrary
                     }
                     else
                     {
+                        if (StoreMove.MoveType == StoreMoveType.OutStore && StoreMove.MoveParam.PositionNum == posId)
+                        {
+                            LogUtil.error(LOGGER, "执行出库【" + posId + "】失败，当前库位正在出库");
+                            continue;
+                        }
+
                         FixtureCodeInfo currInOutFixture = new FixtureCodeInfo(0, "", posId, plateW, plateH);
                         if (CanStarInOut())
                         {
-                            bool result = StartOutStoreMove(new InOutStoreParam("", posId, position));
+                            bool result = StartOutStoreMove(new InOutStoreParam("", posId, plateH, plateW));
                             if (!result)
                             {
                                 LogUtil.info(LOGGER, StoreName + " 执行出库【" + currInOutFixture.ToStr() + "】失败，加入等待队列");

source/DeviceLibrary/acSingleStore/AC_SA_BoxBean_Partial.cs

@@ -73,6 +73,12 @@ namespace OnlineStore.DeviceLibrary
                 p.UpDown_P7 = Config.UpDownAxis_DoorOBPosition_P7;
 
                 p.ComPress_P2 = position.CompressAxis_Position_P2;
+                if (int.TryParse(param.PlateH, out int plateh))
+                {
+                    var h = Config.GetComP2(plateh);
+                    if (h>0)
+                        p.ComPress_P2 = h;
+                }
                 p.ComPress_P3 = position.CompressAxis_CPosition_P3;
                 p.InOut_P3 = position.InOutAxis_Position_P3;
                 p.Middle_P2 = position.MiddleAxis_Position_P2;
@@ -386,10 +392,21 @@ namespace OnlineStore.DeviceLibrary
             else if (StoreMove.MoveStep == StoreMoveStep.SI_05_DeviceToDoor)
             {
                 NeedCheckSafetyLight = 0;
-                InStoreLog("入库：SI_06 拿物品，压紧轴至P2(压紧点)) 升降轴至P7(进料口取料缓冲点) ");
-                StoreMove.NextMoveStep(StoreMoveStep.SI_06_DoorWarToDevice);
-                ComMoveToPosition(moveP.ComPress_P2, Config.CompAxis_P2_Speed); 
-                ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P7, Config.UpDownAxis_P7_Speed);
+                if (IOManager.IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.LOW))
+                {
+                    InStoreLog("入库：SI_06 未检测到料盘,任务取消 ");
+                    StoreMove.NextMoveStep(StoreMoveStep.SI_14_CheckTray);
+                    HttpHelper.cancelPutInTask(Name, StoreMove.MoveParam.WareNumber);
+                    
+                }
+                else
+                {
+                    
+                    InStoreLog("入库：SI_06 拿物品，压紧轴至P2(压紧点)) 升降轴至P7(进料口取料缓冲点) ");
+                    StoreMove.NextMoveStep(StoreMoveStep.SI_06_DoorWarToDevice);
+                    ComMoveToPosition(moveP.ComPress_P2, Config.CompAxis_P2_Speed);
+                    ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P7, Config.UpDownAxis_P7_Speed);
+                }
 
             }
             else if (StoreMove.MoveStep == StoreMoveStep.SI_06_DoorWarToDevice)
@@ -414,7 +431,7 @@ namespace OnlineStore.DeviceLibrary
                     StoreMove.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
                     ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
                     ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
-                    //关闭仓门 
+                    //关闭仓门
                     CloseDoor(false);
                 }
                 //else
@@ -866,7 +883,9 @@ namespace OnlineStore.DeviceLibrary
         {
             lock (waitOutListLock)
             {
-                waitOutStoreList.Add(code);
+                var x = waitOutStoreList.FindAll((fx) => { return fx.PosId == code.PosId; });
+                if (x.Count==0)
+                    waitOutStoreList.Add(code);
             }
         }
         /// <summary>

source/DeviceLibrary/halcon/CodeManager.cs

@@ -154,8 +154,9 @@ namespace OnlineStore.DeviceLibrary
                     HalconDotNet.HObject ho_Image = null;
                     try
                     {
-                        ho_Image = Camera._cam.CaptureOnImage(cameraName,out Bitmap bitmap);
-                        if (ho_Image == null)
+                        bool nohalcon = false;
+                        ho_Image = Camera._cam.CaptureOnImage(cameraName,out Bitmap bitmap, nohalcon);
+                        if (ho_Image == null && !nohalcon)
                         {
                             LogUtil.error("  【" + cameraName + "】取图片失败[" + Camera._cam.ErrInfo + "]，关闭相机");
                             CloseCamera(cameraName);
@@ -165,17 +166,15 @@ namespace OnlineStore.DeviceLibrary
                         LogUtil.info("  【" + cameraName + "】取图片完成，开始扫码");
                         List<CodeInfo> cc = new List<CodeInfo>();
                         string r = "";
-                        foreach (string codeType in codeTypeList)
+
+                        RemoteDecodeHelper.RemoteDecodeParam remoteDecodeParam = new RemoteDecodeHelper.RemoteDecodeParam
                         {
-                            //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), codeCount, 4000);
-                            }
+                            codeTypeList = codeTypeList.ToArray(),
+                            codeCount = codeCount,
+                            timeout = 4000
+                        };
+                        cc = RemoteDecodeHelper.DecodeRequest(bitmap, remoteDecodeParam);
+                        if (cc != null) {
                             foreach (CodeInfo c in cc)
                             {
                                 string str = CodeManager.ReplaceCode(c.CodeStr);
@@ -186,6 +185,7 @@ namespace OnlineStore.DeviceLibrary
                                 }
                             }
                         }
+
                         if (String.IsNullOrEmpty(r))
                         {
                             //  SaveImageToFile(deviceName, cameraName, bit);

source/DeviceLibrary/store/Camera.cs

@@ -40,7 +40,7 @@ namespace OnlineStore
                 }
                 var m = Regex.Match(configtxt, "name\".*?\"(.+)\"", RegexOptions.IgnoreCase);
                 DeviceName = m.Groups[1].Value;
-                camera = new VisionLib(path, "HIK.IPCamera");
+                camera = new VisionLib(path,true, "HIK.IPCamera");
             }
             catch (Exception e){
                 LogUtil.error(Name + "加载监控相机配置文件失败:"+ e.ToString());

source/DeviceLibrary/store/InOrOutStoreParam.cs

@@ -73,7 +73,16 @@ namespace OnlineStore.DeviceLibrary
             MoveP = null; 
             IsSolderPaste = false;
         }
-     
+        public InOutStoreParam(string wareNo, string posId, string plateH, string plateW, ACStorePosition movep)
+        {
+            ACStoreP = movep;
+            WareNumber = wareNo;
+            PositionNum = posId;
+            MoveP = null;
+            IsSolderPaste = false;
+            this.PlagtW = plateW;
+            this.PlateH = plateH;
+        }
         private ACStorePosition ACStoreP = null;
 
         public ACStorePosition GetACPosition()

source/DeviceLibrary/store/KTK_Store.cs

@@ -228,7 +228,10 @@ namespace OnlineStore.DeviceLibrary
             LogUtil.info(LOGGER, moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回");
             StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true));
             AddAxisMoveTime(moveAxis);
-            ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed, moveAxis.HomeLowSpeed, moveAxis.HomeAddSpeed); 
+            var HomeAddSpeed = moveAxis.HomeAddSpeed > 0 ? moveAxis.HomeAddSpeed : moveAxis.HomeHighSpeed * 6;
+            var HomeLowSpeed = moveAxis.HomeLowSpeed > 0 ? moveAxis.HomeLowSpeed : moveAxis.HomeHighSpeed / 10;
+
+            ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed); 
         }
 
         /// <summary>
@@ -239,7 +242,10 @@ namespace OnlineStore.DeviceLibrary
             StoreMove.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
             moveAxis.TargetPosition = targetPosition;
             AddAxisMoveTime(moveAxis);
-            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition,targetSpeed, targetSpeed*4, targetSpeed * 4); 
+            var addSpeed = moveAxis.AddSpeed > 0 ? moveAxis.AddSpeed:targetSpeed * 4;
+            var delSpeed = moveAxis.DelSpeed > 0 ? moveAxis.DelSpeed:targetSpeed * 4;
+            
+            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition,targetSpeed, addSpeed, delSpeed); 
         }
 
         /// <summary>
@@ -274,8 +280,11 @@ namespace OnlineStore.DeviceLibrary
                 if (StoreMove.CanWhileCount > 0)
                 {
                     LogUtil.error(LOGGER, moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
-                     "]，误差过大，重新开始运动，剩余[" + StoreMove.CanWhileCount + "]次"); 
-                    ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, targetSpeed * 4, targetSpeed * 4);
+                     "]，误差过大，重新开始运动，剩余[" + StoreMove.CanWhileCount + "]次");
+
+                    var addSpeed = moveAxis.AddSpeed > 0 ? moveAxis.AddSpeed : targetSpeed * 4;
+                    var delSpeed = moveAxis.DelSpeed > 0 ? moveAxis.DelSpeed : targetSpeed * 4;
+                    ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, addSpeed, delSpeed);
                     StoreMove.CanWhileCount--;
                 }
                 else
@@ -306,7 +315,10 @@ namespace OnlineStore.DeviceLibrary
                 {
                     LogUtil.error(LOGGER, moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + StoreMove.CanWhileCount + "]次");
                     //LogUtil.error(LOGGER, StoreName +  moveAxis.DisplayStr +  "重新回原点");
-                    ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed, moveAxis.HomeLowSpeed, moveAxis.HomeAddSpeed);
+
+                    var HomeAddSpeed = moveAxis.HomeAddSpeed > 0 ? moveAxis.HomeAddSpeed : moveAxis.HomeHighSpeed * 6;
+                    var HomeLowSpeed = moveAxis.HomeLowSpeed > 0 ? moveAxis.HomeLowSpeed : moveAxis.HomeHighSpeed / 10;
+                    ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed);
                     StoreMove.CanWhileCount--;
                 }
                 else

source/DeviceLibrary/store/StoreStep.cs

@@ -142,6 +142,7 @@ namespace OnlineStore.DeviceLibrary
         ///  料仓原点返回和重置步骤，，升降轴，旋转轴，压紧轴原点返回
         /// </summary>
         BOX_H_OtherAxisBack = 014,
+        BOX_H_OtherAxisBack_wait2 = 015,
         ///// <summary>
         ///// 清理轴位置
         ///// </summary>
@@ -149,7 +150,7 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 旋转轴返回P1
         /// </summary>
-        BOX_H_MiddleAxisToP1=016,
+        BOX_H_MiddleAxisToP1 =016,
 
         /// <summary>
         /// 叉子先退回P1

source/LoadCVSLibrary/storeConfig/config/AC_SA_Config.cs

-using System;
+using OnlineStore.Common;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
@@ -340,7 +341,11 @@ namespace OnlineStore.LoadCSVLibrary
         /// </summary>
         [ConfigProAttribute("CompressAxis_P1_Position")]
         public int CompressAxis_P1_Position { get; set; }
-
+        /// <summary>
+        ///  PRO,,L4_压紧轴_P2压紧点范围对应值,CompAxis_P2_List,8=385001;12=383001;16=379001;
+        /// </summary>
+        [ConfigProAttribute("CompAxis_P2_List",false)]
+        public string CompAxis_P2_List { get; set; }
         /// <summary>
         /// PRO	是否使用料盘检测信号	IsUse_Tray_Check
         /// </summary>
@@ -680,8 +685,50 @@ namespace OnlineStore.LoadCSVLibrary
             Config.Comp_Axis.CanErrorCountMin = 10;
             Config.Comp_Axis.PositionMin = 0;
             Config.Comp_Axis.PositionMax = 0;
-        }       
-        
-
+        }
+        private Dictionary<int, int> ComP2Map = null;
+        public int GetComP2(int plateh)
+        {
+            //查找指定的高度
+            analysisComP2();
+            if (ComP2Map.ContainsKey(plateh))
+            {
+                return ComP2Map[plateh];
+            }
+            else
+                return 0;
+            
+            //return new List<int>(ComP2Map.Values).First<int>();
+        }
+        private void analysisComP2()
+        {
+            if (ComP2Map == null)
+            {
+                try
+                {
+                    //    8=385001;424000#12=383001;385000#16=379001;
+                    ComP2Map = new Dictionary<int, int>();
+                    string[] arrayList = CompAxis_P2_List.Split(';');
+                    foreach (string str in arrayList)
+                    {
+                        if (str.Equals(""))
+                        {
+                            continue;
+                        }
+                        string[] com2A = str.Split('=');
+                        if (com2A.Length.Equals(2))
+                        {
+                            int plateH = Convert.ToInt32(com2A[0]);
+                            int p2 = Convert.ToInt32(com2A[1]);
+                            ComP2Map.Add(plateH, p2);
+                        }
+                    }
+                }
+                catch (Exception ex)
+                {
+                    LogUtil.error("解析CompAxis_P2_List【" + CompAxis_P2_List + "】出错：" + ex.ToString());
+                }
+            }
+        }
     }
 }