1

ABBRobotTest/ABBRobotManager.cs

+using ABB.Robotics.Controllers;
+using ABB.Robotics.Controllers.Discovery;
+using ABB.Robotics.Controllers.IOSystemDomain;
+using ABB.Robotics.Controllers.RapidDomain;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+namespace ABBRobotTest
+{
+    public class ABBRobotManager
+    {
+
+        private NetworkScanner scanner = null;
+        // private Controller controller = null;
+        private Task[] tasks = null;
+        private NetworkWatcher networkwatcher = null;
+        private Dictionary<string, Controller> controllerMap = new Dictionary<string, Controller>();
+         
+        public void LoadController()
+        {
+            this.scanner = new NetworkScanner();
+            this.scanner.Scan();
+            ControllerInfoCollection controllers = scanner.Controllers;
+            int i = 0;
+            foreach (ControllerInfo controllerInfo in controllers)
+            {
+                Controller con = ControllerFactory.CreateFrom(controllerInfo);
+                con.Logon(UserInfo.DefaultUser);
+                ControllerState state = con.State;
+                controllerMap.Add(con.IPAddress.ToString(), con);
+                // controller = con;
+                i++; 
+            }
+
+            this.networkwatcher = new NetworkWatcher(scanner.Controllers);
+            this.networkwatcher.Found += new EventHandler<NetworkWatcherEventArgs>(HandleFoundEvent);
+            this.networkwatcher.Lost += new EventHandler<NetworkWatcherEventArgs>(HandleLostEvent);
+            this.networkwatcher.EnableRaisingEvents = true;
+        }
+
+        private void HandleLostEvent(object sender, NetworkWatcherEventArgs e)
+        { 
+        }
+
+        private void HandleFoundEvent(object sender, NetworkWatcherEventArgs e)
+        {
+            this.Invoke(new
+            EventHandler<NetworkWatcherEventArgs>(AddControllerToListView),
+            new Object[] { this, e });
+        }
+
+        private void Invoke(EventHandler<NetworkWatcherEventArgs> eventHandler, object[] v)
+        {
+            throw new NotImplementedException();
+        }
+
+        private void AddControllerToListView(object sender, NetworkWatcherEventArgs e)
+        {
+            //ControllerInfo controllerInfo = e.Controller; ListViewItem item
+            // = new ListViewItem(controllerInfo.IPAddress.ToString());
+            //item.SubItems.Add(controllerInfo.Id); item.SubItems.Add(controllerInfo.Availability.ToString()); item.SubItems.Add(controllerInfo.IsVirtual.ToString()); item.SubItems.Add(controllerInfo.SystemName); item.SubItems.Add(controllerInfo.Version.ToString()); item.SubItems.Add(controllerInfo.ControllerName); this.listView1.Items.Add(item); item.Tag
+            //       = controllerInfo;
+        }
+        private void StartRobot(string ip)
+        {
+            try
+            {
+                Controller controller = GetControllerByIP(ip);
+                if (controller != null && controller.OperatingMode == ControllerOperatingMode.Auto)
+                { 
+                    tasks = controller.Rapid.GetTasks();
+                    using (Mastership m = Mastership.Request(controller.Rapid))
+                    {
+                        tasks[0].SetProgramPointer("aaa", "main");
+                        controller.State = ControllerState.MotorsOn;
+                        controller.Rapid.Start();
+                        //Perform operation
+                        //tasks[0].Start();
+
+                        m.Dispose();
+                    } 
+                }
+                else
+                {
+                    Console.WriteLine("Automatic mode is required to start execution from a remote client.");
+                }
+            }
+            catch (System.InvalidOperationException ex)
+            {
+                Console.WriteLine("Mastership is held by another client." + ex.Message);
+            }
+            catch (System.Exception ex)
+            {
+                Console.WriteLine("Unexpected error occurred: " + ex.Message);
+            }
+        }
+        private void StopRobot(string ip)
+        {
+            try
+            {
+                Controller controller = GetControllerByIP(ip);
+                if (controller != null && controller.OperatingMode == ControllerOperatingMode.Auto)
+                {
+
+                    tasks = controller.Rapid.GetTasks();
+                    using (Mastership m = Mastership.Request(controller.Rapid))
+                    {
+                        //tasks[0].SetProgramPointer("aaa", "main");
+                        //controller.State = ControllerState.MotorsOn;
+                        //controller.Rapid.Start();
+                        //Perform operation
+                        //tasks[0].Start();
+                        controller.Rapid.Stop();
+                        m.Dispose();
+                    }
+                }
+                else
+                {
+                    Console.WriteLine("Automatic mode is required to start execution from a remote client.");
+                }
+            }
+            catch (System.InvalidOperationException ex)
+            {
+                Console.WriteLine("Mastership is held by another client." + ex.Message);
+            }
+            catch (System.Exception ex)
+            {
+                Console.WriteLine("Unexpected error occurred: " + ex.Message);
+            }
+        } 
+
+        private void SetRobotSignal(string ip, string name)
+        {
+            Controller controller = GetControllerByIP(ip);
+            if (controller != null)
+            {
+                // string name = comboBox1.Text;
+                Signal singalValue = controller.IOSystem.GetSignal(name);
+                DigitalSignal digitalSig = (DigitalSignal)singalValue;
+
+                digitalSig.Set();
+            }
+        }
+
+        private void ResetRobotSignal(string ip, string name)
+        {
+            Controller controller = GetControllerByIP(ip);
+            if (controller != null)
+            {
+                //string name = comboBox1.Text;
+                Signal singalValue = controller.IOSystem.GetSignal(name);
+                DigitalSignal digitalSig = (DigitalSignal)singalValue;
+                digitalSig.Reset();
+            }
+        }
+
+        public string GetRobotState(string ip)
+
+        {
+            Controller controller = GetControllerByIP(ip);
+            if (controller != null)
+            { 
+                ControllerState state = controller.State;
+                return state.ToString(); 
+            }
+            return "";
+        }
+
+        private Controller GetControllerByIP(string ip)
+        {
+            if (controllerMap.ContainsKey(ip))
+            {
+                return controllerMap[ip];
+            }
+            return null;
+        }
+
+
+        private void DisposeControllers()
+        {
+            foreach (Controller con in controllerMap.Values)
+            {
+                con.Logoff();
+                con.Dispose();
+            }
+            controllerMap.Clear();
+        } 
+    }
+}
+ 

ABBRobotTest/ABBRobotServer.cs

+using OnlineStore.Common;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Net;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace ABBRobotTest
+{
+    public class ABBRobotServer
+    { 
+
+        private static TcpServer tcpserver = null;
+        public static bool IsStart = false;
+        private static int ClientKeepSecond = 10;
+         
+        private static int ServerPort = 21; 
+        public static string ErrorInfo = "";
+        private static string MoveOK = "point ok";
+        private static string FreeOK = "free ok";
+        private static string LockOK = "lock ok";
+
+        private static string MoveCMD_1 = "move";
+        private static string MoveCMD_2 = "move2";
+
+        public static Dictionary<string, Client> ClientMap = new Dictionary<string, Client>();
+        
+        //最后一次软件控制移动到的位置
+        public static string LastSendPoint = "";
+
+        public delegate void OpEnd(string result);
+        private static event OpEnd OnMoveEnd;
+         
+        private static object LockObj = new object();
+
+        public static void StartServer(int port)
+        {
+            if (!IsStart)
+            {
+                ClientMap = new Dictionary<string, Client>();
+                if (tcpserver == null)
+                {
+                    tcpserver = new TcpServer();
+                }
+                IsStart = true;
+                tcpserver.Start(port);
+                LogUtil.info( "ABBRobotServer在端口[" + port + "]监听！");
+                tcpserver.ReviceMsgEvent += tcp_ReviceMsgEvent;
+            }
+
+        }
+
+        public static void StopServer()
+        {
+            try
+            {
+                if (IsStart)
+                {
+                    IsStart = false;
+                    tcpserver.Stop();
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("关闭 监听出错：" + ex.ToString());
+            }
+        }
+        private static void tcp_ReviceMsgEvent(Client client, string msg)
+        {
+            try
+            {
+                if (String.IsNullOrEmpty(msg))
+                {
+                    return;
+                }
+                ProcessMsg(client, msg);
+
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("处理料仓消息【" + msg + "】出错：" + ex.ToString());
+            }
+        }
+
+        private static bool ProcessMsg(Client client, string msg)
+        {
+            IPEndPoint clientipe = (IPEndPoint)client.ClientSocket.RemoteEndPoint;
+            string add = clientipe.Address.ToString();
+            //  string[] msgArray = msg.Split(cmd_spilt);
+            msg = msg.Replace("\r", "");
+            LogUtil.debug("收到【" + add + "】的消息【" + msg + "】");
+            if (msg.ToUpper().Contains("ERROR"))
+            {
+
+            }else if(msg.ToUpper().Contains("MOVE")&& msg.ToUpper().Contains("OK"))
+            {
+                OnMoveEnd?.Invoke(msg);
+            }
+            else if (msg.ToUpper().Contains("MOVE2") && msg.ToUpper().Contains("OK"))
+            { 
+                OnMoveEnd?.Invoke(msg);
+            } 
+            return false;
+        }
+
+        public static void MoveTo(string robotIp, string PointName,   string moveType="L"  , double targetSpeed = 100, OpEnd AfterMove = null)
+        { 
+            ABBRobotServer.OnMoveEnd = AfterMove;
+            SendMovePoint(robotIp, MoveCMD_1,PointName,moveType,targetSpeed.ToString());
+        }
+      
+        public static void Move2To(string robotIp, string PointName, string moveType = "L", double targetSpeed = 100, OpEnd AfterMove = null)
+        { 
+            ABBRobotServer.OnMoveEnd = AfterMove;
+            SendMovePoint(robotIp, MoveCMD_2, PointName, moveType, targetSpeed.ToString());
+        }
+        
+        private static void SendMovePoint(string robotIp, string param1,string param2,string param3,string param4)
+        {
+            lock (LockObj)
+            {
+                if (ClientMap.ContainsKey(robotIp))
+                {
+                    Client client = ClientMap[robotIp];
+                    string str = param1 + "," + param2 + "," + param3 + "," + param4+"\r\n";
+                    LastSendPoint = param2;
+
+                    SendStrToClient(client, str);
+                }
+            }
+        }
+        private static bool SendStrToClient(Client client, string sendMsg)
+        {
+            if (client != null && client.ClientSocket.Connected)
+            {
+                byte[] sendBuffer = new byte[1024];
+                sendBuffer = Encoding.UTF8.GetBytes(sendMsg);
+                client.ClientSocket.Send(sendBuffer);
+                return true;
+            }
+
+            return false;
+        }
+       
+      
+    }
+}

ABBRobotTest/ABBRobotTest.csproj

@@ -55,6 +55,8 @@
     <Reference Include="System.Xml" />
   </ItemGroup>
   <ItemGroup>
+    <Compile Include="ABBRobotServer.cs" />
+    <Compile Include="ABBRobotManager.cs" />
     <Compile Include="FrmRobotTest.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -88,5 +90,11 @@
   <ItemGroup>
     <None Include="App.config" />
   </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\source\Common\Common.csproj">
+      <Project>{43cdd09e-fcf3-4960-a01d-3bbfe9933122}</Project>
+      <Name>Common</Name>
+    </ProjectReference>
+  </ItemGroup>
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>
\ No newline at end of file

source/AssemblyLineClient/FrmFeedingEquip.cs

@@ -174,26 +174,20 @@ namespace OnlineStore.AssemblyLine
         private void FrmStoreIOStatus_Load(object sender, EventArgs e)
         {
             chbDebug.Checked = feedEquip.IsDebug;
-            if (feedEquip.UpdownUseAxis)
-            { 
-                portName = feedEquip.Config.Batch_Axis.DeviceName;
-                SlvAddr = feedEquip.Config.Batch_Axis.GetAxisValue();
-                txtAxisDeviceName.Text = portName;
-                txtSlaveId.Text = SlvAddr.ToString();
-                comboBox1.Items.Clear();
-                comboBox1.Items.Add(feedEquip.Config.Batch_Axis.Explain);
-                comboBox1.SelectedIndex = 0;
-                
-                txtAxisValue.Text = SlvAddr.ToString();
-            }
-            else
-            {
-                tabControl1.TabPages.Remove(tabPage2);
-            }
+
+            portName = feedEquip.Config.Batch_Axis.DeviceName;
+            SlvAddr = feedEquip.Config.Batch_Axis.GetAxisValue();
+            txtAxisDeviceName.Text = portName;
+            txtSlaveId.Text = SlvAddr.ToString();
+            comboBox1.Items.Clear();
+            comboBox1.Items.Add(feedEquip.Config.Batch_Axis.Explain);
+            comboBox1.SelectedIndex = 0; 
+            txtAxisValue.Text = SlvAddr.ToString();
+
 
             cmbSizeList.Items.Clear();
             cmbSizeList.Items.Add("0=默认位置");
-            for(int i = 8; i <= 48; i = i + 4)
+            for (int i = 8; i <= 48; i = i + 4)
             {
                 cmbSizeList.Items.Add(i.ToString());
             }
@@ -593,7 +587,7 @@ namespace OnlineStore.AssemblyLine
         private void btnAxisOn_Click(object sender, EventArgs e)
         {
             this.Enabled = false;
-            feedEquip.RunAxis(false);
+            feedEquip.RunAxis(false,feedEquip.Config.Batch_Axis);
             this.Enabled = true;
             LogUtil.info("伺服运转ON完成");
         }

source/AssemblyLineClient/FrmMoveEquip.cs

@@ -186,7 +186,7 @@ namespace OnlineStore.AssemblyLine
         private void FrmStoreIOStatus_Load(object sender, EventArgs e)
         {
             chbDebug.Checked = moveEquip.IsDebug;
-            if (moveEquip.UpdownUseAxis)
+            if (moveEquip.UseAxis)
             { 
                 portName = moveEquip.Config.UpDown_Axis.DeviceName;
                 SlvAddr = moveEquip.Config.UpDown_Axis.GetAxisValue();
@@ -605,7 +605,7 @@ namespace OnlineStore.AssemblyLine
         private void btnAxisOn_Click(object sender, EventArgs e)
         {
             this.Enabled = false;
-            moveEquip.RunAxis(false);
+            moveEquip.RunAxis(false,moveEquip.Config.UpDown_Axis);
             this.Enabled = true;
             LogUtil.info("伺服运转ON完成");
         }

source/AssemblyLineClient/FrmProvidingEquip.cs

@@ -25,11 +25,11 @@ namespace OnlineStore.AssemblyLine
         private bool IsLoad = false;
         private string portName = "";
         private short SlvAddr = 0;
-        private ProvidingEquip moveEquip;
+        private ProvidingEquip providingEquip;
         public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
         public FrmProvidingEquip(ProvidingEquip moveEquip)
         {
-            this.moveEquip = moveEquip;
+            this.providingEquip = moveEquip;
             Control.CheckForIllegalCrossThreadCalls = false;
             InitializeComponent();
             LoadIOList();
@@ -40,8 +40,8 @@ namespace OnlineStore.AssemblyLine
         {
             int roleindex = 0;
             this.tableLayoutPanel1.RowStyles.Clear();
-            this.tableLayoutPanel1.RowCount = moveEquip.Config.DIList.Count;
-            foreach (ConfigIO ioValue in moveEquip.Config.DIList.Values)
+            this.tableLayoutPanel1.RowCount = providingEquip.Config.DIList.Count;
+            foreach (ConfigIO ioValue in providingEquip.Config.DIList.Values)
             {
                 this.tableLayoutPanel1.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
                 IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName);
@@ -51,9 +51,9 @@ namespace OnlineStore.AssemblyLine
             }
 
             tableLayoutPanel2.RowStyles.Clear();
-            this.tableLayoutPanel2.RowCount = moveEquip.Config.DOList.Count;
+            this.tableLayoutPanel2.RowCount = providingEquip.Config.DOList.Count;
             roleindex = 0;
-            foreach (ConfigIO ioValue in moveEquip.Config.DOList.Values)
+            foreach (ConfigIO ioValue in providingEquip.Config.DOList.Values)
             {
                 this.tableLayoutPanel2.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
                 IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName);
@@ -63,7 +63,7 @@ namespace OnlineStore.AssemblyLine
             }
             this.SuspendLayout();    //此处为不闪屏，一定要有的！ 
 
-            cmbWriteIO.DataSource = new List<ConfigIO>(moveEquip.Config.DOList.Values);
+            cmbWriteIO.DataSource = new List<ConfigIO>(providingEquip.Config.DOList.Values);
             cmbWriteIO.ValueMember = "ProName";
             cmbWriteIO.DisplayMember = "DisplayStr";
 
@@ -80,14 +80,14 @@ namespace OnlineStore.AssemblyLine
                 if (chbAutoRead.Checked && this.Visible)
                 {
                     ReadIOList();
-                    lblTrayNum.Text = "托盘编码：" + TrayManager.GetNum(moveEquip.DeviceID);
+                    lblTrayNum.Text = "托盘编码：" + TrayManager.GetNum(providingEquip.DeviceID);
                 } 
                
-                string canOut = LineManager.Line.CanOutStore(moveEquip.DeviceID) ? "可出库":"不可出库" ;
-                lblStoreStatus.Text = KTK_Store.GetRunStr(moveEquip.lineStatus, moveEquip.runStatus)+"("+canOut+")";
-                lblThisSta.Text = moveEquip.WarnMsg;
+                string canOut = LineManager.Line.CanOutStore(providingEquip.DeviceID) ? "可出库":"不可出库" ;
+                lblStoreStatus.Text = KTK_Store.GetRunStr(providingEquip.lineStatus, providingEquip.runStatus)+"("+canOut+")";
+                lblThisSta.Text = providingEquip.WarnMsg;
                 string text = "";
-                List<InOutParam> ps = new List<InOutParam>(moveEquip.waitInStoreList);
+                List<InOutParam> ps = new List<InOutParam>(providingEquip.waitInStoreList);
                 if (ps.Count > 0)
                 {
                     text = "等待入库列表：\r";
@@ -102,7 +102,7 @@ namespace OnlineStore.AssemblyLine
                 }
             }catch(Exception ex)
             {
-                LogUtil.error(moveEquip.Name+ "界面定时器出错："+ex.ToString());
+                LogUtil.error(providingEquip.Name+ "界面定时器出错："+ex.ToString());
             }
 
         }
@@ -143,9 +143,9 @@ namespace OnlineStore.AssemblyLine
         private ConfigIO GetSelectDO()
         {
             string text = cmbWriteIO.SelectedValue.ToString();
-            if (moveEquip.Config.DOList.ContainsKey(text))
+            if (providingEquip.Config.DOList.ContainsKey(text))
             {
-                ConfigIO io = moveEquip.Config.DOList[text];
+                ConfigIO io = providingEquip.Config.DOList[text];
                 return io;
             }
             return null;
@@ -173,15 +173,15 @@ namespace OnlineStore.AssemblyLine
 
         private void FrmStoreIOStatus_Load(object sender, EventArgs e)
         {
-            chbDebug.Checked = moveEquip.IsDebug;
-            if (moveEquip.UpdownUseAxis)
+            chbDebug.Checked = providingEquip.IsDebug;
+            if (providingEquip.UseAxis)
             { 
-                portName = moveEquip.Config.UpDown_Axis.DeviceName;
-                SlvAddr = moveEquip.Config.UpDown_Axis.GetAxisValue();
+                portName = providingEquip.Config.UpDown_Axis.DeviceName;
+                SlvAddr = providingEquip.Config.UpDown_Axis.GetAxisValue();
                 txtAxisDeviceName.Text = portName;
                 txtSlaveId.Text = SlvAddr.ToString();
                 comboBox1.Items.Clear();
-                comboBox1.Items.Add(moveEquip.Config.UpDown_Axis.Explain);
+                comboBox1.Items.Add(providingEquip.Config.UpDown_Axis.Explain);
                 comboBox1.SelectedIndex = 0;
                 
                 txtAxisValue.Text = SlvAddr.ToString();
@@ -198,9 +198,9 @@ namespace OnlineStore.AssemblyLine
                 cmbSizeList.Items.Add(i.ToString());
             }
             cmbSizeList.SelectedIndex = 0;
-            lblStoreStatus.Text = KTK_Store.GetRunStr(moveEquip.lineStatus, moveEquip.runStatus);
-            lblThisSta.Text = moveEquip.WarnMsg;
-            txtP1.Text = moveEquip.Config.UpDownAxisP1.ToString();
+            lblStoreStatus.Text = KTK_Store.GetRunStr(providingEquip.lineStatus, providingEquip.runStatus);
+            lblThisSta.Text = providingEquip.WarnMsg;
+            txtP1.Text = providingEquip.Config.UpDownAxisP1.ToString();
             IsLoad = true;
         }
 
@@ -231,7 +231,7 @@ namespace OnlineStore.AssemblyLine
             foreach (string key in DIControlList.Keys)
             {
                 IOTextControl control = DIControlList[key];
-                int iov = (int)IOManager.IOValue(key, moveEquip.DeviceID);
+                int iov = (int)IOManager.IOValue(key, providingEquip.DeviceID);
                 if (iov != control.IOValue)
                 {
                     control.IOValue = iov;
@@ -241,7 +241,7 @@ namespace OnlineStore.AssemblyLine
             foreach (string key in this.DOControlList.Keys)
             {
                 IOTextControl control = DOControlList[key];
-                int iov = (int)IOManager.DOValue(key, moveEquip.DeviceID);
+                int iov = (int)IOManager.DOValue(key, providingEquip.DeviceID);
                 if (iov != control.IOValue)
                 {
                     control.IOValue = iov;
@@ -287,9 +287,9 @@ namespace OnlineStore.AssemblyLine
 
         private void btnStart_Click(object sender, EventArgs e)
         {
-            if (moveEquip.runStatus.Equals(LineRunStatus.Wait))
+            if (providingEquip.runStatus.Equals(LineRunStatus.Wait))
             {
-                bool result = moveEquip.StartDebugRun();
+                bool result = providingEquip.StartDebugRun();
                 if (result)
                 {
                     FormStatus(true);
@@ -306,31 +306,31 @@ namespace OnlineStore.AssemblyLine
 
             if (chbDebug.Checked)
             {
-                if (!moveEquip.IsDebug)
+                if (!providingEquip.IsDebug)
                 {
                     DialogResult result = MessageBox.Show("是否切换到调试状态？", "是否确认切换", MessageBoxButtons.YesNo, MessageBoxIcon.Question, MessageBoxDefaultButton.Button1);
                     if (result.Equals(DialogResult.Yes))
                     {
-                        moveEquip.IsDebug = true;
-                        moveEquip.Config.IsDebug = 1; 
-                        LineManager.SaveProvidingEquipConfig(moveEquip.Config);
-                        moveEquip.ChangeDebug();
-                        LogUtil.info(moveEquip.Name+ "用户切换到调试状态 ");
+                        providingEquip.IsDebug = true;
+                        providingEquip.Config.IsDebug = 1; 
+                        LineManager.SaveProvidingEquipConfig(providingEquip.Config);
+                        providingEquip.ChangeDebug();
+                        LogUtil.info(providingEquip.Name+ "用户切换到调试状态 ");
                     }
                 }
             }
             else
             {
-                if (moveEquip.IsDebug)
+                if (providingEquip.IsDebug)
                 {
                     DialogResult result = MessageBox.Show("是否切换到正常工作状态？", "是否确认切换", MessageBoxButtons.YesNo, MessageBoxIcon.Question, MessageBoxDefaultButton.Button1);
                     if (result.Equals(DialogResult.Yes))
                     {
-                        moveEquip.IsDebug = false;
-                        moveEquip.Config.IsDebug = 0;
-                        LineManager.SaveProvidingEquipConfig(moveEquip.Config);
-                        moveEquip.ChangeDebug();
-                        LogUtil.info(moveEquip.Name + "用户切换到正常工作状态 ");
+                        providingEquip.IsDebug = false;
+                        providingEquip.Config.IsDebug = 0;
+                        LineManager.SaveProvidingEquipConfig(providingEquip.Config);
+                        providingEquip.ChangeDebug();
+                        LogUtil.info(providingEquip.Name + "用户切换到正常工作状态 ");
                     }
                 }
             }
@@ -338,9 +338,9 @@ namespace OnlineStore.AssemblyLine
 
         private void btnOutStore_Click(object sender, EventArgs e)
         {
-            if (moveEquip.runStatus .Equals(LineRunStatus.Runing))
+            if (providingEquip.runStatus .Equals(LineRunStatus.Runing))
             { 
-                moveEquip.StartOutStoreMove(new InOutParam( ));
+                providingEquip.StartOutStoreMove(new InOutParam( ));
             }
             else
             {
@@ -350,9 +350,9 @@ namespace OnlineStore.AssemblyLine
 
         private void btnInStore_Click(object sender, EventArgs e)
         {
-            if (moveEquip.runStatus.Equals(LineRunStatus.Runing))
+            if (providingEquip.runStatus.Equals(LineRunStatus.Runing))
             {
-                moveEquip.StartInStoreMove(new InOutParam());
+                providingEquip.StartInStoreMove(new InOutParam());
             }
             else
             {
@@ -364,7 +364,7 @@ namespace OnlineStore.AssemblyLine
         {
             try
             {
-                moveEquip.StopMove();
+                providingEquip.StopMove();
             }
             catch (Exception ex)
             {
@@ -374,22 +374,22 @@ namespace OnlineStore.AssemblyLine
 
         private void btnReset_Click(object sender, EventArgs e)
         {
-            if (moveEquip.runStatus>(LineRunStatus.Wait))
+            if (providingEquip.runStatus>(LineRunStatus.Wait))
             {
-                moveEquip.Reset();
+                providingEquip.Reset();
             }
         }
         private void btnStop1Up_Click(object sender, EventArgs e)
         {
             if (btnStop1Up.Text.Equals("阻挡气缸1下降"))
             { 
-                moveEquip.IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
+                providingEquip.IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
                 btnStop1Up.Text = "阻挡气缸1上升";
                 btnStop1Up.BackColor = Color.Aqua;
             }
             else
             { 
-                moveEquip.IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
+                providingEquip.IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
                 btnStop1Up.Text = "阻挡气缸1下降";
                 btnStop1Up.BackColor = Color.White;
             }
@@ -398,13 +398,13 @@ namespace OnlineStore.AssemblyLine
         {
             if (btnStop2Up.Text.Equals("阻挡气缸2下降"))
             {
-                moveEquip.IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
+                providingEquip.IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
                 btnStop2Up.Text = "阻挡气缸2上升";
                 btnStop2Up.BackColor = Color.Aqua;
             }
             else
             {
-                moveEquip.IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
+                providingEquip.IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
                 btnStop2Up.Text = "阻挡气缸2下降";
                 btnStop2Up.BackColor = Color.White;
             } 
@@ -413,13 +413,13 @@ namespace OnlineStore.AssemblyLine
         { 
             if (btnTopUp.Text.Equals("顶升气缸上升"))
             {
-                moveEquip.CylinderMove(null, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
+                providingEquip.CylinderMove(null, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
                 btnTopUp.Text = "顶升气缸下降";
                 btnTopUp.BackColor = Color.Aqua;
             }
             else
             {
-                moveEquip.CylinderMove(null, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
+                providingEquip.CylinderMove(null, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
                 btnTopUp.Text = "顶升气缸上升";
                 btnTopUp.BackColor = Color.SkyBlue;
             }
@@ -429,13 +429,13 @@ namespace OnlineStore.AssemblyLine
         {
             if (btnBeforeAfterBefore.Text.Equals("前后气缸前进"))
             {
-                moveEquip.CylinderMove(null, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
+                providingEquip.CylinderMove(null, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
                 btnBeforeAfterBefore.Text = "前后气缸后退";
                 btnBeforeAfterBefore.BackColor = Color.Aqua;
             }
             else
             {
-                moveEquip.CylinderMove(null, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
+                providingEquip.CylinderMove(null, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
                 btnBeforeAfterBefore.Text = "前后气缸前进";
                 btnBeforeAfterBefore.BackColor = Color.SkyBlue;
             }
@@ -444,13 +444,13 @@ namespace OnlineStore.AssemblyLine
         {
             if (btnUpDownUp.Text.Equals("上下气缸上升"))
             {
-                moveEquip.CylinderMove(null, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
+                providingEquip.CylinderMove(null, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
                 btnUpDownUp.Text = "上下气缸下降";
                 btnUpDownUp.BackColor = Color.Aqua;
             }
             else
             {
-                moveEquip.CylinderMove(null, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
+                providingEquip.CylinderMove(null, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
                 btnUpDownUp.Text = "上下气缸上升";
                 btnUpDownUp.BackColor = Color.SkyBlue;
             }
@@ -459,13 +459,13 @@ namespace OnlineStore.AssemblyLine
         {
             if (btnClampSlack.Text.Equals("夹料气缸夹紧"))
             {
-                moveEquip.CylinderMove(null, IO_Type.ClampCylinder_Tighten, IO_Type.ClampCylinder_Slack);
+                providingEquip.CylinderMove(null, IO_Type.ClampCylinder_Tighten, IO_Type.ClampCylinder_Slack);
                 btnClampSlack.Text = "夹料气缸放松";
                 btnClampSlack.BackColor = Color.Aqua;
             }
             else
             {
-                moveEquip.CylinderMove(null, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);
+                providingEquip.CylinderMove(null, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);
                 btnClampSlack.Text = "夹料气缸夹紧";
                 btnClampSlack.BackColor = Color.SkyBlue;
             }
@@ -572,8 +572,8 @@ namespace OnlineStore.AssemblyLine
 
             int size = 0;
             try {size= Convert.ToInt32(cmbSizeList.Text); } catch (Exception ex) { }
-            txtSizePosition.Text = moveEquip.Config.GetUpdownPosition(size).ToString();
-            txtBoxP.Text = moveEquip.Config.GetUpdownBoxPosition(size).ToString();
+            txtSizePosition.Text = providingEquip.Config.GetUpdownPosition(size).ToString();
+            txtBoxP.Text = providingEquip.Config.GetUpdownBoxPosition(size).ToString();
             btnMoveto.Text = size + "寸移栽位置 :";
            btnBoxP.Text= size + "寸料仓门口位置 :";
             // btnMoveto.Text = "尺寸" + size + "对应位置：";
@@ -584,7 +584,7 @@ namespace OnlineStore.AssemblyLine
             int position = FormUtil.GetIntValue(txtSizePosition);
             if (position != -1)
             { 
-                int speed = moveEquip.Config.UpdownAxis_DownSpeed;
+                int speed = providingEquip.Config.UpdownAxis_DownSpeed;
                 LogUtil.info("点击【移栽位置】，料盘高度【" + cmbSizeList.Text + "】 位置【" + position + "】速度【" + speed + "】");
                 ACServerManager.AbsMove(portName, SlvAddr, position, speed);
             }
@@ -593,14 +593,14 @@ namespace OnlineStore.AssemblyLine
         private void btnAxisOn_Click(object sender, EventArgs e)
         {
             this.Enabled = false;
-            moveEquip.RunAxis(false);
+            providingEquip.RunAxis(false,providingEquip.Config.UpDown_Axis);
             this.Enabled = true;
             LogUtil.info("伺服运转ON完成");
         }
 
         private void btnAxisOff_Click(object sender, EventArgs e)
         { 
-            moveEquip.CloseAxis();
+            providingEquip.CloseAxis();
             LogUtil.info("伺服运转OFF完成");
         }
 
@@ -614,7 +614,7 @@ namespace OnlineStore.AssemblyLine
             int position = FormUtil.GetIntValue(txtP1);
             if (position != -1)
             {
-                int speed =moveEquip.Config.UpdownAxis_P1Speed;
+                int speed =providingEquip.Config.UpdownAxis_P1Speed;
                 LogUtil.info("点击【P1点测试】， 位置【" + position + "】速度【" + speed + "】");
                 ACServerManager.AbsMove(portName, SlvAddr, position, speed);
             }
@@ -623,15 +623,15 @@ namespace OnlineStore.AssemblyLine
         private void btnSave_Click(object sender, EventArgs e)
         {
             int p1Position = FormUtil.GetIntValue(txtP1);
-            moveEquip.Config.UpDownAxisP1 = p1Position;
+            providingEquip.Config.UpDownAxisP1 = p1Position;
 
             int size = 0;
             try { size = Convert.ToInt32(cmbSizeList.Text); } catch (Exception ex) { }
             int sizePosition = FormUtil.GetIntValue(txtSizePosition);
             int sizeBoxP = FormUtil.GetIntValue(txtBoxP);
-            moveEquip.Config.UpdateUpdownPositon(size, sizePosition);
-            moveEquip.Config.UpdateUpdownBoxPositon(size, sizeBoxP);
-            LineManager.SaveProvidingEquipConfig(moveEquip.Config);
+            providingEquip.Config.UpdateUpdownPositon(size, sizePosition);
+            providingEquip.Config.UpdateUpdownBoxPositon(size, sizeBoxP);
+            LineManager.SaveProvidingEquipConfig(providingEquip.Config);
             MessageBox.Show("保存成功！");
         }
 
@@ -640,7 +640,7 @@ namespace OnlineStore.AssemblyLine
             int position = FormUtil.GetIntValue(txtBoxP);
             if (position != -1)
             {
-                int speed = moveEquip.Config.UpdownAxis_DownSpeed;
+                int speed = providingEquip.Config.UpdownAxis_DownSpeed;
                 LogUtil.info("点击【料仓门口下降位置】，料盘高度【" + cmbSizeList.Text + "】 位置【" + position + "】速度【" + speed + "】");
                 ACServerManager.AbsMove(portName, SlvAddr, position, speed);
             }

source/Common/util/TcpClient.cs

@@ -7,6 +7,7 @@ using System.Net;
 using System.Net.Sockets;
 using log4net;
 using System.Reflection;
+using System.Threading;
 
 namespace OnlineStore.Common
 {
@@ -15,10 +16,11 @@ namespace OnlineStore.Common
         public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
         public delegate void HandleMessage(string message);
 
-        private Socket m_clientSocket;
+        private Socket m_clientSocket = null;
         private byte[] m_receiveBuffer = new byte[1024];
 
         private HandleMessage onReceived;
+        public int TimeOutTime = 0;
 
         /// <summary>
         ///  当前连接状态
@@ -41,68 +43,109 @@ namespace OnlineStore.Common
          * Depending on http://msdn.microsoft.com/zh-cn/library/system.net.sockets.socket.connected.aspx?cs-save-lang=1&cs-lang=csharp#code-snippet-2
         ********************************************************************************************/
             #endregion
-
-            #region 过程
-            // This is how you can determine whether a socket is still connected.
-            bool connectState = true;
-            bool blockingState = m_clientSocket.Blocking;
             try
             {
-                byte[] tmp = new byte[1];
+                #region 过程
+                // This is how you can determine whether a socket is still connected.
+                bool connectState = true;
+                bool blockingState = m_clientSocket.Blocking;
+                try
+                {
+                    byte[] tmp = new byte[1];
 
-                m_clientSocket.Blocking = false;
-                m_clientSocket.Send(tmp, 0, 0);
-                //Console.WriteLine("Connected!");
-                connectState = true; //若Send错误会跳去执行catch体，而不会执行其try体里其之后的代码
-            }
-            catch (SocketException e)
-            {
-                // 10035 == WSAEWOULDBLOCK
-                if (e.NativeErrorCode.Equals(10035))
+                    m_clientSocket.Blocking = false;
+                    m_clientSocket.Send(tmp, 0, 0);
+                    //Console.WriteLine("Connected!");
+                    connectState = true; //若Send错误会跳去执行catch体，而不会执行其try体里其之后的代码
+                }
+                catch (SocketException e)
                 {
-                    connectState = true;
+                    // 10035 == WSAEWOULDBLOCK
+                    if (e.NativeErrorCode.Equals(10035))
+                    {
+                        connectState = true;
+                    }
+                    else
+                    {
+                        connectState = false;
+                    }
                 }
-                else
+                finally
                 {
-                    connectState = false;
+                    if (m_clientSocket != null && m_clientSocket.Connected)
+                    {
+                        m_clientSocket.Blocking = blockingState;
+                    }
                 }
+
+                //Console.WriteLine("Connected: {0}", client.Connected);
+                return connectState;
+                #endregion
             }
-            finally
+            catch (Exception ex)
             {
-                m_clientSocket.Blocking = blockingState;
+                LogUtil.error(LOGGER, "出错啦" + ex.ToString());
+                return false;
             }
-
-            //Console.WriteLine("Connected: {0}", client.Connected);
-            return connectState;
-            #endregion
         }
         /// <summary>
         /// 连接服务器
         /// </summary>
         public bool connect(string serverIP, int serverPort, HandleMessage HandleMessage)
         {
-            m_clientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
-            IPEndPoint remoteEndPoint = new IPEndPoint(IPAddress.Parse(serverIP), serverPort);
 
-            try
+            m_clientSocket = new Socket(AddressFamily.InterNetwork, SocketType.Stream, ProtocolType.Tcp);
+            if (TimeOutTime <= 0)
             {
-                m_clientSocket.Connect(remoteEndPoint);
-                if (m_clientSocket.Connected)
+                IPEndPoint remoteEndPoint = new IPEndPoint(IPAddress.Parse(serverIP), serverPort);
+                m_clientSocket.SetSocketOption(SocketOptionLevel.Socket, SocketOptionName.ReuseAddress, true);
+                try
                 {
-                    m_clientSocket.BeginReceive(m_receiveBuffer, 0, m_receiveBuffer.Length, 0, new AsyncCallback(ReceiveCallBack), null);
-                    onReceived = HandleMessage;
-                    LogUtil.info(LOGGER, "Connect to " + serverIP + ":" + serverPort + " success!");
-                    return true;
+                    if (!m_clientSocket.Connected)
+                    {
+                        m_clientSocket.Connect(remoteEndPoint);
+                    }
+                    if (m_clientSocket.Connected)
+                    {
+                        m_clientSocket.BeginReceive(m_receiveBuffer, 0, m_receiveBuffer.Length, 0, new AsyncCallback(ReceiveCallBack), null);
+                        onReceived = HandleMessage;
+                        LogUtil.info(LOGGER, "Connect to " + serverIP + ":" + serverPort + " success!");
+                        return true;
+                    }
+                    else
+                    {
+                        LogUtil.info(LOGGER, "Connect to " + serverIP + ":" + serverPort + " fail!");
+                    }
                 }
-                else
+                catch (Exception ex)
                 {
-                    LogUtil.info(LOGGER, "Connect to " + serverIP + ":" + serverPort + " fail!");
+                    LogUtil.error( "Connect to " + serverIP + ":" + serverPort + " fail!" + ex.ToString(), 3);
+                    //m_clientSocket = null;
                 }
             }
-            catch (Exception ex)
+            else
             {
-                LogUtil.error("Connect to " + serverIP + ":" + serverPort + " fail!" + ex.ToString(),1003);
-                m_clientSocket = null;
+                m_clientSocket.ReceiveTimeout = TimeOutTime;
+                m_clientSocket.SendTimeout = TimeOutTime;
+                IAsyncResult connResult = m_clientSocket.BeginConnect(serverIP, serverPort, null, null);
+
+                connResult.AsyncWaitHandle.WaitOne(this.TimeOutTime, true);  //等待2秒
+
+                if (!connResult.IsCompleted || (!m_clientSocket.Connected))
+                {
+                    LogUtil.info(LOGGER, "Connect to " + serverIP + ":" + serverPort + " fail!");
+                    m_clientSocket.Close();
+                    //处理连接不成功的动作
+                    return false;
+                }
+                else
+                {
+                    //处理连接成功的动作
+                    m_clientSocket.BeginReceive(m_receiveBuffer, 0, m_receiveBuffer.Length, 0, new AsyncCallback(ReceiveCallBack), null);
+                    onReceived = HandleMessage;
+                    LogUtil.info(LOGGER, "Connect to " + serverIP + ":" + serverPort + " success!");
+                    return true;
+                }
             }
             return false;
         }
@@ -112,14 +155,27 @@ namespace OnlineStore.Common
         /// </summary>
         public void close()
         {
-            if (m_clientSocket != null)
+            try
             {
-                m_clientSocket.Close();
-                LogUtil.info(LOGGER,"Socket closed!");
+                if (m_clientSocket != null && m_clientSocket.Connected)
+                {
+                    m_clientSocket.Shutdown(SocketShutdown.Both);
+                    //Thread.Sleep(300);
+                    //m_clientSocket.Disconnect(true);
+                    //Thread.Sleep(300);
+                    m_clientSocket.Close();
+                    //m_clientSocket = null;
+                    LogUtil.info(LOGGER, "Socket closed!");
+
+                }
+                else
+                {
+                    LogUtil.error(LOGGER, "No socket is running!");
+                }
             }
-            else
+            catch (Exception ex)
             {
-                LogUtil.error(LOGGER,"No socket is running!");
+                LogUtil.error(LOGGER, "close error :" + ex.ToString());
             }
         }
 
@@ -133,12 +189,34 @@ namespace OnlineStore.Common
 
             if (m_clientSocket != null && m_clientSocket.Connected)
             {
-
                 m_clientSocket.Send(sendBuffer);
-                LogUtil.debug(LOGGER,"Send >> " + strSendData);
+                LogUtil.debug(LOGGER, "Send >> " + strSendData);
             }
         }
+        /// <summary>
+        /// 发送信息
+        /// </summary>
+        public void sendLine(string strSendData)
+        {
+            if (strSendData.StartsWith("save"))
+            {
+                LogUtil.debug(LOGGER, "发送数据：" + strSendData);
+            }
+            else
+            {
+                LogUtil.info(LOGGER, "发送数据：" + strSendData);
+            }
+            strSendData = strSendData + "\r\n";
 
+            byte[] sendBuffer = new byte[1024];
+            sendBuffer = Encoding.UTF8.GetBytes(strSendData);
+
+            if (m_clientSocket != null && m_clientSocket.Connected)
+            {
+                m_clientSocket.Send(sendBuffer);
+                LogUtil.debug(LOGGER, "Send >> " + strSendData);
+            }
+        }
         private void ReceiveCallBack(IAsyncResult ar)
         {
             try
@@ -146,14 +224,16 @@ namespace OnlineStore.Common
                 if (m_clientSocket != null && m_clientSocket.Connected)
                 {
                     int REnd = m_clientSocket.EndReceive(ar);
-                    string strReceiveData = Encoding.UTF8.GetString(m_receiveBuffer, 0, REnd);
+                    string strReceiveData = Encoding.Default.GetString(m_receiveBuffer, 0, REnd);
                     onReceived(strReceiveData);
+                    Thread.Sleep(100);
+                    //LOGGER.Debug("m_clientSocket:" + m_clientSocket + "\n m_receiveBuffer" + m_receiveBuffer);
                     m_clientSocket.BeginReceive(m_receiveBuffer, 0, m_receiveBuffer.Length, 0, new AsyncCallback(ReceiveCallBack), null);
                 }
             }
             catch (Exception ex)
             {
-                LogUtil.error("socket received error:" + ex.ToString(),1004);
+                LogUtil.error( "socket received error:" + ex.ToString(), 4);
             }
         }
     }

source/DeviceLibrary/DeviceLibrary.csproj

@@ -78,6 +78,7 @@
     <Compile Include="deviceLibrary\PanasonicServo\ACCMDManager.cs" />
     <Compile Include="deviceLibrary\PanasonicServo\ACServerManager.cs" />
     <Compile Include="deviceLibrary\PanasonicServo\ACServerManager_Partial.cs" />
+    <Compile Include="model\EquipBase.cs" />
     <Compile Include="model\LineAlarm.cs">
       <SubType>Code</SubType>
     </Compile>

source/DeviceLibrary/LineConfig/Config_FeedingEquip_1.csv

@@ -13,13 +13,5 @@ PRO,0,批量上料轴原点低速度,BatchAxis_HomeLowSpeed,100,,,,,
 PRO,0,批量上料轴原点高速,BatchAxis_HomeHighSpeed,200,,,,,
 PRO,0,批量上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,
 ,,,,,,,,,
-AXIS,0,移栽上下轴,UpDown_Axis,2,COM1,0,,,
-PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
-PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
-PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
-PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
-PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,
-PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
-PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
 ,,,,,,,,, 
 PRO,0,扫码的相机名称(多个用#分隔),CameraNameList,Name1#Name1,,,,,

source/DeviceLibrary/LineConfig/Config_FeedingEquip_2.csv

 类型,分类编号,说明,名称,属性值,设备名称,默认值,描述,电器定义,代码定义
 PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,1,,,,,
-PRO,0,阻挡气缸控制信号(1-4分别对应夹具检测1-4),StopCylinderIOType,1,,,,,
+,,,,,,,,,
 PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,0,,,,,
-PRO,0,移栽上下移动料盘高度对应的上升位置,UpDownPositions,12=1000;16=1300;20=2000;24=2000;36=3000;,,,,,,
-AXIS,0,移栽上下轴,UpDown_Axis,2,COM1,0,,,
-PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
-PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
-PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
-PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
-PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,
-PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
-PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
+PRO,0,移栽上下移动料盘高度对应的上升位置,UpDownPositions,12=1000;16=1300;20=2000;24=2000;36=3000;,,,,,
+,,,,,,,,,
+AXIS,0,批量上料轴,Batch_Axis,2,COM1,0,,,
+PRO,0,批量上料轴待机点 P1,BatchAxisP1,2000,,,,,
+PRO,0,批量上料轴目标速度,BatchAxis_TargetSpeed,150,,,,,
+PRO,0,批量上料轴加速度,BatchAxis_AddSpeed,400,,,,,
+PRO,0,批量上料轴减速度,BatchAxis_DelSpeed,400,,,,,
+PRO,0,批量上料轴原点低速度,BatchAxis_HomeLowSpeed,100,,,,,
+PRO,0,批量上料轴原点高速,BatchAxis_HomeHighSpeed,200,,,,,
+PRO,0,批量上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,
+,,,,,,,,,
+,,,,,,,,, 
+PRO,0,扫码的相机名称(多个用#分隔),CameraNameList,Name1#Name1,,,,,

source/DeviceLibrary/LineConfig/Config_FeedingEquip_3.csv

 类型,分类编号,说明,名称,属性值,设备名称,默认值,描述,电器定义,代码定义
 PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,1,,,,,
-PRO,0,阻挡气缸控制信号(1-4分别对应夹具检测1-4),StopCylinderIOType,1,,,,,
+,,,,,,,,,
 PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,0,,,,,
-PRO,0,移栽上下移动料盘高度对应的上升位置,UpDownPositions,12=1000;16=1300;20=2000;24=2000;36=3000;,,,,,,
-AXIS,0,移栽上下轴,UpDown_Axis,2,COM1,0,,,
-PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,2000,,,,,
-PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
-PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
-PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
-PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,
-PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
-PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
+PRO,0,移栽上下移动料盘高度对应的上升位置,UpDownPositions,12=1000;16=1300;20=2000;24=2000;36=3000;,,,,,
+,,,,,,,,,
+AXIS,0,批量上料轴,Batch_Axis,2,COM1,0,,,
+PRO,0,批量上料轴待机点 P1,BatchAxisP1,2000,,,,,
+PRO,0,批量上料轴目标速度,BatchAxis_TargetSpeed,150,,,,,
+PRO,0,批量上料轴加速度,BatchAxis_AddSpeed,400,,,,,
+PRO,0,批量上料轴减速度,BatchAxis_DelSpeed,400,,,,,
+PRO,0,批量上料轴原点低速度,BatchAxis_HomeLowSpeed,100,,,,,
+PRO,0,批量上料轴原点高速,BatchAxis_HomeHighSpeed,200,,,,,
+PRO,0,批量上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,
+,,,,,,,,,
+,,,,,,,,, 
+PRO,0,扫码的相机名称(多个用#分隔),CameraNameList,Name1#Name1,,,,,

source/DeviceLibrary/LineConfig/Config_FeedingEquip_4.csv

 类型,分类编号,说明,名称,属性值,设备名称,默认值,描述,电器定义,代码定义
 PRO,0,设备是否处于调试状态（1=调试，0=正常）,IsDebug,1,,,,,
-PRO,0,阻挡气缸控制信号(1-4分别对应夹具检测1-4),StopCylinderIOType,1,,,,,
-PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,1,,,,,
-PRO,0,移栽上下轴在移栽上下降的位置,UpDownPositions,0=180000;,,,,,,
-PRO,0,移栽上下轴在料仓门口下降的位置,UpDownBoxPositions,0=116000;,,,,,,
-AXIS,0,移栽上下轴,UpDown_Axis,1,COM1,1,,,
-PRO,0,移栽上下轴待机点 P1,UpDownAxisP1,20000,,,,,
-PRO,0,移栽上下轴目标速度,UpdownAxis_TargetSpeed,150,,,,,
-PRO,0,移栽上下轴加速度,UpdownAxis_AddSpeed,400,,,,,
-PRO,0,移栽上下轴减速度,UpdownAxis_DelSpeed,400,,,,,
-PRO,0,移栽上下轴原点低速度,UpdownAxis_HomeLowSpeed,100,,,,,
-PRO,0,移栽上下轴原点高速,UpdownAxis_HomeHighSpeed,200,,,,,
-PRO,0,移栽上下轴原点加速度,UpdownAxis_HomeAddSpeed,200,,,,,
-PRO,0,移栽上下轴下降速度,UpdownAxis_DownSpeed,500,,,,, 
-PRO,0,移栽上下轴走到待机点速度,UpdownAxis_P1Speed,400,,,,,
+,,,,,,,,,
+PRO,0,移栽上下运动是否使用伺服,UpDownUseAxis,0,,,,,
+PRO,0,移栽上下移动料盘高度对应的上升位置,UpDownPositions,12=1000;16=1300;20=2000;24=2000;36=3000;,,,,,
+,,,,,,,,,
+AXIS,0,批量上料轴,Batch_Axis,2,COM1,0,,,
+PRO,0,批量上料轴待机点 P1,BatchAxisP1,2000,,,,,
+PRO,0,批量上料轴目标速度,BatchAxis_TargetSpeed,150,,,,,
+PRO,0,批量上料轴加速度,BatchAxis_AddSpeed,400,,,,,
+PRO,0,批量上料轴减速度,BatchAxis_DelSpeed,400,,,,,
+PRO,0,批量上料轴原点低速度,BatchAxis_HomeLowSpeed,100,,,,,
+PRO,0,批量上料轴原点高速,BatchAxis_HomeHighSpeed,200,,,,,
+PRO,0,批量上料轴原点加速度,BatchAxis_HomeAddSpeed,200,,,,,
+,,,,,,,,,
+,,,,,,,,, 
+PRO,0,扫码的相机名称(多个用#分隔),CameraNameList,Name1#Name1,,,,,

source/DeviceLibrary/assemblyLine/FeedingEquip.cs

@@ -13,12 +13,9 @@ namespace OnlineStore.DeviceLibrary
     /// <summary>
     /// 流水线自动料仓-入料装置类
     /// </summary>
-    public partial class FeedingEquip : KTK_Store
+    public partial class FeedingEquip : EquipBase
     {
-        private bool IsIntSlvBlock = false;
-        public bool IsDebug = false;
-        public bool UpdownUseAxis = false;
-        public AxisAlarmInfo AxisAlarm = new AxisAlarmInfo();
+
         public FeedingEquip_Config Config;
          
 
@@ -44,8 +41,8 @@ namespace OnlineStore.DeviceLibrary
           
             MoveInfo = new LineMoveInfo(DeviceID,"入料-"+DeviceID+"-MoveInfo"); 
             IsDebug = config.IsDebug.Equals(1);
-            UpdownUseAxis = config.UpDownUseAxis.Equals(1);
-            if (UpdownUseAxis)
+            UseAxis = config.UpDownUseAxis.Equals(1);
+            if (UseAxis)
             {
                 Config.Batch_Axis.TargetSpeed = Config.BatchAxis_TargetSpeed;
                 Config.Batch_Axis.AddSpeed = Config.BatchAxis_AddSpeed;
@@ -69,17 +66,17 @@ namespace OnlineStore.DeviceLibrary
             lineStatus = LineStatus.StoreOnline; 
             //TODO 调试时暂时注释
             runStatus = LineRunStatus.HomeMoving;
-            return MoveEquipMentHome(); 
+            return ReturnHome(); 
         }
-       
-        public   bool StartDebugRun()
-        { 
+
+        public bool StartDebugRun()
+        {
             mainTimer.Enabled = false;
-            MoveInfo.EndMove(); 
+            MoveInfo.EndMove();
             lineStatus = LineStatus.StoreOnline;
             //TODO 调试时暂时注释
             runStatus = LineRunStatus.HomeMoving;
-            bool result= MoveEquipMentHome();
+            bool result = ReturnHome();
             if (result)
             {
                 mainTimer.Enabled = true;
@@ -231,10 +228,10 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 入料装置原点返回
         /// </summary>
-        public bool  MoveEquipMentHome()
+        public bool  ReturnHome()
         {
             mainTimer.Stop();
-            if (!RunAxis(true))
+            if (!RunAxis(true,Config.Batch_Axis))
             {
                 return false;
             }
@@ -273,7 +270,7 @@ namespace OnlineStore.DeviceLibrary
                 TrayManager.DelNeedEmptyTrayNum();
                 MoveInfo.EndMove();
             } 
-            if (!RunAxis(true))
+            if (!RunAxis(true,Config.Batch_Axis))
             {
                 return false;
             }
@@ -421,7 +418,7 @@ namespace OnlineStore.DeviceLibrary
                             LogInfo("停止运行完成，停止伺服！");
                           
                             CloseAxis();
-                            if (UpdownUseAxis)
+                            if (UseAxis)
                             {
                                 LogInfo("停止运动：停止伺服");
                                 ACServerManager.SuddenStop(Config.Batch_Axis);
@@ -491,7 +488,7 @@ namespace OnlineStore.DeviceLibrary
             IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
             IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
             //上下气缸上升
-            if (UpdownUseAxis.Equals(false))
+            if (UseAxis.Equals(false))
             {
                 IOMove(IO_Type.UpDownCylinder_Down, IO_VALUE.LOW);
                 IOMove(IO_Type.UpDownCylinder_Up, IO_VALUE.HIGH);
@@ -513,188 +510,14 @@ namespace OnlineStore.DeviceLibrary
             IOMove(IO_Type.TopCylinder_Down, IO_VALUE.LOW);
         }
          
-        #region 上下气缸伺服运动
-        private string portName;
-        private short slvAddr;
-        public bool RunAxis(bool isCheck)
-        {
-            if (!UpdownUseAxis)
-            {
-                return true;
-            }
-            IOMove(IO_Type.BatchAxis_ServoOn, IO_VALUE.HIGH);
-            Thread.Sleep(1000);
-            //打开所有轴 
-            ACServerManager.OpenPort(portName);
-            Thread.Sleep(50);
-            //初始化
-            if (!IsIntSlvBlock)
-            {
-                ACServerManager.InitSlvAddr(portName, slvAddr, Config.Batch_Axis.TargetSpeed, Config.Batch_Axis.AddSpeed, Config.Batch_Axis.DelSpeed);
-                Thread.Sleep(100);
-            }
-            ACServerManager.AlarmClear(portName, slvAddr);
-            Thread.Sleep(50);
-            ACServerManager.ServoOn(portName, slvAddr);
-
-            Thread.Sleep(1000);
-            //打开所有轴
-            if (isCheck)
-            {
-                if (!OpenAxis())
-                {
-                    return false;
-                }
-            }
-            IsIntSlvBlock = true;
-            IOMove(IO_Type.BatchAxis_BreakOn, IO_VALUE.HIGH);
-            return true;
-        }
-
-        private void IOMove(object batchAxis_ServoOn, IO_VALUE hIGH)
-        {
-            throw new NotImplementedException();
-        }
-
-        /// <summary>
-        /// 打开所有轴
-        /// </summary>
-        /// <returns></returns>
-        private bool OpenAxis()
-        {
-            //判断轴是否正常
-        
-                if (ACServerManager.ServerOnStatus(portName, slvAddr))
-                {
-                    LogUtil.info( Name + "成功打开轴：" + Config.Batch_Axis.Explain);
-                }
-                else
-                {
-                    //清理报警，再重新打开一次
-                    LogUtil.info( Name + "第一次打开轴" + Config.Batch_Axis.Explain + "失败，先清理一下报警，再重新打开一次");
-                    ACServerManager.AlarmClear(portName, slvAddr);
-                    System.Threading.Thread.Sleep(1200);
-                    ACServerManager.ServoOn(portName, slvAddr);
-                    System.Threading.Thread.Sleep(100);
-                    if (ACServerManager.ServerOnStatus(portName, slvAddr))
-                    {
-                        LogUtil.info( Name + "清理报警后重新打卡轴成功：" + Config.Batch_Axis.Explain);
-                    }
-                    else
-                    {
-                        ACServerManager.ServoOff(portName, slvAddr); 
-                        WarnMsg = Name + "打开轴" + Config.Batch_Axis.Explain + "失败 ";
-                        LogUtil.info( Name + WarnMsg);
-                        Alarm(LineAlarmType.AxisAlarm, 5.ToString(), WarnMsg, MoveInfo.MoveType);
-                        return false;
-                    }
-                }
-             
-            return true;
-        }
-
-
-        public  void CloseAxis()
-        {
-            LogUtil.info(Name + "关闭刹车，关闭伺服");
-            IOMove(IO_Type.BatchAxis_BreakOn, IO_VALUE.LOW);
-
-            ACServerManager.ServoOff(portName, slvAddr);
-            //关闭串口，等下次重新打开
-          ACServerManager.ColsePort(portName);
-
-            Thread.Sleep(100);
-            IOMove(IO_Type.BatchAxis_ServoOn, IO_VALUE.LOW);
-        }
-
-     
-        private void ACAxisHomeMove(ConfigMoveAxis moveAxis)
-        {
-            moveAxis.TargetPosition = 0;
-            LogUtil.info( moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回");
-            MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true)); 
-            ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
-        }
 
-        /// <summary>
-        /// 松下伺服电机运动
-        /// </summary> 
-        private void ACAxisMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
-        {
-            MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
-            moveAxis.TargetPosition = targetPosition; 
-            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
-        }
-
-        /// <summary>
-        /// 判断AC伺服电机轴是否运动完成
-        /// </summary> 
-        private bool ACAxisMoveIsEnd(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed, out string msg)
-        {
-            msg = "";
-            string deviceName = moveAxis.DeviceName;
-            short axisNo = moveAxis.GetAxisValue();
-             
-            bool isOk = ACServerManager.GetBusyStatus(deviceName, axisNo).Equals(0);
-            int outCount = ACServerManager.GetActualtPosition(deviceName, axisNo);
-            int errorCount = Math.Abs(outCount - targetPosition);
-            if (isOk)
-            {
-                if (errorCount <= moveAxis.CanErrorCountMax)
-                {
-                    return true;
-                }
-                //判断是否需要重新运动
-                if (MoveInfo.CanWhileCount > 0)
-                {
-                    LogUtil.error( moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
-                     "]，误差过大，重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
-                    ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
-                    MoveInfo.CanWhileCount--;
-                }
-                else
-                {
-                    msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount
-                        + "]，误差过大，需要报警";
-                    LogUtil.error( msg);
-                }
-            }
-            return false;
-        }
-        private bool ACHomeMoveIsEnd(ConfigMoveAxis moveAxis, out string msg)
-        {
-            msg = "";
-            if (ACServerManager.IsHomeMoveEnd(moveAxis.DeviceName, moveAxis.GetAxisValue()))
-            {
-                //原点完成并且位置=0
-                int outCount = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
-                int errorCount = Math.Abs(outCount);
-                if (errorCount <= moveAxis.CanErrorCountMax)
-                {
-                    return true;
-                }
-                //判断是否需要重新运动
-                if (MoveInfo.CanWhileCount > 0)
-                {
-                    LogUtil.error( moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
-                    //LogUtil.error( StoreName +  moveAxis.DisplayStr +  "重新回原点");
-                    ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
-                    MoveInfo.CanWhileCount--;
-                }
-                else
-                {
-                    msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
-                    LogUtil.error( msg);
-                }
-            }
-            return false;
-        } 
-        /// <summary>
-        /// 上下气缸移动到上升端
-        /// </summary>
+    
+         /// <summary>
+              /// 上下气缸移动到上升端
+              /// </summary>
         private void UpdownUpMove()
         {
-            if (UpdownUseAxis)
+            if (UseAxis)
             {
                 ACAxisMove(Config.Batch_Axis, Config.BatchAxisP1, Config.BatchAxis_P1Speed);
             }
@@ -703,10 +526,10 @@ namespace OnlineStore.DeviceLibrary
                 CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
             }
         }
-         
+
         private void UpdownDownMove(int trayHeight)
         {
-            if (UpdownUseAxis)
+            if (UseAxis)
             {
                 int position = Config.GetUpdownPosition(trayHeight);
                 ACAxisMove(Config.Batch_Axis, position, Config.BatchAxis_DownSpeed);
@@ -718,10 +541,10 @@ namespace OnlineStore.DeviceLibrary
         }
         private void UpdownDownBoxMove(int trayHeight)
         {
-            if (UpdownUseAxis)
+            if (UseAxis)
             {
                 int position = Config.GetUpdownBoxPosition(trayHeight);
-                ACAxisMove(Config.Batch_Axis, position,Config.BatchAxis_DownSpeed);
+                ACAxisMove(Config.Batch_Axis, position, Config.BatchAxis_DownSpeed);
             }
             else
             {
@@ -730,7 +553,7 @@ namespace OnlineStore.DeviceLibrary
         }
         private void UpdownHomeMove()
         {
-            if (UpdownUseAxis)
+            if (UseAxis)
             {
                 MoveInfo.NextMoveStep(LineMoveStep.MH_UpDownHomeMove);
                 ACAxisHomeMove(Config.Batch_Axis);
@@ -742,10 +565,7 @@ namespace OnlineStore.DeviceLibrary
             }
         }
 
-        public override void Alarm(LineAlarmType alarmType, string alarmDetial, string alarmMsg, LineMoveType storeMoveType)
-        {
-            throw new NotImplementedException();
-        }
+        
 
         public override bool StartOutStoreMove(InOutParam param)
         {
@@ -757,153 +577,6 @@ namespace OnlineStore.DeviceLibrary
             throw new NotImplementedException();
         }
 
-        public override void StartInStoreMove(InOutParam param)
-        {
-            throw new NotImplementedException();
-        }
-
-        protected override void InStoreProcess()
-        {
-            throw new NotImplementedException();
-        }
-        #endregion
-
-    
-    private DateTime preRWTime = DateTime.Now;
-    private void CheckWait(LineMoveInfo moveInfo)
-    {
-        List<WaitResultInfo> list = moveInfo.WaitList;
-        if (list.Count <= 0)
-        {
-            moveInfo.EndStepWait();
-            return;
-        }
-
-        //当等待超过一分钟时，需要打印提示 
-        TimeSpan span = DateTime.Now - moveInfo.LastSetpTime;
-        string NotOkMsg = "";
-        bool isOk = true;
-        if (moveInfo.OneWaitCanEndStep)
-        {
-            isOk = false;
-        }
-        foreach (WaitResultInfo wait in list)
-        {
-            if (wait.IsEnd)
-            {
-                continue;
-            }
-            NotOkMsg = wait.ToStr();
-            if (wait.WaitType.Equals(1))
-            {
-                string msg = "";
-                if (wait.IsHomeMove)
-                {
-                    wait.IsEnd = ACHomeMoveIsEnd(wait.AxisInfo, out msg);
-                }
-                else
-                {
-                    wait.IsEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
-                }
-                if (!msg.Equals(""))
-                {
-                    isOk = false;
-                    WarnMsg = msg;
-                    Alarm(LineAlarmType.AxisMoveError, 5.ToString(), WarnMsg, moveInfo.MoveType);
-                    break;
-                }
-            }
-            else if (wait.WaitType.Equals(2))
-            {
-                wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
-
-                if (!wait.IsEnd)
-                {
-                    //屏蔽料盘检测信号
-                    if (wait.IoType.Equals(IO_Type.TrayCheck) && wait.IoValue.Equals(IO_VALUE.HIGH) && LineManager.Config.IsUse_Tray_Check.Equals(0))
-                    {
-                        LogUtil.debug(moveInfo.Name + "未检测到：IsUse_Tray_Check= " + wait.IoValue + "，直接跳过检测继续下一步");
-                    }
-                    //夹紧按钮若果超过一秒钟还未收到，默认成功
-                    else if (wait.IoType.Equals(IO_Type.ClampCylinder_Slack) && wait.IoValue.Equals(IO_VALUE.HIGH) && span.TotalMilliseconds > 3000)
-                    {
-                        LogInfo("未检测到：ClampCylinder_Slack=HIGH，超过2秒钟，默认下一步骤");
-                        wait.IsEnd = true;
-                    }
-                    else
-                    {
-                        TimeSpan rwSpan = DateTime.Now - preRWTime;
-                        //一分钟还未检测到
-                        if (span.TotalMilliseconds > LineManager.Config.IOSingle_TimerOut)
-                        {
-                            //把IO重置位0
-                            LogUtil.error(moveInfo.Name + " ： " + wait.IoType + "=" + wait.IoValue + "  已等待" + Math.Abs(span.TotalMilliseconds) + "，将DO写0", 17);
-                            ConfigIO io = Config.getWaitIO(wait.IoType);
-
-                            WarnMsg = Name + "等待信号(" + io.DisplayStr + "=" + wait.IoValue + ") 超时";
-                            Alarm(LineAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, MoveInfo.MoveType);
-                            LogUtil.error(MoveInfo.Name + " ： " + wait.IoType + "等待信号(" + io.DisplayStr + "=" + wait.IoValue + ") 超时", 13);
-                            foreach (WaitResultInfo ww in list)
-                            {
-                                if (ww != null && ww.WaitType.Equals(2))
-                                {
-                                    if (Config.DOList.ContainsKey(ww.IoType))
-                                    {
-                                        IOMove(wait.IoType, IO_VALUE.LOW);
-                                    }
-                                }
-                            }
-                        }
-                        //else if (rwSpan.TotalSeconds > 3)
-                        //{
-                        //    preRWTime = DateTime.Now;
-                        //    //把IO重置位0 
-                        //    string msg = moveInfo.Name + " ： " + wait.IoType + " = " + wait.IoValue + "  已等待" + Math.Abs(span.TotalMilliseconds) + "，重写DO信号："; 
-                        //    foreach (WaitResultInfo ww in list)
-                        //    {
-                        //        if (ww != null && ww.WaitType.Equals(2))
-                        //        {
-                        //            if (Config.DOList.ContainsKey(ww.IoType))
-                        //            {
-                        //                IOMove(wait.IoType, ww.IoValue);
-                        //                msg += wait.ToStr()+"，";
-                        //            }
-                        //        }
-                        //    }
-                        //    LogUtil.error(msg);
-                        //}
-                        isOk = false;
-                        break;
-                    }
-                }
-            }
-            else if (wait.WaitType.Equals(3))
-            {
-                wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
-            }
-            if (wait.IsEnd && moveInfo.OneWaitCanEndStep)
-            {
-                isOk = true;
-                break;
-            }
-            else if (!moveInfo.OneWaitCanEndStep)
-            {
-                isOk = false;
-                break;
-            }
-        }
-        if (isOk)
-        {
-            moveInfo.EndStepWait();
-        }
-        else if (span.TotalSeconds > moveInfo.TimeOutSeconds)
-        {
-            WarnMsg = moveInfo.Name + "【" + moveInfo.MoveType + "】【" + moveInfo.MoveStep + "】等待[" + NotOkMsg
-                + "]超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
-            LogUtil.error(WarnMsg, 18);
-            Alarm(LineAlarmType.IoSingleTimeOut, "", WarnMsg, moveInfo.MoveType);
-        }
-
-    }
+     
     }
 }

source/DeviceLibrary/assemblyLine/FeedingEquip_Partial.cs

-using System;
+using OnlineStore.Common;
+using OnlineStore.LoadCSVLibrary;
+using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
@@ -6,7 +8,263 @@ using System.Threading.Tasks;
 
 namespace OnlineStore.DeviceLibrary
 {
-  partial  class FeedingEquip
+    partial class FeedingEquip
     {
+        public override void StartInStoreMove(InOutParam param)
+        {
+            throw new NotImplementedException();
+        }
+        protected override void InStoreProcess()
+        {
+
+            if (MoveInfo.IsInWait)
+            {
+                CheckWait(MoveInfo);
+            }
+            if (MoveInfo.IsInWait)
+            {
+                return;
+            }
+        }
+//            if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I01_Wait))
+//            {
+//                MoveInfo.NextMoveStep(LineMoveStep.AUTO_I02_MoveToUp);
+//                if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.HIGH))
+//                {
+//                    LogUtil.info(Name + " 入料 ，已检测到料盘，轴不需要上升");
+//                }
+//                else
+//                {
+//                    LogUtil.info(Name + " 入料 ，轴上升到检测到料盘，速度【" + Config.Batch_Axis.TargetSpeed + "】");
+//                    ACAxisSpeedMove(Config.Batch_Axis, Config.Batch_Axis.TargetSpeed, IO_Type.TrayCheck_LoadMaterial);
+//                }
+//            }
+//            else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I02_MoveToUp))
+//            {
+//                IsNeedScanCode();
+//            }
+//            else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I03_ScanCode))
+//            {
+//                MoveInfo.NextMoveStep(LineMoveStep.AUTO_I04_SuckingDisc_Down);
+//                LogUtil.info(Name + "入料: 扫码结束，二维码【" + LastCode + "】 吸盘开始下降");
+//                CylinderMove(IO_Type.ClampingDisc_Down, IO_Type.ClampingDisc_Up, true);
+//            }
+//            else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I04_SuckingDisc_Down))
+//            {
+//                SuckingDiscWork();
+//            }
+//            else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I05_SuckingDisc_Work))
+//            {
+//                //   if (IOManager.IOValue(IO_Type.SuckingDisc_Air).Equals(IO_VALUE.HIGH))
+
+//                if (IOManager.IOValue(IO_Type.Clamping_Work).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.Clamping_Relax).Equals(IO_VALUE.LOW))
+//                {
+//                    MoveInfo.NextMoveStep(LineMoveStep.AUTO_I06_SuckingDisc_Up);
+
+//                    LogUtil.info(Name + "入料: 吸盘上升");
+//                    CylinderMove(IO_Type.ClampingDisc_Up, IO_Type.ClampingDisc_Down, false);
+//                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.ClampingDisc_Down, IO_VALUE.LOW));
+//                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
+
+//                }
+//                else if (SuckingDisc_WorkCount < 3)
+//                {
+//                    SuckingDiscWork();
+//                }
+//                else
+//                {
+//                    //TODO 报警
+//                    //WarnMsg = ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败");
+//                    SetWarnMsg(ResourceControl.XiLiaoError);
+//                    StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, WarnObj.WarnMsg, WarnObj.WarnMsg, StoreMoveType.InStore);
+//                    LogUtil.error(WarnObj.WarnMsg, 103);
+//                }
+//            }
+//            else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I06_SuckingDisc_Up))
+//            {
+//                if (IOManager.IOValue(IO_Type.Clamping_Work).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.Clamping_Relax).Equals(IO_VALUE.LOW))
+//                //     if (IOManager.IOValue(IO_Type.SuckingDisc_Air).Equals(IO_VALUE.HIGH))
+//                {
+//                    MoveInfo.NextMoveStep(LineMoveStep.AUTO_I07_BatchAxisUp);
+//                    LogUtil.info(Name + "入料: 批量轴匀速上升【" + Config.BatchAxis_SlowSpeed + "】");
+//                    ACAxisSpeedMove(Config.Batch_Axis, Config.BatchAxis_SlowSpeed, IO_Type.TrayCheck_LoadMaterial);
+//                    CylinderMove(IO_Type.ClampingDisc_Up, IO_Type.ClampingDisc_Down, true);
+//                    if (Config.Default_TrayWidth.Equals(7))
+//                    {
+//                        MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck1, IO_VALUE.HIGH));
+//                        MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck2, IO_VALUE.LOW));
+//                    }
+//                    else if (Config.Default_TrayWidth.Equals(13))
+//                    {
+//                        MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck1, IO_VALUE.HIGH));
+//                        MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.WidthCheck2, IO_VALUE.HIGH));
+//                    }
+//                    else if (Config.Default_TrayWidth.Equals(0))
+//                    {
+
+//                    }
+//                }
+//                else
+//                {
+//                    // WarnMsg = ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败");
+//                    SetWarnMsg(ResourceControl.XiLiaoError);
+//                    StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, WarnObj.WarnMsg, WarnObj.WarnMsg, StoreMoveType.InStore);
+//                    LogUtil.error(Name + "入料: 吸盘上升后未检测到吸盘压力信号，吸取料盘失败", 105);
+//                }
+//            }
+//            else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I07_BatchAxisUp))
+//            {
+//                // if (IOManager.IOValue(IO_Type.SuckingDisc_Air).Equals(IO_VALUE.HIGH))
+//                if (IOManager.IOValue(IO_Type.Clamping_Work).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.Clamping_Relax).Equals(IO_VALUE.LOW))
+//                {
+//                    TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
+
+//                    //需要判断入库超时
+//                    if (StoreManager.Store.CanStarInOut())
+//                    {
+//                        LastWidth = Config.Default_TrayWidth;
+//                        if (LastWidth.Equals(0))
+//                        {
+//                            //料盘检测2亮为13寸盘，其他都认为是7寸盘
+//                            if (IOManager.IOValue(IO_Type.WidthCheck2).Equals(IO_VALUE.HIGH))
+//                            {
+//                                LastWidth = 13;
+//                            }
+//                            else
+//                            {
+//                                LastWidth = 7;
+//                            }
+//                        }
+//                        LastHeight = GetHeight();
+//                        BatchInStoreCount++;
+//                        BatchInStoreHeight += LastHeight;
+
+//                        if (LastCode.Equals(""))
+//                        {
+//                            LogUtil.info(Name + "入料: 未扫到二维码尺寸：【" + LastWidth + "*" + LastHeight + "】，将料盘送出，等待料盘拿走");
+//                            SendTrayOut();
+//                        }
+//                        else
+//                        {
+//                            MoveInfo.NextMoveStep(LineMoveStep.AUTO_I08_GetPosId);
+
+//                            LogUtil.debug(Name + "入料: 从服务器获取入库PosId，尺寸：【" + LastWidth + "*" + LastHeight + "】二维码【" + LastCode + "】");
+
+//                            GetInStorePosId(ProcessMsg());
+//                            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
+//                        }
+//                    }
+//                    else if (span.TotalSeconds > 60)
+//                    {
+//                        StoreManager.Store.LoguStatus();
+//                        //一分钟还未开始，报警超时
+//                        //  WarnMsg = "[" + MoveInfo.MoveStep + "]" + ResourceControl.GetString(ResourceControl.TimeOut, "超时") + "[等待可以入库][" + Math.Round(span.TotalSeconds, 0) + "秒]";
+//                        SetWarnMsg(ResourceControl.WaitInstoreTimeOut, MoveInfo.MoveStep + "", Math.Round(span.TotalSeconds, 0) + "");
+//                        LogUtil.error(WarnObj.WarnMsg, 105);
+//                        StoreManager.Store.Alarm(StoreAlarmType.BatchIoTimeOut, "", WarnObj.WarnMsg, MoveInfo.MoveType);
+//                    }
+//                }
+//                else
+//                {
+//                    //WarnMsg = ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败");
+//                    SetWarnMsg(ResourceControl.XiLiaoError);
+//                    StoreManager.Store.Alarm(StoreAlarmType.BatchAlarm, ResourceControl.GetString(ResourceControl.XiLiaoError, "吸盘吸料失败"), WarnObj.WarnMsg, StoreMoveType.InStore);
+//                    LogUtil.error(Name + "入料: 吸盘上升后未检测到吸盘压力信号，吸取料盘失败", 105);
+//                }
+//            }
+//            else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I08_GetPosId))
+//            {
+//                //判断是否开始入库
+//                if (StoreManager.Store.MoveInfo.MoveType.Equals(StoreMoveType.InStore) || (!LastPosId.Equals("")))
+//                {
+//                    MoveInfo.NextMoveStep(LineMoveStep.AUTO_I09_WaitTrayLeave);
+//                    LogUtil.info(Name + "入料: 开始入库【" + LastPosId + "】，等待料盘拿走");
+//                    //MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SuckingDisc_Air, IO_VALUE.LOW));
+//                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Clamping_Relax, IO_VALUE.HIGH));
+//                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Clamping_Work, IO_VALUE.LOW));
+//                }
+//                else
+//                {
+//                    LogUtil.info(Name + "入料:  入库失败，尺寸：【" + LastWidth + "*" + LastHeight + "】将料盘送出，等待料盘拿走");
+//                    SendTrayOut();
+//                }
+//            }
+//            else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I09_WaitTrayLeave))
+//            {
+//                if (StoreManager.Store.MoveInfo.MoveType.Equals(StoreMoveType.None) ||
+//                   (StoreManager.Store.MoveInfo.IsNeedInStore && StoreManager.Store.MoveInfo.MoveStep >= LineMoveStep.SI_09_MoveToBag))
+//                {
+//                    IsNeedScanCode();
+//                }
+//            }
+//            else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I10_WaitTrayGo))
+//            {
+//                if (StoreManager.Store.CanStarInOut())
+//                {
+//                    IsNeedScanCode();
+//                }
+//            }
+//            else if (MoveInfo.MoveStep.Equals(LineMoveStep.AUTO_I11_BatchAxisHome))
+//            {
+//                //TODO 
+//                LogUtil.info(Name + "入料：已经没有料盘，批量上料结束");
+//                MoveInfo.EndMove();
+//                AutoBaitingStatus = StoreRunStatus.Runing;
+//            }
+//            else
+//            {
+//                LogUtil.error(Name + "未找到步骤：" + MoveInfo.MoveType);
+//            }
+
+//        } }
+//        private static int GetHeight()
+//{
+//    //计算高度
+//    EndMovePosition = ACServerManager.GetActualtPosition(Config.Batch_Axis);
+//    if (EndMovePosition.Equals(-1))
+//    {
+//        EndMovePosition = ACServerManager.GetActualtPosition(Config.Batch_Axis);
+//    }
+//    LastHeight = (int)Math.Ceiling(1F * (EndMovePosition - StartMovePosition) / AxisChangeValue);
+//    int addHeight = 0;
+//    //如果检测信号未亮，极限亮了，需要补充高
+//    if (IOManager.IOValue(IO_Type.TrayCheck_LoadMaterial).Equals(IO_VALUE.LOW))
+//    {
+//        addHeight = Config.LastTrayAddHeight;
+//    }
+//    LastHeight += addHeight;
+//    string msg = Name + " 计算盘高：上升前【" + StartMovePosition + "】实时【" + EndMovePosition + "】补充【" + addHeight + "】计算后【" + LastHeight + "】";
+//    if (LastHeight < 0)
+//    {
+//        LastHeight = Config.GetDefaultHeight();
+//    }
+//    if (Config.Default_TrayWidth.Equals(7))
+//    {
+//        //高度=8的料盘容易被测成12的，判断如果计算的高度<12都认为是8mm，
+//        if (LastHeight >= 20)
+//        {
+//            LastHeight = 24;
+//        }
+//        else if (LastHeight >= 12)
+//        {
+//            LastHeight = 12;
+//        }
+//        else
+//        {
+//            LastHeight = 8;
+//        }
+//    }
+//    else
+//    {
+//        if (LastHeight <= 8) { LastHeight = 8; }
+//        else
+//        {
+//            LastHeight = (int)Math.Ceiling(1F * LastHeight / 4) * 4;
+//        }
+//    }
+//    LogUtil.info(msg + ",归类为" + LastHeight);
+//    return LastHeight;
+
+//    }
     }
 }

source/DeviceLibrary/assemblyLine/MoveEquip.cs

@@ -13,12 +13,12 @@ namespace OnlineStore.DeviceLibrary
     /// <summary>
     /// 流水线自动料仓-移栽装置类
     /// </summary>
-    public partial class MoveEquip : KTK_Store
+    public partial class MoveEquip : EquipBase
     {
         private bool IsIntSlvBlock = false;
-        public bool IsDebug = false;
-        public bool UpdownUseAxis = false;
-        public AxisAlarmInfo AxisAlarm = new AxisAlarmInfo();
+      //  public bool IsDebug = false;
+     //   public bool UseAxis = false;
+      //  public AxisAlarmInfo AxisAlarm = new AxisAlarmInfo();
         public MoveEquip_Config Config;
 
         /// <summary>
@@ -48,8 +48,8 @@ namespace OnlineStore.DeviceLibrary
             MoveInfo = new LineMoveInfo(DeviceID, "移栽-" + DeviceID + "-MoveInfo");
             SecondMoveInfo = new LineMoveInfo(DeviceID, "移栽-" + DeviceID + "-SecondMoveInfo");
             IsDebug = config.IsDebug.Equals(1);
-            UpdownUseAxis = config.UpDownUseAxis.Equals(1);
-            if (UpdownUseAxis)
+            UseAxis = config.UpDownUseAxis.Equals(1);
+            if (UseAxis)
             {
                 Config.UpDown_Axis.TargetSpeed = Config.UpdownAxis_TargetSpeed;
                 Config.UpDown_Axis.AddSpeed = Config.UpdownAxis_AddSpeed;
@@ -76,7 +76,7 @@ namespace OnlineStore.DeviceLibrary
             lineStatus = LineStatus.StoreOnline;
             //TODO 调试时暂时注释
             runStatus = LineRunStatus.HomeMoving;
-            return MoveEquipMentHome();
+            return ReturnHome();
         }
 
         public bool StartDebugRun()
@@ -89,7 +89,7 @@ namespace OnlineStore.DeviceLibrary
             lineStatus = LineStatus.StoreOnline;
             //TODO 调试时暂时注释
             runStatus = LineRunStatus.HomeMoving;
-            bool result = MoveEquipMentHome();
+            bool result = ReturnHome();
             if (result)
             {
                 mainTimer.Enabled = true;
@@ -297,10 +297,10 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 移栽装置原点返回
         /// </summary>
-        public bool MoveEquipMentHome()
+        public bool ReturnHome()
         {
             mainTimer.Stop();
-            if (!RunAxis(true))
+            if (!RunAxis(true,Config.UpDown_Axis))
             {
                 return false;
             }
@@ -339,7 +339,7 @@ namespace OnlineStore.DeviceLibrary
                 TrayManager.DelNeedEmptyTrayNum();
                 MoveInfo.EndMove();
             }
-            if (!RunAxis(true))
+            if (!RunAxis(true, Config.UpDown_Axis))
             {
                 return false;
             }
@@ -500,7 +500,7 @@ namespace OnlineStore.DeviceLibrary
                         {
                             LogInfo("停止运行完成！");
 
-                            if (UpdownUseAxis)
+                            if (UseAxis)
                             {
                                 LogInfo("停止运动：停止伺服");
                                 ACServerManager.SuddenStop(Config.UpDown_Axis);
@@ -572,7 +572,7 @@ namespace OnlineStore.DeviceLibrary
             IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
             IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
             //上下气缸上升
-            if (UpdownUseAxis.Equals(false))
+            if (UseAxis.Equals(false))
             {
                 IOMove(IO_Type.UpDownCylinder_Down, IO_VALUE.LOW);
                 IOMove(IO_Type.UpDownCylinder_Up, IO_VALUE.HIGH);
@@ -595,181 +595,181 @@ namespace OnlineStore.DeviceLibrary
         }
 
         #region 上下气缸伺服运动
-        private string portName;
-        private short slvAddr;
-        public bool RunAxis(bool isCheck)
-        {
-            if (!UpdownUseAxis)
-            {
-                return true;
-            }
-            IOMove(IO_Type.UpDownAxis_ServoOn, IO_VALUE.HIGH);
-            Thread.Sleep(1000);
-            //打开所有轴 
-            ACServerManager.OpenPort(portName);
-            Thread.Sleep(50);
-            //初始化
-            if (!IsIntSlvBlock)
-            {
-                ACServerManager.InitSlvAddr(portName, slvAddr, Config.UpDown_Axis.TargetSpeed, Config.UpDown_Axis.AddSpeed, Config.UpDown_Axis.DelSpeed);
-                Thread.Sleep(100);
-            }
-            ACServerManager.AlarmClear(portName, slvAddr);
-            Thread.Sleep(50);
-            ACServerManager.ServoOn(portName, slvAddr);
-
-            Thread.Sleep(1000);
-            //打开所有轴
-            if (isCheck)
-            {
-                if (!OpenAxis())
-                {
-                    return false;
-                }
-            }
-            IsIntSlvBlock = true;
-            IOMove(IO_Type.UpDownAxis_BreakOn, IO_VALUE.HIGH);
-            return true;
-        }
-        /// <summary>
-        /// 打开所有轴
-        /// </summary>
-        /// <returns></returns>
-        private bool OpenAxis()
-        {
-            //判断轴是否正常
-
-            if (ACServerManager.ServerOnStatus(portName, slvAddr))
-            {
-                LogUtil.info(Name + "成功打开轴：" + Config.UpDown_Axis.Explain);
-            }
-            else
-            {
-                //清理报警，再重新打开一次
-                LogUtil.info(Name + "第一次打开轴" + Config.UpDown_Axis.Explain + "失败，先清理一下报警，再重新打开一次");
-                ACServerManager.AlarmClear(portName, slvAddr);
-                System.Threading.Thread.Sleep(1200);
-                ACServerManager.ServoOn(portName, slvAddr);
-                System.Threading.Thread.Sleep(100);
-                if (ACServerManager.ServerOnStatus(portName, slvAddr))
-                {
-                    LogUtil.info(Name + "清理报警后重新打卡轴成功：" + Config.UpDown_Axis.Explain);
-                }
-                else
-                {
-                    ACServerManager.ServoOff(portName, slvAddr);
-                    WarnMsg = Name + "打开轴" + Config.UpDown_Axis.Explain + "失败 ";
-                    LogUtil.info(Name + WarnMsg);
-                    Alarm(LineAlarmType.AxisAlarm, 5.ToString(), WarnMsg, MoveInfo.MoveType);
-                    return false;
-                }
-            }
-
-            return true;
-        }
-
-
-        public void CloseAxis()
-        {
-            LogUtil.info(Name + "关闭刹车，关闭伺服");
-            IOMove(IO_Type.UpDownAxis_BreakOn, IO_VALUE.LOW);
-
-            ACServerManager.ServoOff(portName, slvAddr);
-            //关闭串口，等下次重新打开
-            // ACServerManager.ColsePort(portName);
-
-            Thread.Sleep(100);
-            IOMove(IO_Type.UpDownAxis_ServoOn, IO_VALUE.LOW);
-        }
-
-
-        private void ACAxisHomeMove(ConfigMoveAxis moveAxis)
-        {
-            moveAxis.TargetPosition = 0;
-            LogUtil.info(moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回");
-            MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true));
-            ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
-        }
-
-        /// <summary>
-        /// 松下伺服电机运动
-        /// </summary> 
-        private void ACAxisMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
-        {
-            MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
-            moveAxis.TargetPosition = targetPosition;
-            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
-        }
-
-        /// <summary>
-        /// 判断AC伺服电机轴是否运动完成
-        /// </summary> 
-        private bool ACAxisMoveIsEnd(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed, out string msg)
-        {
-            msg = "";
-            string deviceName = moveAxis.DeviceName;
-            short axisNo = moveAxis.GetAxisValue();
-
-            bool isOk = ACServerManager.GetBusyStatus(deviceName, axisNo).Equals(0);
-            int outCount = ACServerManager.GetActualtPosition(deviceName, axisNo);
-            int errorCount = Math.Abs(outCount - targetPosition);
-            if (isOk)
-            {
-                if (errorCount <= moveAxis.CanErrorCountMax)
-                {
-                    return true;
-                }
-                //判断是否需要重新运动
-                if (MoveInfo.CanWhileCount > 0)
-                {
-                    LogUtil.error(moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
-                     "]，误差过大，重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
-                    ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
-                    MoveInfo.CanWhileCount--;
-                }
-                else
-                {
-                    msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount
-                        + "]，误差过大，需要报警";
-                    LogUtil.error(msg);
-                }
-            }
-            return false;
-        }
-        private bool ACHomeMoveIsEnd(ConfigMoveAxis moveAxis, out string msg)
-        {
-            msg = "";
-            if (ACServerManager.IsHomeMoveEnd(moveAxis.DeviceName, moveAxis.GetAxisValue()))
-            {
-                //原点完成并且位置=0
-                int outCount = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
-                int errorCount = Math.Abs(outCount);
-                if (errorCount <= moveAxis.CanErrorCountMax)
-                {
-                    return true;
-                }
-                //判断是否需要重新运动
-                if (MoveInfo.CanWhileCount > 0)
-                {
-                    LogUtil.error(moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
-                    //LogUtil.error( StoreName +  moveAxis.DisplayStr +  "重新回原点");
-                    ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
-                    MoveInfo.CanWhileCount--;
-                }
-                else
-                {
-                    msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
-                    LogUtil.error(msg);
-                }
-            }
-            return false;
-        }
+        //private string portName;
+        //private short slvAddr;
+        //public bool RunAxis(bool isCheck)
+        //{
+        //    if (!UseAxis)
+        //    {
+        //        return true;
+        //    }
+        //    IOMove(IO_Type.UpDownAxis_ServoOn, IO_VALUE.HIGH);
+        //    Thread.Sleep(1000);
+        //    //打开所有轴 
+        //    ACServerManager.OpenPort(portName);
+        //    Thread.Sleep(50);
+        //    //初始化
+        //    if (!IsIntSlvBlock)
+        //    {
+        //        ACServerManager.InitSlvAddr(portName, slvAddr, Config.UpDown_Axis.TargetSpeed, Config.UpDown_Axis.AddSpeed, Config.UpDown_Axis.DelSpeed);
+        //        Thread.Sleep(100);
+        //    }
+        //    ACServerManager.AlarmClear(portName, slvAddr);
+        //    Thread.Sleep(50);
+        //    ACServerManager.ServoOn(portName, slvAddr);
+
+        //    Thread.Sleep(1000);
+        //    //打开所有轴
+        //    if (isCheck)
+        //    {
+        //        if (!OpenAxis())
+        //        {
+        //            return false;
+        //        }
+        //    }
+        //    IsIntSlvBlock = true;
+        //    IOMove(IO_Type.UpDownAxis_BreakOn, IO_VALUE.HIGH);
+        //    return true;
+        //}
+        ///// <summary>
+        ///// 打开所有轴
+        ///// </summary>
+        ///// <returns></returns>
+        //private bool OpenAxis()
+        //{
+        //    //判断轴是否正常
+
+        //    if (ACServerManager.ServerOnStatus(portName, slvAddr))
+        //    {
+        //        LogUtil.info(Name + "成功打开轴：" + Config.UpDown_Axis.Explain);
+        //    }
+        //    else
+        //    {
+        //        //清理报警，再重新打开一次
+        //        LogUtil.info(Name + "第一次打开轴" + Config.UpDown_Axis.Explain + "失败，先清理一下报警，再重新打开一次");
+        //        ACServerManager.AlarmClear(portName, slvAddr);
+        //        System.Threading.Thread.Sleep(1200);
+        //        ACServerManager.ServoOn(portName, slvAddr);
+        //        System.Threading.Thread.Sleep(100);
+        //        if (ACServerManager.ServerOnStatus(portName, slvAddr))
+        //        {
+        //            LogUtil.info(Name + "清理报警后重新打卡轴成功：" + Config.UpDown_Axis.Explain);
+        //        }
+        //        else
+        //        {
+        //            ACServerManager.ServoOff(portName, slvAddr);
+        //            WarnMsg = Name + "打开轴" + Config.UpDown_Axis.Explain + "失败 ";
+        //            LogUtil.info(Name + WarnMsg);
+        //            Alarm(LineAlarmType.AxisAlarm, 5.ToString(), WarnMsg, MoveInfo.MoveType);
+        //            return false;
+        //        }
+        //    }
+
+        //    return true;
+        //}
+
+
+        //public void CloseAxis()
+        //{
+        //    LogUtil.info(Name + "关闭刹车，关闭伺服");
+        //    IOMove(IO_Type.UpDownAxis_BreakOn, IO_VALUE.LOW);
+
+        //    ACServerManager.ServoOff(portName, slvAddr);
+        //    //关闭串口，等下次重新打开
+        //    // ACServerManager.ColsePort(portName);
+
+        //    Thread.Sleep(100);
+        //    IOMove(IO_Type.UpDownAxis_ServoOn, IO_VALUE.LOW);
+        //}
+
+
+        //private void ACAxisHomeMove(ConfigMoveAxis moveAxis)
+        //{
+        //    moveAxis.TargetPosition = 0;
+        //    LogUtil.info(moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回");
+        //    MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true));
+        //    ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
+        //}
+
+        ///// <summary>
+        ///// 松下伺服电机运动
+        ///// </summary> 
+        //private void ACAxisMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
+        //{
+        //    MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
+        //    moveAxis.TargetPosition = targetPosition;
+        //    ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
+        //}
+
+        ///// <summary>
+        ///// 判断AC伺服电机轴是否运动完成
+        ///// </summary> 
+        //private bool ACAxisMoveIsEnd(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed, out string msg)
+        //{
+        //    msg = "";
+        //    string deviceName = moveAxis.DeviceName;
+        //    short axisNo = moveAxis.GetAxisValue();
+
+        //    bool isOk = ACServerManager.GetBusyStatus(deviceName, axisNo).Equals(0);
+        //    int outCount = ACServerManager.GetActualtPosition(deviceName, axisNo);
+        //    int errorCount = Math.Abs(outCount - targetPosition);
+        //    if (isOk)
+        //    {
+        //        if (errorCount <= moveAxis.CanErrorCountMax)
+        //        {
+        //            return true;
+        //        }
+        //        //判断是否需要重新运动
+        //        if (MoveInfo.CanWhileCount > 0)
+        //        {
+        //            LogUtil.error(moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
+        //             "]，误差过大，重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
+        //            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
+        //            MoveInfo.CanWhileCount--;
+        //        }
+        //        else
+        //        {
+        //            msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount
+        //                + "]，误差过大，需要报警";
+        //            LogUtil.error(msg);
+        //        }
+        //    }
+        //    return false;
+        //}
+        //private bool ACHomeMoveIsEnd(ConfigMoveAxis moveAxis, out string msg)
+        //{
+        //    msg = "";
+        //    if (ACServerManager.IsHomeMoveEnd(moveAxis.DeviceName, moveAxis.GetAxisValue()))
+        //    {
+        //        //原点完成并且位置=0
+        //        int outCount = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
+        //        int errorCount = Math.Abs(outCount);
+        //        if (errorCount <= moveAxis.CanErrorCountMax)
+        //        {
+        //            return true;
+        //        }
+        //        //判断是否需要重新运动
+        //        if (MoveInfo.CanWhileCount > 0)
+        //        {
+        //            LogUtil.error(moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
+        //            //LogUtil.error( StoreName +  moveAxis.DisplayStr +  "重新回原点");
+        //            ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
+        //            MoveInfo.CanWhileCount--;
+        //        }
+        //        else
+        //        {
+        //            msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
+        //            LogUtil.error(msg);
+        //        }
+        //    }
+        //    return false;
+        //}
         /// <summary>
         /// 上下气缸移动到上升端
         /// </summary>
         private void UpdownUpMove()
         {
-            if (UpdownUseAxis)
+            if (UseAxis)
             {
                 ACAxisMove(Config.UpDown_Axis, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
             }
@@ -781,7 +781,7 @@ namespace OnlineStore.DeviceLibrary
 
         private void UpdownDownMove(int trayHeight)
         {
-            if (UpdownUseAxis)
+            if (UseAxis)
             {
                 int position = Config.GetUpdownPosition(trayHeight);
                 ACAxisMove(Config.UpDown_Axis, position, Config.UpdownAxis_DownSpeed);
@@ -793,7 +793,7 @@ namespace OnlineStore.DeviceLibrary
         }
         private void UpdownDownBoxMove(int trayHeight)
         {
-            if (UpdownUseAxis)
+            if (UseAxis)
             {
                 int position = Config.GetUpdownBoxPosition(trayHeight);
                 ACAxisMove(Config.UpDown_Axis, position, Config.UpdownAxis_DownSpeed);
@@ -805,7 +805,7 @@ namespace OnlineStore.DeviceLibrary
         }
         private void UpdownHomeMove()
         {
-            if (UpdownUseAxis)
+            if (UseAxis)
             {
                 MoveInfo.NextMoveStep(LineMoveStep.MH_UpDownHomeMove);
                 ACAxisHomeMove(Config.UpDown_Axis);

source/DeviceLibrary/assemblyLine/MoveEquip_Partial.cs

@@ -11,158 +11,10 @@ namespace OnlineStore.DeviceLibrary
 {
     partial class MoveEquip
     {
-        /// <summary>
-        /// 上一个盘号
-        /// </summary>
-        internal int preTrayNum = 0;
-        /// <summary>
-        /// 当前正在通过的托盘号
-        /// </summary>
-        private int currMoveTrayNum = 0;
-        private DateTime preRWTime = DateTime.Now;
-        private void CheckWait(LineMoveInfo moveInfo)
-        {
-            List<WaitResultInfo> list = moveInfo.WaitList;
-            if (list.Count <= 0)
-            {
-                moveInfo.EndStepWait();
-                return;
-            }
-
-            //当等待超过一分钟时，需要打印提示 
-            TimeSpan span = DateTime.Now - moveInfo.LastSetpTime;
-            string NotOkMsg = "";
-            bool isOk = true;
-            if (moveInfo.OneWaitCanEndStep)
-            {
-                isOk = false;
-            }
-            foreach (WaitResultInfo wait in list)
-            {
-                if (wait.IsEnd)
-                {
-                    continue;
-                }
-                NotOkMsg = wait.ToStr();
-                if (wait.WaitType.Equals(1))
-                {
-                    string msg = "";
-                    if (wait.IsHomeMove)
-                    {
-                        wait.IsEnd = ACHomeMoveIsEnd(wait.AxisInfo, out msg);
-                    }
-                    else
-                    {
-                        wait.IsEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
-                    }
-                    if (!msg.Equals(""))
-                    {
-                        isOk = false;
-                        WarnMsg = msg;
-                        Alarm(LineAlarmType.AxisMoveError, 5.ToString(), WarnMsg, moveInfo.MoveType);
-                        break;
-                    }
-                }
-                else if (wait.WaitType.Equals(2))
-                {
-                    NotOkMsg = " (" + Config.GetDisplayName(wait.IoType) + "=" + wait.IoValue + ") ";
-                    wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
-
-                    if (!wait.IsEnd)
-                    {
-                        //屏蔽料盘检测信号
-                        if (wait.IoType.Equals(IO_Type.TrayCheck) && wait.IoValue.Equals(IO_VALUE.HIGH) && LineManager.Config.IsUse_Tray_Check.Equals(0))
-                        {
-                            LogUtil.debug(moveInfo.Name + "未检测到：IsUse_Tray_Check= " + wait.IoValue + "，直接跳过检测继续下一步");
-                        }
-                        //夹紧按钮若果超过一秒钟还未收到，默认成功
-                        else if (wait.IoType.Equals(IO_Type.ClampCylinder_Slack) && wait.IoValue.Equals(IO_VALUE.HIGH) && span.TotalMilliseconds > 4000)
-                        {
-                            LogInfo("未检测到：ClampCylinder_Slack=HIGH，超过4秒钟，默认下一步骤");
-                            wait.IsEnd = true;
-                        }
-                        else
-                        {
-                            TimeSpan rwSpan = DateTime.Now - preRWTime;
-                            //一分钟还未检测到
-                            if (span.TotalMilliseconds > LineManager.Config.IOSingle_TimerOut)
-                            {
-                                ConfigIO io = Config.getWaitIO(wait.IoType);
-                                WarnMsg = Name + "等待" + NotOkMsg + " 超时";
-                                Alarm(LineAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, MoveInfo.MoveType);
-                                LogUtil.error(MoveInfo.Name + WarnMsg, 13);
-                            }
-                            else if (rwSpan.TotalSeconds > 3 && span.TotalSeconds > 3)
-                            {
-                                preRWTime = DateTime.Now;
-                                string msg = moveInfo.Name + "  " + NotOkMsg + "已等待 " + Math.Abs(span.TotalSeconds) + "秒，重写DO：";
-                                bool isLog = false;
-                                foreach (WaitResultInfo ww in list)
-                                {
-                                    if (ww != null && ww.WaitType.Equals(2) && Config.DOList.ContainsKey(ww.IoType))
-                                    {
-                                        isLog = true;
-                                        IOMove(ww.IoType, ww.IoValue);
-                                        msg += ww.ToStr() + "，";
-                                    }
-                                }
-                                if (isLog)
-                                {
-                                    LogUtil.error(msg);
-                                }
-                            }
-                            isOk = false;
-                            break;
-                        }
-                    }
-                }
-                else if (wait.WaitType.Equals(3))
-                {
-                    wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
-                }
-                else if (wait.WaitType.Equals(8))
-                {
-                    string posId = moveInfo.MoveParam.PosId;
-                    int id = moveInfo.MoveParam.GetStoreId();
-                    wait.IsEnd = LineServer.RightInPosId(id, posId);
-                }
-                else if (wait.WaitType.Equals(9))
-                {
-                    int storeId = moveInfo.MoveParam.GetStoreId();
-                    wait.IsEnd = LineServer.BoxCanReviceTray(storeId);
-                }
-                else if (wait.WaitType.Equals(10))
-                {
-                    wait.IsEnd = LineManager.Line.SideWay34HasTray().Equals(false);
-                }
-                if (wait.IsEnd && moveInfo.OneWaitCanEndStep)
-                {
-                    isOk = true;
-                    break;
-                }
-                else if (!moveInfo.OneWaitCanEndStep)
-                {
-                    isOk = false;
-                    break;
-                }
-            }
-            if (isOk)
-            {
-                moveInfo.EndStepWait();
-            }
-            else if (span.TotalSeconds > moveInfo.TimeOutSeconds)
-            {
-                WarnMsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]等待[" + NotOkMsg
-                    + "]超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
-                LogUtil.error(WarnMsg, 18);
-                Alarm(LineAlarmType.IoSingleTimeOut, "", WarnMsg, moveInfo.MoveType);
-            }
 
-        }
         #region 出库 
         public override bool StartOutStoreMove(InOutParam param)
-        {
-
+        { 
             string posId = param != null ? param.PosId : "";
             //调试模式移栽装置不需要有操作
             if (IsDebug)
@@ -807,14 +659,7 @@ namespace OnlineStore.DeviceLibrary
         }
 
         #endregion
-        public override void Alarm(LineAlarmType alarmType, string alarmDetial, string alarmMsg, LineMoveType storeMoveType)
-        {
-            if (this.alarmType.Equals(alarmType))
-            {
-                return;
-            }
-            this.alarmType = alarmType;
-        }
+    
         private void CheckLog(string msg)
         {
             LogUtil.debug(Name + msg);
@@ -831,25 +676,7 @@ namespace OnlineStore.DeviceLibrary
         }
 
 
-        public void CylinderMove(LineMoveInfo moveInfo, string IoLowType, string IoHighType)
-        {
-            IOMove(IoLowType, IO_VALUE.LOW);
-            IOMove(IoHighType, IO_VALUE.HIGH);
-            if (moveInfo != null)
-            {
-                moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW));
-                moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH));
-            }
-        }
-        public void IOMove(string IoType, IO_VALUE value)
-        {
-            IOManager.IOMove(IoType, value, Config.Id);
-        }
-        public IO_VALUE IOValue(string IoType)
-        {
-            return IOManager.IOValue(IoType, Config.Id);
-        }
-
+       
         public void LogInfo(string logInfo)
         {
             LogUtil.info(Name + logInfo);

source/DeviceLibrary/assemblyLine/ProvidingEquip.cs

@@ -13,30 +13,27 @@ namespace OnlineStore.DeviceLibrary
     /// <summary>
     /// 流水线自动料仓-出料装置类
     /// </summary>
-    public partial class ProvidingEquip : KTK_Store
+    public partial class ProvidingEquip : EquipBase
     {
-        private bool IsIntSlvBlock = false;
-        public bool IsDebug = false;
-        public bool UpdownUseAxis = false;
-        public AxisAlarmInfo AxisAlarm = new AxisAlarmInfo();
+
         public ProvidingEquip_Config Config;
-        
+
         /// <summary>
         ///出料装置后面分为两条移动线
         /// </summary>
         public LineMoveInfo SecondMoveInfo = null;
 
-       // public List<InOutParam> waitOutStoreList = new List<InOutParam>();
+        // public List<InOutParam> waitOutStoreList = new List<InOutParam>();
         public List<InOutParam> waitInStoreList = new List<InOutParam>();
         public object waitInListLock = "";
-       // public object waitOutListLock = ""; 
+        // public object waitOutListLock = ""; 
 
         public ProvidingEquip(string cid, ProvidingEquip_Config config)
         {
             baseConfig = config;
             this.DeviceID = config.Id;
             this.Config = config;
-            Name = (" " +  "_出料_" + DeviceID % 10 + " ").ToUpper();
+            Name = (" " + "_出料_" + DeviceID % 10 + " ").ToUpper();
             //Name = (" " + cid + "_出料_" + DeviceID + " ").ToUpper();
             Init();
             //添加调试
@@ -45,42 +42,42 @@ namespace OnlineStore.DeviceLibrary
                 IsDebug = true;
             }
             //this.Box = box;
-          
-            MoveInfo = new LineMoveInfo(DeviceID,"出料-"+DeviceID+"-MoveInfo");
+
+            MoveInfo = new LineMoveInfo(DeviceID, "出料-" + DeviceID + "-MoveInfo");
             SecondMoveInfo = new LineMoveInfo(DeviceID, "出料-" + DeviceID + "-SecondMoveInfo");
             IsDebug = config.IsDebug.Equals(1);
-            UpdownUseAxis = config.UpDownUseAxis.Equals(1);
-            if (UpdownUseAxis)
-            {
-                Config.UpDown_Axis.TargetSpeed = Config.UpdownAxis_TargetSpeed;
-                Config.UpDown_Axis.AddSpeed = Config.UpdownAxis_AddSpeed;
-                Config.UpDown_Axis.DelSpeed = Config.UpdownAxis_DelSpeed;
-                Config.UpDown_Axis.HomeAddSpeed = Config.UpdownAxis_HomeAddSpeed;
-                Config.UpDown_Axis.HomeHighSpeed = Config.UpdownAxis_HomeHighSpeed;
-                Config.UpDown_Axis.HomeLowSpeed = Config.UpdownAxis_HomeLowSpeed;
+            //UpdownUseAxis = config.UpDownUseAxis.Equals(1);
+            //if (UpdownUseAxis)
+            //{
+            //    Config.UpDown_Axis.TargetSpeed = Config.UpdownAxis_TargetSpeed;
+            //    Config.UpDown_Axis.AddSpeed = Config.UpdownAxis_AddSpeed;
+            //    Config.UpDown_Axis.DelSpeed = Config.UpdownAxis_DelSpeed;
+            //    Config.UpDown_Axis.HomeAddSpeed = Config.UpdownAxis_HomeAddSpeed;
+            //    Config.UpDown_Axis.HomeHighSpeed = Config.UpdownAxis_HomeHighSpeed;
+            //    Config.UpDown_Axis.HomeLowSpeed = Config.UpdownAxis_HomeLowSpeed;
 
-                portName = Config.UpDown_Axis.DeviceName;
-                slvAddr = config.UpDown_Axis.GetAxisValue();
-            }
+            //    portName = Config.UpDown_Axis.DeviceName;
+            //    slvAddr = config.UpDown_Axis.GetAxisValue();
+            //}
         }
 
         /// <summary>
         /// 开始运行
         /// </summary>
-        public override bool StartRun( )
+        public override bool StartRun()
         {
             //preTrayNum = 0;
-           // currMoveTrayNum = 0;
+            // currMoveTrayNum = 0;
             mainTimer.Enabled = false;
             MoveInfo.EndMove();
             SecondMoveInfo.EndMove();
-            lineStatus = LineStatus.StoreOnline; 
+            lineStatus = LineStatus.StoreOnline;
             //TODO 调试时暂时注释
             runStatus = LineRunStatus.HomeMoving;
-            return MoveEquipMentHome(); 
+            return ReturnHome();
         }
-       
-        public   bool StartDebugRun()
+
+        public bool StartDebugRun()
         {
             //preTrayNum = 0;
             //currMoveTrayNum = 0;
@@ -90,7 +87,7 @@ namespace OnlineStore.DeviceLibrary
             lineStatus = LineStatus.StoreOnline;
             //TODO 调试时暂时注释
             runStatus = LineRunStatus.HomeMoving;
-            bool result= MoveEquipMentHome();
+            bool result = ReturnHome();
             if (result)
             {
                 mainTimer.Enabled = true;
@@ -102,8 +99,8 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         public override void StopRun()
         {
-          //  preTrayNum = 0;
-         //   currMoveTrayNum = 0;
+            //  preTrayNum = 0;
+            //   currMoveTrayNum = 0;
             if (mainTimer != null)
             {
                 mainTimer.Enabled = false;
@@ -168,13 +165,13 @@ namespace OnlineStore.DeviceLibrary
                 StopMoveProcess();
             }
 
-            if (SecondMoveInfo.MoveType .Equals( LineMoveType.CheckFixture))
+            if (SecondMoveInfo.MoveType.Equals(LineMoveType.CheckFixture))
             {
-           //     CheckFixtureProcess();
+                //     CheckFixtureProcess();
             }
         }
 
-      
+
         protected override void mainTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
         {
             TimerProcess();
@@ -200,10 +197,10 @@ namespace OnlineStore.DeviceLibrary
                 if (SecondMoveInfo.MoveType.Equals(LineMoveType.None))
                 {
                     LineBean lineBean = LineManager.Line;
-                    if (lineBean.isCanProcessLine() && IOManager.IOValue(IO_Type.DriveMotor_Run,0).Equals(IO_VALUE.HIGH) && lineBean.runStatus >= LineRunStatus.Runing && lineBean.IsSleep.Equals(false))
+                    if (lineBean.isCanProcessLine() && IOManager.IOValue(IO_Type.DriveMotor_Run, 0).Equals(IO_VALUE.HIGH) && lineBean.runStatus >= LineRunStatus.Runing && lineBean.IsSleep.Equals(false))
                     {
-                       // LogUtil.info("StartCheckFixture");
-                 //       StartCheckFixture();
+                        // LogUtil.info("StartCheckFixture");
+                        //       StartCheckFixture();
                     }
                 }
                 IOTimeOutProcess();
@@ -222,17 +219,17 @@ namespace OnlineStore.DeviceLibrary
             try
             {
                 TimeSpan span = DateTime.Now - preIoTimerOutTime;
-                if (span.TotalSeconds > 1&& alarmType.Equals(LineAlarmType.IoSingleTimeOut))
+                if (span.TotalSeconds > 1 && alarmType.Equals(LineAlarmType.IoSingleTimeOut))
                 {
                     preIoTimerOutTime = DateTime.Now;
-                    
-                    if (runStatus < LineRunStatus.Runing|| isInSuddenDown || isNoAirCheck)
+
+                    if (runStatus < LineRunStatus.Runing || isInSuddenDown || isNoAirCheck)
                     {
                         return;
-                    } 
+                    }
 
                     //若BOX和出料都没有在等待Io的过程中则此Io超时异常可能已经处理过
-                    if (MoveInfo.IsInWait .Equals(false)&&SecondMoveInfo.IsInWait.Equals(false))
+                    if (MoveInfo.IsInWait.Equals(false) && SecondMoveInfo.IsInWait.Equals(false))
                     {
                         LogUtil.info(Name + "清理信号超时报警【" + WarnMsg + "】 ");
                         alarmType = LineAlarmType.None;
@@ -242,28 +239,28 @@ namespace OnlineStore.DeviceLibrary
             }
             catch (Exception ex)
             {
-                LogUtil.error( "IOTimeOutProcess出错：" + ex.ToString());
+                LogUtil.error("IOTimeOutProcess出错：" + ex.ToString());
             }
         }
 
         /// <summary>
         /// 出料装置原点返回
         /// </summary>
-        public bool  MoveEquipMentHome()
+        public bool ReturnHome()
         {
             mainTimer.Stop();
-            if (!RunAxis(true))
-            {
-                return false;
-            }
+            //if (!RunAxis(true))
+            //{
+            //    return false;
+            //}
 
             alarmType = LineAlarmType.None;
             runStatus = LineRunStatus.HomeMoving;
-            LogInfo( "开始原点返回：  (上下气缸回原点，阻挡气缸输入=0  )开始");
+            LogInfo("开始原点返回：  (上下气缸回原点，阻挡气缸输入=0  )开始");
             MoveInfo.NewMove(LineMoveType.ReturnHome);
             //移载装置原点状态：顶升气缸下降端，前后气缸后退端，上下气缸上升端，夹料气缸放松端，阻挡气缸输入=0     
-            UpdownHomeMove();
-          //  CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
+            //UpdownHomeMove();
+            //  CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
             if (IsDebug)
             {
                 IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
@@ -272,17 +269,17 @@ namespace OnlineStore.DeviceLibrary
             else
             {
                 IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
-                IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW); 
+                IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
             }
             return true;
         }
         /// <summary>
         /// 出料装置重置
         /// </summary>
-        public override bool  Reset()
+        public override bool Reset()
         {
             WarnMsg = "";
-          
+
             //如果正在出库中，需要减去托盘号
             if (MoveInfo.MoveType.Equals(LineMoveType.OutStore))
             {
@@ -290,22 +287,22 @@ namespace OnlineStore.DeviceLibrary
                 //减去需要的盘数
                 TrayManager.DelNeedEmptyTrayNum();
                 MoveInfo.EndMove();
-            } 
-            if (!RunAxis(true))
-            {
-                return false;
             }
+            // if (!RunAxis(true))
+            //{
+            //   return false;
+            //  }
             alarmType = LineAlarmType.None;
             //重置时清理盘号，从头开始判断
-        //    preTrayNum = 0;
-         //   currMoveTrayNum = 0;
-            LogInfo( "开始重置：清零上一个托盘号，（上下气缸回原点，阻挡气缸输入=0  ）开始；");
+            //    preTrayNum = 0;
+            //   currMoveTrayNum = 0;
+            LogInfo("开始重置：清零上一个托盘号，（上下气缸回原点，阻挡气缸输入=0  ）开始；");
             runStatus = LineRunStatus.Reset;
             SecondMoveInfo.EndMove();
             MoveInfo.NewMove(LineMoveType.Reset);
 
-            UpdownHomeMove();
-           // CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
+            //  UpdownHomeMove();
+            // CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
             if (IsDebug)
             {
                 IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
@@ -345,12 +342,12 @@ namespace OnlineStore.DeviceLibrary
                     case LineMoveStep.MH_UpDownHomeMove:
                         MoveInfo.NextMoveStep(LineMoveStep.MH_UpDownCylinder_Up);
                         LogInfo("重置：  (上下轴原点返回完成，上下轴走到待机点  )开始");
-                        UpdownUpMove();
+                        //  UpdownUpMove();
                         break;
                     case LineMoveStep.MH_UpDownCylinder_Up:
 
                         MoveInfo.NextMoveStep(LineMoveStep.MH_OtherCylinder_Back);
-                        LogInfo( "重置：  (上升到位，顶升气缸下降，前后气缸回退  )开始");
+                        LogInfo("重置：  (上升到位，顶升气缸下降，前后气缸回退  )开始");
                         CylinderMove(MoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
                         CylinderMove(MoveInfo, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
                         CylinderMove(MoveInfo, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);
@@ -358,7 +355,7 @@ namespace OnlineStore.DeviceLibrary
 
                     case LineMoveStep.MH_OtherCylinder_Back:
 
-                        LogInfo( "重置完成！");
+                        LogInfo("重置完成！");
                         runStatus = LineRunStatus.Runing;
                         MoveInfo.EndMove();
                         SecondMoveInfo.EndMove();
@@ -373,7 +370,7 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 原点返回处理
         /// </summary>
-        protected   void ReturnHomeProcess()
+        protected void ReturnHomeProcess()
         {
             if (MoveInfo.IsInWait)
             {
@@ -390,7 +387,7 @@ namespace OnlineStore.DeviceLibrary
                     case LineMoveStep.MH_UpDownHomeMove:
                         MoveInfo.NextMoveStep(LineMoveStep.MH_UpDownCylinder_Up);
                         LogInfo("原点返回：  (上下轴原点返回完成，上下轴走到待机点  )开始");
-                        UpdownUpMove();
+                        // UpdownUpMove();
                         break;
                     case LineMoveStep.MH_UpDownCylinder_Up:
 
@@ -405,7 +402,7 @@ namespace OnlineStore.DeviceLibrary
 
                         MoveInfo.EndMove();
                         SecondMoveInfo.EndMove();
-                        LogInfo( "原点返回完成！");
+                        LogInfo("原点返回完成！");
                         runStatus = LineRunStatus.Runing;
                         //如果是调试模式，出料装置两个阻挡气缸落下，并且不再移动
                         if (IsDebug)
@@ -436,12 +433,12 @@ namespace OnlineStore.DeviceLibrary
             if (!MoveInfo.IsInWait && !SecondMoveInfo.IsInWait)
             {
                 switch (MoveInfo.MoveStep)
-                { 
+                {
                     //流水线各装置复原位，夹料气缸状态不变                //阻挡气缸全部=0                //上下气缸上升，、                //上升到位，顶升气缸下降，前后气缸回退
                     case LineMoveStep.MH_UpDownCylinder_Up:
                         {
                             MoveInfo.NextMoveStep(LineMoveStep.MH_OtherCylinder_Back);
-                            LogInfo( "停止运动：  (上升到位，顶升气缸下降，前后气缸回退  )开始");
+                            LogInfo("停止运动：  (上升到位，顶升气缸下降，前后气缸回退  )开始");
                             IOMove(IO_Type.UpDownCylinder_Up, IO_VALUE.LOW);
 
                             CylinderMove(MoveInfo, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
@@ -451,13 +448,13 @@ namespace OnlineStore.DeviceLibrary
                     case LineMoveStep.MH_OtherCylinder_Back:
                         {
                             LogInfo("停止运行完成，停止伺服！");
-                          
-                            CloseAxis();
-                            if (UpdownUseAxis)
-                            {
-                                LogInfo("停止运动：停止伺服");
-                                ACServerManager.SuddenStop(Config.UpDown_Axis);
-                            }
+
+                            // CloseAxis();
+                            //if (UpdownUseAxis)
+                            //{
+                            //    LogInfo("停止运动：停止伺服");
+                            //    ACServerManager.SuddenStop(Config.UpDown_Axis);
+                            //}
                             runStatus = LineRunStatus.Runing;
                             MoveInfo.EndMove();
                             break;
@@ -474,22 +471,22 @@ namespace OnlineStore.DeviceLibrary
             //如果正在出库中，需要减去托盘号
             if (MoveInfo.MoveType.Equals(LineMoveType.OutStore))
             {
-                LogInfo( "停止运动时出库执行中，减去托盘数；");
+                LogInfo("停止运动时出库执行中，减去托盘数；");
                 //减去需要的盘数
                 TrayManager.DelNeedEmptyTrayNum();
                 MoveInfo.EndMove();
             }
             runStatus = LineRunStatus.Busy;
-            SecondMoveInfo.EndMove(); 
-         
-            LogInfo( "停止运动：（上下气缸上升端，阻挡气缸输入=0  ）开始 ");
-       
+            SecondMoveInfo.EndMove();
+
+            LogInfo("停止运动：（上下气缸上升端，阻挡气缸输入=0  ）开始 ");
+
             MoveInfo.NewMove(LineMoveType.StopMove);
             MoveInfo.NextMoveStep(LineMoveStep.MH_UpDownCylinder_Up);
-            UpdownUpMove();
+            // UpdownUpMove();
             IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
             IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
-           
+
         }
 
         public void ChangeDebug()
@@ -520,11 +517,11 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         internal void OpenStopCylinder()
         {
-            LogInfo( "下降阻挡气缸，上下气缸上升，顶升气缸下降");
+            LogInfo("下降阻挡气缸，上下气缸上升，顶升气缸下降");
             IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
             IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
             //上下气缸上升
-            if (UpdownUseAxis.Equals(false))
+            // if (UpdownUseAxis.Equals(false))
             {
                 IOMove(IO_Type.UpDownCylinder_Down, IO_VALUE.LOW);
                 IOMove(IO_Type.UpDownCylinder_Up, IO_VALUE.HIGH);
@@ -535,7 +532,7 @@ namespace OnlineStore.DeviceLibrary
         }
         internal void CloseCylinderStop()
         {
-            LogInfo( "上升阻挡气缸，关闭上下气缸，顶升气缸IO");
+            LogInfo("上升阻挡气缸，关闭上下气缸，顶升气缸IO");
             IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
             IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
             //上下气缸上升
@@ -545,229 +542,7 @@ namespace OnlineStore.DeviceLibrary
             IOMove(IO_Type.TopCylinder_UP, IO_VALUE.LOW);
             IOMove(IO_Type.TopCylinder_Down, IO_VALUE.LOW);
         }
-         
-        #region 上下气缸伺服运动
-        private string portName;
-        private short slvAddr;
-        public bool RunAxis(bool isCheck)
-        {
-            if (!UpdownUseAxis)
-            {
-                return true;
-            }
-            IOMove(IO_Type.UpDownAxis_ServoOn, IO_VALUE.HIGH);
-            Thread.Sleep(1000);
-            //打开所有轴 
-            ACServerManager.OpenPort(portName);
-            Thread.Sleep(50);
-            //初始化
-            if (!IsIntSlvBlock)
-            {
-                ACServerManager.InitSlvAddr(portName, slvAddr, Config.UpDown_Axis.TargetSpeed, Config.UpDown_Axis.AddSpeed, Config.UpDown_Axis.DelSpeed);
-                Thread.Sleep(100);
-            }
-            ACServerManager.AlarmClear(portName, slvAddr);
-            Thread.Sleep(50);
-            ACServerManager.ServoOn(portName, slvAddr);
 
-            Thread.Sleep(1000);
-            //打开所有轴
-            if (isCheck)
-            {
-                if (!OpenAxis())
-                {
-                    return false;
-                }
-            }
-            IsIntSlvBlock = true;
-            IOMove(IO_Type.UpDownAxis_BreakOn, IO_VALUE.HIGH);
-            return true;
-        }
-        /// <summary>
-        /// 打开所有轴
-        /// </summary>
-        /// <returns></returns>
-        private bool OpenAxis()
-        {
-            //判断轴是否正常
-        
-                if (ACServerManager.ServerOnStatus(portName, slvAddr))
-                {
-                    LogUtil.info( Name + "成功打开轴：" + Config.UpDown_Axis.Explain);
-                }
-                else
-                {
-                    //清理报警，再重新打开一次
-                    LogUtil.info( Name + "第一次打开轴" + Config.UpDown_Axis.Explain + "失败，先清理一下报警，再重新打开一次");
-                    ACServerManager.AlarmClear(portName, slvAddr);
-                    System.Threading.Thread.Sleep(1200);
-                    ACServerManager.ServoOn(portName, slvAddr);
-                    System.Threading.Thread.Sleep(100);
-                    if (ACServerManager.ServerOnStatus(portName, slvAddr))
-                    {
-                        LogUtil.info( Name + "清理报警后重新打卡轴成功：" + Config.UpDown_Axis.Explain);
-                    }
-                    else
-                    {
-                        ACServerManager.ServoOff(portName, slvAddr); 
-                        WarnMsg = Name + "打开轴" + Config.UpDown_Axis.Explain + "失败 ";
-                        LogUtil.info( Name + WarnMsg);
-                        Alarm(LineAlarmType.AxisAlarm, 5.ToString(), WarnMsg, MoveInfo.MoveType);
-                        return false;
-                    }
-                }
-             
-            return true;
-        }
-
-
-        public  void CloseAxis()
-        {
-            LogUtil.info(Name + "关闭刹车，关闭伺服");
-            IOMove(IO_Type.UpDownAxis_BreakOn, IO_VALUE.LOW);
-
-            ACServerManager.ServoOff(portName, slvAddr);
-            //关闭串口，等下次重新打开
-          ACServerManager.ColsePort(portName);
-
-            Thread.Sleep(100);
-            IOMove(IO_Type.UpDownAxis_ServoOn, IO_VALUE.LOW);
-        }
-
-     
-        private void ACAxisHomeMove(ConfigMoveAxis moveAxis)
-        {
-            moveAxis.TargetPosition = 0;
-            LogUtil.info( moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回");
-            MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true)); 
-            ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
-        }
-
-        /// <summary>
-        /// 松下伺服电机运动
-        /// </summary> 
-        private void ACAxisMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
-        {
-            MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
-            moveAxis.TargetPosition = targetPosition; 
-            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
-        }
-
-        /// <summary>
-        /// 判断AC伺服电机轴是否运动完成
-        /// </summary> 
-        private bool ACAxisMoveIsEnd(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed, out string msg)
-        {
-            msg = "";
-            string deviceName = moveAxis.DeviceName;
-            short axisNo = moveAxis.GetAxisValue();
-             
-            bool isOk = ACServerManager.GetBusyStatus(deviceName, axisNo).Equals(0);
-            int outCount = ACServerManager.GetActualtPosition(deviceName, axisNo);
-            int errorCount = Math.Abs(outCount - targetPosition);
-            if (isOk)
-            {
-                if (errorCount <= moveAxis.CanErrorCountMax)
-                {
-                    return true;
-                }
-                //判断是否需要重新运动
-                if (MoveInfo.CanWhileCount > 0)
-                {
-                    LogUtil.error( moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
-                     "]，误差过大，重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
-                    ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
-                    MoveInfo.CanWhileCount--;
-                }
-                else
-                {
-                    msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount
-                        + "]，误差过大，需要报警";
-                    LogUtil.error( msg);
-                }
-            }
-            return false;
-        }
-        private bool ACHomeMoveIsEnd(ConfigMoveAxis moveAxis, out string msg)
-        {
-            msg = "";
-            if (ACServerManager.IsHomeMoveEnd(moveAxis.DeviceName, moveAxis.GetAxisValue()))
-            {
-                //原点完成并且位置=0
-                int outCount = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
-                int errorCount = Math.Abs(outCount);
-                if (errorCount <= moveAxis.CanErrorCountMax)
-                {
-                    return true;
-                }
-                //判断是否需要重新运动
-                if (MoveInfo.CanWhileCount > 0)
-                {
-                    LogUtil.error( moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
-                    //LogUtil.error( StoreName +  moveAxis.DisplayStr +  "重新回原点");
-                    ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
-                    MoveInfo.CanWhileCount--;
-                }
-                else
-                {
-                    msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
-                    LogUtil.error( msg);
-                }
-            }
-            return false;
-        } 
-        /// <summary>
-        /// 上下气缸移动到上升端
-        /// </summary>
-        private void UpdownUpMove()
-        {
-            if (UpdownUseAxis)
-            {
-                ACAxisMove(Config.UpDown_Axis, Config.UpDownAxisP1, Config.UpdownAxis_P1Speed);
-            }
-            else
-            {
-                CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
-            }
-        }
-         
-        private void UpdownDownMove(int trayHeight)
-        {
-            if (UpdownUseAxis)
-            {
-                int position = Config.GetUpdownPosition(trayHeight);
-                ACAxisMove(Config.UpDown_Axis, position, Config.UpdownAxis_DownSpeed);
-            }
-            else
-            {
-                CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
-            }
-        }
-        private void UpdownDownBoxMove(int trayHeight)
-        {
-            if (UpdownUseAxis)
-            {
-                int position = Config.GetUpdownBoxPosition(trayHeight);
-                ACAxisMove(Config.UpDown_Axis, position,Config.UpdownAxis_DownSpeed);
-            }
-            else
-            {
-                CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
-            }
-        }
-        private void UpdownHomeMove()
-        {
-            if (UpdownUseAxis)
-            {
-                MoveInfo.NextMoveStep(LineMoveStep.MH_UpDownHomeMove);
-                ACAxisHomeMove(Config.UpDown_Axis);
-            }
-            else
-            {
-                MoveInfo.NextMoveStep(LineMoveStep.MH_UpDownCylinder_Up);
-                CylinderMove(MoveInfo, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
-            }
-        }
 
         public override void Alarm(LineAlarmType alarmType, string alarmDetial, string alarmMsg, LineMoveType storeMoveType)
         {
@@ -793,125 +568,5 @@ namespace OnlineStore.DeviceLibrary
         {
             throw new NotImplementedException();
         }
-        #endregion
-
-        private DateTime preRWTime = DateTime.Now;
-        private void CheckWait(LineMoveInfo moveInfo)
-        {
-            List<WaitResultInfo> list = moveInfo.WaitList;
-            if (list.Count <= 0)
-            {
-                moveInfo.EndStepWait();
-                return;
-            }
-
-            //当等待超过一分钟时，需要打印提示 
-            TimeSpan span = DateTime.Now - moveInfo.LastSetpTime;
-            string NotOkMsg = "";
-            bool isOk = true;
-            if (moveInfo.OneWaitCanEndStep)
-            {
-                isOk = false;
-            }
-            foreach (WaitResultInfo wait in list)
-            {
-                if (wait.IsEnd)
-                {
-                    continue;
-                }
-                NotOkMsg = wait.ToStr();
-                if (wait.WaitType.Equals(1))
-                {
-                    string msg = "";
-                    if (wait.IsHomeMove)
-                    {
-                        wait.IsEnd = ACHomeMoveIsEnd(wait.AxisInfo, out msg);
-                    }
-                    else
-                    {
-                        wait.IsEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
-                    }
-                    if (!msg.Equals(""))
-                    {
-                        isOk = false;
-                        WarnMsg = msg;
-                        Alarm(LineAlarmType.AxisMoveError, 5.ToString(), WarnMsg, moveInfo.MoveType);
-                        break;
-                    }
-                }
-                else if (wait.WaitType.Equals(2))
-                {
-                    wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
-
-                    if (!wait.IsEnd)
-                    {
-                        //屏蔽料盘检测信号
-                        if (wait.IoType.Equals(IO_Type.TrayCheck) && wait.IoValue.Equals(IO_VALUE.HIGH) && LineManager.Config.IsUse_Tray_Check.Equals(0))
-                        {
-                            LogUtil.debug(moveInfo.Name + "未检测到：IsUse_Tray_Check= " + wait.IoValue + "，直接跳过检测继续下一步");
-                        }
-                        //夹紧按钮若果超过一秒钟还未收到，默认成功
-                        else if (wait.IoType.Equals(IO_Type.ClampCylinder_Slack) && wait.IoValue.Equals(IO_VALUE.HIGH) && span.TotalMilliseconds > 3000)
-                        {
-                            LogInfo("未检测到：ClampCylinder_Slack=HIGH，超过2秒钟，默认下一步骤");
-                            wait.IsEnd = true;
-                        }
-                        else
-                        {
-                            TimeSpan rwSpan = DateTime.Now - preRWTime;
-                            //一分钟还未检测到
-                            if (span.TotalMilliseconds > LineManager.Config.IOSingle_TimerOut)
-                            {
-                                //把IO重置位0
-                                LogUtil.error(moveInfo.Name + " ： " + wait.IoType + "=" + wait.IoValue + "  已等待" + Math.Abs(span.TotalMilliseconds) + "，将DO写0", 17);
-                                ConfigIO io = Config.getWaitIO(wait.IoType);
-
-                                WarnMsg = Name + "等待信号(" + io.DisplayStr + "=" + wait.IoValue + ") 超时";
-                                Alarm(LineAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, MoveInfo.MoveType);
-                                LogUtil.error(MoveInfo.Name + " ： " + wait.IoType + "等待信号(" + io.DisplayStr + "=" + wait.IoValue + ") 超时", 13);
-                                foreach (WaitResultInfo ww in list)
-                                {
-                                    if (ww != null && ww.WaitType.Equals(2))
-                                    {
-                                        if (Config.DOList.ContainsKey(ww.IoType))
-                                        {
-                                            IOMove(wait.IoType, IO_VALUE.LOW);
-                                        }
-                                    }
-                                }
-                            } 
-                            isOk = false;
-                            break;
-                        }
-                    }
-                }
-                else if (wait.WaitType.Equals(3))
-                {
-                    wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
-                }
-                if (wait.IsEnd && moveInfo.OneWaitCanEndStep)
-                {
-                    isOk = true;
-                    break;
-                }
-                else if (!moveInfo.OneWaitCanEndStep)
-                {
-                    isOk = false;
-                    break;
-                }
-            }
-            if (isOk)
-            {
-                moveInfo.EndStepWait();
-            }
-            else if (span.TotalSeconds > moveInfo.TimeOutSeconds)
-            {
-                WarnMsg = moveInfo.Name + "【" + moveInfo.MoveType + "】【" + moveInfo.MoveStep + "】等待[" + NotOkMsg
-                    + "]超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
-                LogUtil.error(WarnMsg, 18);
-                Alarm(LineAlarmType.IoSingleTimeOut, "", WarnMsg, moveInfo.MoveType);
-            }
-
-        }
     }
 }

source/DeviceLibrary/model/EquipBase.cs

+using OnlineStore.Common;
+using OnlineStore.LoadCSVLibrary;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+
+namespace OnlineStore.DeviceLibrary
+{
+    public abstract class EquipBase : KTK_Store
+    {
+        private bool IsIntSlvBlock = false;
+        public bool IsDebug = false;
+
+        public AxisAlarmInfo AxisAlarm = new AxisAlarmInfo();
+        public bool UseAxis = false;
+        #region 上下气缸伺服运动
+        protected string portName;
+        protected short slvAddr;
+        public bool RunAxis(bool isCheck,ConfigMoveAxis axis)
+        {
+            if (!UseAxis)
+            {
+                return true;
+            }
+            IOMove(IO_Type.BatchAxis_ServoOn, IO_VALUE.HIGH);
+            Thread.Sleep(1000);
+            //打开所有轴 
+            ACServerManager.OpenPort(portName);
+            Thread.Sleep(50);
+            //初始化
+            if (!IsIntSlvBlock)
+            {
+                ACServerManager.InitSlvAddr(portName, slvAddr, axis.TargetSpeed, axis.AddSpeed, axis.DelSpeed);
+                Thread.Sleep(100);
+            }
+            ACServerManager.AlarmClear(portName, slvAddr);
+            Thread.Sleep(50);
+            ACServerManager.ServoOn(portName, slvAddr);
+
+            Thread.Sleep(1000);
+            //打开所有轴
+            if (isCheck)
+            {
+                if (!OpenAxis(axis))
+                {
+                    return false;
+                }
+            }
+            IsIntSlvBlock = true;
+            IOMove(IO_Type.BatchAxis_BreakOn, IO_VALUE.HIGH);
+            return true;
+        }
+
+        protected void IOMove(object batchAxis_ServoOn, IO_VALUE hIGH)
+        {
+            throw new NotImplementedException();
+        }
+
+        /// <summary>
+        /// 打开所有轴
+        /// </summary>
+        /// <returns></returns>
+        protected bool OpenAxis(ConfigMoveAxis axis)
+        {
+            //判断轴是否正常
+
+            if (ACServerManager.ServerOnStatus(portName, slvAddr))
+            {
+                LogUtil.info(Name + "成功打开轴：" + axis.Explain);
+            }
+            else
+            {
+                //清理报警，再重新打开一次
+                LogUtil.info(Name + "第一次打开轴" + axis.Explain + "失败，先清理一下报警，再重新打开一次");
+                ACServerManager.AlarmClear(portName, slvAddr);
+                System.Threading.Thread.Sleep(1200);
+                ACServerManager.ServoOn(portName, slvAddr);
+                System.Threading.Thread.Sleep(100);
+                if (ACServerManager.ServerOnStatus(portName, slvAddr))
+                {
+                    LogUtil.info(Name + "清理报警后重新打卡轴成功：" + axis.Explain);
+                }
+                else
+                {
+                    ACServerManager.ServoOff(portName, slvAddr);
+                    WarnMsg = Name + "打开轴" + axis.Explain + "失败 ";
+                    LogUtil.info(Name + WarnMsg);
+                    Alarm(LineAlarmType.AxisAlarm, 5.ToString(), WarnMsg, MoveInfo.MoveType);
+                    return false;
+                }
+            }
+
+            return true;
+        }
+
+
+        public void CloseAxis()
+        {
+            LogUtil.info(Name + "关闭刹车，关闭伺服");
+            IOMove(IO_Type.BatchAxis_BreakOn, IO_VALUE.LOW);
+
+            ACServerManager.ServoOff(portName, slvAddr);
+            //关闭串口，等下次重新打开
+            ACServerManager.ColsePort(portName);
+
+            Thread.Sleep(100);
+            IOMove(IO_Type.BatchAxis_ServoOn, IO_VALUE.LOW);
+        }
+
+
+        protected void ACAxisHomeMove(ConfigMoveAxis moveAxis)
+        {
+            moveAxis.TargetPosition = 0;
+            LogUtil.info(moveAxis.DisplayStr + "speed[" + moveAxis.TargetSpeed + "]开始原点返回");
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, true));
+            ACServerManager.HomeMove(moveAxis.DeviceName, (short)moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
+        }
+
+        /// <summary>
+        /// 松下伺服电机运动
+        /// </summary> 
+        protected void ACAxisMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
+        {
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitAxis(moveAxis, targetPosition, targetSpeed));
+            moveAxis.TargetPosition = targetPosition;
+            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
+        }
+
+        /// <summary>
+        /// 判断AC伺服电机轴是否运动完成
+        /// </summary> 
+        protected bool ACAxisMoveIsEnd(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed, out string msg)
+        {
+            msg = "";
+            string deviceName = moveAxis.DeviceName;
+            short axisNo = moveAxis.GetAxisValue();
+
+            bool isOk = ACServerManager.GetBusyStatus(deviceName, axisNo).Equals(0);
+            int outCount = ACServerManager.GetActualtPosition(deviceName, axisNo);
+            int errorCount = Math.Abs(outCount - targetPosition);
+            if (isOk)
+            {
+                if (errorCount <= moveAxis.CanErrorCountMax)
+                {
+                    return true;
+                }
+                //判断是否需要重新运动
+                if (MoveInfo.CanWhileCount > 0)
+                {
+                    LogUtil.error(moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount +
+                     "]，误差过大，重新开始运动，剩余[" + MoveInfo.CanWhileCount + "]次");
+                    ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
+                    MoveInfo.CanWhileCount--;
+                }
+                else
+                {
+                    msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "目标位置[" + targetPosition + "]当前位置[" + outCount
+                        + "]，误差过大，需要报警";
+                    LogUtil.error(msg);
+                }
+            }
+            return false;
+        }
+        protected bool ACHomeMoveIsEnd(ConfigMoveAxis moveAxis, out string msg)
+        {
+            msg = "";
+            if (ACServerManager.IsHomeMoveEnd(moveAxis.DeviceName, moveAxis.GetAxisValue()))
+            {
+                //原点完成并且位置=0
+                int outCount = ACServerManager.GetActualtPosition(moveAxis.DeviceName, moveAxis.GetAxisValue());
+                int errorCount = Math.Abs(outCount);
+                if (errorCount <= moveAxis.CanErrorCountMax)
+                {
+                    return true;
+                }
+                //判断是否需要重新运动
+                if (MoveInfo.CanWhileCount > 0)
+                {
+                    LogUtil.error(moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，重新回原点，剩余[" + MoveInfo.CanWhileCount + "]次");
+                    //LogUtil.error( StoreName +  moveAxis.DisplayStr +  "重新回原点");
+                    ACServerManager.HomeMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), moveAxis.HomeHighSpeed);
+                    MoveInfo.CanWhileCount--;
+                }
+                else
+                {
+                    msg = Name + " storeMoveStep=" + MoveInfo.MoveStep + moveAxis.DisplayStr + "收到原点完成信号，当前位置[" + outCount + "]，误差过大，需要报警";
+                    LogUtil.error(msg);
+                }
+            }
+            return false;
+        }
+
+        #endregion
+
+        #region CheckWait处理
+
+        /// <summary>
+        /// 上一个盘号
+        /// </summary>
+        public int preTrayNum = 0;
+        /// <summary>
+        /// 当前正在通过的托盘号
+        /// </summary>
+        protected int currMoveTrayNum = 0;
+        protected DateTime preRWTime = DateTime.Now;
+        protected void CheckWait(LineMoveInfo moveInfo)
+        {
+            List<WaitResultInfo> list = moveInfo.WaitList;
+            if (list.Count <= 0)
+            {
+                moveInfo.EndStepWait();
+                return;
+            }
+
+            //当等待超过一分钟时，需要打印提示 
+            TimeSpan span = DateTime.Now - moveInfo.LastSetpTime;
+            string NotOkMsg = "";
+            bool isOk = true;
+            if (moveInfo.OneWaitCanEndStep)
+            {
+                isOk = false;
+            }
+            foreach (WaitResultInfo wait in list)
+            {
+                if (wait.IsEnd)
+                {
+                    continue;
+                }
+                NotOkMsg = wait.ToStr();
+                if (wait.WaitType.Equals(1))
+                {
+                    string msg = "";
+                    if (wait.IsHomeMove)
+                    {
+                        wait.IsEnd = ACHomeMoveIsEnd(wait.AxisInfo, out msg);
+                    }
+                    else
+                    {
+                        wait.IsEnd = ACAxisMoveIsEnd(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
+                    }
+                    if (!msg.Equals(""))
+                    {
+                        isOk = false;
+                        WarnMsg = msg;
+                        Alarm(LineAlarmType.AxisMoveError, 5.ToString(), WarnMsg, moveInfo.MoveType);
+                        break;
+                    }
+                }
+                else if (wait.WaitType.Equals(2))
+                {
+                    NotOkMsg = " (" + baseConfig.GetDisplayName(wait.IoType) + "=" + wait.IoValue + ") ";
+                    wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
+
+                    if (!wait.IsEnd)
+                    {
+                        //屏蔽料盘检测信号
+                        if (wait.IoType.Equals(IO_Type.TrayCheck) && wait.IoValue.Equals(IO_VALUE.HIGH) && LineManager.Config.IsUse_Tray_Check.Equals(0))
+                        {
+                            LogUtil.debug(moveInfo.Name + "未检测到：IsUse_Tray_Check= " + wait.IoValue + "，直接跳过检测继续下一步");
+                        }
+                        //夹紧按钮若果超过一秒钟还未收到，默认成功
+                        else if (wait.IoType.Equals(IO_Type.ClampCylinder_Slack) && wait.IoValue.Equals(IO_VALUE.HIGH) && span.TotalMilliseconds > 4000)
+                        {
+                            LogInfo("未检测到：ClampCylinder_Slack=HIGH，超过4秒钟，默认下一步骤");
+                            wait.IsEnd = true;
+                        }
+                        else
+                        {
+                            TimeSpan rwSpan = DateTime.Now - preRWTime;
+                            //一分钟还未检测到
+                            if (span.TotalMilliseconds > LineManager.Config.IOSingle_TimerOut)
+                            {
+                                ConfigIO io = baseConfig.getWaitIO(wait.IoType);
+                                WarnMsg = Name + "等待" + NotOkMsg + " 超时";
+                                Alarm(LineAlarmType.IoSingleTimeOut, io.ElectricalDefinition, WarnMsg, MoveInfo.MoveType);
+                                LogUtil.error(MoveInfo.Name + WarnMsg, 13);
+                            }
+                            else if (rwSpan.TotalSeconds > 3 && span.TotalSeconds > 3)
+                            {
+                                preRWTime = DateTime.Now;
+                                string msg = moveInfo.Name + "  " + NotOkMsg + "已等待 " + Math.Abs(span.TotalSeconds) + "秒，重写DO：";
+                                bool isLog = false;
+                                foreach (WaitResultInfo ww in list)
+                                {
+                                    if (ww != null && ww.WaitType.Equals(2) && baseConfig.DOList.ContainsKey(ww.IoType))
+                                    {
+                                        isLog = true;
+                                        IOMove(ww.IoType, ww.IoValue);
+                                        msg += ww.ToStr() + "，";
+                                    }
+                                }
+                                if (isLog)
+                                {
+                                    LogUtil.error(msg);
+                                }
+                            }
+                            isOk = false;
+                            break;
+                        }
+                    }
+                }
+                else if (wait.WaitType.Equals(3))
+                {
+                    wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
+                }
+                else if (wait.WaitType.Equals(8))
+                {
+                    string posId = moveInfo.MoveParam.PosId;
+                    int id = moveInfo.MoveParam.GetStoreId();
+                    wait.IsEnd = LineServer.RightInPosId(id, posId);
+                }
+                else if (wait.WaitType.Equals(9))
+                {
+                    int storeId = moveInfo.MoveParam.GetStoreId();
+                    wait.IsEnd = LineServer.BoxCanReviceTray(storeId);
+                }
+                else if (wait.WaitType.Equals(10))
+                {
+                    wait.IsEnd = LineManager.Line.SideWay34HasTray().Equals(false);
+                }
+                if (wait.IsEnd && moveInfo.OneWaitCanEndStep)
+                {
+                    isOk = true;
+                    break;
+                }
+                else if (!moveInfo.OneWaitCanEndStep)
+                {
+                    isOk = false;
+                    break;
+                }
+            }
+            if (isOk)
+            {
+                moveInfo.EndStepWait();
+            }
+            else if (span.TotalSeconds > moveInfo.TimeOutSeconds)
+            {
+                WarnMsg = moveInfo.Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]等待[" + NotOkMsg
+                    + "]超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
+                LogUtil.error(WarnMsg, 18);
+                Alarm(LineAlarmType.IoSingleTimeOut, "", WarnMsg, moveInfo.MoveType);
+            }
+
+        }
+
+        #endregion
+
+        public override void Alarm(LineAlarmType alarmType, string alarmDetial, string alarmMsg, LineMoveType storeMoveType)
+        {
+            if (this.alarmType.Equals(alarmType))
+            {
+                return;
+            }
+            this.alarmType = alarmType;
+        }
+
+      
+    }
+}