使用confighelper

LiftController/FrmIO.cs

@@ -23,7 +23,7 @@ namespace LiftController
             InitializeComponent();
             groupBox4.Enabled = false;
             LoadIOList(config);
-            string[] lifts = Common.AppConfigHelper.GetValue(Common.SettingString.Lift_Ids).Split(',');
+            string[] lifts = Common.AppConfigHelper.GetValue(Common.SettingString.Lift_Ids, "LIFT_D2,LIFT_C1").Split(',');
             comboBox1.Items.AddRange(lifts);
             if (comboBox1.Items.Count > 0)
                 comboBox1.SelectedIndex = 0;

source/Common/Common.csproj

@@ -32,6 +32,9 @@
     <WarningLevel>4</WarningLevel>
   </PropertyGroup>
   <ItemGroup>
+    <Reference Include="ConfigHelper">
+      <HintPath>..\..\..\..\..\..\SharedRefDll\Neotel\ConfigHelper\Debug\net462\ConfigHelper.dll</HintPath>
+    </Reference>
     <Reference Include="log4net">
       <HintPath>.\log4net.dll</HintPath>
     </Reference>

source/Common/util/AppConfigHelper.cs

@@ -6,160 +6,15 @@ namespace Common
 {
     public class AppConfigHelper
     {
-        public static System.Configuration.Configuration config = System.Configuration.ConfigurationManager.OpenExeConfiguration(System.Configuration.ConfigurationUserLevel.None);
-        public static string GetValue(string key)
+        public static T GetValue<T>(string key, T defalutVal = default(T))
         {
 
-            if (config.AppSettings.Settings[key] == null)
-            {
-                LogUtil.info("未找到配置：" + key + ",请检查配置是否完整！");
-                return "";
-            }
-            else
-            {
-                return config.AppSettings.Settings[key].Value;
-            }
+            return ConfigHelper.Config.Get(key, defalutVal);
         }
-
-        public static decimal GetNumValue(string key)
-        {
-            decimal a = 0;
-            //System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
-            if (config.AppSettings.Settings[key] == null)
-            {
-                LogUtil.error("未找到配置：" + key + ",请检查配置是否完整！");
-                return a;
-            }
-            else
-            {
-                {
-                    Decimal.TryParse(config.AppSettings.Settings[key].Value, out a);
-                }
-            }
-            return a;
-        }
-        public static int GetIntValue(string key)
-        {
-            int a = 0;
-            //System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
-            if (config.AppSettings.Settings[key] == null)
-            {
-                LogUtil.error("未找到配置：" + key + ",请检查配置是否完整！");
-                return a;
-            }
-            else
-            {
-                {
-                    Int32.TryParse(config.AppSettings.Settings[key].Value, out a);
-                }
-            }
-            return a;
-        }
-        public static bool GetBoolValue(string key)
-        {
-            bool a = false;
-            //System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
-            if (config.AppSettings.Settings[key] == null)
-            {
-                LogUtil.error("未找到配置：" + key + ",请检查配置是否完整！");
-                return a;
-            }
-            else
-            {
-                {
-                    bool.TryParse(config.AppSettings.Settings[key].Value, out a);
-                }
-            }
-            return a;
-        }
-        public static void SaveValue(string key, int value)
-        {
-            SaveValue(key, value.ToString());
-        }
-        public static void SaveValue(string key, bool value)
+        public static void SetValue<T>(string key, T val = default(T))
         {
-            SaveValue(key, value.ToString());
-        }
-        public static void SaveValue(string key, string value)
-        {
-            try
-            {
-                if (key.Equals("") || value.Equals(""))
-                {
-                    return;
-                }
-                //增加的内容写在appSettings段下 <add key="RegCode" value="0"/> 
-                //System.Configuration.Configuration config = ConfigurationManager.OpenExeConfiguration(ConfigurationUserLevel.None);
-                if (config.AppSettings.Settings[key] == null)
-                {
-                    SetValue(key, value);
-                }
-                else
-                {
-                    UpdateConfig(key, value);
-                }
-            }
-            catch (Exception ex)
-            {
-                LogUtil.error("SaveValue保存配置出错：AppKey=" + key + "，AppValue=" + value + "," + ex.StackTrace);
-            }
-        }
 
-        /// <summary>
-        /// 更新配置文件信息
-        /// </summary>
-        /// <param name="name">配置文件字段名称</param>
-        /// <param name="Xvalue">值</param>
-        private static void UpdateConfig(string name, string Xvalue)
-        {
-            try
-            {
-                XmlDocument doc = new XmlDocument();
-                doc.Load(Application.ExecutablePath + ".config");
-                XmlNode node = doc.SelectSingleNode(@"//add[@key='" + name + "']");
-                XmlElement ele = (XmlElement)node;
-                ele.SetAttribute("value", Xvalue);
-                doc.Save(Application.ExecutablePath + ".config");
-            }
-            catch (Exception ex)
-            {
-                LogUtil.error("UpdateConfig保存配置出错：name=" + name + "，Xvalue=" + Xvalue + "," + ex.StackTrace);
-            }
+            ConfigHelper.Config.Set(key, val);
         }
-        ///<summary>  
-        ///向.config文件的appKey结写入信息AppValue   保存设置  
-        ///</summary>  
-        ///<param name="AppKey">节点名</param>  
-        ///<param name="AppValue">值</param>
-        private static void SetValue(String AppKey, String AppValue)
-        {
-            try
-            {
-                XmlDocument xDoc = new XmlDocument();
-                xDoc.Load(System.Windows.Forms.Application.ExecutablePath + ".config");
-                XmlNode xNode;
-                XmlElement xElem1;
-                XmlElement xElem2;
-                xNode = xDoc.SelectSingleNode("//appSettings");
-                xElem1 = (XmlElement)xNode.SelectSingleNode("//add[@key='" + AppKey + "']");
-                if (xElem1 != null)
-                    xElem1.SetAttribute("value", AppValue);
-                else
-                {
-                    xElem2 = xDoc.CreateElement("add");
-                    xElem2.SetAttribute("key", AppKey);
-                    xElem2.SetAttribute("value", AppValue);
-                    xNode.AppendChild(xElem2);
-                }
-                xDoc.Save(System.Windows.Forms.Application.ExecutablePath + ".config");
-            }
-            catch (Exception ex)
-            {
-                LogUtil.error("SetValue保存配置出错：AppKey=" + AppKey + "，AppValue=" + AppValue + "," + ex.StackTrace);
-            }
-        }
-
-
-
     }
 }

source/DeviceLibrary/Context/Context.cs

@@ -16,7 +16,7 @@ namespace DeviceLibrary.Context
         }
         public void Open()
         {
-            string baseurl = AppConfigHelper.GetValue(SettingString.ServiceBaseUrl);
+            string baseurl = AppConfigHelper.GetValue(SettingString.ServiceBaseUrl, "http://127.0.0.1:8887");
             serviceContext.Open(baseurl);
         }
         public void Close()

source/DeviceLibrary/Context/LiftContext.cs

@@ -15,8 +15,8 @@ namespace DeviceLibrary.Context
 
         public static void Init()
         {
-            string[] lifts = Common.AppConfigHelper.GetValue(Common.SettingString.Lift_Ids).Split(',');
-            string buff = Common.AppConfigHelper.GetValue(Common.SettingString.Lift_Buffs);
+            string[] lifts = Common.AppConfigHelper.GetValue(Common.SettingString.Lift_Ids, "LIFT_D2,LIFT_C1").Split(',');
+            string buff = Common.AppConfigHelper.GetValue(Common.SettingString.Lift_Buffs,"");
             elevatorInfos = Common.JsonHelper.DeserializeJsonToList<LiftInfo>(buff);
             if (elevatorInfos == null)
             {
@@ -92,7 +92,7 @@ namespace DeviceLibrary.Context
             {
                 try
                 {
-                    Common.AppConfigHelper.SaveValue(Common.SettingString.Lift_Buffs, Common.JsonHelper.SerializeObject(elevatorInfos));
+                    Common.AppConfigHelper.SetValue(Common.SettingString.Lift_Buffs, Common.JsonHelper.SerializeObject(elevatorInfos));
                 }
                 catch (Exception e)
                 {

source/DeviceLibrary/DeviceLibrary.csproj

@@ -60,7 +60,6 @@
     <Reference Include="System.Xml" />
   </ItemGroup>
   <ItemGroup>
-    <Compile Include="bean\Line\LineBean.cs" />
     <Compile Include="Context\Context.cs" />
     <Compile Include="Context\LiftContext.cs" />
     <Compile Include="Context\ServiceContext.cs" />
@@ -95,5 +94,6 @@
       <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
     </None>
   </ItemGroup>
+  <ItemGroup />
   <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
 </Project>
\ No newline at end of file

source/DeviceLibrary/IO/AIOBOX/AIOBOXManager.cs

@@ -65,12 +65,12 @@ namespace DeviceLibrary
             {
                 DOValueMap.Remove(ioIp);
             }
-            int DIMS = AppConfigHelper.GetIntValue("DIMS");
+            int DIMS = AppConfigHelper.GetValue("DIMS",20);
             if (DIMS < 20)
             {
                 DIMS = 20;
             }
-            int DOMS = AppConfigHelper.GetIntValue("DOMS");
+            int DOMS = AppConfigHelper.GetValue("DOMS", 20);
             if (DOMS < 200)
             {
                 DOMS = 200;

source/DeviceLibrary/IO/IOManager.cs

@@ -117,7 +117,7 @@ namespace DeviceLibrary
         #endregion
         public static void Init()
         {
-            bool isAIOBox = AppConfigHelper.GetIntValue(SettingString.UseAIOBOX).Equals(1);
+            bool isAIOBox = AppConfigHelper.GetValue(SettingString.UseAIOBOX,1).Equals(1);
             if (isAIOBox)
             {
                 instance = new AIOBOXManager();

source/DeviceLibrary/Models/LiftInfo.cs

@@ -12,7 +12,7 @@ using System.Threading.Tasks;
 namespace DeviceLibrary.Models
 {
     /// <summary>
-    /// 电梯信息
+    /// 电梯
     /// </summary>
     public class LiftInfo
     {

source/DeviceLibrary/bean/Line/LineBean.cs

-
-//using Asa;
-//using Common;
-//using LoadCSVLibrary;
-//using System; 
-//using System.Collections.Generic;
-//using System.Diagnostics;
-//using System.Linq;
-//using System.Text;
-//using System.Threading;
-//using System.Threading.Tasks;
-
-//namespace DeviceLibrary
-//{ 
-//    public partial class DoubleLineBean:RobotBase
-//    { 
-//        public DoubleLineConfig Config; 
-//        public RunStatus runStatus = RunStatus.Wait; 
-//        public List<string> RfidIpList = new List<string>();
-//        public RobotMoveBean LeftRobot = null;
-//        public RobotMoveBean RightRobot = null; 
-//        public LineMoveInfo SOneMoveInfo = null;
-
-//        public DoubleLineBean(DoubleLineConfig config) : base(config)
-//        {
-
-//            this.Config = config;
-//            mainTimer.Elapsed += timersTimer_Elapsed;
-//            ledTimer.Elapsed += Led_timer_Tick;
-
-//            LeftRobot = new RobotMoveBean(2, config.ABB2_IP, "左侧ABB", IO_Type.ABB2_TrayCheck);
-//            RightRobot = new RobotMoveBean(1, config.ABB1_IP, "右侧ABB", IO_Type.ABB1_TrayCheck);
-
-//            //添加调试 
-//            IsDebug = ConfigAppSettings.GetIntValue(Setting_Init.IsInDebug).Equals(1);
-//            MoveInfo = new LineMoveInfo();
-//            SOneMoveInfo = new LineMoveInfo();
-//            Name = (" 双层线 ").ToUpper();
-
-//            IOManager.Init();
-//            IOManager.instance.ConnectionIOList(Config.DIODeviceNameList);
-
-//            mainTimer.Enabled = false;
-//            int isAuto = ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun);
-//            if (isAuto == 1)
-//            {
-//                mainTimer.Enabled = true;
-//            } 
-//           RfidIpList = new List<string>(){
-//                config.L_Updown_Rfid,
-//                config.M_Updown_Rfid,
-//                config.R_Updown_Rfid,
-//                config.S1_Rfid,
-//                config.S2_Rfid,
-//                config.Pkg_Rfid,
-//                config.RHigh_Rfid
-//            };
-//            //benQ_AGV = new BenQ_AGV();
-//            //  AgvClient.Init();
-//            Thread.Sleep(300);
-//            IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
-//            IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.LOW);
-//        }
-
-
-//        /// <summary>
-//        /// 开始运行
-//        /// </summary>
-//        public override bool StartRun()
-//        {
-//            LogUtil.info(Name + "开始启动，启动时间：" + DateTime.Now);
-//            WarnMsg = "";
-//            if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH) )
-//            {
-//                if (ABBControl.GetControllerByIP(Config.ABB1_IP) == null)
-//                {
-//                    SetWarnMsg("启动失败：机器人["+Config.ABB1_IP+"]加载失败");
-//                    return false;
-//                }
-//                if (ABBControl.GetControllerByIP(Config.ABB2_IP) == null)
-//                {
-//                    SetWarnMsg("启动失败：机器人[" + Config.ABB2_IP + "]加载失败");
-//                    return false;
-//                }
-//                //if (ABBControl.GetControllerByIP(Config.ABB3_IP) == null)
-//                //{
-//                //    SetWarnMsg("启动失败：机器人[" + Config.ABB3_IP + "]加载失败");
-//                //    return false;
-//                //}
-//                S1_RightShelfId = "";
-//                S1_CurrShelfId = "";
-//                S1_LeftShelfId = "";
-//                RealRfidMap = new Dictionary<string, string>();
-//                mainTimer.Enabled = false ;
-//                // AgvClient.SetCancelState(false);
-//                RFIDManager.Open(RfidIpList.ToArray());
-//                runStatus = RunStatus.HomeMoving;
-//                LineManager.packageLine.StartRun();
-//                MoveInfo.NewMove(LineMoveType.ReturnHome);
-//                ReturnHome();
-//                return true;
-//            }
-          
-//            //else if (IOValue(IO_Type.AirCheck).Equals(IO_VALUE.LOW))
-//            //{
-//            //    SetWarnMsg("启动失败：气压未开"); 
-//            //}
-//            else 
-//            {
-//                SetWarnMsg("启动失败：急停未开");
-//            }
-          
-//            return false; 
-//        }
-
-
-//        #region 原点返回和复位处理
-//        private void ReturnHome()
-//        {
-//            HighProcess = false;
-//            LowProcess = false;
-//            S1_ShelfTask = new ShelfTaskInfo();
-//            S2CanGetShelf = true;
-//            needNewShelf = "";
-//            NoAirCheck = false;
-//            isInSuddenDown = false;
-//            LeftRobot.NeedShelf = "";
-//            alarmType = AlarmType.None;
-//            SetWarnMsg("");
-
-//            //清理RFID
-//            RFIDManager.ReadRFID(Config.L_Updown_Rfid, true);
-//            RFIDManager.ReadRFID(Config.S1_Rfid, true);
-            
-//            LeftRobot.Reset();
-//            RightRobot.Reset();
-//            SOneMoveInfo.EndMove();
-//            MoveInfo.NextMoveStep(MoveStep.H01_StopUp);
-//            ResetStopMove();
-//            //工位顶升下降
-//            CylinderMove(MoveInfo, IO_Type.S1_TopCylinderUp, IO_Type.S1_TopCylinderDown);
-//            CylinderMove(MoveInfo, IO_Type.S2_TopCylinderUp, IO_Type.S2_TopCylinderDown);
-
-//            mainTimer.Enabled = true;
-//            ledTimer.Enabled = true;
-//        }
-//        /// <summary>
-//        /// 复位时阻挡状态
-//        /// </summary>
-//        /// <param name="value"></param>
-//        /// <param name="moveInfo"></param>
-//        public void ResetStopMove(LineMoveInfo moveInfo = null)
-//        {
-//            //此阻挡默认下降
-//            CheckAndMove(IO_Type.LLow_StopCylinder1, IO_VALUE.HIGH);
-//            CheckAndMove(IO_Type.LHigh_StopCylinder1, IO_VALUE.HIGH);
-//            CheckAndMove(IO_Type.Left_Buf_Near_StopDown, IO_VALUE.HIGH);
-//            CheckAndMove(IO_Type.Left_Buf_Far_StopDown, IO_VALUE.HIGH);
-//            CheckAndMove(IO_Type.Right_Buf_Near_StopDown, IO_VALUE.HIGH);
-//            CheckAndMove(IO_Type.Right_Buf_Far_StopDown, IO_VALUE.HIGH);
-//            //工位1只上升2个阻挡
-//            CheckAndMove(IO_Type.S1_StopCylinder3, IO_VALUE.HIGH);
-//            CheckAndMove(IO_Type.S1_StopCylinder4, IO_VALUE.HIGH);
-
-//            CheckAndMove(IO_Type.M_RightStopCylinder, IO_VALUE.HIGH);
-
-//            IO_VALUE value = IO_VALUE.LOW;
-//            CheckAndMove(IO_Type.Line_StopCylinder, value);
-
-//            //    IOMove(IO_Type.LLow_StopCylinder1, value);
-//            CheckAndMove(IO_Type.LLow_StopCylinder2, value);
-//            CheckAndMove(IO_Type.LLow_StopCylinder3, value);
-//            //    IOMove(IO_Type.LHigh_StopCylinder1, value);
-//            CheckAndMove(IO_Type.LHigh_StopCylinder2, value);
-//            CheckAndMove(IO_Type.LHigh_StopCylinder3, value);
-//            CheckAndMove(IO_Type.Left_Tranverse_StopDown, value);
-//            CheckAndMove(IO_Type.Right_Tranverse_StopDown, value);
-//            CheckAndMove(IO_Type.M_LeftStopCylinder, value);
-
-//            CheckAndMove(IO_Type.S1_StopCylinder1, value);
-//            CheckAndMove(IO_Type.S1_StopCylinder2, value);
-//            CheckAndMove(IO_Type.S2_StopCylinder1, value);
-        
-//        }
-
-//        public void AllLineMove(IO_VALUE value, LineMoveInfo moveInfo = null)
-//        {
-//            IOMove(IO_Type.L_InLineRun, value);
-//            IOMove(IO_Type.LLown_LineRun, value);
-//            IOMove(IO_Type.LHigh_LineRun, value);
-//            IOMove(IO_Type.M_LineRun, value);
-//            IOMove(IO_Type.Left_Buf_Run, value);
-//            IOMove(IO_Type.Right_Buf_Run, value);
-//            if (value.Equals(IO_VALUE.HIGH))
-//            {
-//                S1LineRun();
-//            }
-//            else
-//            {
-//                S1LineStop();
-//            }
-//            if (value.Equals(IO_VALUE.HIGH))
-//            {
-//                S2LineRun();
-//            }
-//            else
-//            {
-//                S2LineStop();
-//            }
-           
-//        }
-
-
-//        public override void Reset()
-//        {
-//            if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH) )
-//            {
-//                mainTimer.Enabled = false; 
-//                runStatus = RunStatus.Reset;
-//                MoveInfo.NewMove(LineMoveType.StoreReset);
-//                ReturnHome();
-//                LineManager.packageLine.Reset(); 
-//            }
-//            //else if (IOValue(IO_Type.AirCheck).Equals(IO_VALUE.LOW))
-//            //{
-//            //    SetWarnMsg("复位失败：气压未开");
-//            //}
-//            else
-//            {
-//                SetWarnMsg("复位失败：急停未开");
-//            }
-//        }
-//        /// <summary>
-//        /// 复位处理
-//        /// </summary>
-//        protected void ResetProcess()
-//        {
-//            if (MoveInfo.IsInWait)
-//            {
-//                CheckWait(MoveInfo);
-//            }
-//            if (MoveInfo.IsInWait)
-//            {
-//                return;
-//            }
-//            switch (MoveInfo.MoveStep)
-//            {
-//                case MoveStep.H01_StopUp:
-//                    MoveInfo.NextMoveStep(MoveStep.H02_LineRun);
-//                    LogUtil.info(Name + " 复位：线体转10秒");
-//                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
-//                    AllLineMove(IO_VALUE.HIGH);
-//                    break;
-//                case MoveStep.H02_LineRun: 
-//                    MoveInfo.NextMoveStep(MoveStep.H03_UpoownDown);
-//                    LogUtil.info(Name + " 复位：停止线体，提升机下降");
-
-//                    AllLineMove(IO_VALUE.LOW);
-//                    CheckAndMove(IO_Type.Left_Buf_Near_StopDown, IO_VALUE.LOW);
-//                    CheckAndMove(IO_Type.Right_Buf_Near_StopDown, IO_VALUE.LOW);
-//                    CylinderMove(MoveInfo, IO_Type.L_Updown_Up, IO_Type.L_Updown_Down);
-//                    CylinderMove(MoveInfo, IO_Type.R_Updown_Up, IO_Type.R_Updown_Down);
-//                    CylinderMove(MoveInfo, IO_Type.M_Updown_Up, IO_Type.M_Updown_Down);
-//                    break;
-//                case MoveStep.H03_UpoownDown:
-//                    if (IOValue(IO_Type.M_LeftStopCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.M_RightStopCheck).Equals(IO_VALUE.HIGH))
-//                    {
-//                        MoveInfo.NextMoveStep(MoveStep.H04_MStopDown);
-//                        LogUtil.info(Name + " 复位：中间提升机有料架，转动料架到S1左侧");
-//                        IOMove(IO_Type.M_LeftStopCylinder, IO_VALUE.HIGH);
-//                        IOMove(IO_Type.M_RightStopCylinder, IO_VALUE.HIGH);
-//                        IOMove(IO_Type.M_LineRun, IO_VALUE.HIGH); 
-//                      CheckAndMove(IO_Type.S1_StopCylinder1, IO_VALUE.LOW);
-//                        CheckAndMove(IO_Type.S1_StopCylinder3, IO_VALUE.HIGH);
-//                        CheckAndMove(IO_Type.S1_StopCylinder4, IO_VALUE.HIGH);
-//                        S1LineRun(MoveInfo); 
-//                        MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_StopCheck1, IO_VALUE.HIGH));
-//                    }
-//                    else
-//                    {
-                                            
-//                        LogUtil.info(Name + " 复位完成，");
-//                        MoveInfo.EndMove();
-//                        runStatus = RunStatus.Runing;
-//                    }
-//                    break;
-//                case MoveStep.H04_MStopDown:
-//                    MoveInfo.NextMoveStep(MoveStep.H05_MShlefToLeft);
-//                    LogUtil.info(Name + " 复位：中间提升机有料架，等待料架到达S1左侧"); 
-//                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
-//                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_StopCheck1, IO_VALUE.HIGH));
-//                    break;
-//                case MoveStep.H05_MShlefToLeft:
-//                    MoveInfo.NextMoveStep(MoveStep.H06_SaveLeft);
-//                    S1_LeftShelfId = RFIDManager.ReadRFID(Config.M_Updown_Rfid, true).NumStr();
-//                    LogUtil.info(Name + " 复位：停止转动，记录左侧料架信息："+LeftSName);
-//                    IOMove(IO_Type.M_LineRun, IO_VALUE.LOW);
-//                    S1LineStop(MoveInfo);
-//                    break;
-//                case MoveStep.H06_SaveLeft:
-//                    MoveInfo.NextMoveStep(MoveStep.H06_SaveLeft);
-//                    LogUtil.info(Name + " 复位完成，");
-//                    MoveInfo.EndMove();
-//                    runStatus = RunStatus.Runing;
-//                    break;
-//                default: break;
-//            }
-//        }
-
-//        #endregion
-
-//        public override void StopRun()
-//        {
-//            WarnMsg = "";
-
-//            //AgvClient.SetCancelState(true);
-//            mainTimer.Enabled = false;
-//            ledTimer.Enabled = false;
-//            StopMove();
-//            LineManager.packageLine.StopRun();
-//            runStatus = RunStatus.Wait;
-//            IOManager.instance.CloseAllDO();
-//            LogUtil.info(Name + ",停止运行");
-//        }
-
-//        public override void Alarm(AlarmType alarmType)
-//        {
-//            if (this.alarmType.Equals(alarmType) && alarmType != AlarmType.SuddenStop)
-//            {
-//                return;
-//            }
-//            LogUtil.error(Name + " 报警，报警类型：" + alarmType);
-
-//            this.alarmType = alarmType;
-//            if (alarmType.Equals(AlarmType.SuddenStop))
-//            {
-//                isInSuddenDown = true;
-//                LogUtil.error(Name + "收到急停信号，停止运行 ");
-//                StopMove();
-//            }
-//            else if (alarmType.Equals(AlarmType.NoAirCheck))
-//            {
-//                NoAirCheck = true;
-//                LogUtil.error(Name + "无气压信号，停止运行 ");
-//                StopMove();
-//            }
-//        }
-
-//        public override void StopMove()
-//        {
-//            MoveInfo.EndMove();
-//            SOneMoveInfo.EndMove();
-//            AllLineMove(IO_VALUE.LOW);
-//            LeftRobot.StopMove();
-//            RightRobot.StopMove();
-//            LineManager.packageLine.StopMove();
-//        }
-
-//        private bool InProcess = false; 
-//        private Stopwatch stopwatch = new Stopwatch();
-//        public bool MoveStop = false;
-//        static object s1ShelfLock = new object();
-//        protected void timersTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
-//        {
-//            if (runStatus >= RunStatus.HomeMoving  )
-//            {
-//                LeftRobot.TimerProcess();
-//                RightRobot.TimerProcess();
-//            }
-//            if (MoveStop)
-//            {
-//                return;
-//            }
-//            if (InProcess && stopwatch.Elapsed.TotalSeconds < 3)
-//            {
-//                return;
-//            }
-//            try
-//            {
-//                InProcess = true;
-//                stopwatch.Restart();
-//                IoCheckProcess();
-
-//                if (runStatus >= RunStatus.HomeMoving)
-//                {
-//                    try
-//                    {
-//                        DateTime time = DateTime.Now;
-
-//                        if (MoveInfo.MoveType.Equals(LineMoveType.ReturnHome) || MoveInfo.MoveType.Equals(LineMoveType.StoreReset))
-//                        {
-//                            ResetProcess();
-//                        }
-//                        else
-//                        {
-//                            //LeftRobot.TimerProcess();
-//                            //RightRobot.TimerProcess();
-//                            if (MoveInfo.MoveType.Equals(LineMoveType.None))
-//                            {
-//                                WorkShelfCheck();
-//                                ShelfCheckPro();
-//                            }
-//                            else if (MoveInfo.MoveType.Equals(LineMoveType.LTransWork2Buf))
-//                            {
-//                                LTransWork2BuffProcess();
-//                            }
-//                            else if (MoveInfo.MoveType.Equals(LineMoveType.LTransBuf2Work))
-//                            {
-//                                LTransBuff2WorkProcess();
-//                            }
-//                            else if (MoveInfo.MoveType.Equals(LineMoveType.LeftShelf))
-//                            {
-//                                ShelfMoveProcess();
-//                            }
-
-//                            if (SOneMoveInfo.MoveType.Equals(LineMoveType.None))
-//                            {
-//                                S1_ShelfCheck();
-//                                if (S1_RightShelfId != "")
-//                                {
-//                                    S2CanGetShelf = false;
-//                                }
-//                                else
-//                                {
-//                                    S2CanGetShelf = true;
-//                                }
-//                            }
-//                            else if (SOneMoveInfo.MoveType.Equals(LineMoveType.S1Shelf))
-//                            {
-//                                if(Monitor.TryEnter(s1ShelfLock))
-//                                {
-//                                    try
-//                                    {
-//                                        S1_ShelfProcess();
-//                                    }
-//                                    catch(Exception ex)
-//                                    {
-//                                        LogUtil.error(Name+ " S1_ShelfProcess出错",ex);
-//                                    }
-//                                    finally
-//                                    {
-//                                        Monitor.Exit(s1ShelfLock);
-//                                    }
-
-//                                }
-
-//                                if (S1_RightShelfId != "" && S2CanGetShelf)
-//                                {
-//                                    S2CanGetShelf = false;
-//                                }
-//                            }
-//                            if (SOneMoveInfo.MoveType.Equals(LineMoveType.None) && MoveInfo.MoveType.Equals(LineMoveType.None) &&
-//                                LeftRobot.MoveInfo.MoveType.Equals(LineMoveType.None) && RightRobot.MoveInfo.MoveType.Equals(LineMoveType.None))
-//                            {
-//                                runStatus = RunStatus.Runing;
-//                                IOTimeOutProcess();
-//                            }
-//                            else
-//                            {
-//                                runStatus = RunStatus.Busy;
-//                            }
-//                        }
-//                    }
-//                    catch (Exception ex)
-//                    {
-//                        LogUtil.error(Name + "TimerProcess 定时处理出错", ex);
-//                    }
-//                }
-//            }
-//            catch (Exception ex)
-//            {
-//                LogUtil.error(Name + "定时处理出错：" + ex.ToString());
-//            }
-//            finally { InProcess = false; }
-//        }
-         
-     
-
-//        private IO_VALUE LastResetValue = IO_VALUE.LOW;
-//        public void IoCheckProcess()
-//        {
-//            DateTime time = DateTime.Now;
-//            if (runStatus.Equals(RunStatus.Wait))
-//            {
-//                //取新的Io状态
-//                IO_VALUE autoSingle = IOValue(IO_Type.Reset_BTN);
-//                if (ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun).Equals(1))
-//                {
-//                    if (autoSingle.Equals(IO_VALUE.HIGH) && LastResetValue.Equals(IO_VALUE.LOW))
-//                    {
-//                        //没有启动时收到复位按钮，相当于启动按钮
-//                        LogUtil.info(Name + "没有启动时收到复位按钮，开始启动");
-//                        bool result = StartRun();
-//                        if (result.Equals(false))
-//                        {
-//                            LogUtil.error(Name+"启动失败，等待下次启动！");
-//                            mainTimer.Enabled = true;
-//                        }
-//                    }
-//                    LastResetValue = autoSingle;
-//                    return;
-//                }
-//                LastResetValue = autoSingle;
-//            }
-//            //判断急停 
-//            else if (runStatus >= RunStatus.HomeMoving)
-//            { 
-//                //判断急停 
-//                if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
-//                {
-//                    if (isInSuddenDown.Equals(false))
-//                    {
-//                        isInSuddenDown = true;
-//                        SetWarnMsg("收到急停信号，报警急停");
-//                        //报警时会关闭所有轴
-//                        Alarm(AlarmType.SuddenStop);
-//                    }
-//                }
-//                else if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.Reset_BTN).Equals(IO_VALUE.HIGH))
-//                {
-//                    //收到复位信号，若报警直接复位，若不报警且无操作，回到待机点
-//                    if (alarmType.Equals(AlarmType.None) && isInSuddenDown.Equals(false))
-//                    {
-//                        if (MoveInfo.MoveType.Equals(LineMoveType.None))
-//                        {
-//                            LogUtil.info("收到复位信号，当前无报警，暂不复位");
-//                        }
-//                        else
-//                        {
-//                            LogUtil.info("收到复位信号，当前无报警， 在" + MoveInfo.MoveType + "处理中，暂不复位");
-//                        }
-//                    }
-//                    else
-//                    {
-//                        //收到复位信号
-//                        LogUtil.info("收到复位信号，自动复位");
-//                        Reset();
-//                    }
-//                }
-//            }
-//        }
-         
-//        private DateTime preIoTimerOutTime = DateTime.Now; 
-//        private void IOTimeOutProcess()
-//        {
-//            try
-//            {
-//                TimeSpan span = DateTime.Now - preIoTimerOutTime;
-//                if (span.TotalSeconds > 1)
-//                {
-//                    preIoTimerOutTime = DateTime.Now;
-//                    if (runStatus < RunStatus.Runing || isInSuddenDown)
-//                    {
-//                        return;
-//                    } 
-//                    if (alarmType.Equals(AlarmType.IoSingleTimeOut) && MoveInfo.IsInWait == false)
-//                    {
-//                        LogUtil.info(Name + "之前有IO超时报警，清理报警：" + WarnMsg);
-//                        alarmType = AlarmType.None;
-//                        SetWarnMsg();
-//                    }
-//                }
-//            }
-//            catch (Exception ex)
-//            {
-//                LogUtil.error("  IOTimeOutProcess  出错：" + ex.ToString());
-//            }
-//        }
-
-
-
-//        public override string GetRunInfo()
-//        {
-//            string s1Info = "";
-//            if (!S1_ShelfTask.rfid.Equals(""))
-//            {
-//                s1Info = S1_ShelfTask.ToStr();
-//            }
-//            string leftShelf = LeftUpdownRFID.Equals("") ? "" : "  左侧料架="+LeftUpdownRFID+"  ";
-//            string msg = MoveInfo.MoveType + "  " + MoveInfo.MoveStep +  "  "+ leftShelf +  "\r\n"  +
-//                "" + SOneMoveInfo.MoveType + "  " + SOneMoveInfo.MoveStep + "       \t" + AllTaskInfo.ToStr() + "\r\n"+
-//               "S1工位（" +(S1IsReady()?"可放料":"不可放料")+"）： " + LeftSName + " " + S1SName + " " + RightSName + "" + "     " +    s1Info+"  "+CurSName+"\r\n" +          
-//              //  "" + LeftRobot.Name + "：" + LeftRobot.MoveInfo.MoveType + "  " + LeftRobot.MoveInfo.MoveStep + "    [" + LeftRobot.CurrPoint + "]["+LeftRobot.NeedShelf+"] " + LeftRobot.CurrTray.ToStr() + "" + "\r\n" +
-//                //"" + RightRobot.Name + "：" + RightRobot.MoveInfo.MoveType + "  " + RightRobot.MoveInfo.MoveStep + "    [" + RightRobot.CurrPoint + "][" + RightRobot.NeedShelf + "] " + RightRobot.CurrTray.ToStr() + ""
-
-//             LeftRobot.GetRunInfo()+"\r\n" +
-//             RightRobot.GetRunInfo() + "\r\n"  
-
-//          ;
-
-//            return msg;
-//        }
-
-
-
-//        private void S1LineRun(LineMoveInfo moveInfo=null )
-//        {
-//            if (moveInfo != null)
-//            {
-//                moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_LineBackRun, IO_VALUE.LOW));
-//                moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_LineRun, IO_VALUE.HIGH));
-//            }
-//            CheckAndMove(IO_Type.S1_LineBackRun, IO_VALUE.LOW);
-//            IOMove(IO_Type.S1_LineRun, IO_VALUE.HIGH);
-//        }
-//        private void S1BackRun(LineMoveInfo moveInfo = null)
-//        {
-//            if (moveInfo != null)
-//            {
-//                moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_LineRun, IO_VALUE.LOW));
-//                moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_LineBackRun, IO_VALUE.HIGH));
-//            }
-//            CheckAndMove(IO_Type.S1_LineRun, IO_VALUE.LOW);
-//            IOMove(IO_Type.S1_LineBackRun, IO_VALUE.HIGH);
-//        }
-//        private void S1LineStop(LineMoveInfo moveInfo = null)
-//        {
-//            if (moveInfo != null)
-//            {
-//                moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_LineBackRun, IO_VALUE.LOW));
-//                moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S1_LineRun, IO_VALUE.LOW));
-//            }
-//            CheckAndMove(IO_Type.S1_LineBackRun, IO_VALUE.LOW);
-//            CheckAndMove(IO_Type.S1_LineRun, IO_VALUE.LOW);
-//        }
-//        private void S2LineRun(LineMoveInfo moveInfo = null)
-//        {
-//            if (moveInfo != null)
-//            {
-//                moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S2_LineBackRun, IO_VALUE.LOW));
-//                moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S2_LineRun, IO_VALUE.HIGH));
-//            }
-//            CheckAndMove(IO_Type.S2_LineBackRun, IO_VALUE.LOW);
-//            IOMove(IO_Type.S2_LineRun, IO_VALUE.HIGH);
-//        }
-//        private void S2BackRun(LineMoveInfo moveInfo = null)
-//        {
-//            if (moveInfo != null)
-//            {
-//                moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S2_LineRun, IO_VALUE.LOW));
-//                moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S2_LineBackRun, IO_VALUE.HIGH));
-//            }
-//            CheckAndMove(IO_Type.S2_LineRun, IO_VALUE.LOW);
-//            IOMove(IO_Type.S2_LineBackRun, IO_VALUE.HIGH);
-//        }
-//        private void S2LineStop(LineMoveInfo moveInfo = null)
-//        {
-//            if (moveInfo != null)
-//            {
-//                moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S2_LineBackRun, IO_VALUE.LOW));
-//                moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.S2_LineRun, IO_VALUE.LOW));
-//            }
-
-//            CheckAndMove(IO_Type.S2_LineBackRun, IO_VALUE.LOW);
-//            CheckAndMove(IO_Type.S2_LineRun, IO_VALUE.LOW);
-//        }
-//    }
-//}
\ No newline at end of file

source/DeviceLibrary/bean/LineMoveInfo.cs

-using OnlineStore.Common;
-using OnlineStore.DeviceLibrary;
-using OnlineStore.LoadCSVLibrary;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
- 
-
-namespace OnlineStore.DeviceLibrary
-{
-    /// <summary>
-    /// 双层流水线当前运动信息类（出入库状态，步骤记录）
-    /// </summary>
-    public class LineMoveInfo
-    {
-        private string msg = "";
-        public string Msg
-        {
-            get { return msg; }
-            set
-            {
-                if (!string.IsNullOrEmpty(value))
-                {
-                    //不为空，且与上一个消息不一样才打印
-                    if (!value.Equals(msg))
-                    {
-                        LogUtil.info(string.Format("{0}", value));
-                    }
-                }
-                msg = value;
-            }
-
-        }
-
-        /// <summary>
-        /// 超时时间
-        /// </summary>
-        public int TimeOutSeconds = 60;
-        public LineMoveInfo( )
-        {
-            moveType = LineMoveType.None;
-              
-            this.moveStep = MoveStep.Wait;
-            IsInWait = false; 
-        }
-         
-        public DateTime LastSetpTime { get; set; }
-
-        /// <summary>
-        /// =true表示满足一个等待条件,就可以完成此步骤的等待
-        /// </summary>
-        public bool OneWaitCanEndStep = false;
-        
-        /// <summary>
-        /// 操作类型
-        /// </summary>
-        private LineMoveType moveType = LineMoveType.None;
-
-        public LineMoveType MoveType
-        {
-            get { return moveType; }
-        }
-        public bool IsTimeOut(int timeOutSeconds = 60)
-        {
-            TimeSpan span = DateTime.Now - LastSetpTime;
-            if (span.TotalSeconds > timeOutSeconds)
-            {
-                return true;
-            }
-            return false;
-        }
-        public string SLog
-        {
-            get { return " "+moveType+" " + MoveStep + " "; }
-        }
-        public TimeSpan StepSpan()
-        {
-            TimeSpan span = DateTime.Now - LastSetpTime;
-            return span;
-        }
-        /// <summary>
-        /// 是否再当前步骤等待中
-        /// </summary>
-        public bool IsInWait { get; set; }
-        /// <summary>
-        /// 上一个执行步骤
-        /// </summary>
-        public MoveStep PreMoveStep { get; set; }
-        /// <summary>
-        /// 当前执行到的步骤
-        /// </summary>
-        private MoveStep moveStep;
-        /// <summary>
-        /// 可以循环运动的次数（轴卡运动才需要）
-        /// </summary>
-        public int CanWhileCount = 0;
-        /// <summary>
-        /// 双层流水线运动步骤记录
-        /// </summary>
-        public MoveStep MoveStep
-        {
-            get { return moveStep; }
-        }
-        /// <summary>
-        /// 是否可以重写IO
-        /// </summary>
-        public bool CanRMoveIO = true;
-        public void NextMoveStep(MoveStep step)
-        {
-            PreMoveStep = moveStep;
-            moveStep = step;
-            LastSetpTime = DateTime.Now; 
-            IsInWait = true;
-            WaitList = new List<WaitResultInfo>();
-            OneWaitCanEndStep = false;
-            CanWhileCount = 5;
-            TimeOutSeconds = 60;
-            CanRMoveIO = true;
-        }
-        /// <summary>
-        /// 当前步骤执行完成
-        /// </summary>
-        public void EndStepWait()
-        {
-            IsInWait = false;
-            WaitList = new List<WaitResultInfo>();
-        }
-        public void NewMove(LineMoveType type ,MoveStep step=MoveStep.Wait )
-        {
-            moveStep = step;
-            this.moveType = type;
-            LastSetpTime = DateTime.Now;
-            IsInWait = true;
-            WaitList = new List<WaitResultInfo>();
-            OneWaitCanEndStep = false;
-            CanWhileCount = 5;
-            TimeOutSeconds = 60;
-            CanRMoveIO = true;
-        } 
-        public void EndMove()
-        {
-            this.moveType = LineMoveType.None;
-          //  this.MoveParam = null; 
-            moveStep = MoveStep.Wait;
-            LastSetpTime = DateTime.Now;
-            IsInWait = false;
-            WaitList = new List<WaitResultInfo>();
-            CanWhileCount = 0;
-        }
-        public LineMoveInfo clone()
-        {
-            return (LineMoveInfo)this.MemberwiseClone();
-        }
-
-        public List<WaitResultInfo> WaitList = new List<WaitResultInfo>();
-        /// <summary>
-        /// 重置之后继续出入库时，退回上一个步骤执行
-        /// </summary>
-        public void BackStep()
-        {
-            moveStep = PreMoveStep;
-            IsInWait = false;
-        }
-    }
-
-    public class WaitResultInfo
-    {
-        private WaitResultInfo()
-        {
-        }
-
-        public static  WaitResultInfo WaitIO(string ioType, IO_VALUE ioValue)
-        {
-            WaitResultInfo wait = new WaitResultInfo();
-            wait.CanWhileMoveCount = 0;
-            wait.WaitType = 2;
-            wait.IoType = ioType;
-            wait.IoValue = ioValue; 
-            return wait;
-        }
-      
-     
-        public static WaitResultInfo WaitTime(int MScends)
-        {
-            WaitResultInfo wait = new WaitResultInfo();
-            wait.CanWhileMoveCount = 0;
-            wait.WaitType = 3;
-            wait.TimeMSeconds = MScends;
-            wait.IsEnd = false;
-            return wait;
-        }
-       public static WaitResultInfo WaitAbb(string abbip)
-        {
-            WaitResultInfo wait = new WaitResultInfo();
-            wait.CanWhileMoveCount = 0;
-            wait.WaitType = 7;
-            wait.IoType = abbip;  
-            return wait;
-        }
-        public string ToStr()
-        {
-            if (WaitType == 1)
-            { 
-            }
-            else if (WaitType == 2)
-            {
-                return "IO[" + IoType + "=" + IoValue + "]";
-            }
-            else if (WaitType == 3)
-            {
-                return "Time[" + TimeMSeconds + "ms]";
-            }
-           else if (WaitType == 7)
-            {
-                return "ABB["+IoType+"]";
-            }
-            else 
-            {
-                return "[WaitType=" + WaitType + "]";
-            }
-            return "";
-        }
-        /// <summary>
-        /// 当未结束时可以重复运动的次数
-        /// </summary>
-        public int CanWhileMoveCount { get; set; }
-        /// <summary>
-        /// 等待结果，1=轴运动，2=IO运动，3=时间,4=电钢,5=硕科电机,6=等待轴原点信号
-        /// </summary>
-        public int WaitType { get; set; }
- 
-        /// <summary>
-        /// IO类型
-        /// </summary>
-        public String  IoType { get; set; }
-        /// <summary>
-        /// IO值
-        /// </summary>
-        public IO_VALUE  IoValue { get; set; }
-        /// <summary>
-        /// 等待的毫秒
-        /// </summary>
-        public int TimeMSeconds { get; set; }
- 
- 
-        /// <summary>
-        /// 是否已经结束
-        /// </summary>
-        public bool IsEnd{ get; set; }
- 
-    }
-    internal class WaitEnum
-    {
-        /// <summary>
-        /// 伺服运动
-        /// </summary>
-        internal static int W001_AxisMove = 1;
-        /// <summary>
-        /// 信号到达
-        /// </summary>
-        internal static int W002_IOValue = 2;
-        /// <summary>
-        /// 时间等待
-        /// </summary>
-        internal static int W003_Time = 3;
-        /// <summary>
-        /// 电钢运动
-        /// </summary>
-        internal static int W004_StellMove = 4;
-        /// <summary>
-        /// 硕科电机
-        /// </summary>
-        internal static int W005_ShuoKe = 5;
-        /// <summary>
-        /// 轴原点信号
-        /// </summary>
-        internal static int W006_AxisOrg = 6;
-
-        /// <summary>
-        /// 等待机器人运动
-        /// </summary>
-        internal static int W007_WaitAbb = 7;
- 
-    }
-    public enum LineMoveType
-    {
-        /// <summary>
-        /// 没有任何操作
-        /// </summary>
-        None = 0,
-        /// <summary>
-        /// 料架入流水线处理
-        /// </summary>
-        LeftShelf = 1,
-        /// <summary>
-        /// S1工位料架处理
-        /// </summary>
-        S1Shelf = 2,
-        /// <summary>
-        /// 机器人放料
-        /// </summary>
-        PutTray = 3,
-        /// <summary>
-        /// 原点返回
-        /// </summary>
-        ReturnHome = 4,
-        /// <summary>
-        /// 重置
-        /// </summary>
-        StoreReset = 5, 
-        /// <summary>
-        /// 左侧工作位到缓存
-        /// </summary>
-        LTransWork2Buf,
-        /// <summary>
-        /// 左侧缓存到工作
-        /// </summary>
-        LTransBuf2Work,
-        /// <summary>
-        /// 右侧工作位到缓存
-        /// </summary>
-        RTransWork2Buf,
-        /// <summary>
-        /// 右侧缓存到工作
-        /// </summary>
-        RTransBuf2Work,
-    }
-}

source/DeviceLibrary/bean/MoveStep.cs

-using log4net;
-using OnlineStore.Common;
-using OnlineStore.DeviceLibrary;
-using OnlineStore.LoadCSVLibrary;
-using System;
-using System.Collections.Generic;
-using System.Drawing;
-using System.IO;
-using System.IO.Ports;
-using System.Linq;
-using System.Text;
-
-using System.Windows.Forms;
-
-namespace OnlineStore.DeviceLibrary
-{
-
-    /// <summary>
-    /// 等待启动/已经停止,初始化完成， 正常运行中，可以进行新的处理，忙碌，重置
-    /// </summary>
-    public enum RunStatus
-    {
-        /// <summary>
-        /// 等待启动/已经停止
-        /// </summary>
-        Wait = 0,
-        /// <summary>
-        ///  初始化 ，原点返回状态中
-        /// </summary>
-        HomeMoving = 1,
-
-        /// <summary>
-        /// 设备正在重置中，请稍后
-        /// </summary>
-        Reset = 2,
-        /// <summary>
-        /// 正常运行中，可以进行新的处理
-        /// </summary>
-        Runing = 3,
-
-        /// <summary>
-        /// 正在忙碌中，请稍后
-        /// </summary>
-        Busy = 4,
-
-    }
-
-
-    public enum MoveStep
-    {
-        /// <summary>
-        /// 无操作，等待状态
-        /// </summary>
-        Wait = 0,
-        #region 双层流水线原点返回和重置步骤
-        /// <summary>
-        /// 复位：所有阻挡上升，工位定位下降
-        /// </summary>
-        H01_StopUp = 011,
-
-        /// <summary>
-        /// 复位：线体开始转动5秒
-        /// </summary>
-        H02_LineRun = 012,
-        /// <summary>
-        /// 复位：提升机下降
-        /// </summary>
-        H03_UpoownDown = 013,
-
-        /// <summary>
-        /// 复位：提升机已下架，如果提升机有料架，先转动到左侧，提升机阻挡下降
-        /// </summary>
-        H04_MStopDown = 014,
-        /// <summary>
-        /// 复位：提升机料架转动到左侧
-        /// </summary>
-        H05_MShlefToLeft = 015,
-        /// <summary>
-        /// 复位：保存左侧料架
-        /// </summary>
-        H06_SaveLeft = 016,
-
-
-
-        #endregion
-
-        #region 机器人取放料步骤
-
-        /// <summary>
-        /// 机器人取料
-        /// </summary>
-        T01_GetTray = 101,
-        /// <summary>
-        /// 机器人放料
-        /// </summary>
-        T02_PutTray = 102,
-        /// <summary>
-        /// 放料结束
-        /// </summary>
-        T03_PutFINISHED = 103,
-        /// <summary>
-        /// 等待putFinished结束
-        /// </summary>
-        T04_WaitEnd = 104,
-        #endregion
-
-        #region 料架从左侧入口进入轨道处理
-        /// <summary>
-        /// 料架入轨道： 等待料架完全进入左侧升降机
-        /// </summary>
-        SI01_ShelfInLeft = 201,
-
-        /// <summary>
-        /// 料架入轨道：读取RFID
-        /// </summary>
-        SI02_ReadRFID = 202,
-
-        /// <summary>
-        /// 料架入轨道：升降机上升或下降
-        /// </summary>
-        SI03_UpdownMove = 203,
-
-        /// <summary>
-        /// 料架入轨道：阻挡下降，线体正转
-        /// </summary>
-        SI04_InStopDown = 204,
-
-        /// <summary>
-        /// 料架入轨道：阻挡上升，等待检测1亮
-        /// </summary>
-        SI05_WaitCheck1High,
-
-        /// <summary>
-        /// 料架入轨道：等待检测1灭，或者再等待6秒
-        /// </summary>
-        SI06_WaitCheck1Low,
-        /// <summary>
-        /// 料架入轨道：等待升降机可以下降
-        /// </summary>
-        SI07_WaitCanDown,
-        /// <summary>
-        /// 料架入轨道：升降机返回
-        /// </summary>
-        SI08_UpdownDown,
-        /// <summary>
-        /// 料架入轨道：等待停止链条
-        /// </summary>
-        SI09_WaitStopRun,
-
-        #endregion
-
-
-
-
-        #region S1工位料架处理
-
-        /// <summary>
-        ///   S1工位需要一个新料架
-        /// </summary>
-        S1_NewShelf = 1000,
-
-        /// <summary>
-        ///  C料架->S1：S1工位需要一个大料架
-        /// </summary>
-        S1_C01_GetC = 1001,
-        /// <summary>
-        /// C料架->S1：:中间提升机下降
-        /// </summary>
-        S1_C02_MDown = 1002,
-        /// <summary>
-        /// C料架->S1：:阻挡2下降，链条转动，开始放大料架过来
-        /// </summary>
-        S1_C03_MStopDown = 1003,
-
-        /// <summary>
-        /// C料架->S1：:等待料架到达中间升降机
-        /// </summary>
-        S1_C04_DToLeft,
-        /// <summary>
-        /// C料架->S1：判断S1是否有料架
-        /// </summary>
-        S1_C05_CheckS1,
-        /// <summary>
-        /// C料架->S1：记录左侧料架信息
-        /// </summary>
-        S1_C06_SaveLeft,
-        /// <summary>
-        ///C料架->S1：:等待料架到达
-        /// </summary>
-        S1_C07_ToS1,
-
-
-        /// <summary>
-        /// D料架/右侧上层料架-> S1：S1工位需要一个小料架 
-        /// </summary>
-        S1_D10_GetD = 1010,
-        /// <summary>
-        /// D料架-> S1：提升机上升
-        /// </summary>
-        S1_D11_MUp = 1011,
-        /// <summary>
-        /// D料架-> S1：上层阻挡下降，上层链条转，中间链条转
-        /// </summary>
-        S1_D12_LineRun = 1012,
-        /// <summary>
-        /// D料架-> S1：在转动3秒钟等待到位
-        /// </summary>
-        S1_D13_WaitCInM = 1013,
-        /// <summary>
-        ///D料架-> S1： 料架到达中间提升机，两侧阻挡上升
-        /// </summary>
-        S1_D14_MStopUp,
-        /// <summary>
-        ///D料架-> S1： 提升机下降
-        /// </summary>
-        S1_D15_MDown,
-        /// <summary>
-        /// D料架->S1：:等待料架到达左侧
-        /// </summary>
-        S1_D16_CToLeft,
-        /// <summary>
-        /// D料架->S1：判断S1是否有料架
-        /// </summary>
-        S1_D17_CheckS1,
-        /// <summary>
-        /// D料架->S1：记录左侧料架信息
-        /// </summary>
-        S1_D18_SaveLeft,
-        /// <summary>
-        ///D料架-> S1： 转动工位链条等待料架到达
-        /// </summary>
-        S1_D19_ToS1,
-
-        /// <summary>
-        /// S1 等待2秒钟后料架稳定， 
-        /// </summary>
-        S1_21_WaitShelf = 1021,
-        /// <summary>
-        /// S1 读取料架号， 
-        /// </summary>
-        S1_22_ReadRFID = 1022,
-        /// <summary>
-        /// S1 读取料架号，顶生气缸上升
-        /// </summary>
-        S1_23_ToReady = 1023,
-        /// <summary>
-        /// S1Ready
-        /// </summary>
-        S1_24_Ready,
-        /// <summary>
-        /// S1 等待S1料架可以移动到右侧
-        /// </summary>
-        S1_26_WaitS1Go,
-        /// <summary>
-        /// S1 放走当前料架
-        /// </summary>
-        S1_27_S1ShelfGo,
-
-        /// <summary>
-        /// SI料架离开后，左侧料架转入S1
-        /// </summary>
-        S1_28_LeftToS1,
-
-
-        /// <summary>
-        /// 左->S1切换 ： 等待右侧无料架
-        /// </summary>
-        S1_30_WaitS1ToRight = 1030,
-        /// <summary>
-        /// 左->S1切换 ： S1料架先到右侧
-        /// </summary>
-        S1_31_S1ToRight = 1031,
-        /// <summary>
-        /// 左->S1切换 ： S1料架到达右侧，记录右侧信息，清空S1信息，左侧料架开始到S1
-        /// </summary>
-        S1_32_LeftToS1,
-        /// <summary>
-        /// 左->S1切换 ： 左侧料架到达S1
-        /// </summary>
-        S1_33_LeftOnS1,
-
-        /// <summary>
-        /// 右->S1切换： 等待S1料架可以移动到左侧
-        /// </summary>
-        S1_40_WaitS1ToLeft = 1040,
-        /// <summary>
-        /// 右->S1切换： S1料架先到左侧
-        /// </summary>
-        S1_41_S1ToLeft = 1041,
-        /// <summary>
-        /// 右->S1切换： 等待S料架完全进入左侧
-        /// </summary>
-        S1_42_WaitInLeft,
-        /// <summary>
-        /// 右->S1切换： S1料架到达左侧，记录左侧信息，清空S1信息，等待右侧料架可以到S1
-        /// </summary>
-        S1_43_WaitRightToS1,
-        /// <summary>
-        /// 右->S1切换： 右侧料架开始到S1
-        /// </summary>
-        S1_44_RightToS1,
-
-        /// <summary>
-        /// 右->S1切换： 等待料架完全进入S1
-        /// </summary>
-        S1_44_WaitShelfInS1,
-        /// <summary>
-        /// 右->S1切换： 右侧料架到达S1
-        /// </summary>
-        S1_45_LeftOnS1,
-        ///// <summary>
-        ///// 需要放一个新料架过来，等待S1料架可以到右侧
-        ///// </summary>
-        //S1_50_WaitS1ToRight = 1050,
-        ///// <summary>
-        ///// 需要放一个新料架过来，S1的料架暂存到右侧
-        ///// </summary>
-        //S1_51_S1ToRight,
-        /// <summary>
-        /// 使用左侧料架
-        /// </summary>
-        S1_GetShelfFromLeft,
-        #endregion
-
-        #region 左侧上层工作位到缓存位
-        /// <summary>
-        /// 左侧上层缓存位需要料架
-        /// </summary>
-        SW2B_L1_GetShelf,
-        /// <summary>
-        /// 左侧横移上升
-        /// </summary>
-        SW2B_L2_Tranverse_Up,
-        /// <summary>
-        /// 左侧横移正传
-        /// </summary>
-        SW2B_L3_Tranverse_Run,
-        /// <summary>
-        /// 料架到达横移缓存位置
-        /// </summary>
-        SW2B_L4_Shelf_To_Buf,
-        /// <summary>
-        /// 横移下降
-        /// </summary>
-        SW2B_L5_Tranverse_Down,
-        /// <summary>
-        /// 料架离开横移
-        /// </summary>
-        SW2B_L6_Shelf_Leave_Buf,
-        /// <summary>
-        /// 横移料架结束
-        /// </summary>
-        SW2B_L7_Tranverse_Finish,
-        #endregion
-        #region 左侧上层缓存位到工作位
-        /// <summary>
-        /// 左侧缓存料架运行到横移
-        /// </summary>
-        SB2W_L0_None,
-        /// <summary>
-        /// 左侧缓存到位
-        /// </summary>
-        SB2W_L0_GetShelf,
-        /// <summary>
-        /// 左侧工作位需要料架
-        /// </summary>
-        SB2W_L1_GetShelf,
-        /// <summary>
-        /// 左侧缓存横移上升
-        /// </summary>
-        SB2W_L2_Tranverse_Up,
-        /// <summary>
-        /// 左侧横移反传
-        /// </summary>
-        SB2W_L3_Tranverse_Run,
-        /// <summary>
-        /// 料架到达横移工作位位置
-        /// </summary>
-        SB2W_L4_Shelf_To_Buf,
-        /// <summary>
-        /// 横移下降
-        /// </summary>
-        SB2W_L5_Tranverse_Down,
-        /// <summary>
-        /// 料架离开横移
-        /// </summary>
-        SB2W_L6_Shelf_Leave_Buf,
-        /// <summary>
-        /// 横移料架结束
-        /// </summary>
-        SB2W_L7_Tranverse_Finish,
-        #endregion
-    }
-
-    public enum AlarmType
-    {
-        /// <summary>
-        /// 没有报警
-        /// </summary>
-        None = 0,
-
-        /// <summary>
-        /// io信号超时未收到
-        /// </summary>
-        IoSingleTimeOut = 10,
-        /// <summary>
-        /// io信号超时未收到
-        /// </summary>
-        ShelfError = 100,
-        /// <summary>
-        /// 收到急停
-        /// </summary>
-        SuddenStop = 1000,
-        /// <summary>
-        /// 没有气压信号
-        /// </summary>
-        NoAirCheck = 1001,
-        ///// <summary>
-        ///// 轴运动错误，没有达到指定脉冲，但是io判断已停止运动
-        ///// </summary>
-        //AxisMoveError = 20,
-
-    }
-}

source/DeviceLibrary/bean/RobotBase.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 class RobotBase
-    {
-        public LineMoveInfo MoveInfo = null;
-        public AlarmType alarmType = AlarmType.None;
-        public bool IsDebug = false;
-        public bool isInSuddenDown = false;
-        public bool NoAirCheck = false;
-        public string WarnMsg = "";
-        protected System.Timers.Timer ledTimer = new System.Timers.Timer();
-        protected System.Timers.Timer mainTimer = new System.Timers.Timer();
-        public string Name = "";
-        public RobotConfig baseConfig = null;
-        public RobotBase(RobotConfig baseConfig)
-        {
-            this.baseConfig = baseConfig;
-            ledTimer = new System.Timers.Timer();
-            ledTimer.Interval = 1000;
-            ledTimer.AutoReset = true;
-            ledTimer.Enabled = false;
-            mainTimer = new System.Timers.Timer();
-            mainTimer.Interval = 300;
-            mainTimer.AutoReset = true;
-            mainTimer.Enabled = false;
-        }
-        public bool CylinderIsOk(string IoLowType, string IoHighType)
-        {
-            if (IOManager.DIValue(IoLowType).Equals(IO_VALUE.LOW) && IOManager.DIValue(IoHighType).Equals(IO_VALUE.HIGH))
-            {
-                return true;
-            }
-            return false;
-        }
-        public void CylinderMove(LineMoveInfo moveInfo, string IoLowType, string IoHighType, bool isCheckMove = false)
-        {
-            try
-            {
-                if (moveInfo != null)
-                {
-                    moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW));
-                    moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH));
-                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
-                }
-                if (isCheckMove)
-                {
-                    CheckAndMove(IoLowType, IO_VALUE.LOW);
-                    CheckAndMove(IoHighType, IO_VALUE.HIGH);
-                }
-                else
-                {
-                    IOMove(IoLowType, IO_VALUE.LOW);
-                    IOMove(IoHighType, IO_VALUE.HIGH);
-                }
-            }
-            catch (Exception ex)
-            {
-                LogUtil.error(Name + "CylinderMove  [" + IoLowType + "] [" + IoHighType + "] [" + isCheckMove + "] 出错：" + ex.ToString());
-            }
-
-        }
-        public void CheckAndMove(string IoType, IO_VALUE value)
-        {
-            if (!IOValue(IoType).Equals(value))
-            {
-                IOMove(IoType, value);
-            }
-        }
-        public void IOMove(string IoType, IO_VALUE value, int msTime = 0)
-        {
-            if (msTime <= 0)
-            {
-                IOManager.IOMove(IoType, value);
-            }
-            else
-            {
-                Task.Factory.StartNew(delegate
-                {
-                    IOManager.IOMove(IoType, value);
-                    Thread.Sleep(msTime);
-                    IO_VALUE tValue = value.Equals(IO_VALUE.HIGH) ? IO_VALUE.LOW : IO_VALUE.HIGH;
-                    LogUtil.info(msTime + "时间到，设置"+ IoType + "=" + tValue);
-                    IOManager.IOMove(IoType, tValue);
-                });
-            }
-        }
-
-        public IO_VALUE IOValue(string IoType)
-        {
-            return IOManager.IOValue(IoType);
-        }
-        public void DebugInfo(string logInfo)
-        {
-            LogUtil.debug(Name + logInfo);
-        }
-        public void LogInfo(string logInfo)
-        {
-            LogUtil.info(Name + logInfo);
-        }
-        /// <summary>
-        /// 阻塞等待IO信号，等到返回true,未等到返回false
-        /// </summary>c
-        public bool WaitIo(string ioType, IO_VALUE value, int timeOut, string errName = "")
-        {
-            try
-            {
-                return WaitUtil.Wait(timeOut, delegate ()
-                {
-                    return value.Equals(IOValue(ioType));
-                }, errName);
-            }
-            catch (Exception ex)
-            {
-                LogUtil.error(Name  + " 等待" + ioType + "=" + value + "超时：" + ex.ToString());
-                return false;
-            }
-        }
-
-        public void SetWarnMsg(string msg = "")
-        {
-            if (String.IsNullOrEmpty(msg).Equals(false))
-            {
-                if (WarnMsg.Equals(msg))
-                {
-                    if (msg.StartsWith(Name))
-                    {
-                        LogUtil.error(msg, 105);
-                    }
-                    else
-                    {
-                        LogUtil.error(Name + msg, 105);
-                    }
-                }
-                else
-                {
-                    if (msg.StartsWith(Name))
-                    {
-                        LogUtil.error(msg);
-                    }
-                    else
-                    {
-                        LogUtil.error(Name + msg);
-                    }
-                }
-            }
-
-            WarnMsg = msg;
-        }
-
-        #region CheckWait处理
-
-        private DateTime preCheckAxisTime = DateTime.Now;
-        protected DateTime preRWTime = DateTime.Now;
-        internal void CheckWait(LineMoveInfo moveInfo)
-        {
-            try
-            {
-                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.WaitType.Equals(WaitEnum.W002_IOValue)) && wait.IsEnd)
-                    {
-                        continue;
-                    }
-                    NotOkMsg = " [" + wait.ToStr() + "] ";
-                    if (wait.WaitType.Equals(WaitEnum.W001_AxisMove))
-                    {
-
-                    }
-                    else if (wait.WaitType.Equals(WaitEnum.W002_IOValue))
-                    {
-                        NotOkMsg = " [" + baseConfig.GetDisplayName(wait.IoType) + "=" + wait.IoValue + "]";
-                        wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
-
-                        if (!wait.IsEnd)
-                        {
-                            if (wait.IoType.Equals(IO_Type.LHigh_LineRun) || wait.IoType.Equals(IO_Type.LLown_LineRun))
-                            {
-                                IOMove(wait.IoType, wait.IoValue);
-                                LogInfo(" [" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]重写DO: " + wait.ToStr());
-                            }
-                            TimeSpan rwSpan = DateTime.Now - preRWTime;
-                            //一分钟还未检测到
-                            if (span.TotalSeconds > LineManager.Config.IOSingle_TimerOut)
-                            {
-                                if (alarmType.Equals(AlarmType.None))
-                                {
-                                    ConfigIO io = baseConfig.getWaitIO(wait.IoType);
-                                    WarnMsg = Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] 等待" + NotOkMsg + " 超时 " + Math.Round(span.TotalSeconds, 1) + "秒";
-                                    LogUtil.error(Name + WarnMsg, 13);
-                                    Alarm(AlarmType.IoSingleTimeOut);
-                                }
-                            }
-                            else if (rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6 && span.TotalSeconds < LineManager.Config.IOSingle_TimerOut * 2)
-                            {
-                                if (moveInfo.CanRMoveIO)
-                                {
-                                    preRWTime = DateTime.Now;
-                                    string msg = Name + " [" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] " + NotOkMsg + "已等待 " + Math.Round(span.TotalSeconds, 1) + "秒，重写DO：";
-                                    bool isLog = false;
-                                    foreach (WaitResultInfo ww in list)
-                                    {
-                                        if (ww != null && ww.WaitType.Equals(2) && baseConfig.DOList.ContainsKey(ww.IoType))
-                                        {
-                                            if (IOManager.DOValue(ww.IoType).Equals(ww.IoValue).Equals(false))
-                                            {
-                                                isLog = true;
-                                                IOMove(ww.IoType, ww.IoValue);
-                                                msg += ww.ToStr() + "，";
-                                            }
-                                        }
-                                    }
-                                    if (isLog)
-                                    {
-                                        LogUtil.error(msg);
-                                    }
-                                }
-                            }
-
-                            if (!moveInfo.OneWaitCanEndStep)
-                            {
-                                isOk = false;
-                                break;
-                            }
-                        }
-                    }
-                    else if (wait.WaitType.Equals(WaitEnum.W003_Time))
-                    {
-                        wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
-                    }
-
-                    if (wait.IsEnd)
-                    {
-                        if (moveInfo.OneWaitCanEndStep)
-                        {
-                            isOk = true;
-                            break;
-                        }
-                    }
-                    else
-                    {
-                        if (!moveInfo.OneWaitCanEndStep)
-                        {
-                            isOk = false;
-                            break;
-                        }
-                    }
-                }
-                if (isOk)
-                {
-                    moveInfo.EndStepWait();
-                }
-                else if (span.TotalSeconds > moveInfo.TimeOutSeconds)
-                {
-                    WarnMsg = Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]等待" + NotOkMsg
-                        + "超时[" + Math.Round(span.TotalSeconds, 1) + "]秒";
-                    LogUtil.error(WarnMsg, 1002);
-                    Alarm(AlarmType.IoSingleTimeOut);
-                }
-            }
-            catch (Exception ex)
-            {
-                LogUtil.error(Name + " [" + moveInfo.MoveStep + "] CheckWait 出错：", ex);
-            }
-        }
-
-
-        public virtual string GetRunInfo()
-        {
-            return "";
-        }
-        #endregion
-        public virtual bool StartRun()
-        {
-            return false;
-        }
-        public virtual void StopRun()
-        { }
-        public virtual void Reset()
-        { }
-        public virtual void StopMove()
-        {
-
-        }
-        public virtual void Alarm(AlarmType alarmType)
-        {
-        }
-    }
-}

source/DeviceLibrary/bean/WaitUtil.cs

-using OnlineStore.Common;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading;
-using System.Threading.Tasks;
-
-namespace OnlineStore.DeviceLibrary
-{
-    public class WaitUtil
-    {
-        public delegate bool IsOk();
-
-        /// <summary>
-        /// 使用异步委托检测超时，防止isOk方法不返回结果导致卡死的问题
-        /// </summary>
-        /// <param name="waitName"></param>
-        /// <param name="timeout"></param>
-        /// <param name="isOk"></param>
-        public static bool Wait(int timeout, IsOk isOk, string waitName = "")
-        {
-            DateTime startTime = System.DateTime.Now;
-            TimeSpan timoutSpan = TimeSpan.FromMilliseconds(timeout);
-            TimeSpan waitSpan = TimeSpan.FromMilliseconds(0);
-            int sleepTime = 10;
-            while (true)
-            {
-                TimeSpan remainTimes = timoutSpan.Subtract(waitSpan);
-                if (remainTimes.TotalMilliseconds < 0)
-                {
-                    //已经超时
-                    throw new TimeoutException(waitName + "超时");
-                }
-                try
-                {
-                    IAsyncResult re = isOk.BeginInvoke(null, null);
-                    var waitResult = re.AsyncWaitHandle.WaitOne(remainTimes);
-                    if (waitResult)
-                    {
-                        bool okResult = isOk.EndInvoke(re);
-                        if (okResult)
-                        {
-                            return true;
-                        }
-                    }
-                }
-                catch (Exception ex)
-                {
-                    LogUtil.error("同步等待出现异常：", ex);
-                }
-                Thread.Sleep(sleepTime);
-                waitSpan = System.DateTime.Now.Subtract(startTime);
-            }
-        }
-
-    }
-}

source/DeviceLibrary/manager/LineManager.cs

@@ -52,7 +52,7 @@ namespace DeviceLibrary
                 {
 
                     string appPath = Application.StartupPath;
-                    string linefilePath = appPath +"\\Config\\"+ AppConfigHelper.GetValue(SettingString.Line_Config);
+                    string linefilePath = appPath +"\\Config\\"+ AppConfigHelper.GetValue(SettingString.Line_Config, "LineConfig.csv");
                     LogUtil.info(" 开始加载配置：" + linefilePath);
                     RobotConfig storeConfig = CSVConfigReader.LoadConfig(linefilePath);