From 6973d39cada1e41f7707dd57b5b9974954616292 Mon Sep 17 00:00:00 2001
From: Admin <Admin@DESKTOP-C8FFBDV>
Date: Thu, 24 Apr 2025 15:45:01 +0800
Subject: [PATCH] =?UTF-8?q?=E6=8F=90=E4=BA=A4bug?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 DH.Commons/Base/GlobalConfig.cs               |  40 ++++++-
 DH.Devices.Camera/Do3ThinkCamera.cs           |   3 +
 DH.Devices.PLC/XinJEPLCTcpNet.cs              |  86 +++++++++++++-
 DHSoftware/DHSoftware.csproj                  |  12 +-
 DHSoftware/MainWindow.cs                      |  14 ++-
 DHSoftware/Views/GlobalControl.Designer.cs    | 107 +++++++++++++++++-
 DHSoftware/Views/GlobalControl.cs             |   7 +-
 DHSoftware/Views/SettingWindow.cs             |  87 +++++++++++++-
 .../VisualLocalizationWindow.Designer.cs      |   1 -
 DHSoftware/Views/VisualLocalizationWindow.cs  |   2 +-
 DHSoftware/db/db.sqlite                       | Bin 475136 -> 475136 bytes
 11 files changed, 332 insertions(+), 27 deletions(-)

diff --git a/DH.Commons/Base/GlobalConfig.cs b/DH.Commons/Base/GlobalConfig.cs
index 0141774..50d93b0 100644
--- a/DH.Commons/Base/GlobalConfig.cs
+++ b/DH.Commons/Base/GlobalConfig.cs
@@ -11,6 +11,9 @@ namespace DH.Commons.Base
 {
     public class GlobalConfig : NotifyProperty
     {
+        bool _EnableVibrator=false;
+        bool _EnableBelt = false;
+        int _ClearTime=0;
         string _name;
         private BindingList<PLCItem> _InitProcessList = new BindingList<PLCItem>();
         private BindingList<PLCItem> _StartProcessList = new BindingList<PLCItem>();
@@ -29,7 +32,42 @@ namespace DH.Commons.Base
                 }
             }
         }
-
+        public bool EnableBelt
+        {
+            get => _EnableBelt;
+            set
+            {
+                if (_EnableBelt != value)
+                {
+                    _EnableBelt = value;
+                    OnPropertyChanged(nameof(EnableBelt));
+                }
+            }
+        }
+        public bool EnableVibrator
+        {
+            get => _EnableVibrator;
+            set
+            {
+                if (_EnableVibrator != value)
+                {
+                    _EnableVibrator = value;
+                    OnPropertyChanged(nameof(EnableVibrator));
+                }
+            }
+        }
+        public int ClearTime
+        {
+            get => _ClearTime;
+            set
+            {
+                if (_ClearTime != value)
+                {
+                    _ClearTime = value;
+                    OnPropertyChanged(nameof(ClearTime));
+                }
+            }
+        }
         public BindingList<PLCItem> InitProcessList
         {
             get => _InitProcessList;
diff --git a/DH.Devices.Camera/Do3ThinkCamera.cs b/DH.Devices.Camera/Do3ThinkCamera.cs
index 67aea35..756ffa6 100644
--- a/DH.Devices.Camera/Do3ThinkCamera.cs
+++ b/DH.Devices.Camera/Do3ThinkCamera.cs
@@ -156,7 +156,10 @@ namespace DH.Devices.Camera
                     }
                     //全画幅
                     if (!IsAllPicEnabled)
+                    {
                         SetPictureRoi((int)ROIX, (int)ROIY, (int)ROIW, (int)ROIH);
+                    }
+                    
 
                     //// 设置 触发延迟
                     if (TriggerDelay > 0)
diff --git a/DH.Devices.PLC/XinJEPLCTcpNet.cs b/DH.Devices.PLC/XinJEPLCTcpNet.cs
index 25ad03e..d3a7a81 100644
--- a/DH.Devices.PLC/XinJEPLCTcpNet.cs
+++ b/DH.Devices.PLC/XinJEPLCTcpNet.cs
@@ -822,25 +822,73 @@ namespace DH.Devices.PLC
             //流程开启操作配置
             // ProcessInitialAction();
             //  if (_PLC?Enabled == true)
-            //皮带
-            //   _PLC.Belt(true);
+           
 
 
             //  LogAsync(DateTime.Now, LogLevel.Information, $"写入流程加载点位配置");
+       
+            bool? enableBelt = ConfigModel.GlobalList?.FirstOrDefault()?.EnableBelt;
+            if (enableBelt == true) 
+            {
+                Belt(true);
+            }
+            Thread.Sleep(1000);
+            bool? enableVibrator = ConfigModel.GlobalList?.FirstOrDefault()?.EnableVibrator;
+            if (enableVibrator == true)
+            {
+                Vibrator(true);
+            }
+            Thread.Sleep(1000);
+            //转盘使能
+            TurnEnable(true);
+            //转盘启动
+            TurnStart(true);
+            Thread.Sleep(1000);
             //计数清零
             CountToZero();
             LogAsync(DateTime.Now, LogLevel.Information, $"状态复位-关闭定位-写入流程加载点位配置-计数清零");
-            //转盘启动
-            TurnStart(true);
+
+            Thread.Sleep(200);
         }
+
         public void StopProcess()
         {
             StatusReset();
             VisionPos(false);
             CountToZero();
+            bool? enableVibrator = ConfigModel.GlobalList?.FirstOrDefault()?.EnableVibrator;
+            if (enableVibrator == true)
+            {
+                Vibrator(true);
+            }
+            Thread.Sleep(1000);
+            bool? enableBelt = ConfigModel.GlobalList?.FirstOrDefault()?.EnableBelt;
+            if (enableBelt == true)
+            {
+                Belt(false);
+            }
+            Thread.Sleep(1000);
             StopProcessAction();
             TurnStart(false);
-            //  LogAsync(DateTime.Now, LogLevel.Information, $"PLC断开连接");
+            LogAsync(DateTime.Now, LogLevel.Action, $"流程停止");
+            Task.Run(async () => {
+
+               await ExecuteClearDelayAsync();
+            });
+          
+        }
+
+        public async Task ExecuteClearDelayAsync()
+        {
+            int? clearTime = ConfigModel.GlobalList?.FirstOrDefault()?.ClearTime;
+            if (clearTime != null)
+            {
+                LogAsync(DateTime.Now, LogLevel.Action, $"转盘清料开始");
+                TurnClear(true);
+                await Task.Delay(clearTime.Value * 1000);
+                LogAsync(DateTime.Now, LogLevel.Action, $"转盘清料完成");
+                TurnClear(false);
+            }
         }
         public void CloseProcess()
         {
@@ -850,6 +898,7 @@ namespace DH.Devices.PLC
             TurnStart(false);
             TurnEnable(false);
             StopProcessAction();
+            TurnClear(false);
             OpenHeartbeat(false);
             PLCDisConnect();
             //  LogAsync(DateTime.Now, LogLevel.Information, $"PLC断开连接");
@@ -1014,6 +1063,25 @@ namespace DH.Devices.PLC
             WriteBool(pLCItem.Address, b);
             Thread.Sleep(30);
         }
+
+        public void Belt(bool b)
+        {
+            PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "皮带");
+            if (pLCItem == null)
+                return;
+            WriteBool(pLCItem.Address, b);
+            Thread.Sleep(30);
+
+        }
+        public void Vibrator(bool b)
+        {
+            PLCItem? pLCItem = PLCItemList.FirstOrDefault(u => u.Name == "振动盘");
+            if (pLCItem == null)
+                return;
+            WriteBool(pLCItem.Address, b);
+            Thread.Sleep(30);
+
+        }
         public void Motor(bool direction, int speed, int pos)
         {
 
@@ -1143,7 +1211,13 @@ namespace DH.Devices.PLC
                 elapsedTime += checkInterval;
             }
 
-
+            BarrierToZero(false);
+            Thread.Sleep(300);
+            // 检查是否不在原点，如果不在，则回原点
+            BarrierClockwise(false);
+            Thread.Sleep(300);
+            BarrierCounterclockwise(false);
+            Thread.Sleep(300);
             // 无论是刚回到原点还是已经在原点，执行目标位置、速度和方向设置
             BarrierSpeed(speed);
             Thread.Sleep(300);
diff --git a/DHSoftware/DHSoftware.csproj b/DHSoftware/DHSoftware.csproj
index 76aa129..c54fbfc 100644
--- a/DHSoftware/DHSoftware.csproj
+++ b/DHSoftware/DHSoftware.csproj
@@ -93,10 +93,12 @@
 
 
 
-  <ItemGroup>
-    <None Include="db\db.sqlite">
-      <CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
-    </None>
-  </ItemGroup>
+	<ItemGroup>
+		<None Include="db\db.sqlite">
+			<CopyToOutputDirectory>PreserveNewest</CopyToOutputDirectory>
+			<!-- 仅在首次生成时复制 -->
+			<Condition>!Exists('$(OutputPath)\db\db.sqlite')</Condition>
+		</None>
+	</ItemGroup>
 
 </Project>
\ No newline at end of file
diff --git a/DHSoftware/MainWindow.cs b/DHSoftware/MainWindow.cs
index 102e791..928fe63 100644
--- a/DHSoftware/MainWindow.cs
+++ b/DHSoftware/MainWindow.cs
@@ -656,6 +656,7 @@ namespace DHSoftware
                         cam.Exposure = cameraBase.Exposure;
                         cam.Gain = cameraBase.Gain;
                         cam.RotateImage = cameraBase.RotateImage;
+                        cam.IsAllPicEnabled=cameraBase.IsAllPicEnabled;
                         cam.ROIX= cameraBase.ROIX;
                         cam.ROIH= cameraBase.ROIH;
                         cam.ROIW= cameraBase.ROIW;
@@ -1083,6 +1084,8 @@ namespace DHSoftware
             {
                 if (_monitorThread == null || !_monitorThread.IsAlive)
                 {
+                    //关闭按钮自身功能(比如按按钮转盘自己启动等)
+                    PLC.WriteBool("M40", true);
                     _isRunning = true;
                     _monitorThread = new Thread(MonitorPlcButtons);
                     _monitorThread.IsBackground = true; // 后台线程
@@ -1144,6 +1147,7 @@ namespace DHSoftware
             {
                 _monitorThread.Join(1000); // 等待线程退出
             }
+            PLC.WriteBool("M40", false);
         }
         private bool _isClosing = false; // 状态标志
 
@@ -1269,6 +1273,7 @@ namespace DHSoftware
             LogAsync(DateTime.Now, LogLevel.Information, "流程启动中，请稍候...");
             ResetAllCameraCounts();
             //开始流程
+      
             StartProcess();
             LogAsync(DateTime.Now, LogLevel.Action, "流程启动完成！");
         }
@@ -1371,9 +1376,8 @@ namespace DHSoftware
                 //mOfflineImageTimer.Start();
 
                 #endregion 虚拟相机
-                //流程执行时PLC
-                PLC.StartProcess();
-                LogAsync(DateTime.Now, LogLevel.Action, "流程启动11111111111完成！");
+     
+           
                 ///这里会执行完成后，会造成后台线程断断续续，会造成界面UI卡顿
                 //var settings = ConfigModel.DetectionList.Where(u => u.IsEnabled && u.IsAddStation).ToList();
                 //if (settings != null)
@@ -1417,7 +1421,8 @@ namespace DHSoftware
 
 
                 InitialOEEStatistic();
-
+                //流程执行时PLC
+                PLC.StartProcess();
                 CurrentMachine = true;
             }
             catch (Exception ex)
@@ -1863,6 +1868,7 @@ namespace DHSoftware
             // Add the code for the "停止" button click here
             PLC.StopProcess();
             CurrentMachine = false;
+         
             //sLDMotion.Stop();
         }
 
diff --git a/DHSoftware/Views/GlobalControl.Designer.cs b/DHSoftware/Views/GlobalControl.Designer.cs
index dff5110..7dfd36d 100644
--- a/DHSoftware/Views/GlobalControl.Designer.cs
+++ b/DHSoftware/Views/GlobalControl.Designer.cs
@@ -28,7 +28,7 @@
         /// </summary>
         private void InitializeComponent()
         {
-            AntdUI.Tabs.StyleLine styleLine1 = new AntdUI.Tabs.StyleLine();
+            AntdUI.Tabs.StyleLine styleLine2 = new AntdUI.Tabs.StyleLine();
             tabs1 = new AntdUI.Tabs();
             tabPage6 = new AntdUI.TabPage();
             tabPage1 = new AntdUI.TabPage();
@@ -56,7 +56,16 @@
             panel5 = new AntdUI.Panel();
             btnStopResetDelete = new AntdUI.Button();
             btnStopResetAdd = new AntdUI.Button();
+            panel6 = new AntdUI.Panel();
+            panel7 = new AntdUI.Panel();
+            uiLabel1 = new Sunny.UI.UILabel();
+            swhEnableVibrator = new AntdUI.Switch();
+            swhEnableBelt = new AntdUI.Switch();
+            uiLabel2 = new Sunny.UI.UILabel();
+            uiLabel3 = new Sunny.UI.UILabel();
+            iptClearTime = new AntdUI.Input();
             tabs1.SuspendLayout();
+            tabPage6.SuspendLayout();
             tabPage1.SuspendLayout();
             panel1.SuspendLayout();
             tabPage2.SuspendLayout();
@@ -67,6 +76,7 @@
             panel4.SuspendLayout();
             tabPage5.SuspendLayout();
             panel5.SuspendLayout();
+            panel6.SuspendLayout();
             SuspendLayout();
             // 
             // tabs1
@@ -81,13 +91,14 @@
             tabs1.Pages.Add(tabPage4);
             tabs1.Pages.Add(tabPage5);
             tabs1.Size = new Size(898, 530);
-            tabs1.Style = styleLine1;
+            tabs1.Style = styleLine2;
             tabs1.TabIndex = 26;
             tabs1.Text = "tabs1";
-            tabs1.SelectedIndex = 1;
             // 
             // tabPage6
             // 
+            tabPage6.Controls.Add(panel7);
+            tabPage6.Controls.Add(panel6);
             tabPage6.Location = new Point(3, 28);
             tabPage6.Name = "tabPage6";
             tabPage6.Size = new Size(892, 499);
@@ -372,6 +383,86 @@
             btnStopResetAdd.Type = AntdUI.TTypeMini.Primary;
             btnStopResetAdd.WaveSize = 0;
             // 
+            // panel6
+            // 
+            panel6.Controls.Add(iptClearTime);
+            panel6.Controls.Add(uiLabel3);
+            panel6.Controls.Add(swhEnableBelt);
+            panel6.Controls.Add(uiLabel2);
+            panel6.Controls.Add(swhEnableVibrator);
+            panel6.Controls.Add(uiLabel1);
+            panel6.Dock = DockStyle.Left;
+            panel6.Location = new Point(0, 0);
+            panel6.Name = "panel6";
+            panel6.Size = new Size(427, 499);
+            panel6.TabIndex = 0;
+            panel6.Text = "panel6";
+            // 
+            // panel7
+            // 
+            panel7.Dock = DockStyle.Fill;
+            panel7.Location = new Point(427, 0);
+            panel7.Name = "panel7";
+            panel7.Size = new Size(465, 499);
+            panel7.TabIndex = 1;
+            panel7.Text = "panel7";
+            // 
+            // uiLabel1
+            // 
+            uiLabel1.Font = new Font("宋体", 12F, FontStyle.Regular, GraphicsUnit.Point, 134);
+            uiLabel1.ForeColor = Color.FromArgb(48, 48, 48);
+            uiLabel1.Location = new Point(28, 36);
+            uiLabel1.Name = "uiLabel1";
+            uiLabel1.Size = new Size(63, 23);
+            uiLabel1.TabIndex = 0;
+            uiLabel1.Text = "振动盘";
+            // 
+            // swhEnableVibrator
+            // 
+            swhEnableVibrator.CheckedText = "启用";
+            swhEnableVibrator.Location = new Point(97, 26);
+            swhEnableVibrator.Name = "swhEnableVibrator";
+            swhEnableVibrator.Size = new Size(94, 33);
+            swhEnableVibrator.TabIndex = 50;
+            swhEnableVibrator.UnCheckedText = "关闭";
+            // 
+            // swhEnableBelt
+            // 
+            swhEnableBelt.CheckedText = "启用";
+            swhEnableBelt.Location = new Point(97, 82);
+            swhEnableBelt.Name = "swhEnableBelt";
+            swhEnableBelt.Size = new Size(94, 33);
+            swhEnableBelt.TabIndex = 52;
+            swhEnableBelt.UnCheckedText = "关闭";
+            // 
+            // uiLabel2
+            // 
+            uiLabel2.Font = new Font("宋体", 12F, FontStyle.Regular, GraphicsUnit.Point, 134);
+            uiLabel2.ForeColor = Color.FromArgb(48, 48, 48);
+            uiLabel2.Location = new Point(28, 92);
+            uiLabel2.Name = "uiLabel2";
+            uiLabel2.Size = new Size(63, 23);
+            uiLabel2.TabIndex = 51;
+            uiLabel2.Text = "皮带";
+            // 
+            // uiLabel3
+            // 
+            uiLabel3.Font = new Font("宋体", 12F, FontStyle.Regular, GraphicsUnit.Point, 134);
+            uiLabel3.ForeColor = Color.FromArgb(48, 48, 48);
+            uiLabel3.Location = new Point(17, 142);
+            uiLabel3.Name = "uiLabel3";
+            uiLabel3.Size = new Size(74, 23);
+            uiLabel3.TabIndex = 53;
+            uiLabel3.Text = "清料时间";
+            // 
+            // iptClearTime
+            // 
+            iptClearTime.Location = new Point(97, 131);
+            iptClearTime.Name = "iptClearTime";
+            iptClearTime.Size = new Size(94, 43);
+            iptClearTime.TabIndex = 54;
+            iptClearTime.Text = "0";
+            // 
             // GlobalControl
             // 
             AutoScaleDimensions = new SizeF(7F, 17F);
@@ -380,6 +471,7 @@
             Name = "GlobalControl";
             Size = new Size(898, 530);
             tabs1.ResumeLayout(false);
+            tabPage6.ResumeLayout(false);
             tabPage1.ResumeLayout(false);
             panel1.ResumeLayout(false);
             tabPage2.ResumeLayout(false);
@@ -390,6 +482,7 @@
             panel4.ResumeLayout(false);
             tabPage5.ResumeLayout(false);
             panel5.ResumeLayout(false);
+            panel6.ResumeLayout(false);
             ResumeLayout(false);
         }
 
@@ -421,5 +514,13 @@
         private AntdUI.Button btnAdd;
         private AntdUI.Button btnDelete;
         private AntdUI.TabPage tabPage6;
+        private AntdUI.Panel panel7;
+        private AntdUI.Panel panel6;
+        private Sunny.UI.UILabel uiLabel1;
+        private AntdUI.Switch swhEnableBelt;
+        private Sunny.UI.UILabel uiLabel2;
+        private AntdUI.Switch swhEnableVibrator;
+        private Sunny.UI.UILabel uiLabel3;
+        private AntdUI.Input iptClearTime;
     }
 }
diff --git a/DHSoftware/Views/GlobalControl.cs b/DHSoftware/Views/GlobalControl.cs
index aac402f..e66f3b5 100644
--- a/DHSoftware/Views/GlobalControl.cs
+++ b/DHSoftware/Views/GlobalControl.cs
@@ -690,8 +690,11 @@ namespace DHSoftware.Views
 
         private void InitData()
         {
-            
-            
+
+            // 启用状态绑定
+            swhEnableVibrator.DataBindings.Add("Checked", global, "EnableVibrator", true, DataSourceUpdateMode.OnPropertyChanged);
+            swhEnableBelt.DataBindings.Add("Checked", global, "EnableBelt", true, DataSourceUpdateMode.OnPropertyChanged);
+            iptClearTime.DataBindings.Add("Text", global, "ClearTime", true, DataSourceUpdateMode.OnPropertyChanged);
 
             TableInitProcess.Columns = new ColumnCollection() {
               new ColumnCheck("Selected"){Fixed = true},
diff --git a/DHSoftware/Views/SettingWindow.cs b/DHSoftware/Views/SettingWindow.cs
index ce53ebd..08a1a0c 100644
--- a/DHSoftware/Views/SettingWindow.cs
+++ b/DHSoftware/Views/SettingWindow.cs
@@ -59,6 +59,19 @@ namespace DHSoftware.Views
                 switch (clickedItem.PARENTITEM.Text)
                 {
                     case "相机设置":
+                        bool b = false;
+                        if (ButtonPermissionList.Count > 0)
+                        {
+                            foreach (var item in ButtonPermissionList)
+                            {
+                                if (item.EnCode == "sys-cameraset")
+                                {
+                                    b = true;
+                                    break;
+                                }
+                            }
+                        }
+                        if (!b) { AntdUI.Message.warn(this, $"对不起，无权限访问相机设置！", autoClose: 3); return; }
                         foreach (var tab in tabs1.Pages)
                         {
                             if (tab is AntdUI.TabPage existingTab && existingTab.Text == $"{clickedItem.PARENTITEM.Text}-{clickedItem.Text}")
@@ -99,6 +112,19 @@ namespace DHSoftware.Views
                         break;
 
                     case "工位设置":
+                        bool b1 = false;
+                        if (ButtonPermissionList.Count > 0)
+                        {
+                            foreach (var item in ButtonPermissionList)
+                            {
+                                if (item.EnCode == "sys-stationset")
+                                {
+                                    b1 = true;
+                                    break;
+                                }
+                            }
+                        }
+                        if (!b1) { AntdUI.Message.warn(this, $"对不起，无权限访问工位设置！", autoClose: 3); return; }
                         // 检查是否已存在同名 TabPage
                         foreach (var tab in tabs1.Pages)
                         {
@@ -146,6 +172,19 @@ namespace DHSoftware.Views
                         break;
 
                     case "运控设置":
+                        bool b2 = false;
+                        if (ButtonPermissionList.Count > 0)
+                        {
+                            foreach (var item in ButtonPermissionList)
+                            {
+                                if (item.EnCode == "sys-motionset")
+                                {
+                                    b2 = true;
+                                    break;
+                                }
+                            }
+                        }
+                        if (!b2) { AntdUI.Message.warn(this, $"对不起，无权限访问运控设置！", autoClose: 3); return; }
                         foreach (var tab in tabs1.Pages)
                         {
                             if (tab is AntdUI.TabPage existingTab && existingTab.Text == $"{clickedItem.PARENTITEM.Text}-{clickedItem.Text}")
@@ -185,6 +224,19 @@ namespace DHSoftware.Views
                         }
                         break;
                     case "其他设置":
+                        bool b3 = false;
+                        if (ButtonPermissionList.Count > 0)
+                        {
+                            foreach (var item in ButtonPermissionList)
+                            {
+                                if (item.EnCode == "sys-globalset")
+                                {
+                                    b3 = true;
+                                    break;
+                                }
+                            }
+                        }
+                        if (!b3) { AntdUI.Message.warn(this, $"对不起，无权限访问其他设置！", autoClose: 3); return; }
                         foreach (var tab in tabs1.Pages)
                         {
                             if (tab is AntdUI.TabPage existingTab && existingTab.Text == $"{clickedItem.PARENTITEM.Text}-{clickedItem.Text}")
@@ -329,15 +381,30 @@ namespace DHSoftware.Views
             }
             return null;
         }
+        private List<SysPermission> _buttonPermissionList = new List<SysPermission>();
+        private readonly object _permissionLock = new object();
+
+        /// <summary>
+        /// 按钮权限列表（线程安全）
+        /// </summary>
         public List<SysPermission> ButtonPermissionList
         {
+            get
+            {
+                lock (_permissionLock)
+                {
+                    return new List<SysPermission>(_buttonPermissionList); // 返回副本避免外部修改
+                }
+            }
             set
             {
-                List<SysPermission> list = value;
-                SetPermission(list, this.Controls);
+                lock (_permissionLock)
+                {
+                    _buttonPermissionList = value ?? new List<SysPermission>();
+                    SetPermission(_buttonPermissionList, this.Controls); // 应用权限到控件
+                }
             }
         }
-
         private void SetPermission(List<SysPermission> list, Control.ControlCollection controls)
         {
             foreach (Control control in controls)
@@ -453,7 +520,19 @@ namespace DHSoftware.Views
         {
             if (e.Button == MouseButtons.Right)
             {
-
+                bool b = false;
+                if (ButtonPermissionList.Count > 0)
+                {
+                    foreach(var item in ButtonPermissionList)
+                    {
+                        if (item.EnCode == "sys-setright")
+                        {
+                            b= true;
+                            break;
+                        }
+                    }
+                }
+                if (!b) { return; }
                 var menu = sender as Menu;
                 if (menu == null) return;
 
diff --git a/DHSoftware/Views/VisualLocalizationWindow.Designer.cs b/DHSoftware/Views/VisualLocalizationWindow.Designer.cs
index 50360a5..8317a24 100644
--- a/DHSoftware/Views/VisualLocalizationWindow.Designer.cs
+++ b/DHSoftware/Views/VisualLocalizationWindow.Designer.cs
@@ -462,7 +462,6 @@
             // 
             iptBarrierPos.Location = new Point(284, 0);
             iptBarrierPos.Name = "iptBarrierPos";
-            iptBarrierPos.ReadOnly = true;
             iptBarrierPos.Size = new Size(175, 43);
             iptBarrierPos.TabIndex = 20;
             iptBarrierPos.Text = "0";
diff --git a/DHSoftware/Views/VisualLocalizationWindow.cs b/DHSoftware/Views/VisualLocalizationWindow.cs
index bc6d3b7..52e6959 100644
--- a/DHSoftware/Views/VisualLocalizationWindow.cs
+++ b/DHSoftware/Views/VisualLocalizationWindow.cs
@@ -175,7 +175,7 @@ namespace DHSoftware.Views
                     AntdUI.Message.warn(this, "挡料电机速度值无效");
                     return;
                 }
-                if (!int.TryParse(iptBarrierPos.Text, out int barrierPos) || speed == 0)
+                if (!int.TryParse(iptBarrierPos.Text, out int barrierPos) || barrierPos == 0)
                 {
                     AntdUI.Message.warn(this, "挡料电机位置值无效");
                     return;
diff --git a/DHSoftware/db/db.sqlite b/DHSoftware/db/db.sqlite
index f16095bd76ff5608e3f2d45be9ef6623028a5fe4..8cff70ad1776195890a67228724d72aa1b09c18d 100644
GIT binary patch
delta 8506
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