diff --git a/Rs.SkyLine/Commom/Scheduling.cs b/Rs.SkyLine/Commom/Scheduling.cs
index f173296..bd62639 100644
--- a/Rs.SkyLine/Commom/Scheduling.cs
+++ b/Rs.SkyLine/Commom/Scheduling.cs
@@ -35,6 +35,49 @@ namespace Rs.MotionPlat.Commom
         public DateTime Time { get; set; } = DateTime.Now;
 
         public override string ToString() => JsonConvert.SerializeObject(this, new StringEnumConverter());
+
+        /// <summary>
+        /// 获取json,最后一个可能不是合法json
+        /// </summary>
+        /// <param name="msg"></param>
+        /// <returns></returns>
+        /// <exception cref="FormatException">嵌套太深</exception>
+        public static IEnumerable<string> GetJsons(string msg)
+        {
+            int curlyBrackets = 0, startIndex = 0, len = msg.Length, i = 0;
+            for (; i < len; ++i)
+            {
+                switch (msg[i])
+                {
+                    case '{':
+                        if (curlyBrackets < 0)
+                        {
+                            curlyBrackets = 0;
+                        }
+
+                        if (++curlyBrackets == 1)
+                        {
+                            startIndex = i;
+                        }
+                        else if (curlyBrackets > 100)
+                        {
+                            throw new FormatException("nesting too deep");
+                        }
+                        break;
+                    case '}':
+                        if (--curlyBrackets == 0)
+                        {
+                            int end = i + 1;
+                            yield return msg.Substring(startIndex,end-startIndex);
+                            startIndex = end;
+                        }
+                        break;
+                }
+            }
+            if (startIndex < len)
+                yield return msg.Substring(startIndex);
+            yield break;
+        }
     }
 
     public class SchedulingConnectionInfo : Scheduling
@@ -48,6 +91,8 @@ namespace Rs.MotionPlat.Commom
         }
     }
 
+
+
     /// <summary>
     /// 上下料
     /// </summary>
@@ -740,6 +785,10 @@ namespace Rs.MotionPlat.Commom
         /// 倒计时结束时按下的按钮
         /// </summary>
         public ETipButton CountdownResult { get; set; } = ETipButton.Yes;
+        /// <summary>
+        /// 定制弹窗按钮文本内容
+        /// </summary>
+        public Dictionary<ETipButton, string> ButtonContexts { get; set; }
 
         public SchedulingMessageBox() { }
 
diff --git a/Rs.SkyLine/Flow/LoadAndUnloadTask.cs b/Rs.SkyLine/Flow/LoadAndUnloadTask.cs
index 436f0fa..bd30e69 100644
--- a/Rs.SkyLine/Flow/LoadAndUnloadTask.cs
+++ b/Rs.SkyLine/Flow/LoadAndUnloadTask.cs
@@ -100,6 +100,17 @@ namespace Rs.MotionPlat.Flow
             tilist.AddRange(changeTaskList.Where(tr => tr.Dealed == false));
             return tilist;
         }
+        /// <summary>
+        /// 清除未执行的任务
+        /// </summary>
+        public void ClearUndoTask()
+        {
+           List<TurnoverInfo> removeList = loadTaskList.Where(t => t.Dealed == false).ToList();
+            foreach(var t in removeList)
+            {
+                loadTaskList.Remove(t);
+            }
+        }
 
 
         public void AddTurnoverResult(Nozzle nozzle)
diff --git a/Rs.SkyLine/Flow/TestCenter.cs b/Rs.SkyLine/Flow/TestCenter.cs
index 0b562c3..1a5a923 100644
--- a/Rs.SkyLine/Flow/TestCenter.cs
+++ b/Rs.SkyLine/Flow/TestCenter.cs
@@ -1,4 +1,5 @@
-using Newtonsoft.Json;
+using HalconDotNet;
+using Newtonsoft.Json;
 using Newtonsoft.Json.Converters;
 using Rs.Framework;
 using Rs.MotionPlat.Commom;
@@ -9,6 +10,7 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 using static System.Windows.Forms.AxHost;
+using static System.Windows.Forms.VisualStyles.VisualStyleElement;
 
 namespace Rs.MotionPlat.Flow
 {
@@ -69,143 +71,152 @@ namespace Rs.MotionPlat.Flow
         }
         private void Client_DataRecived(System.Net.Sockets.Socket socket, byte[] data)
         {
-            string msg=Encoding.UTF8.GetString(data);
-            //LogHelper.TestCenterLog("接收:"+msg);
-            ReciveTaskEvent?.Invoke(msg);
-            Scheduling schedule = JsonConvert.DeserializeObject<Scheduling>(msg);
-            EInstruction eInstructioneInstruction = schedule.Instruction;
-            switch (eInstructioneInstruction)
+            string msg = Encoding.UTF8.GetString(data);
+            foreach (string json in Scheduling.GetJsons(msg))
             {
-                case EInstruction.InquireSiloStatus:
-                    break;
-                case EInstruction.InquireConnectionInfo:
-                    SchedulingConnectionInfo info = JsonConvert.DeserializeObject<SchedulingConnectionInfo>(msg);
-                    info.Type = SchedulingConnectionInfo.EType.Scheduling;
-                    client.Send(info.ToString());
-                    LogHelper.Debug(info.ToString());
-                    ReplayTaskEvent?.Invoke(info.ToString());
-                    break;
-                case EInstruction.LoadAndUnload:
-                    LogHelper.TestCenterLog("接收:" + msg);
-                    MachineManage.Instance.RunState = ERunState.Busying;
-                    sm = JsonConvert.DeserializeObject<SchedulingMaterial>(msg);
-                    schedulResult = new SchedulingResult() { Instruction = sm.Instruction, State = ERunState.Busying, GroupID = sm.GroupID, TurnoverID = sm.TurnoverID };
-                    string buffer = schedulResult.ToString();
-                    client.Send(buffer);
-                    LogHelper.TestCenterLog(buffer);
-                    LoadAndUnloadTask.Instance.Add(sm);
-                    MessageQueue.Instance.Insert(sm.Instruction.ToString());
-                    ReplayTaskEvent?.Invoke(schedulResult.ToString());
-                    break;
-                case EInstruction.CancelLoadAndUnload:
-                    //schedulResult = new SchedulingResult() { Instruction = EInstruction.CancelLoadAndUnload, State = ERunState.Busying, GroupID = sm.GroupID, TurnoverID = sm.TurnoverID };
-                    client.Send(schedule.ToString());
-                    break;
-                case EInstruction.InquireStatus:
-                    SchedulingStatusInfo statusInto=JsonConvert.DeserializeObject<SchedulingStatusInfo>(msg);
-                    switch (statusInto.Type)
-                    {
-                        case SchedulingStatusInfo.InfoType.State:
-                            statusInto.Info = MachineManage.Instance.RunState.ToString();// ERunState.Waiting.ToString();
-                            //MessageQueue.Instance.Insert(statusInto.Info);
-                            //File.AppendAllText("c://runstate.txt",statusInto.Info.ToString()+"\r\n");
-                            break;
-                        case SchedulingStatusInfo.InfoType.RunStatus:
-                            statusInto.Info = MachineManage.Instance.RunStatus.ToString();// ERunStatus.Started.ToString();
-                            break;
-                        case SchedulingStatusInfo.InfoType.RunMode:
-                            statusInto.Info = MachineManage.Instance.RunMode.ToString();
-                            break;
-                        case SchedulingStatusInfo.InfoType.InitializeState:
-                            statusInto.Info = MachineManage.Instance.InitializeState.ToString();// EInitializeState.Initialized.ToString();
-                            break;
-                        case SchedulingStatusInfo.InfoType.AssignMode:
-                            statusInto.Info = EAssignMode.Normal.ToString();
-                            break;
-                        case SchedulingStatusInfo.InfoType.Temperature:
-                            statusInto.Info = "22";
-                            break;
-                        default:
-                            break;
-                    }
-                    client.Send(statusInto.ToString());
-                    LogHelper.Debug(statusInto.ToString());
-                    ReplayTaskEvent?.Invoke(statusInto.ToString());
-                    break;
-                case EInstruction.SwitchStatus:
-                    SchedulingStatusInfo switchStatus=JsonConvert.DeserializeObject<SchedulingStatusInfo>(msg);
-                    SwitchStatus(switchStatus);
-                    //MachineManage.Instance.MachineStatus= EMachineStatus.
-                    //if (ss.TryConvertInfoTo<ERunMode>(out ERunMode runMode))
-                    //    MachineManage.Instance.RunMode = runMode;
-                    //client.Send(ss.ToString());
-                    //ReplayTaskEvent?.Invoke(ss.ToString());
-                    break;
-                case EInstruction.ClearAlarm:
-                    break;
-                case EInstruction.GetRecipeList:
-                    SchedulingResult sr = JsonConvert.DeserializeObject<SchedulingResult>(msg);
-                    sr.Message = "Default";
-                    client.Send(sr.ToString());
-                    ReplayTaskEvent?.Invoke(sr.ToString());
-                    break;
-                case EInstruction.SetRecipe:
-                    break;
-                case EInstruction.GetCurrentRecipe:
-                    SchedulingResult srcur = JsonConvert.DeserializeObject<SchedulingResult>(msg);
-                    srcur.Message = "Default";
-                    client.Send(srcur.ToString());
-                    ReplayTaskEvent?.Invoke(srcur.ToString());
-                    break;
-                case EInstruction.TurnoverReady:
-                    break;
-                case EInstruction.ChangeState:
-                    SchedulingResult cs = JsonConvert.DeserializeObject<SchedulingResult>(msg);
-                    client.Send(cs.ToString());
-                    ReplayTaskEvent?.Invoke(cs.ToString());
-                    break;
-                case EInstruction.ShowMessage:
-                    break;
-                case EInstruction.CloseMessage:
-                    break;
-                case EInstruction.MachineButtonDown:
-                    break;
-                case EInstruction.MachineButtonUp:
-                    break;
-                case EInstruction.TrayProductRange:
-                    break;
-                case EInstruction.ClearTrayProductRange:
-                    schedulResult = JsonConvert.DeserializeObject<SchedulingResult>(msg);
-                    client.Send(schedulResult.ToString());
-                    ReplayTaskEvent?.Invoke(schedulResult.ToString());
-                    break;
-                case EInstruction.RequestSwitchTray:
-                    break;
-                case EInstruction.BeginSwitchTray:
-                    break;
-                case EInstruction.MoveScanner:
-                    break;
-                case EInstruction.InquireMoveScannerState:
-                    break;
-                case EInstruction.SetAlarms:
-                    break;
-                case EInstruction.CancelAlarms:
-                    break;
-                case EInstruction.IsLastBeforeTray:
-                    break;
-                case EInstruction.EndInput:
-                    break;
-                case EInstruction.TakingError:
-                    break;
-                case EInstruction.CancelTakingError:
-                    break;
-                case EInstruction.Rearrange:
-                    break;
-                case EInstruction.RearrangeResult:
-                    break;
-                case EInstruction.ScanBarcode:
-                    break;
+                Scheduling schedule = JsonConvert.DeserializeObject<Scheduling>(json);
+                EInstruction eInstructioneInstruction = schedule.Instruction;
+                switch (eInstructioneInstruction)
+                {
+                    case EInstruction.InquireSiloStatus:
+                        break;
+                    case EInstruction.InquireConnectionInfo:
+                        SchedulingConnectionInfo info = JsonConvert.DeserializeObject<SchedulingConnectionInfo>(json);
+                        info.Type = SchedulingConnectionInfo.EType.Scheduling;
+                        client.Send(info.ToString());
+                        LogHelper.Debug(info.ToString());
+                        ReplayTaskEvent?.Invoke(info.ToString());
+                        break;
+                    case EInstruction.LoadAndUnload:
+                        LogHelper.Debug("接收:" + json);
+                        MachineManage.Instance.RunState = ERunState.Busying;
+                        sm = JsonConvert.DeserializeObject<SchedulingMaterial>(json);
+                        schedulResult = new SchedulingResult() { Instruction = sm.Instruction, State = ERunState.Busying, GroupID = sm.GroupID, TurnoverID = sm.TurnoverID };
+                        string buffer = schedulResult.ToString();
+                        client.Send(buffer);
+                        LogHelper.TestCenterLog(buffer);
+                        LoadAndUnloadTask.Instance.Add(sm);
+                        MessageQueue.Instance.Insert(sm.Instruction.ToString());
+                        ReplayTaskEvent?.Invoke(schedulResult.ToString());
+                        break;
+                    case EInstruction.CancelLoadAndUnload:
+                        //schedulResult = new SchedulingResult() { Instruction = EInstruction.CancelLoadAndUnload, State = ERunState.Busying, GroupID = sm.GroupID, TurnoverID = sm.TurnoverID };
+                        client.Send(schedule.ToString());
+                        break;
+                    case EInstruction.InquireStatus:
+                        SchedulingStatusInfo statusInto = JsonConvert.DeserializeObject<SchedulingStatusInfo>(json);
+                        switch (statusInto.Type)
+                        {
+                            case SchedulingStatusInfo.InfoType.State:
+                                statusInto.Info = MachineManage.Instance.RunState.ToString();// ERunState.Waiting.ToString();
+                                                                                             //MessageQueue.Instance.Insert(statusInto.Info);
+                                                                                             //File.AppendAllText("c://runstate.txt",statusInto.Info.ToString()+"\r\n");
+                                break;
+                            case SchedulingStatusInfo.InfoType.RunStatus:
+                                statusInto.Info = MachineManage.Instance.RunStatus.ToString();// ERunStatus.Started.ToString();
+                                break;
+                            case SchedulingStatusInfo.InfoType.RunMode:
+                                statusInto.Info = MachineManage.Instance.RunMode.ToString();
+                                break;
+                            case SchedulingStatusInfo.InfoType.InitializeState:
+                                statusInto.Info = MachineManage.Instance.InitializeState.ToString();// EInitializeState.Initialized.ToString();
+                                break;
+                            case SchedulingStatusInfo.InfoType.AssignMode:
+                                statusInto.Info = EAssignMode.Normal.ToString();
+                                break;
+                            case SchedulingStatusInfo.InfoType.Temperature:
+                                statusInto.Info = "22";
+                                break;
+                            default:
+                                break;
+                        }
+                        client.Send(statusInto.ToString());
+                        LogHelper.Debug(statusInto.ToString());
+                        ReplayTaskEvent?.Invoke(statusInto.ToString());
+                        break;
+                    case EInstruction.SwitchStatus:
+                        SchedulingStatusInfo switchStatus = JsonConvert.DeserializeObject<SchedulingStatusInfo>(msg);
+                        SwitchStatus(switchStatus);
+                        //MachineManage.Instance.MachineStatus= EMachineStatus.
+                        //if (ss.TryConvertInfoTo<ERunMode>(out ERunMode runMode))
+                        //    MachineManage.Instance.RunMode = runMode;
+                        //client.Send(ss.ToString());
+                        //ReplayTaskEvent?.Invoke(ss.ToString());
+                        break;
+                    case EInstruction.ClearAlarm:
+                        break;
+                    case EInstruction.GetRecipeList:
+                        SchedulingResult sr = JsonConvert.DeserializeObject<SchedulingResult>(msg);
+                        sr.Message = "Default";
+                        client.Send(sr.ToString());
+                        ReplayTaskEvent?.Invoke(sr.ToString());
+                        break;
+                    case EInstruction.SetRecipe:
+                        break;
+                    case EInstruction.GetCurrentRecipe:
+                        SchedulingResult srcur = JsonConvert.DeserializeObject<SchedulingResult>(msg);
+                        srcur.Message = "Default";
+                        client.Send(srcur.ToString());
+                        ReplayTaskEvent?.Invoke(srcur.ToString());
+                        break;
+                    case EInstruction.TurnoverReady:
+                        break;
+                    case EInstruction.ChangeState:
+                        SchedulingResult cs = JsonConvert.DeserializeObject<SchedulingResult>(msg);
+                        client.Send(cs.ToString());
+                        ReplayTaskEvent?.Invoke(cs.ToString());
+                        break;
+                    case EInstruction.ShowMessage:
+                        break;
+                    case EInstruction.CloseMessage:
+                        SchedulingMessageBox mbox = JsonConvert.DeserializeObject<SchedulingMessageBox>(json);
+                        break;
+                    case EInstruction.MachineButtonDown:
+                        break;
+                    case EInstruction.MachineButtonUp:
+                        break;
+                    case EInstruction.TrayProductRange:
+                        break;
+                    case EInstruction.ClearTrayProductRange:
+                        schedulResult = JsonConvert.DeserializeObject<SchedulingResult>(msg);
+                        client.Send(schedulResult.ToString());
+                        ReplayTaskEvent?.Invoke(schedulResult.ToString());
+                        break;
+                    case EInstruction.RequestSwitchTray:
+                        break;
+                    case EInstruction.BeginSwitchTray:
+                        break;
+                    case EInstruction.MoveScanner:
+                        break;
+                    case EInstruction.InquireMoveScannerState:
+                        break;
+                    case EInstruction.SetAlarms:
+                        break;
+                    case EInstruction.CancelAlarms:
+                        break;
+                    case EInstruction.IsLastBeforeTray:
+                        break;
+                    case EInstruction.EndInput:
+                        break;
+                    case EInstruction.TakingError:
+                        break;
+                    case EInstruction.CancelTakingError:
+                        break;
+                    case EInstruction.Rearrange:
+                        break;
+                    case EInstruction.RearrangeResult:
+                        break;
+                    case EInstruction.ScanBarcode:
+                        break;
+                }
+
             }
+
+
+            //string msg=Encoding.UTF8.GetString(data);
+            //LogHelper.TestCenterLog("接收:"+msg);
+            //ReciveTaskEvent?.Invoke(msg);
+           
         }
 
         /// <summary>
@@ -263,5 +274,18 @@ namespace Rs.MotionPlat.Flow
             string content = LoadAndUnloadTask.Instance.GetTestUnLoadString();
             return client.Send(content) > 0;
         }
+
+        public int Send(string content)
+        {
+            return client.Send(content);
+        }
+
+        public void EndInput()
+        {
+            Scheduling s = new Scheduling();
+            s.Instruction = EInstruction.EndInput;
+            string content = JsonConvert.SerializeObject(s, new StringEnumConverter());
+            client.Send(content);
+        }
     }
 }
diff --git a/Rs.SkyLine/Flow/WorkFlow.cs b/Rs.SkyLine/Flow/WorkFlow.cs
index ff4c3e8..4fb52bc 100644
--- a/Rs.SkyLine/Flow/WorkFlow.cs
+++ b/Rs.SkyLine/Flow/WorkFlow.cs
@@ -5,6 +5,7 @@ using Rs.Framework;
 using Rs.Motion;
 using Rs.MotionPlat.Commom;
 using Rs.MotionPlat.Flow.Space;
+using Rs.MotionPlat.MsgBox;
 using System;
 using System.Collections.Generic;
 using System.Diagnostics;
@@ -326,13 +327,48 @@ namespace Rs.MotionPlat.Flow
                         FetchNum++;
                         if (FetchNum == 6)
                         {
-                            DialogResult dr = Msg.ShowError($"吸嘴{curNozzle.NozzleIndex}取料{FetchNum}次失败报警,请处理后点击确定", MessageBoxButtons.RetryCancel);
-                            if(dr==  DialogResult.Retry)
+                            //DialogResult dr = Msg.ShowError($"吸嘴{curNozzle.NozzleIndex}取料{FetchNum}次失败报警,请处理后点击确定", MessageBoxButtons.RetryCancel);
+                            CloseResult cr = new TakeFailMsg().ShowMsg($"吸嘴{curNozzle.NozzleIndex}取料{FetchNum}次失败报警,请处理后点击确定");
+                            if (cr.Result == ECloseButton.Retry)
                             {
                                 FetchNum = 0;
                                 flowStep = EWorkFlowStep.到取料位下方;
                             }
-                            else
+                            else if (cr.Result == ECloseButton.Skip)//switch
+                            {
+                                FetchNum = 0;
+                                if (curTask.FromType == TurnoverType.Turnover)
+                                {
+                                    GlobalTray.TurnoverTray.ChangeStatus(curTask.FromIndex + 1, ESlotStatus.NotHave);
+                                }
+                                else if (curTask.FromType == TurnoverType.ToBeTested)
+                                {
+                                    GlobalTray.InputTray.ChangeStatus(GlobalTray.InputTray.GetSlot(ESlotStatus.Have).Index, ESlotStatus.NotHave);
+                                }
+                                if (LoadAndUnloadTask.Instance.GetTaskNum(curTask.taskMode) > 0 && NozzleManager.GetNozzlesByStatus(ENozzleStatus.IDLE).Count > 0)
+                                {
+                                    flowStep = EWorkFlowStep.到取料位上方;
+                                }
+                                else
+                                {
+                                    flowStep = EWorkFlowStep.到下相机拍照起始位;
+                                }
+                            }
+                            else if(cr.Result== ECloseButton.EndInput)
+                            {
+                                FetchNum = 0;
+                                TestCenter.Instance.EndInput();
+                                LoadAndUnloadTask.Instance.ClearUndoTask();
+                                if(NozzleManager.GetNozzlesByStatus(ENozzleStatus.ToUnload).Count>0)
+                                {
+                                    flowStep = EWorkFlowStep.到下相机拍照起始位;
+                                }
+                                else
+                                {
+                                    flowStep = EWorkFlowStep.任务结束到安全位;
+                                }
+                            }
+                            else if (cr.Result == ECloseButton.Continue)
                             {
                                 FetchNum = 0;
                                 curNozzle.Status = ENozzleStatus.ToUnload;
@@ -343,8 +379,6 @@ namespace Rs.MotionPlat.Flow
                                 curNozzle.ToIndex = curTask.ToIndex;
                                 curTask.SuckerNo = curNozzle.NozzleIndex;
                                 curNozzle.TurnoverGUID = curTask.GUID;
-
-                                FetchNum = 0;
                                 if (curTask.FromType == TurnoverType.Turnover)
                                 {
                                     curNozzle.SN = curTask.SN;
@@ -503,6 +537,7 @@ namespace Rs.MotionPlat.Flow
                         }
                         //CameraOkEvent?.Invoke(imgs, mrs);
                         OnMatchResult?.Invoke(mrs);
+                        //TestCenter.Instance.EndInput();
                         flowStep = EWorkFlowStep.到放料位上方;
                         //Thread.Sleep(2000);
                     }
diff --git a/Rs.SkyLine/MsgBox/TakeFailMsg.Designer.cs b/Rs.SkyLine/MsgBox/TakeFailMsg.Designer.cs
new file mode 100644
index 0000000..f35a83c
--- /dev/null
+++ b/Rs.SkyLine/MsgBox/TakeFailMsg.Designer.cs
@@ -0,0 +1,147 @@
+namespace Rs.MotionPlat.MsgBox
+{
+    partial class TakeFailMsg
+    {
+        /// <summary>
+        /// Required designer variable.
+        /// </summary>
+        private System.ComponentModel.IContainer components = null;
+
+        /// <summary>
+        /// Clean up any resources being used.
+        /// </summary>
+        /// <param name="disposing">true if managed resources should be disposed; otherwise, false.</param>
+        protected override void Dispose(bool disposing)
+        {
+            if (disposing && (components != null))
+            {
+                components.Dispose();
+            }
+            base.Dispose(disposing);
+        }
+
+        #region Windows Form Designer generated code
+
+        /// <summary>
+        /// Required method for Designer support - do not modify
+        /// the contents of this method with the code editor.
+        /// </summary>
+        private void InitializeComponent()
+        {
+            this.panel2 = new System.Windows.Forms.Panel();
+            this.btnContinue = new System.Windows.Forms.Button();
+            this.btnRetry = new System.Windows.Forms.Button();
+            this.btnSkip = new System.Windows.Forms.Button();
+            this.btnEndInput = new System.Windows.Forms.Button();
+            this.panel1 = new System.Windows.Forms.Panel();
+            this.label1 = new System.Windows.Forms.Label();
+            this.panel2.SuspendLayout();
+            this.panel1.SuspendLayout();
+            this.SuspendLayout();
+            // 
+            // panel2
+            // 
+            this.panel2.Controls.Add(this.btnContinue);
+            this.panel2.Controls.Add(this.btnRetry);
+            this.panel2.Controls.Add(this.btnSkip);
+            this.panel2.Controls.Add(this.btnEndInput);
+            this.panel2.Dock = System.Windows.Forms.DockStyle.Bottom;
+            this.panel2.Location = new System.Drawing.Point(0, 234);
+            this.panel2.Name = "panel2";
+            this.panel2.Size = new System.Drawing.Size(476, 48);
+            this.panel2.TabIndex = 4;
+            // 
+            // btnContinue
+            // 
+            this.btnContinue.Location = new System.Drawing.Point(373, 3);
+            this.btnContinue.Name = "btnContinue";
+            this.btnContinue.Size = new System.Drawing.Size(89, 39);
+            this.btnContinue.TabIndex = 0;
+            this.btnContinue.Text = "继续";
+            this.btnContinue.UseVisualStyleBackColor = true;
+            this.btnContinue.Click += new System.EventHandler(this.btnContinue_Click);
+            // 
+            // btnRetry
+            // 
+            this.btnRetry.Location = new System.Drawing.Point(260, 3);
+            this.btnRetry.Name = "btnRetry";
+            this.btnRetry.Size = new System.Drawing.Size(89, 39);
+            this.btnRetry.TabIndex = 0;
+            this.btnRetry.Text = "重试";
+            this.btnRetry.UseVisualStyleBackColor = true;
+            this.btnRetry.Click += new System.EventHandler(this.btnRetry_Click);
+            // 
+            // btnSkip
+            // 
+            this.btnSkip.Location = new System.Drawing.Point(147, 4);
+            this.btnSkip.Name = "btnSkip";
+            this.btnSkip.Size = new System.Drawing.Size(89, 39);
+            this.btnSkip.TabIndex = 0;
+            this.btnSkip.Text = "跳过";
+            this.btnSkip.UseVisualStyleBackColor = true;
+            this.btnSkip.Click += new System.EventHandler(this.btnSkip_Click);
+            // 
+            // btnEndInput
+            // 
+            this.btnEndInput.Location = new System.Drawing.Point(34, 4);
+            this.btnEndInput.Name = "btnEndInput";
+            this.btnEndInput.Size = new System.Drawing.Size(89, 39);
+            this.btnEndInput.TabIndex = 0;
+            this.btnEndInput.Text = "结束上料";
+            this.btnEndInput.UseVisualStyleBackColor = true;
+            this.btnEndInput.Click += new System.EventHandler(this.btnEndInput_Click);
+            // 
+            // panel1
+            // 
+            this.panel1.Controls.Add(this.label1);
+            this.panel1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.panel1.Location = new System.Drawing.Point(0, 40);
+            this.panel1.Name = "panel1";
+            this.panel1.Size = new System.Drawing.Size(476, 194);
+            this.panel1.TabIndex = 5;
+            // 
+            // label1
+            // 
+            this.label1.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.label1.ForeColor = System.Drawing.Color.White;
+            this.label1.Location = new System.Drawing.Point(0, 0);
+            this.label1.Name = "label1";
+            this.label1.Size = new System.Drawing.Size(476, 194);
+            this.label1.TabIndex = 0;
+            this.label1.Text = "label1";
+            this.label1.TextAlign = System.Drawing.ContentAlignment.MiddleCenter;
+            // 
+            // TakeFailMsg
+            // 
+            this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
+            this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
+            this.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(128)))), ((int)(((byte)(0)))));
+            this.ClientSize = new System.Drawing.Size(476, 282);
+            this.Controls.Add(this.panel1);
+            this.Controls.Add(this.panel2);
+            this.HeadText = "提示";
+            this.MaximizeBox = false;
+            this.MinimizeBox = false;
+            this.Name = "TakeFailMsg";
+            this.ShowMax = false;
+            this.ShowMin = false;
+            this.Text = "TakeFailMsg";
+            this.Controls.SetChildIndex(this.panel2, 0);
+            this.Controls.SetChildIndex(this.panel1, 0);
+            this.panel2.ResumeLayout(false);
+            this.panel1.ResumeLayout(false);
+            this.ResumeLayout(false);
+
+        }
+
+        #endregion
+
+        private System.Windows.Forms.Panel panel2;
+        private System.Windows.Forms.Button btnRetry;
+        private System.Windows.Forms.Button btnSkip;
+        private System.Windows.Forms.Button btnEndInput;
+        private System.Windows.Forms.Panel panel1;
+        private System.Windows.Forms.Button btnContinue;
+        private System.Windows.Forms.Label label1;
+    }
+}
\ No newline at end of file
diff --git a/Rs.SkyLine/MsgBox/TakeFailMsg.cs b/Rs.SkyLine/MsgBox/TakeFailMsg.cs
new file mode 100644
index 0000000..78d7901
--- /dev/null
+++ b/Rs.SkyLine/MsgBox/TakeFailMsg.cs
@@ -0,0 +1,67 @@
+using System;
+using System.Collections.Generic;
+using System.ComponentModel;
+using System.Data;
+using System.Drawing;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using System.Windows.Forms;
+
+namespace Rs.MotionPlat.MsgBox
+{
+    
+    public partial class TakeFailMsg : BaseFormHeader
+    {
+        CloseResult result = new CloseResult();
+        public TakeFailMsg()
+        {
+            InitializeComponent();
+            this.StartPosition = FormStartPosition.CenterScreen;
+        }
+
+        public CloseResult ShowMsg(string msg)
+        {
+            this.label1.Text = msg;
+            this.ShowDialog();
+            return result;
+        }
+
+        private void btnEndInput_Click(object sender, EventArgs e)
+        {
+            result.Result = ECloseButton.EndInput;
+            this.Close();
+        }
+
+        private void btnSkip_Click(object sender, EventArgs e)
+        {
+            result.Result = ECloseButton.Skip;
+            this.Close();
+        }
+
+        private void btnRetry_Click(object sender, EventArgs e)
+        {
+            result.Result = ECloseButton.Retry;
+            this.Close();
+        }
+
+        private void btnContinue_Click(object sender, EventArgs e)
+        {
+            result.Result = ECloseButton.Continue;
+            this.Close();
+        }
+    }
+
+    public enum ECloseButton
+    {
+        EndInput,
+        Skip,
+        Retry,
+        Continue
+    }
+    public class CloseResult
+    {
+        public ECloseButton Result { get; set; }
+    }
+}
diff --git a/Rs.SkyLine/MsgBox/TakeFailMsg.resx b/Rs.SkyLine/MsgBox/TakeFailMsg.resx
new file mode 100644
index 0000000..1af7de1
--- /dev/null
+++ b/Rs.SkyLine/MsgBox/TakeFailMsg.resx
@@ -0,0 +1,120 @@
+<?xml version="1.0" encoding="utf-8"?>
+<root>
+  <!-- 
+    Microsoft ResX Schema 
+    
+    Version 2.0
+    
+    The primary goals of this format is to allow a simple XML format 
+    that is mostly human readable. The generation and parsing of the 
+    various data types are done through the TypeConverter classes 
+    associated with the data types.
+    
+    Example:
+    
+    ... ado.net/XML headers & schema ...
+    <resheader name="resmimetype">text/microsoft-resx</resheader>
+    <resheader name="version">2.0</resheader>
+    <resheader name="reader">System.Resources.ResXResourceReader, System.Windows.Forms, ...</resheader>
+    <resheader name="writer">System.Resources.ResXResourceWriter, System.Windows.Forms, ...</resheader>
+    <data name="Name1"><value>this is my long string</value><comment>this is a comment</comment></data>
+    <data name="Color1" type="System.Drawing.Color, System.Drawing">Blue</data>
+    <data name="Bitmap1" mimetype="application/x-microsoft.net.object.binary.base64">
+        <value>[base64 mime encoded serialized .NET Framework object]</value>
+    </data>
+    <data name="Icon1" type="System.Drawing.Icon, System.Drawing" mimetype="application/x-microsoft.net.object.bytearray.base64">
+        <value>[base64 mime encoded string representing a byte array form of the .NET Framework object]</value>
+        <comment>This is a comment</comment>
+    </data>
+                
+    There are any number of "resheader" rows that contain simple 
+    name/value pairs.
+    
+    Each data row contains a name, and value. The row also contains a 
+    type or mimetype. Type corresponds to a .NET class that support 
+    text/value conversion through the TypeConverter architecture. 
+    Classes that don't support this are serialized and stored with the 
+    mimetype set.
+    
+    The mimetype is used for serialized objects, and tells the 
+    ResXResourceReader how to depersist the object. This is currently not 
+    extensible. For a given mimetype the value must be set accordingly:
+    
+    Note - application/x-microsoft.net.object.binary.base64 is the format 
+    that the ResXResourceWriter will generate, however the reader can 
+    read any of the formats listed below.
+    
+    mimetype: application/x-microsoft.net.object.binary.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Binary.BinaryFormatter
+            : and then encoded with base64 encoding.
+    
+    mimetype: application/x-microsoft.net.object.soap.base64
+    value   : The object must be serialized with 
+            : System.Runtime.Serialization.Formatters.Soap.SoapFormatter
+            : and then encoded with base64 encoding.
+
+    mimetype: application/x-microsoft.net.object.bytearray.base64
+    value   : The object must be serialized into a byte array 
+            : using a System.ComponentModel.TypeConverter
+            : and then encoded with base64 encoding.
+    -->
+  <xsd:schema id="root" xmlns="" xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:msdata="urn:schemas-microsoft-com:xml-msdata">
+    <xsd:import namespace="http://www.w3.org/XML/1998/namespace" />
+    <xsd:element name="root" msdata:IsDataSet="true">
+      <xsd:complexType>
+        <xsd:choice maxOccurs="unbounded">
+          <xsd:element name="metadata">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" />
+              </xsd:sequence>
+              <xsd:attribute name="name" use="required" type="xsd:string" />
+              <xsd:attribute name="type" type="xsd:string" />
+              <xsd:attribute name="mimetype" type="xsd:string" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="assembly">
+            <xsd:complexType>
+              <xsd:attribute name="alias" type="xsd:string" />
+              <xsd:attribute name="name" type="xsd:string" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="data">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+                <xsd:element name="comment" type="xsd:string" minOccurs="0" msdata:Ordinal="2" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" msdata:Ordinal="1" />
+              <xsd:attribute name="type" type="xsd:string" msdata:Ordinal="3" />
+              <xsd:attribute name="mimetype" type="xsd:string" msdata:Ordinal="4" />
+              <xsd:attribute ref="xml:space" />
+            </xsd:complexType>
+          </xsd:element>
+          <xsd:element name="resheader">
+            <xsd:complexType>
+              <xsd:sequence>
+                <xsd:element name="value" type="xsd:string" minOccurs="0" msdata:Ordinal="1" />
+              </xsd:sequence>
+              <xsd:attribute name="name" type="xsd:string" use="required" />
+            </xsd:complexType>
+          </xsd:element>
+        </xsd:choice>
+      </xsd:complexType>
+    </xsd:element>
+  </xsd:schema>
+  <resheader name="resmimetype">
+    <value>text/microsoft-resx</value>
+  </resheader>
+  <resheader name="version">
+    <value>2.0</value>
+  </resheader>
+  <resheader name="reader">
+    <value>System.Resources.ResXResourceReader, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+  <resheader name="writer">
+    <value>System.Resources.ResXResourceWriter, System.Windows.Forms, Version=4.0.0.0, Culture=neutral, PublicKeyToken=b77a5c561934e089</value>
+  </resheader>
+</root>
\ No newline at end of file
diff --git a/Rs.SkyLine/Rs.SkyLine.csproj b/Rs.SkyLine/Rs.SkyLine.csproj
index dda1d5a..06b9e59 100644
--- a/Rs.SkyLine/Rs.SkyLine.csproj
+++ b/Rs.SkyLine/Rs.SkyLine.csproj
@@ -217,6 +217,12 @@
     <Compile Include="MoveDebug.designer.cs">
       <DependentUpon>MoveDebug.cs</DependentUpon>
     </Compile>
+    <Compile Include="MsgBox\TakeFailMsg.cs">
+      <SubType>Form</SubType>
+    </Compile>
+    <Compile Include="MsgBox\TakeFailMsg.Designer.cs">
+      <DependentUpon>TakeFailMsg.cs</DependentUpon>
+    </Compile>
     <Compile Include="OldTest.cs">
       <SubType>Form</SubType>
     </Compile>
@@ -429,6 +435,9 @@
     <EmbeddedResource Include="MoveDebug.resx">
       <DependentUpon>MoveDebug.cs</DependentUpon>
     </EmbeddedResource>
+    <EmbeddedResource Include="MsgBox\TakeFailMsg.resx">
+      <DependentUpon>TakeFailMsg.cs</DependentUpon>
+    </EmbeddedResource>
     <EmbeddedResource Include="OldTest.resx">
       <DependentUpon>OldTest.cs</DependentUpon>
     </EmbeddedResource>
diff --git a/Rs.SkyLine/SysConfig/StartPosConfig.Designer.cs b/Rs.SkyLine/SysConfig/StartPosConfig.Designer.cs
index 0451084..ff74ad0 100644
--- a/Rs.SkyLine/SysConfig/StartPosConfig.Designer.cs
+++ b/Rs.SkyLine/SysConfig/StartPosConfig.Designer.cs
@@ -121,8 +121,6 @@
             this.btnTeachNozzleZ2GrabHeight = new System.Windows.Forms.Button();
             this.btnTeachNozzleZ3GrabHeight = new System.Windows.Forms.Button();
             this.btnTeachNozzleZ1GrabHeight = new System.Windows.Forms.Button();
-            this.button9 = new System.Windows.Forms.Button();
-            this.button10 = new System.Windows.Forms.Button();
             this.panelEx1.SuspendLayout();
             this.groupBox3.SuspendLayout();
             this.groupBox1.SuspendLayout();
@@ -1468,33 +1466,11 @@
             this.btnTeachNozzleZ1GrabHeight.UseVisualStyleBackColor = false;
             this.btnTeachNozzleZ1GrabHeight.Click += new System.EventHandler(this.Teach_Click);
             // 
-            // button9
-            // 
-            this.button9.Location = new System.Drawing.Point(1262, 102);
-            this.button9.Name = "button9";
-            this.button9.Size = new System.Drawing.Size(75, 23);
-            this.button9.TabIndex = 4;
-            this.button9.Text = "button9";
-            this.button9.UseVisualStyleBackColor = true;
-            this.button9.Click += new System.EventHandler(this.button9_Click);
-            // 
-            // button10
-            // 
-            this.button10.Location = new System.Drawing.Point(1262, 181);
-            this.button10.Name = "button10";
-            this.button10.Size = new System.Drawing.Size(75, 23);
-            this.button10.TabIndex = 4;
-            this.button10.Text = "button9";
-            this.button10.UseVisualStyleBackColor = true;
-            this.button10.Click += new System.EventHandler(this.button10_Click);
-            // 
             // StartPosConfig
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(6F, 12F);
             this.AutoScaleMode = System.Windows.Forms.AutoScaleMode.Font;
             this.ClientSize = new System.Drawing.Size(1405, 704);
-            this.Controls.Add(this.button10);
-            this.Controls.Add(this.button9);
             this.Controls.Add(this.groupBox4);
             this.Controls.Add(this.groupBox2);
             this.Controls.Add(this.panelEx1);
@@ -1609,7 +1585,5 @@
         private System.Windows.Forms.Button btnTeachNozzleZ2GrabHeight;
         private System.Windows.Forms.Button btnTeachNozzleZ3GrabHeight;
         private System.Windows.Forms.Button btnTeachNozzleZ1GrabHeight;
-        private System.Windows.Forms.Button button9;
-        private System.Windows.Forms.Button button10;
     }
 }
\ No newline at end of file
diff --git a/Rs.SkyLine/SysConfig/StartPosConfig.cs b/Rs.SkyLine/SysConfig/StartPosConfig.cs
index 1a397a5..f60df94 100644
--- a/Rs.SkyLine/SysConfig/StartPosConfig.cs
+++ b/Rs.SkyLine/SysConfig/StartPosConfig.cs
@@ -1,4 +1,7 @@
-using Rs.Controls;
+using HalconDotNet;
+using Newtonsoft.Json.Converters;
+using Newtonsoft.Json;
+using Rs.Controls;
 using Rs.Framework;
 using Rs.MotionPlat.Commom;
 using Rs.MotionPlat.Flow;
@@ -11,6 +14,8 @@ using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
 using System.Windows.Forms;
+using static Rs.MotionPlat.Commom.SchedulingMessageBox;
+using Rs.MotionPlat.MsgBox;
 
 namespace Rs.MotionPlat.SysConfig
 {
@@ -58,7 +63,20 @@ namespace Rs.MotionPlat.SysConfig
 
         private void button10_Click(object sender, EventArgs e)
         {
-            Ops.HomeAndGoStartPos(nozz);
+            SchedulingMessageBox s = new SchedulingMessageBox();
+            s.ID = 111;
+            s.ButtonContexts = new Dictionary<ETipButton, string>() { { ETipButton.Retry, "abc"} };
+            s.Instruction = EInstruction.ShowMessage;
+            s.Message = "hello";
+            s.Button = SchedulingMessageBox.ETipButton.RetrySkip;
+            string content = JsonConvert.SerializeObject(s, new StringEnumConverter());
+            TestCenter.Instance.Send(content);
+        }
+
+        private void button12_Click(object sender, EventArgs e)
+        {
+            TakeFailMsg msg = new TakeFailMsg();
+            CloseResult cr =  msg.ShowMsg("dfsd");
         }
     }
 }