HY04 连续放行两个空托盘后，第三个空托盘横移

source/DeviceLibrary/assemblyLine/HY/HY_C1Line.cs

@@ -238,7 +238,7 @@ namespace OnlineStore.DeviceLibrary
                                 MoveInfo.NewMove(LineMoveType.Fixture);
                                 runStatus = LineRunStatus.Busy;
                                 MoveInfo.NextMoveStep(LineMoveStep.HY03_FrontStopUp);
-                                if (DeviceID.Equals(219))
+                                if (DeviceID.Equals(219) || DeviceID.Equals(203))
                                 {
                                     LogInfo("托盘检测，" + MoveInfo.SLog + " 检测到托盘 ，阻挡上升");
                                 }
@@ -347,7 +347,7 @@ namespace OnlineStore.DeviceLibrary
             CheckAndMove(IO_Type.HY_FrontStopDown, IO_VALUE.LOW); 
             MoveInfo.OneWaitCanEndStep = true;
             MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
-            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(timeout));
         }
         private int StopDownCount = 0;
         private void EndOrReStopDown(string msg  )
@@ -373,7 +373,7 @@ namespace OnlineStore.DeviceLibrary
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_FrontStopCheck, IO_VALUE.LOW));
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
                 CylinderMove(null, IO_Type.HY_TopCylinder_Up, IO_Type.HY_TopCylinder_Down);
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(20000));
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
                 IOMove(IO_Type.HY_OL_StopDown, IO_VALUE.LOW);
             }
             else
@@ -413,7 +413,14 @@ namespace OnlineStore.DeviceLibrary
                 if (IOValue(IO_Type.HY_TrayCheck).Equals(IO_VALUE.HIGH))
                 {
                     MoveInfo.NextMoveStep(LineMoveStep.HY04_WaitTime);
-                    CheckLog("托盘阻挡" + MoveInfo.SLog + "  再次等待托盘信号");
+                    if (StopDownCount == 0)
+                    {
+                        CheckLog("托盘阻挡" + MoveInfo.SLog + "  再次等待托盘信号");
+                    }
+                    else
+                    {
+                        CheckLog("托盘阻挡" + MoveInfo.SLog + "  再次等待托盘信号，StopDownCount=" + StopDownCount);
+                    }
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.HY_TrayCheck, IO_VALUE.HIGH));
                     MoveInfo.OneWaitCanEndStep = true;
@@ -477,6 +484,7 @@ namespace OnlineStore.DeviceLibrary
                     }
                     else if (TrayNeedHY(currTrayNum))
                     {
+                        hyIndex = 0;
                         HY11_TopUpToHY();
 
                     }
@@ -564,7 +572,7 @@ namespace OnlineStore.DeviceLibrary
                     {
                         lineName = "C7";
                     }
-                    lineName+= "-E" + currTrayNum.ToString().PadLeft(2, '0');
+                    lineName += "-E" + currTrayNum.ToString().PadLeft(2, '0');
                     SServerManager.UpdateTrayLoc(Name, MoveInfo.MoveParam.WareCode, LocStatus.INBELT, lineName);
                 }
             }
@@ -582,7 +590,7 @@ namespace OnlineStore.DeviceLibrary
             #region C1线分流横移入口处理 11
             else if (MoveInfo.IsStep(LineMoveStep.HY11_TopUpToHY))
             {
-                HY_C1Line hyout =(HY_C1Line) GetHyOutEquip();
+                HY_C1Line hyout = (HY_C1Line)GetHyOutEquip();
                 if (hyout.HYOut51_WaitFree())
                 {
                     MoveInfo.NextMoveStep(LineMoveStep.HY13_WaitHY2Ready);
@@ -803,6 +811,7 @@ namespace OnlineStore.DeviceLibrary
                 //判断托盘是直接离开开始需要横移
                 if (TrayNeedHY(currTrayNum))
                 {
+                    hyIndex = 0;
                     HY11_TopUpToHY();
                 }
                 else
@@ -855,6 +864,7 @@ namespace OnlineStore.DeviceLibrary
                 ClearTrayRFID();
                 MoveEndS();
 
+                trayCheckWait.Stop();
                 if (frontTrayCheckWait.ElapsedMilliseconds > 2000)
                 {
                     CheckFixture();
@@ -879,7 +889,7 @@ namespace OnlineStore.DeviceLibrary
             HY_StopCylinderUp(MoveInfo);
             OL_StopCylinderDown(MoveInfo);
         }
-
+        private int hyIndex = 0;
         private void HY11_TopUpToHY()
         {
             HY_C1Line hyout =(HY_C1Line) GetHyOutEquip();
@@ -926,6 +936,7 @@ namespace OnlineStore.DeviceLibrary
                         //空托盘且T1,T2都不在上料时需要 横移
                         if (tray.IsFull)
                         {
+                            hyIndex = 0;
                             return true;
                         }
                         else
@@ -935,6 +946,7 @@ namespace OnlineStore.DeviceLibrary
                             if (IOManager.IOValue(IO_Type.HY_TrayCheck, 202).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.HY_TopCylinder_Up, 202).Equals(IO_VALUE.HIGH)
                                 && IOManager.IOValue(IO_Type.HY_TrayCheck, 201).Equals(IO_VALUE.HIGH) && IOManager.IOValue(IO_Type.HY_TopCylinder_Up, 201).Equals(IO_VALUE.HIGH))
                             {
+                                hyIndex = 0;
                                 return true;
                             }
 
@@ -942,8 +954,20 @@ namespace OnlineStore.DeviceLibrary
                             FeedingEquip feed2 = LineManager.Line.FeedingEquipMap[102];
                             if ((!feed1.NeedEmptyTray()) && (!feed2.NeedEmptyTray()))
                             {
+                                hyIndex = 0;
+                                return true;
+                            }
+
+                            //如果已经连续过了2个空托盘，必须横移
+                            if (hyIndex > 2)
+                            {
+                                LogInfo("hyIndex=" + hyIndex + "，需要横移托盘，设置 hyIndex=0");
+                                hyIndex = 0;
                                 return true;
                             }
+
+                            //过空托盘计数
+                            hyIndex++;
                         }
                     }
                     else if (DeviceID.Equals(209))