料架处理bug修改

source/DeviceLibrary/bean/WorkStation.cs

@@ -101,7 +101,7 @@ namespace OnlineStore.DeviceLibrary
             LogUtil.info(Name + "读取料架号：" + CurrShelf.ToStr());
             return CurrShelf.RealShelf;
         }
-       
+
 
         public void Reset()
         {
@@ -113,18 +113,26 @@ namespace OnlineStore.DeviceLibrary
                 return;
             }
             if (CurrShelf.IsBusy)
-            { 
+            {
                 LogUtil.error(Name + "复位失败，料架忙碌中");
-                return  ;
+                return;
             }
             alarmType = StoreAlarmType.None;
             WarnMsg = "";
             MoveInfo.EndMove();
             MoveInfo.NewMove(StoreMoveType.StoreReset);
             MoveInfo.NextMoveStep(MoveStep.SR_01_LocationDown);
-            LogUtil.info(Name + " 开始复位:顶升下降");
-            LocationDown(MoveInfo); 
-            
+            if (ProcessShelfEnter || ProcessShelfOut)
+            { 
+                LogUtil.info(Name + " 开始复位:顶升下降");
+            }
+            else
+            { 
+                LogUtil.info(Name + " 开始复位:顶升下降，设置状态为None");
+                AgvClient.SetToNone(AgvName);
+            }
+            LocationDown(MoveInfo);
+
         }
         private void ResetProcess()
         {
@@ -260,24 +268,31 @@ namespace OnlineStore.DeviceLibrary
             }
             else
             {
-                if (CheckShelf(IO_VALUE.HIGH) && (CurrShelf.RealShelf.Equals("")))
-                {
-                    LogUtil.info(Name + "检测到料架信号，但是没有料架号，自动复位");
-                    Reset();
-                }
-                else if (CheckShelf(IO_VALUE.LOW) && (!CurrShelf.RealShelf.Equals("")))
+                if (ProcessShelfEnter || ProcessShelfOut)
                 {
-                    LogUtil.info(Name + "未检测到料架信号，但是有料架号，自动复位");
-                    Reset();
-                }
-                if (IOManager.IOValue(DI_InCheck).Equals(IO_VALUE.HIGH) && (CurrShelf.RealShelf.Equals("")))
-                {
-                    LogUtil.info(Name + "检测到入口料架信号，但是没有料架号，自动复位");
-                    Reset();
+
                 }
                 else
                 {
-                    AgvStatusPro();
+                    if (CheckShelf(IO_VALUE.HIGH) && (CurrShelf.RealShelf.Equals("")))
+                    {
+                        LogUtil.info(Name + "检测到料架信号，但是没有料架号，自动复位");
+                        Reset();
+                    }
+                    else if (CheckShelf(IO_VALUE.LOW) && (!CurrShelf.RealShelf.Equals("")))
+                    {
+                        LogUtil.info(Name + "未检测到料架信号，但是有料架号，自动复位");
+                        Reset();
+                    }
+                    else if (IOManager.IOValue(DI_InCheck).Equals(IO_VALUE.HIGH) && (CurrShelf.RealShelf.Equals("")))
+                    {
+                        LogUtil.info(Name + "检测到入口料架信号，但是没有料架号，自动复位");
+                        Reset();
+                    }
+                    else
+                    {
+                        AgvStatusPro();
+                    }
                 }
             }
         } 
@@ -446,19 +461,7 @@ namespace OnlineStore.DeviceLibrary
 
 
         private void AgvStatusPro()
-        {
-
-            ////判断是否在放料中，如果是，直接返回
-            //if (EquipManager.Equip.MoveInfo.MoveType.Equals(StoreMoveType.InStore))
-            //{
-            //    InOutParam inoup = EquipManager.Equip.MoveInfo.MoveParam;
-            //    if (inoup.PosInfo.IsNg.Equals(false) && inoup.PosInfo.ShelfPosId.StartsWith(Name))
-            //    {
-            //        AgvClient.SetToNone(AgvName);
-            //        return;
-            //    }
-            //}
-            
+        { 
             if (IsReady())
             {
                 if (CheckNeedLeave( ))
@@ -599,6 +602,7 @@ namespace OnlineStore.DeviceLibrary
                 }
                 finally
                 {
+                    AgvClient.SetStatus(AgvName, "", ClientAction.None, ClientLevel.High);
                     LineStop();
                     ProcessShelfOut = false;
                 }
@@ -617,14 +621,16 @@ namespace OnlineStore.DeviceLibrary
                     ProcessShelfEnter = true;
 
                     LineRun();
+                    bool result = false;
 
                     //等待进料检测信号
-                    bool result = WaitIo(DI_InCheck, IO_VALUE.HIGH, 600000);
+                    result = WaitIo(DI_InCheck, IO_VALUE.HIGH, 600000, logName + "等待" + DI_InCheck + "信号");
 
-                    LogUtil.info(logName + " 等待 " + DI_InCheck + "=High " + result + "， 等待 " + DI_FrontCheck + " 信号");
-                    result = WaitIo(DI_FrontCheck, IO_VALUE.HIGH, 600000);
+                    LogUtil.info(logName + " 等待 " + DI_InCheck + "=High 结果： " + result + "， 开始等待 " + DI_FrontCheck + " 信号");
 
-                    LogUtil.info(logName + " 等待  " + DI_FrontCheck + "=High " + result + "，开始等待CloseDoor 超时10分钟");
+                    result = WaitIo(DI_FrontCheck, IO_VALUE.HIGH, 600000, logName + "等待" + DI_FrontCheck + "信号");
+
+                    LogUtil.info(logName + " 等待  " + DI_FrontCheck + "=High 结果： " + result + "，开始等待CloseDoor 超时10分钟");
                     try
                     {
                         result = WaitUtil.Wait(600000, delegate ()
@@ -636,11 +642,11 @@ namespace OnlineStore.DeviceLibrary
                     {
                         LogUtil.error(logName + "  超时：" + te);
                     }
+                    LogUtil.info(logName + "完成");
                     LineStop();
-
                     Thread.Sleep(2000);
                     AgvClient.SetStatus(AgvName, "", ClientAction.None, ClientLevel.High, true);
-                    ProcessShelfEnter = false; 
+                    ProcessShelfEnter = false;
                     Reset();
 
                 }
@@ -654,6 +660,7 @@ namespace OnlineStore.DeviceLibrary
                 }
                 finally
                 {
+                    AgvClient.SetStatus(AgvName, "", ClientAction.None, ClientLevel.High, true);
                     LineStop();
                     ProcessShelfEnter = false;
                 }