门口取料逻辑优化

source/DeviceLibrary/bean/EquipBean.cs

@@ -783,15 +783,18 @@ namespace OnlineStore.DeviceLibrary
             }
         }
         public TrayInfo CurrTray = null;
+        private object ProLock = "";
         private DateTime LastGTime = DateTime.Now;
         private void InShelfProcess()
         {
             //2秒钟获取一次
-            TimeSpan span = DateTime.Now - LastGTime;
-            if (span.TotalSeconds < 2)
+            //TimeSpan span = DateTime.Now - LastGTime;
+            //if (span.TotalSeconds < 2)
+            //{
+            //    return;
+            //}
+            if (Monitor.TryEnter(ProLock, 1))
             {
-                return;
-            }
                 try
                 {
                     LastGTime = DateTime.Now;
@@ -845,6 +848,15 @@ namespace OnlineStore.DeviceLibrary
                 {
                     LogUtil.error(Name + "InShelfProcess：" + ex.ToString());
                 }
+                finally
+                {
+                    Monitor.Exit(ProLock);
+                }
+            }
+            else
+            {
+
+            }
         }
 
         private DateTime lastEmptyTime = DateTime.Now;

source/DeviceLibrary/bean/EquipBean_Partial.cs

@@ -336,11 +336,10 @@ namespace OnlineStore.DeviceLibrary
         {
             MoveInfo.NextMoveStep(MoveStep.SO_11_InOutToP1);
             MoveLog("进出轴到P1[" + moveP.InOut_P1 + "]");
-            int outCount = AxisManager.instance.GetActualtPosition(Config.InOut_Axis.DeviceName, Config.InOut_Axis.GetAxisValue());
-            int errorCount = Math.Abs(outCount - moveP.InOut_P1);
-            if (errorCount <= Config.InOut_Axis.CanErrorCountMin)
+            ConfigMoveAxis axis = Config.InOut_Axis;
+            if(AxisManager.instance.isInPosition(axis.DeviceName, axis.GetAxisValue(),moveP.InOut_P1, axis.CanErrorCountMin,true)) 
             {
-                LogUtil.error(Name + "进出轴当前位置：" + outCount + "，已经在P1[" + moveP.InOut_P1 + "]，不需要再回P1");
+                LogUtil.error(Name + "进出轴 已经在P1[" + moveP.InOut_P1 + "]，不需要再回P1");
             }
             else
             {
@@ -398,21 +397,9 @@ namespace OnlineStore.DeviceLibrary
             ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
             ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
         }
-        protected override void OutProcess()
+        private void SO_12_AxisToP1()
         {
             LineMoveP moveP = MoveInfo.MoveParam.MoveP;
-            if (MoveInfo.IsInWait)
-            {
-                CheckWait(MoveInfo);
-            }
-            if (MoveInfo.IsInWait)
-            {
-                return;
-            }
-         
-           
-            if (MoveInfo.IsStep(MoveStep.SO_11_InOutToP1))
-            {
             if (IOValue(IO_Type.TrayCheck_Door).Equals(IO_VALUE.LOW))
             {
                 string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosInfo.ShelfPosId : "";
@@ -422,7 +409,7 @@ namespace OnlineStore.DeviceLibrary
             MoveInfo.NextMoveStep(MoveStep.SO_12_AxisToP1);
             MoveLog(" 所有轴回到待机点，升降轴到P1  [" + moveP.UpDown_P1 + "]，旋转轴到P1  [" + moveP.Middle_P1 + "], 压紧轴到P3 [" + moveP.ComPress_P3 + "]");
 
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
+            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
             ComMoveToPosition(moveP.ComPress_P3, Config.CompAxis_P3_Speed);
             ConfigMoveAxis updown = Config.UpDown_Axis;
             if (!AxisManager.instance.isInPosition(updown.DeviceName, updown.GetAxisValue(), moveP.UpDown_P1, updown.CanErrorCountMax))
@@ -442,6 +429,24 @@ namespace OnlineStore.DeviceLibrary
             {
                 MoveLog("旋转轴已在P1  [" + moveP.Middle_P1 + "]");
             }
+        }
+        protected override void OutProcess()
+        {
+            LineMoveP moveP = MoveInfo.MoveParam.MoveP;
+            if (MoveInfo.IsInWait)
+            {
+                CheckWait(MoveInfo);
+            }
+            if (MoveInfo.IsInWait)
+            {
+                return;
+            }
+         
+           
+            if (MoveInfo.IsStep(MoveStep.SO_11_InOutToP1))
+            {
+                SO_12_AxisToP1();
+             
 
             }
             else if (MoveInfo.IsStep(MoveStep.SO_12_AxisToP1))