存储机构-添加进出轴扭矩打印

source/DeviceLibrary/deviceLibrary/AXIS/HC/HCAxisManager.cs

@@ -158,6 +158,14 @@ namespace OnlineStore.DeviceLibrary
             }
             return false;
         }
-
+        /// <summary>
+        /// 获取轴扭矩
+        /// </summary>
+        /// <param name="slvAddr"></param>
+        /// <returns></returns>
+        public short GetAxActTorq(short slvAddr)
+        {
+          return  HCBoardManager.GetAxActTorq(slvAddr);
+        }
     }
 }

source/DeviceLibrary/manager/model/DeviceStep.cs

@@ -454,7 +454,10 @@ namespace OnlineStore.DeviceLibrary
         /// 料仓入库:料斗拉取进出轴到P1（待机点）,检查另一边入库情况
         /// </summary>
         SI_19_InoutBack,
-
+        /// <summary>
+        /// 料仓入库:如果上料机构入料口有料，则去待机点
+        /// </summary>
+        SI_20_ToStandby,
         #endregion
 
         #region 存储机构自动对位功能 400开始

source/DeviceLibrary/storeBean/EquipBase.cs

@@ -60,7 +60,7 @@ namespace OnlineStore.DeviceLibrary
             }
             this.alarmType = alarmType;
             if (alarmType.Equals(AlarmType.SuddenStop) || alarmType.Equals(AlarmType.NoAirpressure_Check) ||
-                alarmType.Equals(AlarmType.AxisAlarm)||alarmType.Equals(AlarmType.AxisMoveError))
+                alarmType.Equals(AlarmType.AxisAlarm) || alarmType.Equals(AlarmType.AxisMoveError))
             {
                 StopMove();
             }
@@ -198,16 +198,16 @@ namespace OnlineStore.DeviceLibrary
             string canResult = StoreManager.XLRStore.CanStart();
             if (String.IsNullOrEmpty(canResult).Equals(false))
             {
-                SetWarnMsg(Name+ canResult);
+                SetWarnMsg(Name + canResult);
                 return false;
             }
             if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.LOW))
             {
-                SetWarnMsg(Name +"启动失败：急停未开");
+                SetWarnMsg(Name + "启动失败：急停未开");
                 return false;
 
             }
-            else if (this.baseConfig.DType.Equals(DeviceType.InputEquip)&& IOValue(IO_Type.Airpressure_Check).Equals(IO_VALUE.LOW))
+            else if (this.baseConfig.DType.Equals(DeviceType.InputEquip) && IOValue(IO_Type.Airpressure_Check).Equals(IO_VALUE.LOW))
             {
                 SetWarnMsg(Name + "启动失败：没有气压信号");
                 return false;
@@ -267,6 +267,7 @@ namespace OnlineStore.DeviceLibrary
         #region CheckWait处理
 
         protected DateTime preRWTime = DateTime.Now;
+        short curTor, preTor;
         internal void CheckWait(DeviceMoveInfo moveInfo)
         {
             try
@@ -312,6 +313,21 @@ namespace OnlineStore.DeviceLibrary
                             //    LogInfo($"移栽升降轴 目标位置：{wait.TargetPosition},当前位置：{outCount}");
                             //}
                             wait.IsEnd = AxisBean.ACAxisMoveIsEnd(moveInfo, wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
+                            try
+                            {
+                                if (wait.AxisInfo.DeviceName.Equals("料斗拉取进出轴"))
+                                {
+                                    short axisNo = wait.AxisInfo.GetAxisValue();
+                                    preTor = curTor;
+                                    curTor = ((HCAxisManager)AxisManager.instance).GetAxActTorq(axisNo);
+                                    if (!preTor.Equals(curTor))
+                                        LogInfo($"料斗拉取进出轴 扭矩：{curTor}");
+                                }
+                            }
+                            catch (Exception e)
+                            {
+                                LogUtil.error("获取料斗拉取进出轴轴距失败", e);
+                            }
                         }
                         if (!msg.Equals(""))
                         {
@@ -403,7 +419,7 @@ namespace OnlineStore.DeviceLibrary
                 {
                     if (moveInfo.WaitList.Count > cutWLcount && !moveInfo.OneWaitCanEndStep)
                     {
-                        LogUtil.info(moveInfo.Name+" moveInfo.WaitList.Count:" + moveInfo.WaitList.Count.ToString()+ ",cutWLcount:"+ cutWLcount.ToString()); ;
+                        LogUtil.info(moveInfo.Name + " moveInfo.WaitList.Count:" + moveInfo.WaitList.Count.ToString() + ",cutWLcount:" + cutWLcount.ToString()); ;
                     }
                     moveInfo.EndStepWait();
 
@@ -442,7 +458,7 @@ namespace OnlineStore.DeviceLibrary
 
         #region 日志打印 
         internal int WorkLogLevel = 1;
-        protected void InoutLog(string msg,int level=1)
+        protected void InoutLog(string msg, int level = 1)
         {
             if (level < 0)
             {
@@ -453,7 +469,7 @@ namespace OnlineStore.DeviceLibrary
                 level = WorkLogLevel;
             }
             string code = "";
-            if (MoveInfo.MoveParam != null &&MoveInfo.MoveParam.PosInfo!=null&& MoveInfo.MoveParam.PosInfo.barcode != null)
+            if (MoveInfo.MoveParam != null && MoveInfo.MoveParam.PosInfo != null && MoveInfo.MoveParam.PosInfo.barcode != null)
             {
                 if (!MoveInfo.MoveParam.PosInfo.barcode.Equals(""))
                 {

source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs

@@ -371,11 +371,21 @@ namespace OnlineStore.DeviceLibrary
                 case StepEnum.SI_19_InoutBack:
                     if (!CheckInStoreOtherSideInfo())
                     {
+                        if(InDoorSigCheck())
+                        {
+                            MoveInfo.NextMoveStep(StepEnum.SI_20_ToStandby);
+                            LogInfo($"入库 {MoveInfo.SLog}：入料口有料，行走机构去待机点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
+                            MoveAxisToP1();
+                        }
+                        else
+                        {
                             SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
                             LogInfo($"入库 {MoveInfo.SLog}：入库结束[{MoveInfo.MoveParam.PosInfo.PosId}][耗时：{(DateTime.Now - startTime).TotalSeconds.ToString("f2")}秒][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                             MoveInfo.EndMove();
                             AutoInout.InOutEndProcess(this, MoveType.InStore);
                         }
+
+                    }
                     else
                     {
                         MoveInfo.NextMoveStep(StepEnum.SI_07_MiddleToP3);
@@ -387,6 +397,12 @@ namespace OnlineStore.DeviceLibrary
 
                     }
                     break;
+                case StepEnum.SI_20_ToStandby:
+                    SetBoxStatus(DeviceStatus.StoreOnline, RunStatus.Runing);
+                    LogInfo($"入库 {MoveInfo.SLog}：入库结束[{MoveInfo.MoveParam.PosInfo.PosId}][耗时：{(DateTime.Now - startTime).TotalSeconds.ToString("f2")}秒][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
+                    MoveInfo.EndMove();
+                    AutoInout.InOutEndProcess(this, MoveType.InStore);
+                    break;
             }
         }
         #endregion