存储机构-复位时暂存区有料时，X轴不到暂存区

source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs

@@ -381,15 +381,19 @@ namespace OnlineStore.DeviceLibrary
                     }
                     break;
                 case StepEnum.BOX_H0102_MiddleAxisToP2:
+                    if (IOValue(IO_Type.UpperArea_Check_A).Equals(IO_VALUE.LOW) || IOValue(IO_Type.UnderArea_Check_A).Equals(IO_VALUE.LOW))
+                    {
                         MoveInfo.NextMoveStep(StepEnum.BOX_H0103_ToAInputHighPos);
                         ComAxis_A.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_A_P2_Speed);
                         XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P2, Config.XAxis_A_P2_Speed);
-                    if (UpdownAxis.GetAclPosition() >= (Config.Updown_P5- axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P4+ axisDiff))
+                        if (UpdownAxis.GetAclPosition() >= (Config.Updown_P5 - axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P4 + axisDiff)
+                            && (IOValue(IO_Type.UnderArea_Check_A).Equals(IO_VALUE.LOW)|| BufferDataManager.AOutStoreInfo ==null))
                         {
                             LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在A下暂存区低点和高点之间,到高点P4,A面移栽X轴去暂存区P2,A面压紧轴到压紧前点P2");
                             UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4, Config.Updown_P4_Speed);
                         }
-                    else if (UpdownAxis.GetAclPosition() >= (Config.Updown_P3- axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P2+ axisDiff))
+                        else if (UpdownAxis.GetAclPosition() >= (Config.Updown_P3 - axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P2 + axisDiff)
+                            && (IOValue(IO_Type.UpperArea_Check_A).Equals(IO_VALUE.LOW) || BufferDataManager.AInStoreInfo==null))
                         {
                             LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在A上暂存区低点和高点之间,到高点P2,A面移栽X轴去暂存区P2，A面压紧轴到压紧前点P2");
                             UpdownAxis.AbsMove(MoveInfo, Config.Updown_P2, Config.Updown_P2_Speed);
@@ -398,6 +402,13 @@ namespace OnlineStore.DeviceLibrary
                         {
                             LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴不在A暂存区低点和高点之间，不动作");
                         }
+                    }
+                    else
+                    {
+                        MoveInfo.NextMoveStep(StepEnum.BOX_H0105_A_XAxisToP1);
+                        XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P1, Config.XAxis_A_P1_Speed);
+                        LogInfo($"复位 {MoveInfo.SLog}：A暂存区有料，A面移栽X轴到待机点P1");
+                    }
                     break;
                 case StepEnum.BOX_H0103_ToAInputHighPos:
                     MoveInfo.NextMoveStep(StepEnum.BOX_H0104_ToAInputLowPos);
@@ -419,19 +430,23 @@ namespace OnlineStore.DeviceLibrary
                 case StepEnum.BOX_H0104_ToAInputLowPos:
                     MoveInfo.NextMoveStep(StepEnum.BOX_H0105_A_XAxisToP1);
                     XAxis_A.AbsMove(MoveInfo, Config.XAxis_A_P1, Config.XAxis_A_P1_Speed);
-                    LogInfo($"复位 {MoveInfo.SLog}：A面移栽X轴低到待机点P1");
+                    LogInfo($"复位 {MoveInfo.SLog}：A面移栽X轴到待机点P1");
                     break;
 
                 case StepEnum.BOX_H0105_A_XAxisToP1:
+                    if (IOValue(IO_Type.UpperArea_Check_B).Equals(IO_VALUE.LOW) || IOValue(IO_Type.UnderArea_Check_B).Equals(IO_VALUE.LOW))
+                    {
                         MoveInfo.NextMoveStep(StepEnum.BOX_H0105_ToBInputHighPos);
                         ComAxis_B.AbsMove(MoveInfo, MoveInfo.MoveParam.MoveP.ComAxis_AB_P2, Config.ComAxis_B_P2_Speed);
                         XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P2, Config.XAxis_B_P2_Speed);
-                    if (UpdownAxis.GetAclPosition() >= (Config.Updown_P11-axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P10+axisDiff))
+                        if (UpdownAxis.GetAclPosition() >= (Config.Updown_P11 - axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P10 + axisDiff)&&
+                            (IOValue(IO_Type.UnderArea_Check_B).Equals(IO_VALUE.LOW)|| BufferDataManager.BOutStoreInfo ==null))
                         {
                             LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在B下暂存区低点和高点之间,到高点P10,B面移栽X轴去暂存区P2,B面压紧轴到压紧前点P2");
                             UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10, Config.Updown_P10_Speed);
                         }
-                    else if (UpdownAxis.GetAclPosition() >= (Config.Updown_P9-axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P8+axisDiff))
+                        else if (UpdownAxis.GetAclPosition() >= (Config.Updown_P9 - axisDiff) && UpdownAxis.GetAclPosition() <= (Config.Updown_P8 + axisDiff)&&
+                            (IOValue(IO_Type.UpperArea_Check_B).Equals(IO_VALUE.LOW)|| BufferDataManager.BInStoreInfo==null))
                         {
                             LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴在B上暂存区低点和高点之间,到高点P8,B面移栽X轴去暂存区P2,B面压紧轴到压紧前点P2");
                             UpdownAxis.AbsMove(MoveInfo, Config.Updown_P8, Config.Updown_P8_Speed);
@@ -440,6 +455,14 @@ namespace OnlineStore.DeviceLibrary
                         {
                             LogInfo($"复位 {MoveInfo.SLog}：移栽升降轴不在B暂存区低点和高点之间，不动作");
                         }
+                    }
+                    else
+                    {
+                        MoveInfo.NextMoveStep(StepEnum.BOX_H01_CheckCurPullDownPos);
+                        XAxis_B.AbsMove(MoveInfo, Config.XAxis_B_P1, Config.XAxis_B_P1_Speed);
+                        MoveAxisToP1();
+                        LogInfo($"复位 {MoveInfo.SLog}：B暂存区有料，B面移栽X轴到待机点P1,行走机构到待机点P1，在暂存区复位结束");
+                    }
                     break;
                 case StepEnum.BOX_H0105_ToBInputHighPos:
                     MoveInfo.NextMoveStep(StepEnum.BOX_H0106_ToBInputLowPos);
@@ -607,6 +630,8 @@ namespace OnlineStore.DeviceLibrary
                 //    }
                 //    return;
                 //}
+                if (!runStatus.Equals(RunStatus.Runing))
+                    return;
                 if (waitAOutStoreList.Count > 0)
                 {
                     InOutParam param = null;