放料完成检测工单情况

source/DeviceLibrary/manager/SServerManager.cs

@@ -786,7 +786,7 @@ namespace OnlineStore.DeviceLibrary
 
         public static ShelfTaskInfo ShelfFinish(string rfid, string barcode = "", string rfidLoc = "0", string robotIndex = "1")
         {
-            UpdateLocInfo(barcode, "END", rfid);
+            //UpdateLocInfo(barcode, "END", rfid);
             LogUtil.info($"ShelfFinish rifd【{rfid}】barcode【{barcode}】rfidLoc【{rfidLoc}】robotIndex【{robotIndex}】");
             return null; 
         }

source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs

@@ -49,12 +49,12 @@ namespace OnlineStore.DeviceLibrary
                 LogUtil.info(Name + "StartInstore 失败，料串" + CurrShelf.ToStr() + "需要离开，NeedLeave:" + Config.AgvName + "," + CurrShelf.ShelfRfid + ",agvcallresult:" + agvcallresult.ToString());
                 return false;
             }
-            else if (Robot.IOValue(Config.IO_LineIn_Check).Equals(IO_VALUE.HIGH) )
+            else if (Robot.IOValue(Config.IO_LineIn_Check).Equals(IO_VALUE.HIGH))
             {
-                MoveInfo.NewMove(MoveType.InStore,new InOutParam());
+                MoveInfo.NewMove(MoveType.InStore, new InOutParam());
                 IB03_LineStart();
             }
-            else if(Robot.IOValue(Config.IO_LineEnd_Check).Equals(IO_VALUE.HIGH))
+            else if (Robot.IOValue(Config.IO_LineEnd_Check).Equals(IO_VALUE.HIGH))
             {
                 MoveInfo.NewMove(MoveType.InStore, new InOutParam());
                 IB04_LineWait();
@@ -211,7 +211,8 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.IsStep(StepEnum.IB07_AxisUpMove))
             {
                 CheckHasTray();
-            }else if (MoveInfo.IsStep(StepEnum.IB08_BatchAxisToP4))
+            }
+            else if (MoveInfo.IsStep(StepEnum.IB08_BatchAxisToP4))
             {
                 if (Robot.AxisIsInShelfUp(ShelfType))
                 {
@@ -428,18 +429,18 @@ namespace OnlineStore.DeviceLibrary
                 //判断扫码点是否可用，可用，运动到扫码点
                 int currP = BatchAxis.GetAclPosition();
                 int targetPosition = currP + Config.BatchAxisP4;
-                if (Config.BatchAxisP4 > 0 &&(targetPosition<Config.BatchAxisP2 ))
+                if (Config.BatchAxisP4 > 0 && (targetPosition < Config.BatchAxisP2))
                 {
                     batchAxisReelPosition = currP;
                     toBatchP4 = true;
                     MoveInfo.NextMoveStep(StepEnum.IB08_BatchAxisToP4);
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                     BatchAxis.AbsMove(MoveInfo, targetPosition, Robot.Config.BatchAxis_P4Speed);
-                    WorkLog("料盘已到位，批量轴当前位置【"+currP+ "】，扫码上升高度P4【" + Config.BatchAxisP4+"】可用，批量轴走到扫码点【"+ targetPosition + "】");
+                    WorkLog("料盘已到位，批量轴当前位置【" + currP + "】，扫码上升高度P4【" + Config.BatchAxisP4 + "】可用，批量轴走到扫码点【" + targetPosition + "】");
                 }
                 else
                 {
-                    LogUtil.info(Name + "料盘已到位，批量轴当前位置【" + currP + "】扫码上升高度P4【" + Config.BatchAxisP4 + "】扫码点【" + targetPosition + "】P2【"+ Config.BatchAxisP2 + "】,可直接扫码");
+                    LogUtil.info(Name + "料盘已到位，批量轴当前位置【" + currP + "】扫码上升高度P4【" + Config.BatchAxisP4 + "】扫码点【" + targetPosition + "】P2【" + Config.BatchAxisP2 + "】,可直接扫码");
                     if (Robot.AxisIsInShelfUp(ShelfType))
                     {
                         MoveInfo.NextMoveStep(StepEnum.IB09_WaitCanScan);
@@ -475,7 +476,7 @@ namespace OnlineStore.DeviceLibrary
         }
         private void SendInShelfLeave(string msg = "")
         {
-            WorkLog(" SendInShelfLeave :" + msg+",清空条码");
+            WorkLog(" SendInShelfLeave :" + msg + ",清空条码");
             LastCodeList = new List<string>();
             preCodeList = new List<string>();
             bool needLeave = true;
@@ -617,10 +618,17 @@ namespace OnlineStore.DeviceLibrary
                 }
                 else
                 {
+                    if (SServerManager.GetOutTaskCount(MoveInfo.MoveParam.PosInfo.hSerial) == 0)
+                    {
+                        SendOutShelfLeave("检测到工单已结束:" + MoveInfo.MoveParam.PosInfo.hSerial);
+                    }
+                    else
+                    {
                         MoveInfo.NextMoveStep(StepEnum.IS11_ShelfReady);
                         MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                     }
                 }
+            }
             else if (MoveInfo.IsStep(StepEnum.IS12_AxisDown))
             {
                 MoveInfo.NextMoveStep(StepEnum.IS13_WaitReel);
@@ -812,11 +820,11 @@ namespace OnlineStore.DeviceLibrary
 
                         if (!result)
                         {
-                            LogUtil.error(logName + $" 等待{ Config.IO_LineIn_Check}=High 超时， 等待 {Config.IO_LineEnd_Check } 信号");
+                            LogUtil.error(logName + $" 等待{Config.IO_LineIn_Check}=High 超时， 等待 {Config.IO_LineEnd_Check} 信号");
                         }
                         else
                         {
-                            LogUtil.info(logName + $"已收到 {Config.IO_LineIn_Check}=High ， 等待 { Config.IO_LineEnd_Check} 信号");
+                            LogUtil.info(logName + $"已收到 {Config.IO_LineIn_Check}=High ， 等待 {Config.IO_LineEnd_Check} 信号");
                         }
                         result = Robot.WaitIo(Config.IO_LineEnd_Check, IO_VALUE.HIGH, 60000);
 
@@ -886,7 +894,7 @@ namespace OnlineStore.DeviceLibrary
                         bool result = Robot.WaitIo(Config.IO_LineIn_Check, IO_VALUE.LOW, 60000);
                         if (!result)
                         {
-                            LogUtil.error(logName + $"  等待 { Config.IO_LineIn_Check}=LOW超时，等待8000后停止转动，发送FinishLeave");
+                            LogUtil.error(logName + $"  等待 {Config.IO_LineIn_Check}=LOW超时，等待8000后停止转动，发送FinishLeave");
                         }
                         else
                         {