复位前检查抽屉到位信号

source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs

@@ -288,6 +288,15 @@ namespace OnlineStore.DeviceLibrary
                     LogInfo($"复位 {MoveInfo.SLog} ：确认取消");
                     LogInfo($"复位 {MoveInfo.SLog} ：确认取消");
                     return;
                     return;
                 }
                 }
+            if(!CheckTrayInLocation(out string msg))
+            {
+                System.Windows.Forms.MessageBox.Show($"{msg},不允许启动/复位", "警告",
+                    System.Windows.Forms.MessageBoxButtons.OK);
+                SetBoxStatus(DeviceStatus.None, RunStatus.Wait);
+                MoveInfo.NewMove(MoveType.None);
+                LogInfo($"复位 {MoveInfo.SLog} ：因到位信号取消");
+                return;
+            }
             SetWarnMsg("");
             SetWarnMsg("");
             alarmType = AlarmType.None;
             alarmType = AlarmType.None;
             isInSuddenDown = false;
             isInSuddenDown = false;

source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs

@@ -280,8 +280,18 @@ namespace OnlineStore.DeviceLibrary
                     break;
                     break;
                 case StepEnum.SI_10_LiftTray:
                 case StepEnum.SI_10_LiftTray:
                     MoveInfo.NextMoveStep(StepEnum.SI_11_PullTray);
                     MoveInfo.NextMoveStep(StepEnum.SI_11_PullTray);
-                    LogInfo($"入库 {MoveInfo.SLog}：拉抽屉到库位点，料斗拉取进出轴到料屉库位点P3/P5[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
+                    LogInfo($"入库 {MoveInfo.SLog}：拉抽屉到库位点，料斗拉取进出轴到料屉库位点P3/P5,同时检测{trayAColumns[GetPosColumn()]}=0[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                     PullAxis_Inout_To_P3_P5();
                     PullAxis_Inout_To_P3_P5();
+                    if (CheckASide())
+                    {
+                        if (!GetShieldState(sheidAColmns[GetPosColumn()]))
+                            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.LOW));
+                    }
+                    else
+                    {
+                        if (!GetShieldState(sheidBColmns[GetPosColumn()]))
+                            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.LOW));
+                    }
                     break;
                     break;
                 case StepEnum.SI_11_PullTray:
                 case StepEnum.SI_11_PullTray:
                     MoveInfo.NextMoveStep(StepEnum.SI_12_DropTrayToPos);
                     MoveInfo.NextMoveStep(StepEnum.SI_12_DropTrayToPos);

source/DeviceLibrary/storeBean/boxBean/BoxEquip_OutExecute.cs

@@ -79,8 +79,18 @@ namespace OnlineStore.DeviceLibrary
                     break;
                     break;
                 case StepEnum.SO_04_LiftTray:
                 case StepEnum.SO_04_LiftTray:
                     MoveInfo.NextMoveStep(StepEnum.SO_05_PullTray);
                     MoveInfo.NextMoveStep(StepEnum.SO_05_PullTray);
-                    LogInfo($"出库 {MoveInfo.SLog}：拉抽屉到库位点，料斗拉取进出轴到料屉库位点P3/P5[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
+                    LogInfo($"出库 {MoveInfo.SLog}：拉抽屉到库位点，料斗拉取进出轴到料屉库位点P3/P5,同时检测{trayAColumns[GetPosColumn()]}=0[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                     PullAxis_Inout_To_P3_P5();
                     PullAxis_Inout_To_P3_P5();
+                    if (CheckASide())
+                    {
+                        if (!GetShieldState(sheidAColmns[GetPosColumn()]))
+                            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayAColumns[GetPosColumn()], IO_VALUE.LOW));
+                    }
+                    else
+                    {
+                        if (!GetShieldState(sheidBColmns[GetPosColumn()]))
+                            MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(trayBColumns[GetPosColumn()], IO_VALUE.LOW));
+                    }
                     break;
                     break;
                 case StepEnum.SO_05_PullTray:
                 case StepEnum.SO_05_PullTray:
                     MoveInfo.NextMoveStep(StepEnum.SO_06_DropTrayToPos);
                     MoveInfo.NextMoveStep(StepEnum.SO_06_DropTrayToPos);

source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs

@@ -585,7 +585,57 @@ namespace OnlineStore.DeviceLibrary
             }
             }
         }
         }
         #endregion
         #endregion
-
+        /// <summary>
+        /// 检查抽屉是否在位置
+        /// </summary>
+        /// <returns>true:在位置</returns>
+        private bool CheckTrayInLocation(out string msg)
+        {
+            msg = "";
+            for (int i = 1; i <= trayRows.Length; i++)
+            {
+                if (i == trayRows.Length)
+                    break;
+                if (IOValue(trayRows[i]).Equals(IO_VALUE.HIGH))
+                {
+                    LogUtil.info($"复位前 检测到抽屉在第{i}层");
+                    msg += $"检测到抽屉在第{i}层,";
+                    break;
+                }
+            }
+            bool atBside = false;
+            for (int i = 1; i <= trayBColumns.Length; i++)
+            {
+                if (i == trayBColumns.Length)
+                    break;
+                if (GetShieldState(sheidBColmns[i]))
+                    continue;
+                if (IOValue(trayBColumns[i]).Equals(IO_VALUE.LOW))//&& PullAxis_Inout.GetAclPosition()<=Config.PullAxis_Inout_P1
+                {
+                    LogUtil.info($"复位前 检测到抽屉在B面[col={i}]信号未亮");
+                    msg += $"抽屉在B面[col={i}]信号未亮";
+                    atBside = true;
+                    return false;
+                }
+            }
+            if (!atBside)
+            {
+                for (int i = 1; i <= trayAColumns.Length; i++)
+                {
+                    if (i == trayBColumns.Length)
+                        break;
+                    if (GetShieldState(sheidAColmns[i]))
+                        continue;
+                    if (IOValue(trayAColumns[i]).Equals(IO_VALUE.LOW))//&& PullAxis_Inout.GetAclPosition() >= Config.PullAxis_Inout_P1
+                    {
+                        LogUtil.info($"复位前 检测到抽屉在A面[col={i}]信号未亮");
+                        msg += $"抽屉在A面[col={i}]信号未亮";
+                        return false;
+                    }
+                }
+            }
+            return true;
+        }
         /// <summary>
         /// <summary>
         /// 获取当前位置
         /// 获取当前位置
         /// </summary>
         /// </summary>