出库提前清理暂存区，增加旋转轴是否在暂存区判断

source/DeviceLibrary/manager/SServerManager.cs

@@ -645,7 +645,7 @@ namespace OnlineStore.DeviceLibrary
 
         private static string Addr_ShelfFinish = "/rest/api/qisda/device/putShelfFinished";
 
-        public static ShelfTaskInfo ShelfFinish(string rfid, string barcode = "", string rfidLoc = "", string robotIndex = "1")
+        public static ShelfTaskInfo ShelfFinish(string rfid, string barcode = "", string rfidLoc = "0", string robotIndex = "1")
         {
             ShelfTaskInfo task = new ShelfTaskInfo();
             task.rfid = rfid;

source/DeviceLibrary/storeBean/inputBean/InputEquip.cs

@@ -573,6 +573,76 @@ namespace OnlineStore.DeviceLibrary
             return false;
         }
 
+        /// <summary>
+        /// 判断旋转轴是否在暂存区，返回true表示在暂存区
+        /// </summary>
+        /// <param name="areaNum">1=A上暂存区，2=A下暂存区，3=B上暂存区，4=B下暂存区</param>
+        /// <returns></returns>
+        public bool AxisInWorkingArea(int areaNum)
+        {
+            int updownP = UpdownAxis.GetAclPosition();
+            int middleP = MiddleAxis.GetAclPosition();
+
+
+            int middleWucha = 20000;
+            int updownWucha = 20000;
+            //旋转轴在A暂存区
+            if (MiddleAxis.IsInPosition(Config.Middle_P4_AUpper, middleWucha) || MiddleAxis.IsInPosition(Config.Middle_P7_AUnder, middleWucha))
+            {
+                //如果升降轴低于下方高点
+                if (updownP > Config.Updown_P6_AUnderH - updownWucha)
+                {
+                    //在A下暂存区
+                    if (areaNum == 2)
+                    {
+                        return true ;
+                    }
+                }
+                //升降轴高于上方低点
+                else if (updownP < Config.Updown_P5_AUpperL + updownWucha)
+                {
+                    if (areaNum == 1)
+                    {
+                        return true;
+                    }
+                }
+                else
+                {
+                    if (areaNum == 1 || areaNum == 2)
+                    {
+                        return true;
+                    }
+                }
+            }
+            else if (MiddleAxis.IsInPosition(Config.Middle_P5_BUpper, middleWucha) || MiddleAxis.IsInPosition(Config.Middle_P8_BUnder, middleWucha))
+            {
+                //如果升降轴低于下方高点
+                if (updownP > Config.Updown_P12_BUnderH - updownWucha)
+                {
+                    if (areaNum == 4)
+                    {
+                        return true;
+                    }
+                }
+                //升降轴高于上方低点
+                else if (updownP < Config.Updown_P11_BUpperL + updownWucha)
+                {
+                    if (areaNum == 3)
+                    {
+                        return true;
+                    }
+                }
+                else
+                {
+                    if (areaNum == 3 || areaNum == 4)
+                    {
+                        return true;
+                    }
+                }
+            }
+            return false;
+        }
+
     }
 
 }

source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs

@@ -809,17 +809,17 @@ namespace OnlineStore.DeviceLibrary
             {
                 //清空暂存区
                 int startp = MoveInfo.MoveParam.PosInfo.GetPosType();
-                if (startp.Equals(1))
-                {
-                    BufferDataManager.AOutStoreInfo = null;
-                }
-                else
-                {
-                    BufferDataManager.BOutStoreInfo = null;
-                }
+                //if (startp.Equals(1))
+                //{
+                //    BufferDataManager.AOutStoreInfo = null;
+                //}
+                //else
+                //{
+                //    BufferDataManager.BOutStoreInfo = null;
+                //}
 
                 MoveInfo.NextMoveStep(StepEnum.IO24_UpdownToP2);
-                MoveLog($"出库->A料串 {MoveInfo.SLog}: 料盘已离开，清楚暂存区信息。升降轴到P2（A料口取料点）{Config.Updown_P2_ATake}");
+                MoveLog($"出库->A料串 {MoveInfo.SLog}: 料盘已离开，升降轴到P2（A料口取料点）{Config.Updown_P2_ATake}");
                 UpdownAxis.AbsMove(MoveInfo, Config.Updown_P2_ATake, Config.Updown_P2_Speed);
             }
             else if (MoveInfo.IsStep(StepEnum.IO27_MiddleToP3))
@@ -882,10 +882,22 @@ namespace OnlineStore.DeviceLibrary
                 if (isTest || shelfOk)
                 {
                     ClearTimeoutAlarm("等待料串可放料");
+
                     MoveInfo.NextMoveStep(StepEnum.IO23_MiddleToP2);
-                    MoveLog($"出库->A料串 {MoveInfo.SLog}: 旋转轴到P2（A料口取料点）{Config.Middle_P2_ATake}，等待{IO_Type.MAxis_Check_A}信号亮");
+                    MoveLog($"出库->A料串 {MoveInfo.SLog}: 清除暂存区。旋转轴到P2（A料口取料点）{Config.Middle_P2_ATake}，等待{IO_Type.MAxis_Check_A}信号亮");
                     MiddleAxis.AbsMove(MoveInfo, Config.Middle_P2_ATake, Config.Middle_P2_Speed);
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.MAxis_Check_A, IO_VALUE.HIGH));
+                    //清空暂存区
+                    int startp = MoveInfo.MoveParam.PosInfo.GetPosType();
+                    if (startp.Equals(1))
+                    {
+                        BufferDataManager.AOutStoreInfo = null;
+                    }
+                    else
+                    {
+                        BufferDataManager.BOutStoreInfo = null;
+                    }
+
                     return true;
                 }
             }