Merge branch 'master' of http://106.15.194.121:8083/lina/SO908-XLRStore

source/DeviceLibrary/manager/model/DeviceStep.cs

@@ -884,9 +884,10 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         IB07_AxisUpMove,
         /// <summary>
-        /// 料串入料：判断是否有料盘
+        /// 料串入料：等待是否可以开始扫码
         /// </summary>
-        IB08_CheckHasTray,
+        IB08_WaitCanScan,
+         
         /// <summary>
         /// 料串入料：扫码
         /// </summary>

source/DeviceLibrary/storeBean/inputBean/BatchMoveBean.cs

@@ -589,6 +589,13 @@ namespace OnlineStore.DeviceLibrary
         {
             LogUtil.info(Name + " [" + MoveInfo.MoveStep + "]" + msg);
         }
+        protected void ClearWarnMsg(string msg)
+        {
+            if (WarnMsg.Contains(msg))
+            {
+                WarnMsg="";
+            }
+        }
     }
 
     public class BatchMoveConfig

source/DeviceLibrary/storeBean/inputBean/BatchMoveBean_Partial.cs

@@ -162,13 +162,13 @@ namespace OnlineStore.DeviceLibrary
                     MoveInfo.EndMove();
                     LogUtil.info(" 未检测到料串，入料结束");
                 }
-            } 
+            }
             else if (MoveInfo.IsStep(StepEnum.IB05_StopUp))
             {
                 LineStop();
-                if ( Robot.IOValue(Config.IO_LineEnd_Check).Equals(IO_VALUE.HIGH))
+                if (Robot.IOValue(Config.IO_LineEnd_Check).Equals(IO_VALUE.HIGH))
                 {
-                    if (CurrShelf!=null&& CurrShelf.ShelfState.Equals(2))
+                    if (CurrShelf != null && CurrShelf.ShelfState.Equals(2))
                     {
                         SendInShelfLeave(" 料串【" + CurrShelf.ToStr() + "】为出库中料串，不需要入库 ");
                     }
@@ -202,10 +202,20 @@ namespace OnlineStore.DeviceLibrary
             {
                 CheckHasTray();
             }
-
+            else if (MoveInfo.IsStep(StepEnum.IB08_WaitCanScan))
+            {
+                if (!Robot.AxisIsInShelfUp(ShelfType))
+                {
+                    IB09_ScanCode();
+                }
+                else if (MoveInfo.IsTimeOut(10))
+                {
+                    WarnMsg = Name + "[" + MoveInfo.MoveStep + "] " + "等待旋转轴离开料串超时" + "[" + FormUtil.GetSpanStr(MoveInfo.StepSpan()) + "]";
+                } 
+            }
             else if (MoveInfo.IsStep(StepEnum.IB09_ScanCode))
             {
-                WorkLog("IB09_ScanCode");
+                //WorkLog("IB09_ScanCode");
                 MoveInfo.MoveParam = new InOutParam(new InOutPosInfo("", ""));
                 string code = CodeManager.ProcessCode(LastCodeList);
                 MoveInfo.MoveParam.PosInfo.barcode = code;
@@ -235,7 +245,7 @@ namespace OnlineStore.DeviceLibrary
                 LastHeight = GetHeight();
             }
             else if (MoveInfo.IsStep(StepEnum.IB14_WaitReelLeave))
-            {  
+            {
                 CheckHasTray();
             }
 
@@ -283,6 +293,7 @@ namespace OnlineStore.DeviceLibrary
         }
         private void IB09_ScanCode()
         {
+            ClearWarnMsg("等待旋转轴离开料串超时");
             MoveInfo.NextMoveStep(StepEnum.IB09_ScanCode);
             bool isScan = ConfigAppSettings.GetIntValue(Setting_Init.NeedScanCode).Equals(1);
 
@@ -336,7 +347,16 @@ namespace OnlineStore.DeviceLibrary
             WarnMsg = "";
             if (Robot.IOValue(Config.IO_ReelCheck).Equals(IO_VALUE.HIGH) && MoveInfo.ShelfNoTray.Equals(false))
             {
-                IB09_ScanCode();
+                if (Robot.AxisIsInShelfUp(ShelfType))
+                { 
+                    MoveInfo.NextMoveStep(StepEnum.IB08_WaitCanScan);
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
+                    WorkLog("旋转轴在料串上方，暂不能扫码，等待旋转轴离开");
+                }
+                else
+                { 
+                    IB09_ScanCode();
+                }
             }
             else
             {
@@ -810,7 +830,8 @@ namespace OnlineStore.DeviceLibrary
                 LogUtil.error(Name + "当前状态：" + MoveInfo.MoveType + ",GetTrayOK暂不处理");
             }
         }
-        public void GetTrayLeave()
+
+        public void GetTrayStartLeave()
         {
             if (MoveInfo.MoveType.Equals(MoveType.InStore))
             {

source/DeviceLibrary/storeBean/inputBean/InputEquip.cs

@@ -642,6 +642,32 @@ namespace OnlineStore.DeviceLibrary
             return false;
         }
 
+        /// <summary>
+        /// 判断旋转轴是否在料串上方
+        /// </summary>
+        /// <param name="shelfType">1=A侧料串，2=B侧料串</param>
+        /// <returns></returns>
+        public bool AxisIsInShelfUp(int shelfType)
+        {
+            int middleP = MiddleAxis.GetAclPosition(); 
+            int middleWucha = 20000; 
+            //旋转轴在A暂存区
+            if (MiddleAxis.IsInPosition(Config.Middle_P2_ATake, middleWucha) )
+            {
+                if (shelfType.Equals(1))
+                {
+                    return true;
+                }
+            }
+            else if (MiddleAxis.IsInPosition(Config.Middle_P3_BTake, middleWucha)  )
+            {
+                if (shelfType.Equals(2))
+                {
+                    return true;
+                }
+            }
+            return false;
+        }
     }
 
 }

source/DeviceLibrary/storeBean/inputBean/InputEquip_InStore.cs

@@ -513,20 +513,15 @@ namespace OnlineStore.DeviceLibrary
                 UpdownAxis.AbsMove(MoveInfo, Config.Updown_P8_NGH, Config.Updown_P8_Speed);
             }
             else if (lastPosInfo.GetPosSide().Equals("A"))
-            {
-                //MoveInfo.NextMoveStep(StepEnum.II40_UpdownToP4);
-                //MoveLog($" 入料->A侧 {MoveInfo.SLog}:  A侧入库料{lastPosInfo.ToStr()}, 升降轴 到P4(A上暂存区放料高点){Config.Updown_P4_AUpperH}");
-                //UpdownAxis.AbsMove(MoveInfo, Config.Updown_P4_AUpperH, Config.Updown_P4_Speed);
+            { 
                 II41_MiddleTWaitP4();
                
             }
             else
-            {
-                //MoveInfo.NextMoveStep(StepEnum.II60_UpdownToP10);
-                //MoveLog($" 入料->B侧 {MoveInfo.SLog}:  B侧入库料{lastPosInfo.ToStr()} ，升降轴 到P10（B上暂存区放料高点){Config.Updown_P10_BUpperH}");
-                //UpdownAxis.AbsMove(MoveInfo, Config.Updown_P10_BUpperH, Config.Updown_P10_Speed);
+            { 
                 II61_MiddleToWaitP5(); 
             }
+            TrayStartLeave();
         }
 
         private void II61_MiddleToWaitP5()
@@ -716,17 +711,20 @@ namespace OnlineStore.DeviceLibrary
             }
             return false;
         }
-
         private void TrayHasLeave()
         {
+
+        }
+        private void TrayStartLeave()
+        {
             int shelf = MoveInfo.MoveParam.ShelfType;
             if (shelf.Equals(1))
             {
-                BatchMove_A.GetTrayLeave();
+                BatchMove_A.GetTrayStartLeave();
             }
             else if (shelf.Equals(2))
             {
-                BatchMove_B.GetTrayLeave();
+                BatchMove_B.GetTrayStartLeave();
             }
         }
         protected override void OutstoreProcess()