1

DeviceLibrary/theMachine/TrayManager.cs

@@ -60,6 +60,7 @@ namespace DeviceLibrary
                     Traylist[rfid].LoadType = (TrayTypeE)Enum.Parse(typeof(TrayTypeE), requestLoadInfo.TrayType);
                     Traylist[rfid].TrayParam = requestLoadInfo.LoadParam.clone();
                     Traylist[rfid].DestinationAddr = GetAddrByGroupName(requestLoadInfo.DeviceGroupName);
+                    LogUtil.info("设置托盘信息:" + Traylist[rfid].LoadType + "," + Traylist[rfid].TrayParam.ToStr() + "," + requestLoadInfo.DeviceGroupName);
                 }
                 SaveTrayInfo();
             }
@@ -197,7 +198,7 @@ namespace DeviceLibrary
         public static void TrayRelease(RemoteLoad remoteLoad)
         {
             var requestLoadInfo = remoteLoad.RequestLoadInfo;
-            LogUtil.info($"TrayRelease:{remoteLoad.GroupName}{requestLoadInfo.DeviceGroupName},{requestLoadInfo?.LoadParam.ToStr()}");
+            LogUtil.info($"TrayRelease:{remoteLoad.GroupName},{requestLoadInfo.DeviceGroupName},{requestLoadInfo.IsEmpty},{requestLoadInfo?.LoadParam.ToStr()}");
             lock (requestLoadInfo)
             {
                 var device = TrayStop.DeviceList[remoteLoad.GroupName];
@@ -229,6 +230,11 @@ namespace DeviceLibrary
                     var device = TransplantMove.DeviceList[remoteLoad.GroupName];
                     return device.IsFree();
                 }
+                if (TrayStop.DeviceList.ContainsKey(remoteLoad.GroupName))
+                {
+                    var device = TrayStop.DeviceList[remoteLoad.GroupName];
+                    return device.IsFree();
+                }
             }
             return false;
         }
@@ -303,6 +309,7 @@ namespace DeviceLibrary
         public DirectionE Direction { get => (Destination ==StoreCID.AMH_ML5_1 || Destination == StoreCID.AMH_ML5_2) ? DirectionE.Out : DirectionE.In; }
         public bool isOnline = true;
         public void SetToEmpty() {
+            LogUtil.info("清空托盘信息,原信息:"+ Direction + "," + TrayParam?.ToStr()+ "," + LoadType+ "," + LoadType + ",");
             LoadType = TrayTypeE.None;
             DestinationAddr = -1;
             TrayParam = new ReelParam();

DeviceLibrary/theMachine/sub/TrayStop.cs

@@ -284,6 +284,7 @@ namespace DeviceLibrary
                                 isalivetrytimes++;
                                 if (isalivetrytimes > 4)
                                 {
+                                   TrayManager.Traylist[CurrrentRFID].SetToEmpty();
                                     MoveInfo.NextMoveStep(MoveStep.TrayStop_04);
                                     MoveInfo.log($"{GroupName} 料仓状态不明:{result}");
                                 }
@@ -339,7 +340,12 @@ namespace DeviceLibrary
 
         public bool IsFree()
         {
-            throw new NotImplementedException();
+            if (MoveInfo.MoveStep == MoveStep.TrayStop_WaitLoadProcess)
+            {
+                return false;
+            }
+
+            return true;
         }
     }
 }
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