修正入库时单盘出库卡死

DeviceLibrary/DeviceLibrary/CylinderManger.cs

@@ -46,6 +46,8 @@ namespace DeviceLibrary
         public void Pause()
         {
             LogUtil.info($"{Name},停止运行");
+            IOManager.IOMove(Low, IO_VALUE.LOW);
+            IOManager.IOMove(High, IO_VALUE.LOW);
             if (currentIOvalue == IO_VALUE.None) {
                 LogUtil.info($"{Name},没有在运行");
                 return;
@@ -59,9 +61,6 @@ namespace DeviceLibrary
                 LogUtil.info($"{Name},currentIOvalue:{currentIOvalue},暂停是IO已到位");
                 return;
             }
-
-            IOManager.IOMove(Low, IO_VALUE.LOW);
-            IOManager.IOMove(High, IO_VALUE.LOW);
         }
 
         public void Resume()

DeviceLibrary/DeviceLibrary/LiftMonitor.cs

@@ -73,11 +73,12 @@ namespace DeviceLibrary
             axisBean.RelMove(StrokeLength, (double)upspeed);
             DateTime d = DateTime.Now;
             moveInfo.log($"{axisBean.AxisName},LiftUp");
-            if(moveInfo!=null)
-                 moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitUp), $"等待顶升[{axisBean.Config.Explain}]机构上升"));
+            var wr = WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitUp), $"等待顶升[{axisBean.Config.Explain}]机构上升");
+            if (moveInfo!=null)
+                 moveInfo.WaitList.Add(wr);
             Task.Run(()=> {
                 while (!IOManager.IOValue(up.ToString()).Equals(IO_VALUE.HIGH)) {
-                    Task.Delay(30);
+                    Task.Delay(15);
                     if (paused)
                     {
                         paused = false;
@@ -89,6 +90,7 @@ namespace DeviceLibrary
                         return;
                     }
                 }
+                moveInfo.WaitList.Remove(wr);
                 if (UpOverTimeMS > 0)
                     Task.Delay(UpOverTimeMS).Wait();
                 axisBean.SuddenStop();
@@ -149,13 +151,14 @@ namespace DeviceLibrary
             axisBean.RelMove(-StrokeLength, (double)downspeed);
             DateTime d = DateTime.Now;
             moveInfo.log($"{axisBean.AxisName},LiftDown");
+            var wr = WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitDown), $"等待顶升[{axisBean.Config.Explain}]机构下降");
             if (moveInfo != null)
-                moveInfo.WaitList.Add(WaitResultInfo.WaitAction(new Func<WaitResultInfo, bool>(WaitDown), $"等待顶升[{axisBean.Config.Explain}]机构下降"));
+                moveInfo.WaitList.Add(wr);
 
             Task.Run(() => {
                 while (!IOManager.IOValue(down.ToString()).Equals(IO_VALUE.HIGH))
                 {
-                    Task.Delay(30);
+                    Task.Delay(15);
                     if (paused)
                     {
                         paused = false;
@@ -168,6 +171,9 @@ namespace DeviceLibrary
                         return;
                     }
                 }
+
+                moveInfo.WaitList.Remove(wr);
+
                 if (DownOverTimeMS > 0)
                     Task.Delay(DownOverTimeMS).Wait();
                 axisBean.SuddenStop();

DeviceLibrary/theMachine/MainMachine.cs

@@ -136,12 +136,12 @@ namespace DeviceLibrary
                 RobotManage.Config.DOList.Remove(IO_Type.StringDoor_Open);
                 RobotManage.Config.DOList.Remove(IO_Type.StringDoor_Close);
                 StringDoor = new LiftMonitor(IO_Type.StringDoor_Open, IO_Type.StringDoor_Close, IO_Type.StringDoor_Axis_Break, new AxisBean(Config.StringDoor_Axis, Name), Config.StringDoorLength, Config.StringDoorLength_speed);
-                StringDoor.DownOverTimeMS = 300;
-                StringDoor.UpOverTimeMS = 100;
+                StringDoor.DownOverTimeMS = ConfigHelper.Config.Get("Device_StringDoor_DownOverTimeMS", 0);
+                StringDoor.UpOverTimeMS = ConfigHelper.Config.Get("Device_StringDoor_UpOverTimeMS", 0);
                 LogUtil.info("加载料串门类型为:步进");
                 //此版本同步删除其他IO
 
-                RobotManage.Config.DOList.Remove(IO_Type.NitrogenValve);
+                //RobotManage.Config.DOList.Remove(IO_Type.NitrogenValve);
 
             }else
                 LogUtil.info("加载料串门类型为:气缸");

DeviceLibrary/theMachine/MainMachine_Clamp.cs

@@ -80,7 +80,8 @@ namespace DeviceLibrary
             switch (ClampMoveInfo.MoveStep)
             {
                 case MoveStep.Wait:
-                    if (IsGetReelReady) {
+                    if (IsGetReelReady && StoreMoveInfo.MoveStep < MoveStep.StoreOut10)
+                    {
                         ClampMoveInfo.NewMove(MoveStep.ReelClamp_01);
                         OpenFlipDoor(ClampMoveInfo);
                     }