里面出库先检查提升是否有料，出料口出库有料不放行，提示

DeviceLibrary/theMachine/BoxTransport.cs

@@ -147,7 +147,7 @@ namespace DeviceLibrary
                     if (IOManager.IOValue(IO_Type.SideA_ForkMaterial_Check).Equals(IO_VALUE.HIGH) ||
                         IOManager.IOValue(IO_Type.SideB_ForkMaterial_Check).Equals(IO_VALUE.HIGH))
                     {
-                        if(IOMonitor.IODebound(IO_Type.SideA_ForkMaterial_Check,Config,IO_VALUE.HIGH,2000)||
+                        if (IOMonitor.IODebound(IO_Type.SideA_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000) ||
                            IOMonitor.IODebound(IO_Type.SideB_ForkMaterial_Check, Config, IO_VALUE.HIGH, 2000))
                         {
                             Msg.add("存储机构取料暂停", MsgLevel.alarm);//伸缩叉2侧X06/X07检测到有物料无法继续,请检查
@@ -185,6 +185,26 @@ namespace DeviceLibrary
                     MoveInfo.log($"{storeMoveType}:行走机构到达取料点");
                     break;
                 case MoveStep.StoreTS04:
+
+                    if (storeMoveType.Equals(StoreMoveType.OutStore))
+                    {
+                        if (To.posid.Equals(BoxStorePosition.rightdoor))
+                        {
+                            if (mainMachine.RightInOut.EndMaterialTop_Check)
+                            {
+                                Msg.add("右侧出入口顶升感应到有物料,无法放料", MsgLevel.warning);
+                                return false;
+                            }
+                        }
+                        else if (To.posid.Equals(BoxStorePosition.leftdoor))
+                        {
+                            if (mainMachine.LeftInOut.EndMaterialTop_Check)
+                            {
+                                Msg.add("左侧出入口顶升感应到有物料,无法放料", MsgLevel.warning);
+                                return false;
+                            }
+                        }
+                    }
                     MoveInfo.NextMoveStep(MoveStep.StoreTS05);
                     //YAxis.AbsMove(MoveInfo, From.Yaxis_PL, Config.Yaxis_P1_speed);
                     //MoveInfo.log($"{storeMoveType}:上下轴到达取料低点");

DeviceLibrary/theMachine/InOutDevice_OUT.cs

@@ -14,19 +14,28 @@ namespace DeviceLibrary
         {
             get
             {
-                return IOValue(IO_EndMaterialTop_Check).Equals(IO_VALUE.LOW) && Lift.isAtTOP && MoveInfo.MoveStep== MoveStep.WaitOutBox;
+                return IOValue(IO_EndMaterialTop_Check).Equals(IO_VALUE.LOW) && Lift.isAtTOP && MoveInfo.MoveStep == MoveStep.WaitOutBox;
             }
         }
-        public bool TurnToOut(JobInfo jobInfo) {
+        public bool TurnToOut(JobInfo jobInfo)
+        {
             if (MoveInfo.MoveStep != MoveStep.Wait)
                 return false;
             MoveInfo.NewMove(MoveStep.Out01);
             CurrnetDirection = InOutDirectionE.OUT;
-            MoveInfo.MoveParam.PosID= jobInfo.PosId;
-            MoveInfo.MoveParam.hSerial= jobInfo.hSerial;
+            MoveInfo.MoveParam.PosID = jobInfo.PosId;
+            MoveInfo.MoveParam.hSerial = jobInfo.hSerial;
             MoveInfo.log("开始出库任务");
             return true;
         }
+        /// <summary>
+        /// 提升机末端上方物料检测
+        /// </summary>
+        public bool EndMaterialTop_Check
+        {
+            get { return IOValue(IO_EndMaterialTop_Check).Equals(IO_VALUE.HIGH); }
+        }
+
         void OutProcess()
         {
             if (mainMachine.CheckWait(MoveInfo))
@@ -51,7 +60,7 @@ namespace DeviceLibrary
                     }
                     else
                     {
-                        Msg.add("周转箱顶升感应到有物料,无法继续出库", MsgLevel.info);
+                        Msg.add("周转箱顶升感应到有物料,无法继续出库", MsgLevel.warning);
                         MoveInfo.log("周转箱顶升感应到有物料,无法继续出库");
                     }
                     break;
@@ -71,11 +80,21 @@ namespace DeviceLibrary
                     }
                     break;
                 case MoveStep.Out05:
-                    MoveInfo.NextMoveStep(MoveStep.Out06);
-                    Line.LineRun("work", true, 999);
-                    MiddleStop(MoveInfo,IO_VALUE.LOW);
-                    MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_F_Stop_Out, IO_VALUE.HIGH));
-                    MoveInfo.log($"线体转动");
+                    if (IOValue(IO_F_Stop_Out).Equals(IO_VALUE.HIGH))
+                    {
+                        Msg.add("有出库料箱，请拿走出口有周转箱", MsgLevel.warning);
+                        MoveInfo.log("有出库料箱，请拿走出口有周转箱");
+                    }
+                    else
+                    {
+                        MoveInfo.NextMoveStep(MoveStep.Out06);
+                        Line.LineRun("work", true, 999);
+                        MiddleStop(MoveInfo, IO_VALUE.LOW);
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_EndMaterialTop_Check, IO_VALUE.LOW));
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_F_Stop_Out, IO_VALUE.HIGH));
+                        MoveInfo.log($"线体转动");
+                    }
+
                     break;
                 case MoveStep.Out06:
                     MoveInfo.NextMoveStep(MoveStep.Out07);
@@ -89,7 +108,7 @@ namespace DeviceLibrary
                     MoveInfo.log($"等待agv接走周转箱");
                     break;
                 case MoveStep.OutWaitAgv:
-                    Msg.add("等待AGV接走周转箱"+MoveInfo.MoveParam.WareCode, MsgLevel.info);
+                    Msg.add("等待AGV接走周转箱" + MoveInfo.MoveParam.WareCode, MsgLevel.info);
                     if (IOValue(IO_AgvOut_Req).Equals(IO_VALUE.HIGH))
                     {
                         MoveInfo.NextMoveStep(MoveStep.Out08);
@@ -98,12 +117,13 @@ namespace DeviceLibrary
                         Line.LineRun("work", true, 999);
                         MoveInfo.log($"收到agv抵达信号, 开始送出周转箱");
                     }
-                    if (IOMonitor.IODebound(IO_F_Stop_Out,Config,IO_VALUE.LOW,2000)) {
+                    if (IOMonitor.IODebound(IO_F_Stop_Out, Config, IO_VALUE.LOW, 2000))
+                    {
                         MoveInfo.log($"检测到周转箱已离开,结束出库");
                         RobotManage.mainMachine.IsClearWarnMsg = true;
                         MoveInfo.EndMove();
                     }
-                    else if(MoveInfo.IsTimeOut(60*ConfigHelper.Config.Get("OutWaitAgvLeaveTimeout",5)))
+                    else if (MoveInfo.IsTimeOut(60 * ConfigHelper.Config.Get("OutWaitAgvLeaveTimeout", 5)))
                     {
                         Msg.add($"出口料箱未下降", MsgLevel.warning);//等待周转箱[{MoveInfo.MoveParam.WareCode}]离开超时
                         RobotManage.mainMachine.IsClearWarnMsg = false;
@@ -119,11 +139,11 @@ namespace DeviceLibrary
                     }
                     else if (MoveInfo.IsTimeOut(15))
                     {
-                        Msg.add("周转箱转出至AGV超时",MsgLevel.alarm);
+                        Msg.add("周转箱转出至AGV超时", MsgLevel.alarm);
                         MoveInfo.log($"周转箱转出超时");
                     }
                     break;
-                case MoveStep.Out09:                    
+                case MoveStep.Out09:
                     IOMove(DO_Agv_Rsp, IO_VALUE.LOW);
                     FrontStop(MoveInfo, IO_VALUE.HIGH);
                     MiddleStop(MoveInfo, IO_VALUE.HIGH);