1

DeviceLibrary/theMachine/MainMachine.cs

@@ -234,10 +234,13 @@ namespace DeviceLibrary
                         ioMonitor();
                         ioMonitor();
                         boxTransport.Process();
                         boxTransport.Process();
                         if (RobotManage.InoutDebugMode)
                         if (RobotManage.InoutDebugMode)
+                        {
                             AutoInOutTestProcess();
                             AutoInOutTestProcess();
+                        }
                         else
                         else
+                        {
                             StoreProcess();
                             StoreProcess();
-
+                        }
 
 
                         foreach(InReelBean bean  in inReelBeans)
                         foreach(InReelBean bean  in inReelBeans)
                         {
                         {
@@ -649,10 +652,14 @@ namespace DeviceLibrary
 
 
         }
         }
 
 
-        private void ClearNgPos()
+        public void ClearNgPos()
         {
         {
             //清空ng库位列表
             //清空ng库位列表
             LogUtil.info("ClearNgPos清空NG库位缓存列表");
             LogUtil.info("ClearNgPos清空NG库位缓存列表");
+            foreach (string key in NgPosMap.Keys)
+            {
+                LogUtil.info($"清空NG库位列表：[{key}] ：{NgPosMap[key]}");
+            }
             NgPosMap = new Dictionary<string, ReelParam>();
             NgPosMap = new Dictionary<string, ReelParam>();
         }
         }
 
 
@@ -675,12 +682,16 @@ namespace DeviceLibrary
         private DateTime lastEmptyTime = DateTime.Now;
         private DateTime lastEmptyTime = DateTime.Now;
         private void ShelfEmptyProcess()
         private void ShelfEmptyProcess()
         {
         {
-            //2秒钟获取一次
+            //3秒钟获取一次
             TimeSpan span = DateTime.Now - lastEmptyTime;
             TimeSpan span = DateTime.Now - lastEmptyTime;
             if (span.TotalSeconds < 3)
             if (span.TotalSeconds < 3)
             {
             {
                 return;
                 return;
             }
             }
+
+            ////TODO 暂时不验证
+            //return;
+
             try
             try
             {
             {
                 lastEmptyTime = DateTime.Now;
                 lastEmptyTime = DateTime.Now;

DeviceLibrary/theMachine/OutShelfBean.cs

@@ -187,7 +187,7 @@ namespace DeviceLibrary
                 //TODO 暂不判断是否返回成功
                 //TODO 暂不判断是否返回成功
                 //if (taskInfo.IsValid())
                 //if (taskInfo.IsValid())
                 {
                 {
-                    if (taskInfo.smallEmpty == 0 && taskInfo.bigEmpty == 0)
+                    if (taskInfo != null && taskInfo.smallEmpty == 0 && taskInfo.bigEmpty == 0)
                     {
                     {
                         //MoveInfo.NextMoveStep(MoveStep.S10_ShelfReady);
                         //MoveInfo.NextMoveStep(MoveStep.S10_ShelfReady);
                         //CurrShelf.IsNeedLeave = true;
                         //CurrShelf.IsNeedLeave = true;