agv接入

source/Common/Setting_Init.cs

@@ -108,6 +108,8 @@ namespace OnlineStore.Common
         public static string AgvServerPort = "AgvServerPort";
 
         public static string code_block_size_list = "code_block_size_list";
-
+        public static string InstoreEndSendShelf = "InstoreEndSendShelf";
+        public static string OutstoreEndSendShelf= "OutstoreEndSendShelf";
+        public static string LastOutShelfType= "LastOutShelfType";
     }
 }

source/DUOStore/App.config

@@ -56,9 +56,12 @@
     <add key="CurrShelfNum" value="-1"/>
     <!--当前料架信息-料架类型，0=空料架，1=入库料架，2=出库料架-->
     <add key="CurrShelfType" value="-1"/>
+	  <add key="LastOutShelfType" value="1"/>
 	  <add key="HasT4Axis" value="true"/>
 	  <add key="AgvServerIp" value="192.168.11.11"/>
 	  <add key="Code_Block_Size_List" value="17,19"/>
+	  <add key="InstoreEndSendShelf" value="1" />
+	  <add key="OutstoreEndSendShelf" value="1" />
   </appSettings>
   <log4net>
     <appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">

source/DUOStore/FrmStore.cs

@@ -61,9 +61,11 @@ namespace OnlineStore.DUOStore
                 //store.UseBuzzer = chbUseBuzzer.Checked;
                 this.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title);
                 chbAutoRun.Checked = (ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun).Equals(1));
+                chbInstoreEnd.Checked = (ConfigAppSettings.GetIntValue(Setting_Init.InstoreEndSendShelf).Equals(1));
+                chbOutstoreEnd.Checked = (ConfigAppSettings.GetIntValue(Setting_Init.OutstoreEndSendShelf).Equals(1));
                 LoadListView();
-                chbInstoreEnd.Checked = store.InstoreEndSendShelf;
-                chbOutstoreEnd.Checked = store.OutstoreEndSendShelf;
+                store.InstoreEndSendShelf=chbInstoreEnd.Checked;
+                store.OutstoreEndSendShelf=chbOutstoreEnd.Checked;
                 LoadOk = true;
                 //LogUtil.logBox = this.logBox;
                 store.BoxMap[1].camera_event += FrmStore_camera_event;
@@ -719,7 +721,7 @@ namespace OnlineStore.DUOStore
             {
                 return;
             }
-
+            ConfigAppSettings.SaveValue(Setting_Init.InstoreEndSendShelf, chbInstoreEnd.Checked?1:0);
             store.InstoreEndSendShelf = chbInstoreEnd.Checked;
             LogUtil.info(store.Name + " 切换 入库完成送出料架=" + store.InstoreEndSendShelf);
         }
@@ -734,7 +736,7 @@ namespace OnlineStore.DUOStore
             {
                 return;
             }
-
+            ConfigAppSettings.SaveValue(Setting_Init.OutstoreEndSendShelf, chbOutstoreEnd.Checked ? 1 : 0);
             store.OutstoreEndSendShelf = chbOutstoreEnd.Checked;
             LogUtil.info(store.Name + " 切换 入库完成送出料架=" + store.OutstoreEndSendShelf);
 

source/DUOStore/Program.cs

@@ -14,6 +14,7 @@ namespace OnlineStore.DUOStore
 {
     static class Program
     {
+
         #region 方法四：使用的Win32函数的声明
 
         /// <summary>
@@ -56,6 +57,7 @@ namespace OnlineStore.DUOStore
             //string path = @"http://localhost:4090/rest/api/v1/station/status";
             //HttpHelper.PostOperation(path, new Operation());
 
+
             Application.ThreadException += new System.Threading.ThreadExceptionEventHandler(Application_ThreadException);
             AppDomain.CurrentDomain.UnhandledException += new UnhandledExceptionEventHandler(CurrentDomain_UnhandledException);
 

source/DeviceLibrary/AgvClient/AgvClient.cs

@@ -14,6 +14,7 @@ namespace OnlineStore.DeviceLibrary
         private static int ServerPort = ConfigAppSettings.GetIntValue(Setting_Init.AgvServerPort);
         private static Agv.AgvClient agvClient;
         public static Dictionary<string, Agv.ClientAction> actionMap = new Dictionary<string, Agv.ClientAction>();
+        public static Dictionary<string, Agv.ClientShelf> shelfMap = new Dictionary<string, Agv.ClientShelf>();
         public static List<string> NodeList = new List<string>();
         private static bool isInit = false;
         public static void Init()
@@ -25,19 +26,23 @@ namespace OnlineStore.DeviceLibrary
                     isInit = true;
                     agvClient = new Agv.AgvClient();
                     agvClient.Received += AgvClient_Received;
-                    NodeList.Add(StoreManager.Config.AgvInName);
-                    NodeList.Add(StoreManager.Config.AgvOutName);
+                    agvClient.Connected += AgvClient_Connected;
+                    //NodeList.Add(StoreManager.Config.AgvInName);
+                    //NodeList.Add(StoreManager.Config.AgvOutName);
                 }
                 actionMap = new Dictionary<string, Agv.ClientAction>();
+                shelfMap = new Dictionary<string, Agv.ClientShelf>();
                 foreach (string key in NodeList)
                 {
                     actionMap.Add(key, Agv.ClientAction.None);
+                    shelfMap.Add(key, Agv.ClientShelf.None);
                 }
                 agvClient.Connect(ServerIp, ServerPort);
-                foreach (string str in NodeList)
+                foreach (string id in NodeList)
                 {
-                    SetStatus(str,"");
-                    LogUtil.info("agv init ,SetStatus[" + str + "]=none ");
+                    //SetStatus(id, "");
+                    agvClient.SetStatus(id);
+                    LogUtil.info("agv init ,SetStatus[" + id + "]=none ");
                 }
                 SetCancelState(false);
             }
@@ -49,7 +54,7 @@ namespace OnlineStore.DeviceLibrary
 
         private static void AgvClient_Connected(bool status)
         {
-            LogUtil.info($"AgvClient_Connected:{status}");
+            //LogUtil.info($"AgvClient_Connected:{status}");
         }
 
         private static void AgvClient_Received(Node node)
@@ -70,7 +75,7 @@ namespace OnlineStore.DeviceLibrary
         {
             agvClient.CancelState = cancel;
         }
-        public static void SetStatus(string id, string shelfId, ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low, bool isMust = false)
+        public static void SetStatus(string id, string shelfId, ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low, ClientShelf clientShelf=ClientShelf.Empty)
         {
             if (agvClient == null)
                 return;
@@ -84,9 +89,10 @@ namespace OnlineStore.DeviceLibrary
                 }
             }
 
-            agvClient.SetStatus(id, "", shelfId, action, level);
+            agvClient.SetStatus(id, "", shelfId, action, level, clientShelf);
             UpdateAction(id, action);
-            LogUtil.info("AgvClient SetStatus id:" + id + ",shelfId:" + shelfId + ",action:" + action.ToString() + ",level:" + level.ToString());
+            UpdateShelf(id, clientShelf);
+            LogUtil.info("AgvClient SetStatus id:" + id + ",shelfId:" + shelfId + ",action:" + action.ToString() + ",level:" + level.ToString() + ",clientShelf:" + clientShelf.ToString());
 
         }
 
@@ -129,29 +135,29 @@ namespace OnlineStore.DeviceLibrary
         public static bool SetToNone(string id, string shelfId = "")
         {
             Agv.ClientAction currA = GetAction(id);
-            if (currA.Equals(Agv.ClientAction.None) || currA.Equals(Agv.ClientAction.NeedLeave) || currA.Equals(Agv.ClientAction.NeedEnter))
-            {
+            //if (currA.Equals(Agv.ClientAction.None) || currA.Equals(Agv.ClientAction.NeedLeave) || currA.Equals(Agv.ClientAction.NeedEnter))
+            //{
                 SetStatus(id, shelfId, Agv.ClientAction.None);
                 return true;
+            //}
+           // return false;
         }
-            return false;
-        }
-        public static bool NeedEnter(string id, string shelfId)
+        public static bool NeedEnter(string id, string shelfId, ClientShelf clientShelf)
         {
             Agv.ClientAction currA = GetAction(id);
-            if (currA.Equals(Agv.ClientAction.None) || currA.Equals(Agv.ClientAction.NeedLeave) || currA.Equals(Agv.ClientAction.NeedEnter))
+            if (currA.Equals(Agv.ClientAction.None) ||  currA.Equals(Agv.ClientAction.NeedEnter))
             {
-                SetStatus(id, shelfId, Agv.ClientAction.NeedEnter);
+                SetStatus(id, shelfId, Agv.ClientAction.NeedEnter,ClientLevel.High, clientShelf);
                 return true;
             }
             return false;
         }
-        public static bool NeedLeave(string id, string shelfId)
+        public static bool NeedLeave(string id, string shelfId,ClientShelf clientShelf)
         {
             Agv.ClientAction currA = GetAction(id);
             if (currA.Equals(Agv.ClientAction.None) || currA.Equals(Agv.ClientAction.NeedLeave) || currA.Equals(Agv.ClientAction.NeedEnter))
             {
-                SetStatus(id, shelfId, Agv.ClientAction.NeedLeave);
+                SetStatus(id, shelfId, Agv.ClientAction.NeedLeave,ClientLevel.High, clientShelf);
                 return true;
             }
             return false;
@@ -165,6 +171,14 @@ namespace OnlineStore.DeviceLibrary
             }
             return Agv.ClientAction.None;
         }        
+        public static Agv.ClientShelf GetShelf(string NodeName)
+        {
+            if (shelfMap.ContainsKey(NodeName))
+            {
+                return shelfMap[NodeName];
+            }
+            return Agv.ClientShelf.None;
+        }
         public static void UpdateAction(string name, Agv.ClientAction action)
         {
             if (actionMap.ContainsKey(name))
@@ -176,6 +190,17 @@ namespace OnlineStore.DeviceLibrary
                 actionMap.Add(name, action);
             }
         }
+        public static void UpdateShelf(string name, Agv.ClientShelf action)
+        {
+            if (shelfMap.ContainsKey(name))
+            {
+                shelfMap[name] = action;
+            }
+            else
+            {
+                shelfMap.Add(name, action);
+            }
+        }
         public static void Dispose()
         {
             try

source/DeviceLibrary/DeviceLibrary.csproj

@@ -94,6 +94,7 @@
     <Compile Include="device\IO\HCIOManager.cs" />
     <Compile Include="device\RFIDManagercs.cs" />
     <Compile Include="duoStore\BoxBean_Camera.cs" />
+    <Compile Include="duoStore\DUOStoreBean_LineRunMonitor.cs" />
     <Compile Include="duoStore\DUOStoreBean_RaiseStation.cs" />
     <Compile Include="duoStore\AxisBean.cs" />
     <Compile Include="duoStore\BoxBean.cs" />

source/DeviceLibrary/device/RFIDManagercs.cs

@@ -64,7 +64,7 @@ namespace OnlineStore.DeviceLibrary
                 if (String.IsNullOrEmpty(ip).Equals(false))
                 {
                     string outValue = readAll.Read(ip);
-
+                    System.Threading.Thread.Sleep(300);
                     if (isClear)
                     {
                         readAll.Clear(ip);

source/DeviceLibrary/duoStore/BoxBean.cs

@@ -265,6 +265,23 @@ namespace OnlineStore.DeviceLibrary
                     HuichuanLibrary.HCBoardManager.SetAxBacklash(MiddleAxis.Config.GetAxisValue(),Config.MiddleAxis_Reverse_Offset, MiddleAxis.Config.HomeLowSpeed,-1);
                     LogInfo(MoveInfo.MoveType + ": 完成");
                     MoveEndP();
+
+                    if (IOValue(IO_Type.InDoor_Check).Equals(IO_VALUE.HIGH) && IsDebug.Equals(false))
+                    {
+                        LogInfo("发现入口有无信息料");
+                        InOutParam inOutParam = new InOutParam(MoveType.InStore);
+                        inOutParam.InStoreNg = true;
+                        inOutParam.TargetPosition = 1;
+                        inOutParam.moveType = MoveType.InStore;
+                        inOutParam.PlateH = 56;
+                        StoreManager.LoadInoutParam(inOutParam, MoveType.InStore, true, this);
+                        runStatus = StoreRunStatus.Busy;
+                        storeStatus = StoreStatus.InStoreExecute;
+
+                        MoveInfo.NewMove(MoveType.InStore, inOutParam);
+                        MoveInfo.NextMoveStep(StoreMoveStep.SI_01_InoutToP1);
+                    }
+
                     break; 
                 default: break;
             }

source/DeviceLibrary/duoStore/BoxBean_Partial.cs

@@ -79,12 +79,12 @@ namespace OnlineStore.DeviceLibrary
            (!runStatus.Equals(StoreRunStatus.Runing))
            || (!MoveInfo.MoveType.Equals(MoveType.None)))
             {
-                LogUtil.error(Name + " 启动出库出错，忙碌或报警中 ，storeStatus=" + runStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirCheck" + isNoAirCheck);
+                LogUtil.error(Name + " 启动入库出错，忙碌或报警中 ，storeStatus=" + runStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirCheck" + isNoAirCheck);
                 return false;
             }
-            if (IOValue(IO_Type.InDoor_Check).Equals(IO_VALUE.LOW))
+            if (!AutoInout.autoNext && IOValue(IO_Type.InDoor_Check).Equals(IO_VALUE.LOW))
             {
-                LogUtil.error(Name + " 启动出库出错，入口没有检测到料盘, 任务取消");
+                LogUtil.error(Name + " 启动入库出错，入口没有检测到料盘, 任务取消");
                 StoreManager.cancelPutInTask(Name, param.WareCode);
                 return true;
             }
@@ -549,11 +549,19 @@ namespace OnlineStore.DeviceLibrary
             #endregion
             else if (MoveInfo.IsStep(StoreMoveStep.SO_07_FixtureCheck))
             {
+                bool waitLeftStore = false;
+                if (StoreManager.Store.HasT4Axis && ID == 2 && StoreManager.Store.MoveInfo.MoveParam!=null && StoreManager.Store.MoveInfo.MoveParam.TargetBox==1)
+                {
+                    if (StoreManager.Store.MoveInfo.MoveStep >= StoreMoveStep.LO_11_BatchAxisDown && StoreManager.Store.MoveInfo.MoveStep <= StoreMoveStep.LO_16_MiddleToP1)
+                        waitLeftStore = true;
+                }
+
+                if (!waitLeftStore) {
                     MoveInfo.NextMoveStep(StoreMoveStep.SO_08_InoutToP2);
                     InOutStoreLog(outType + "进出轴到P2 [" + moveP.InOut_P2 + "]");
                     InoutAxis.AbsMove(MoveInfo, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
                     ClearTimeoutAlarm("进出轴可以到P2");
-
+                }
             }
             else if (MoveInfo.IsStep(StoreMoveStep.SO_08_InoutToP2))
             {

source/DeviceLibrary/duoStore/BoxBean_Shelf.cs

@@ -253,7 +253,7 @@ namespace OnlineStore.DeviceLibrary
             }
             return false;
         }
-        public string LastVisualRfid = "";
+        //public string LastVisualRfid = "";
         private void ReviceOutStoreProcess(Operation resultOperation)
         {
             DateTime time = DateTime.Now;
@@ -265,13 +265,13 @@ namespace OnlineStore.DeviceLibrary
                 string[] posIdArray = data[ParamDefine.posId].Split(splitChar);
                 string[] plateWArray = data[ParamDefine.plateW].Split(splitChar);
                 string[] plateHArray = data[ParamDefine.plateH].Split(splitChar);
-                if (string.IsNullOrEmpty(LastVisualRfid))
+                if (string.IsNullOrEmpty(StoreManager.LastVisualRfid))
                 {
-                    LastVisualRfid = data[ParamDefine.rfid];
+                    StoreManager.LastVisualRfid = data[ParamDefine.rfid];
                 }
-                else if (LastVisualRfid != data[ParamDefine.rfid])
+                else if (StoreManager.LastVisualRfid != data[ParamDefine.rfid])
                 {
-                    LogUtil.error(Name + $" 上一个工单还未结束LastVisualRfid={LastVisualRfid}, CurrentVisualRfid={data[ParamDefine.rfid]}");
+                    LogUtil.error(Name + $" 上一个工单还未结束LastVisualRfid={StoreManager.LastVisualRfid}, CurrentVisualRfid={data[ParamDefine.rfid]}");
                     return;
                 }
                 bool urgentReel = FormUtil.GetBoolData(data, ParamDefine.urgentReel);

source/DeviceLibrary/duoStore/DUOStoreBean.cs

@@ -98,7 +98,6 @@ namespace OnlineStore.DeviceLibrary
             AgvClient.NodeList.Add(Config.AgvInName);
             AgvClient.NodeList.Add(Config.AgvOutName);
 
-
             IOManager.Init();
 
             CodeManager.LoadConfig();
@@ -108,12 +107,10 @@ namespace OnlineStore.DeviceLibrary
             HasT4Axis  = Convert.ToBoolean(ConfigAppSettings.GetValue(Setting_Init.HasT4Axis));
             Task.Factory.StartNew(delegate
             {
-                
-
                 RFIDManager.Open();
                 IOManager.instance.ConnectionIOList(ioList);
                 AxisManager.Init();
-                //AgvClient.Init();
+                AgvClient.Init();
                 IOMove(IO_Type.Alarm_HddLed, IO_VALUE.LOW);
                 IOMove(IO_Type.AutoRun_HddLed, IO_VALUE.LOW);
                 IOMove(IO_Type.RunSign_HddLed, IO_VALUE.LOW);
@@ -186,6 +183,7 @@ namespace OnlineStore.DeviceLibrary
                 }
                 LogUtil.info(Name + "开始启动 ，启动时间：" + StartTime.ToString());
                 IOMove(IO_Type.Device_Led, IO_VALUE.HIGH);
+                RFIDManager.Open();
                 runStatus = StoreRunStatus.HomeMoving;
                 StartTime = DateTime.Now;
                 StartResetMove();
@@ -279,8 +277,7 @@ namespace OnlineStore.DeviceLibrary
                 MoveInfo.NextMoveStep(StoreMoveStep.LR_02_LineRun);
                 LogUtil.info(Name + "复位 " + MoveInfo.MoveStep + " ：流水线转动3秒");
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
-                LineRun(MoveInfo);
-                IOMove(IO_Type.Line_Run, IO_VALUE.HIGH, false, 5000);
+                LineRun("reset", 5);
 
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LR_02_LineRun))
@@ -396,7 +393,7 @@ namespace OnlineStore.DeviceLibrary
             T4_InOut_Axis.SuddenStop();
             CloseAllAxis();
 
-            LineStop();
+            LineStop("n");
         }
         public override void StopRun()
         {
@@ -725,11 +722,11 @@ namespace OnlineStore.DeviceLibrary
                         {
                             LowProcess = true;
                             LogUtil.info(Name + "从料架堆积处放一个料架到后端");
-                            IOMove(IO_Type.Line_Run, IO_VALUE.HIGH, false, 30000);
+                            LineRun("shelfout", 30);
                             //IOMove(IO_Type.Line_Stop3_Buffer, IO_VALUE.HIGH, false, 2000);
                             if (WaitIo(IO_Type.Line_OutCheck, IO_VALUE.HIGH, 30000, "堆积处放料架到后端"))
                             {
-                                LineStop();
+                                LineStop("shelfout");
                             }
                             LowProcess = false;
                         });
@@ -747,7 +744,7 @@ namespace OnlineStore.DeviceLibrary
         }
         public void OneShelfOutProcess()
         {
-            try
+            /*try
             {
                 if (IOValue(IO_Type.Line_OutCheck).Equals(IO_VALUE.HIGH) &&
                       IOValue(IO_Type.Line_Run).Equals(IO_VALUE.LOW) &&
@@ -778,20 +775,55 @@ namespace OnlineStore.DeviceLibrary
             catch (Exception ex)
             {
                 LogUtil.error(Name + " OneShelfOutProcess 出错：" + ex.ToString());
+            }*/
+
+            //左侧下层需要放个料架
+            Task.Run(() =>
+            {
+                LogUtil.info(Name + "Agv送出一个料架");
+                LineRun("agvout", 30);
+                IOMove(IO_Type.Line_Stop4_Out, IO_VALUE.HIGH, false, 1000);
+                if (WaitIo(IO_Type.Line_OutCheck, IO_VALUE.LOW, 30000, "送出一个料架"))
+                {
+                    LineRun("agvout",15);
+                    Task.Delay(5*1000);
+                    AgvClient.SetStatus(StoreManager.Config.AgvOutName, "", Agv.ClientAction.FinishLeave);
+                    _ = Task.Run(() => {
+                        Task.Delay(2000);
+                        AgvClient.SetStatus(StoreManager.Config.AgvInName, "", Agv.ClientAction.None);
+                    });
                 }
+            });
         }
-
         #endregion
+        Agv.ClientShelf AgvNeedInshelf = Agv.ClientShelf.None;
+        Agv.ClientShelf AgvNeedOutshelf = Agv.ClientShelf.None;
         void IOMinoitor() {
-            if (IOValue(IO_Type.Line_WaitCheck).Equals(IO_VALUE.LOW) && AgvClient.GetAction(Config.AgvInName) == Agv.ClientAction.None)
+            if (IOValue(IO_Type.Line_WaitCheck).Equals(IO_VALUE.LOW) && AgvClient.GetAction(Config.AgvInName) == Agv.ClientAction.None
+                && MoveInfo.MoveType.Equals(MoveType.None) && BoxMap[1].waitOutStoreList.Count==0 && BoxMap[2].waitOutStoreList.Count == 0)
             {
-                AgvClient.NeedEnter(Config.AgvInName,"");
+                AgvNeedInshelf = Agv.ClientShelf.Full;
+                AgvClient.NeedEnter(Config.AgvInName,"", AgvNeedInshelf);
+                LogUtil.info(Name + "IOMinoitor AgvClient.NeedEnter" + Config.AgvInName+ ",AgvNeedInshelf:" + AgvNeedInshelf);
+                //AgvNeedInshelf = Agv.ClientShelf.None;
             }
             if (IOValue(IO_Type.Line_OutCheck).Equals(IO_VALUE.HIGH) && AgvClient.GetAction(Config.AgvOutName) == Agv.ClientAction.None)
             {
                 var rfiddevice = RFIDManager.GetShelfId(Config.Out_Rfid_IP);
                 var rfid = rfiddevice.NumStr();
-                AgvClient.NeedLeave(Config.AgvOutName, rfid);
+                if (AgvNeedOutshelf == Agv.ClientShelf.None) {
+                    if (ConfigAppSettings.GetIntValue(Setting_Init.LastOutShelfType) == 1)
+                        AgvNeedOutshelf = Agv.ClientShelf.Full;
+                    else
+                        AgvNeedOutshelf = Agv.ClientShelf.Empty;
+                }
+                AgvClient.NeedLeave(Config.AgvOutName, rfid, AgvNeedOutshelf);
+                LogUtil.info(Name + $"AgvClient.NeedLeave:{Config.AgvOutName},rfid:{rfid},AgvNeedOutshelf:{AgvNeedOutshelf}");
+                AgvNeedOutshelf = Agv.ClientShelf.None;
+            }
+            else if (IOValue(IO_Type.Line_OutCheck).Equals(IO_VALUE.LOW) && AgvClient.GetAction(Config.AgvOutName) != Agv.ClientAction.MayLeave && AgvClient.GetAction(Config.AgvOutName) != Agv.ClientAction.None) {
+                AgvClient.SetToNone(Config.AgvOutName);
+                LogUtil.info(Name + $"AgvClient.SetToNone:{Config.AgvOutName}");
             }
         }
 
@@ -800,7 +832,7 @@ namespace OnlineStore.DeviceLibrary
 
             if (IOValue(IO_Type.Line_OutCheck).Equals(IO_VALUE.HIGH))
             {
-                IOMove(IO_Type.Line_Run, IO_VALUE.HIGH, false, 4000);
+                LineRun("releashelf", 4);
                 IOMove(IO_Type.Line_Stop4_Out, IO_VALUE.HIGH, false, 1000);
                 LogUtil.info(Name + "料串手动出库,放行区放行");
                 return true;
@@ -812,7 +844,7 @@ namespace OnlineStore.DeviceLibrary
                 && IOValue(IO_Type.TopCylinder_Down).Equals(IO_VALUE.HIGH)
                 )
             {
-                IOMove(IO_Type.Line_Run, IO_VALUE.HIGH, false, 3000);
+                LineRun("releashelf", 4);
                 IOMove(IO_Type.Line_Stop2_Work, IO_VALUE.HIGH, false, 2000);
                 LogUtil.info(Name + "料串手动出库, 工作区放行");
                 return true;
@@ -839,7 +871,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 move.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_Run, IO_VALUE.HIGH));
             }
-            IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
+            LineRun("n", 999);
         }
 
         public void LineStop(StoreMoveInfo move=null )
@@ -848,7 +880,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 move.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_Run, IO_VALUE.LOW));
             }
-            IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
+            LineStop("n");
         }
 
         public void OpenGate(StoreMoveInfo move = null) {

source/DeviceLibrary/duoStore/DUOStoreBean_LineRunMonitor.cs

+using OnlineStore.Common;
+using OnlineStore.LoadCSVLibrary;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+using System.Timers;
+
+namespace OnlineStore.DeviceLibrary
+{
+    partial class DUOStoreBean
+    {
+        Timer lineTimer = null;
+        Dictionary<string, DateTime> linrunlist = new Dictionary<string, DateTime>();
+
+
+        void LineInit() {
+            if (lineTimer == null) {
+                lineTimer = new Timer(300);
+                lineTimer.Elapsed += LineTimer_Elapsed;
+                lineTimer.Start();
+                GC.KeepAlive(lineTimer);
+            }
+        }
+
+        private void LineTimer_Elapsed(object sender, ElapsedEventArgs e)
+        {
+            if (canStopLine(out _))
+                IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
+        }
+
+
+        /// <summary>
+        /// 控制线体运转
+        /// </summary>
+        /// <param name="id">需求方标识</param>
+        /// <param name="seconds">秒数</param>
+        void LineRun(string id, int seconds) {
+            LineInit();
+
+            IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
+            lock (linrunlist)
+            {
+                if (!string.IsNullOrEmpty(id) && seconds > 0)
+                {
+                    if (linrunlist.ContainsKey(id))
+                        linrunlist[id] = DateTime.Now.AddSeconds(seconds);
+                    else
+                    {
+                        linrunlist.Add(id, DateTime.Now.AddSeconds(seconds));
+                    }
+                    LogUtil.info(Name + $" {id} 请求链条运行 {seconds}秒.");
+                }
+            }
+        }
+        void LineStop(string id = "") {
+            lock (linrunlist)
+            {
+                if (!string.IsNullOrEmpty(id))
+                {
+                    if (linrunlist.ContainsKey(id))
+                        linrunlist.Remove(id);
+                    LogUtil.info(Name + $" {id} 请求立刻停止线体.");
+                }
+            }
+            if (!canStopLine(out string msg))
+                LogUtil.info(Name + $" {Name}");
+            //    IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
+        }
+        bool canStopLine(out string msg)
+        {
+            msg = "";
+            bool canStop = true;
+            lock (linrunlist)
+            {
+                foreach (var x in linrunlist.ToList()) {
+                    if (x.Value > DateTime.Now)
+                    {
+                        canStop = false;
+                        msg = Name + $" {x.Key} 不允许停止线体 需求停止时间 {x.Value.ToString()}.";
+                        //LogUtil.info(Name + $" {x.Key} 不允许停止线体 需求停止时间 {x.Value.ToString()}.");
+                    }
+                    else {
+                        LogUtil.info(Name + $" {x.Key} 请求时间已过期,删除.");
+                        linrunlist.Remove(x.Key);
+
+                    }
+                }
+            }
+            return canStop;
+        }
+    }
+}

source/DeviceLibrary/duoStore/DUOStoreBean_Partial.cs

@@ -113,6 +113,14 @@ namespace OnlineStore.DeviceLibrary
                     }
                 }
             }
+            if (IsStart && IOValue(IO_Type.Line_WaitCheck).Equals(IO_VALUE.LOW) && (AgvClient.GetAction(Config.AgvInName) == Agv.ClientAction.None || AgvClient.GetAction(Config.AgvInName) == Agv.ClientAction.NeedEnter) && AgvClient.GetShelf(Config.AgvInName) != Agv.ClientShelf.Empty)
+            {
+                AgvNeedInshelf= Agv.ClientShelf.Empty;
+                AgvClient.SetToNone(Config.AgvInName);
+                AgvClient.NeedEnter(Config.AgvInName, "", AgvNeedInshelf);
+                LogUtil.info(Name + "CanOut AgvClient.NeedEnter" + Config.AgvInName + ",AgvNeedInshelf:" + AgvNeedInshelf);
+                //AgvNeedInshelf = Agv.ClientShelf.None;
+            }
             return false;
         }
 
@@ -173,6 +181,8 @@ namespace OnlineStore.DeviceLibrary
                 //可以开始出库啦
                 MoveInfo.NextMoveStep(StoreMoveStep.LO_11_BatchAxisDown);
                 int height = outParam.PlateH + 4;
+                if (outParam.PlateH >= 24)
+                    height += 6;
                 int targetPosition = T1_BatchAxis.GetAclPosition() - height * Config.BatchAxis_ChangeValue;
                 if (targetPosition < Config.BatchAxis_P1)
                 {
@@ -238,7 +248,7 @@ namespace OnlineStore.DeviceLibrary
                 MoveInfo.NextMoveStep(StoreMoveStep.LO_09_WaitOut);
                 InOutStoreLog("料架出库：料架准备完成，等待料盘出库");
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
-                T1_BatchAxis.AbsMove(MoveInfo, T1_BatchAxis.GetAclPosition() - Config.BatchAxis_ChangeValue * 10, Config.BatchAxis_P1Speed);
+                T1_BatchAxis.AbsMove(MoveInfo, T1_BatchAxis.GetAclPosition() - Config.BatchAxis_ChangeValue * 40, Config.BatchAxis_P1Speed);
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LO_09_WaitOut))
             {
@@ -249,15 +259,15 @@ namespace OnlineStore.DeviceLibrary
                 //}
                 //else
                 {
-                    if (StoreManager.unfinishedTaskCount(Name, CurrShelfNum) > 0)
+                    if (outStoreCount ==0 || StoreManager.unfinishedTaskCount(Name, CurrShelfNum) > 0)
                     {
                         MoveInfo.NextMoveStep(StoreMoveStep.LO_09_WaitOut);
                         MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
                     }
                     else {
                         InOutStoreLog("料架出库：工单已结束，已出库盘数[" + outStoreCount + "]，开始送出料架");
-                        StoreManager.Store.BoxMap[1].LastVisualRfid = "";
-                        StoreManager.Store.BoxMap[2].LastVisualRfid = "";
+                        StoreManager.LastVisualRfid = "";
+                        outStoreCount = 0;
                         LO_31_BatchAxisToP1();
                     }
                     //InOutStoreLog(" 等待料盘出库");
@@ -422,14 +432,11 @@ namespace OnlineStore.DeviceLibrary
                     T4_InOut_Axis.AbsMove(MoveInfo, Config.InOutAxis_P1, Config.InOutAxis_P1Speed);
 
                 int currPositon = T1_BatchAxis.GetAclPosition();
-                int tp = currPositon - Config.BatchAxis_ChangeValue * 40;
+                int tp = currPositon - Config.BatchAxis_ChangeValue * 80;
                 if (tp <= Config.BatchAxis_P1)
                 {
                     LO_31_BatchAxisToP1(" 提升轴位置：" + currPositon + ",料架已满，需要送出料架");
-                }
-                else if (OutstoreEndSendShelf)
-                {
-                    LO_31_BatchAxisToP1(" 提升轴位置：" + currPositon + ",OutstoreEndSendShelf=true，需要送出料架");
+
                 }
                 else
                 {
@@ -471,31 +478,35 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.IsStep(StoreMoveStep.LO_33_TopCylinderDown))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.LO_34_WorkStopDown);
-                InOutStoreLog("送出料架：上料阻挡下降1秒，流水线开始转动");
+                InOutStoreLog("送出料架：流水线开始转动");
                 UpdateShelfNum(CurrShelfNum, -1);
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
+                ConfigAppSettings.SaveValue(Setting_Init.LastOutShelfType, 1);
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
                 LineRun(MoveInfo);
-                IOMove(IO_Type.Line_Stop2_Work, IO_VALUE.HIGH, false, 1500);
-
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LO_34_WorkStopDown))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.LO_35_WaitShelfGo);
-                InOutStoreLog("送出料架：等待上料无料架");
+                InOutStoreLog("送出料架：上料阻挡下降2秒，等待上料无料架");
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1500));
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_WaitCheck, IO_VALUE.LOW));
+                IOMove(IO_Type.Line_Stop2_Work, IO_VALUE.HIGH, false, 2000);
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_WorkCheck, IO_VALUE.LOW));
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LO_35_WaitShelfGo))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.LO_36_LineRun);
                 InOutStoreLog("送出料架：流水线再转动3秒");
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3000));
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(3500));
                 LineRun(MoveInfo);
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.Line_OutCheck, IO_VALUE.HIGH));
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LO_36_LineRun))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.LO_37_LineStop);
-                InOutStoreLog("送出料架：流水线停止转动");
+                //var rfiddevice = RFIDManager.GetShelfId(Config.Out_Rfid_IP);
+                //var rfid = rfiddevice.NumStr();
+                AgvNeedOutshelf = Agv.ClientShelf.Full;
+                InOutStoreLog($"送出料架：流水线停止转动 AgvNeedOutshelf:{AgvNeedOutshelf}");
                 LineStop(MoveInfo);
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LO_37_LineStop))
@@ -558,6 +569,10 @@ namespace OnlineStore.DeviceLibrary
             bool result = await ShelfEnterProcess();
             if (result) { 
                 AgvClient.SetStatus(StoreManager.Config.AgvInName, "", Agv.ClientAction.FinishEnter);
+                _=Task.Run(() => {
+                    Task.Delay(2000);
+                    AgvClient.SetStatus(StoreManager.Config.AgvInName, "", Agv.ClientAction.None);
+                });
             }
         }
         private Task<bool> ShelfEnterProcess()
@@ -574,7 +589,7 @@ namespace OnlineStore.DeviceLibrary
                     LineRun(null);
                     //等待进料检测信号
                     //bool result = WaitIo(IO_Type.Line_InCheck, IO_VALUE.LOW, 10000);
-                    result = WaitIo(IO_Type.Line_WaitCheck, IO_VALUE.HIGH, 10000);
+                    result = WaitIo(IO_Type.Line_WaitCheck, IO_VALUE.HIGH, 50000);
                 }
                 catch (Exception ex)
                 {
@@ -583,7 +598,7 @@ namespace OnlineStore.DeviceLibrary
                 finally
                 {
                     InShelfInProcess = false;
-                    LineStop(null);
+                    LineStop("n");
                 }
                 return result;
             }));
@@ -624,7 +639,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 if (!InShelfInProcess)
                 {
-                    LineStop(null);
+                    LineStop("n");
                 }
 
                 MoveEndP();
@@ -670,7 +685,6 @@ namespace OnlineStore.DeviceLibrary
                     MoveInfo.NewMove(MoveType.InStore, new InOutParam(MoveType.InStore));
                     LI_31_BatchAxisToP1();
                 }
-
             }
             else if (IOValue(IO_Type.Line_WaitCheck).Equals(IO_VALUE.HIGH))
             {
@@ -874,6 +888,8 @@ namespace OnlineStore.DeviceLibrary
                         if (HasT4Axis) {
                             if (LastWidth >= 13)
                                 box = 2;
+                            else
+                                box = 1;
                         }
                         LastPosParam.TargetBox = box;
                         LastPosParam.TargetPosition = 1;
@@ -1074,6 +1090,7 @@ namespace OnlineStore.DeviceLibrary
             else if (MoveInfo.IsStep(StoreMoveStep.LI_33_TopCylinderDown_3))
             {
                 InOutStation_Stop(1000);
+                /*
                 InOutStoreLog($"送出料架：BoxMap[1]={BoxMap[1].storeStatus},BoxMap[2]={BoxMap[2].storeStatus}");
                 //如果有等待出库的料先出库
                 if (BoxMap[1].storeStatus == StoreStatus.OutStoreExecute || BoxMap[1].storeStatus == StoreStatus.OutStoreBoxEnd
@@ -1089,11 +1106,12 @@ namespace OnlineStore.DeviceLibrary
                     }
                 }
                 //判断是否需要送出料架，如果入口和等待区无料架，暂不送出
-                else if (IOValue(IO_Type.Line_InCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Line_WaitCheck).Equals(IO_VALUE.HIGH) || InstoreEndSendShelf)
+                else */if (IOValue(IO_Type.Line_InCheck).Equals(IO_VALUE.HIGH) || IOValue(IO_Type.Line_WaitCheck).Equals(IO_VALUE.HIGH) || InstoreEndSendShelf)
                 {
                     MoveInfo.NextMoveStep(StoreMoveStep.LI_34_WorkStopDown);
                     InOutStoreLog("送出料架[" + InstoreEndSendShelf + "]：上料阻挡下降1秒，流水线开始转动");
                     UpdateShelfNum(CurrShelfNum, -1);
+                    ConfigAppSettings.SaveValue(Setting_Init.LastOutShelfType,0);
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
                     LineRun(MoveInfo);
                     IOMove(IO_Type.Line_Stop2_Work, IO_VALUE.HIGH, false, 2000);
@@ -1125,6 +1143,7 @@ namespace OnlineStore.DeviceLibrary
                 MoveInfo.NextMoveStep(StoreMoveStep.LI_37_LineStop);
                 InOutStoreLog("送出料架：流水线停止转动");
                 LineStop(MoveInfo);
+                AgvNeedOutshelf = Agv.ClientShelf.Empty;
             }
             else if (MoveInfo.IsStep(StoreMoveStep.LI_37_LineStop))
             {
@@ -1230,7 +1249,7 @@ namespace OnlineStore.DeviceLibrary
                 InOutStoreLog("料盘移栽 ：开始扫码");
                 MoveInfo.OneWaitCanEndStep = true;
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitScanCode());
-                //MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(7000));
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
                 try
                 {
                     scanTask = Task.Factory.StartNew(delegate
@@ -1260,6 +1279,7 @@ namespace OnlineStore.DeviceLibrary
             if (ShelfNoTray.Equals(false))
             {
                 InOutStoreLog("料盘移栽 ： ，预扫码");
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
                 //还有料盘，直接扫码
                 YuCodeList = new List<string>();
                 List<string> bijiaoList = new List<string>(LastCodeList);
@@ -1328,7 +1348,7 @@ namespace OnlineStore.DeviceLibrary
                 //无料盘
                 ShelfNoTray = true;
                 UpdateShelfNum(CurrShelfNum, 0);
-                InOutStoreLog($"检测料架为空：BoxMap[1]={BoxMap[1].storeStatus},BoxMap[2]={BoxMap[2].storeStatus}");
+                InOutStoreLog($"检测料架为空：BoxMap[1]={BoxMap[1].waitOutStoreList.Count},BoxMap[2]={BoxMap[2].waitOutStoreList.Count}");
                 //如果有等待出库的料先出库
                 if (BoxMap[1].waitOutStoreList.Count>0 || BoxMap[2].waitOutStoreList.Count > 0)
                 {

source/DeviceLibrary/duoStore/StoreManager.cs

@@ -20,6 +20,9 @@ namespace OnlineStore.DeviceLibrary
         public static Dictionary<int, BaseConfig> allConfigMap = null;
         private static bool isInit = false;
         public static bool IsConnectServer = !ConfigAppSettings.GetValue(Setting_Init.http_server).Equals("");
+
+        public static string LastVisualRfid = "";
+
         public StoreManager()
         {
         }
@@ -105,6 +108,7 @@ namespace OnlineStore.DeviceLibrary
                             CSVPositionReader<ACBoxPosition>.AddCSVFile(positionConfigFile);
                         }
                         CSVPositionReader<ACBoxPosition>.AddCSVFile(Path.Combine(appPath, @"StoreConfig\FixPositions.csv"));
+                        AgvClient.Init();
                         LogUtil.info("加载料仓完成！");
 
                     }
@@ -513,7 +517,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 LogUtil.error(deviceName + " " + ex.ToString());
             }
-            return 99999;
+            return 0;
         }
 
         //public static void SendPosToStoreCheck(string deviceName, InOutParam param)