进出轴回原时相对运动值开放

source/ACSquareStore/App.config

@@ -36,7 +36,8 @@
     <add key="IsInDebug" value="1" />
     <add key="IsInDebug" value="1" />
     <add key ="Server_Log_Open" value ="1"/>
     <add key ="Server_Log_Open" value ="1"/>
     <add key ="HumidityParam" value ="35"/>
     <add key ="HumidityParam" value ="35"/>
-    <add key ="UseAlarmBuzzer" value ="1"/>    
+    <add key ="UseAlarmBuzzer" value ="1"/>
+	<add key ="Inout_Relative" value ="2500"/>
   </appSettings>
   </appSettings>
   <log4net>
   <log4net>
     <appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">
     <appender name="RollingLogFileAppender" type="log4net.Appender.RollingFileAppender">

source/ACSquareStore/FrmStoreBox.cs

@@ -881,6 +881,8 @@ namespace OnlineStore.ACSquareStore
                 {
                 {
                     store.autoNext = false;
                     store.autoNext = false;
                     btnStartAuTo.Text = "开始自动出入库";
                     btnStartAuTo.Text = "开始自动出入库";
+                    if (store.waitOutStoreList.Count > 0)
+                        store.waitOutStoreList.Clear();
                 }
                 }
                 else
                 else
                 {
                 {

source/Common/Setting_Init.cs

@@ -94,6 +94,6 @@ namespace OnlineStore.Common
 
 
         public static string UseTrayCheck = "UseTrayCheck";
         public static string UseTrayCheck = "UseTrayCheck";
         public static string HumidityParam = "HumidityParam";
         public static string HumidityParam = "HumidityParam";
-
+        public static string Inout_Relative = "Inout_Relative";
     }
     }
 }
 }

source/DeviceLibrary/PanasonicServo/ACServerManager.cs

@@ -75,7 +75,7 @@ namespace OnlineStore.DeviceLibrary
 
 
         }
         }
 
 
-        public static void  ClearSpeed()
+        public static void ClearSpeed()
         {
         {
             LogUtil.info("清理之前设置保存的速度列表");
             LogUtil.info("清理之前设置保存的速度列表");
             ComAddrValue = new Dictionary<string, Dictionary<string, int>>();
             ComAddrValue = new Dictionary<string, Dictionary<string, int>>();
@@ -325,7 +325,7 @@ namespace OnlineStore.DeviceLibrary
                     int isHomeEnd = GetHomeEndStatus(portName, slvAddr);
                     int isHomeEnd = GetHomeEndStatus(portName, slvAddr);
                     if (isHomeEnd.Equals(1))
                     if (isHomeEnd.Equals(1))
                     {
                     {
-                        int value = 2000;
+                        int value = ConfigAppSettings.GetIntValue(Setting_Init.Inout_Relative);
                         LogUtil.info("轴【" + portName + "_" + slvAddr + "】原点返回时发现原点已亮且回过原点，需要先相对走" + value);
                         LogUtil.info("轴【" + portName + "_" + slvAddr + "】原点返回时发现原点已亮且回过原点，需要先相对走" + value);
                         RelMove(portName, slvAddr, value);
                         RelMove(portName, slvAddr, value);
                         bool isStop = false;
                         bool isStop = false;
@@ -359,7 +359,8 @@ namespace OnlineStore.DeviceLibrary
                         Thread.Sleep(100);
                         Thread.Sleep(100);
                     }
                     }
                 }
                 }
-            }catch (Exception ex)
+            }
+            catch (Exception ex)
             {
             {
                 LogUtil.error("轴【" + portName + "_" + slvAddr + "】原点返回前验证是否在原点出错：" + ex.StackTrace);
                 LogUtil.error("轴【" + portName + "_" + slvAddr + "】原点返回前验证是否在原点出错：" + ex.StackTrace);
             }
             }

source/DeviceLibrary/acSquareStore/Square_BoxBean.cs

@@ -1476,8 +1476,8 @@ namespace OnlineStore.DeviceLibrary
                     }
                     }
                 }
                 }
 
 
-                HumitureController.QueryData(Config.GetHumpPortList().ToArray());
-                HumidityProcess();
+               // HumitureController.QueryData(Config.GetHumpPortList().ToArray());
+                //HumidityProcess();
                 LedProcess();
                 LedProcess();
             }catch(Exception ex)
             }catch(Exception ex)
             {
             {

source/DeviceLibrary/acSquareStore/Square_BoxBean_Partial.cs

@@ -321,12 +321,40 @@ namespace OnlineStore.DeviceLibrary
             CloseDoor(StoreMove.MoveParam.PosInfo.ShelfType);
             CloseDoor(StoreMove.MoveParam.PosInfo.ShelfType);
             InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1);
             InOutBackToP1(StoreMove.MoveParam.MoveP.InOut_P1);
         }
         }
+        /// <summary>
+        /// 打印轴状态
+        /// </summary>
+        /// <param name="moveInfo"></param>
+        private void PrintAxisSts(StoreMoveInfo moveInfo)
+        {
+            List<WaitResultInfo> list = moveInfo.WaitList;
+            int cutWLcount = list.Count;
+            if (list.Count <= 0)
+            {
+                return;
+            }
+            foreach (WaitResultInfo wait in list)
+            {
+                if (wait.IsEnd)
+                {
+                    continue;
+                }
+                if (wait.WaitType.Equals(1))
+                {
 
 
+                    string msg = "";
+                    {
+                        KTK_Store.ACAxisStsInMove(wait.AxisInfo, wait.TargetPosition, wait.TargetSpeed, out msg);
+                    }
+                }
+            }
+        }
         protected override void InStoreProcess()
         protected override void InStoreProcess()
         {
         {
             LineMoveP moveP = StoreMove.MoveParam.MoveP;
             LineMoveP moveP = StoreMove.MoveParam.MoveP;
             if (StoreMove.IsInWait)
             if (StoreMove.IsInWait)
             {
             {
+                PrintAxisSts(StoreMove);
                 CheckWait();
                 CheckWait();
             }
             }
             if (StoreMove.IsInWait)
             if (StoreMove.IsInWait)
@@ -537,6 +565,7 @@ namespace OnlineStore.DeviceLibrary
             LineMoveP moveP = StoreMove.MoveParam.MoveP;
             LineMoveP moveP = StoreMove.MoveParam.MoveP;
             if (StoreMove.IsInWait)
             if (StoreMove.IsInWait)
             {
             {
+                PrintAxisSts(StoreMove);
                 CheckWait();
                 CheckWait();
             }
             }
             if (StoreMove.IsInWait)
             if (StoreMove.IsInWait)

source/DeviceLibrary/store/KTK_Store.cs

@@ -251,7 +251,23 @@ namespace OnlineStore.DeviceLibrary
             moveAxis.TargetPosition = targetPosition; 
             moveAxis.TargetPosition = targetPosition; 
             ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
             ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
         }
         }
+        /// <summary>
+        /// 运动过程中轴状态打印
+        /// </summary> 
+        public static bool ACAxisStsInMove(ConfigMoveAxis axis, int targetPosition, int targetSpeed, out string msg)
+        {
+            msg = "";
+            string deviceName = axis.DeviceName;
+            short axisNo = axis.GetAxisValue();
 
 
+            bool isOk = ACServerManager.GetBusyStatus(deviceName, axisNo).Equals(0);
+            int outCount = ACServerManager.GetActualtPosition(deviceName, axisNo);
+            int targetCount = ACServerManager.GetTargetPosition(deviceName, axisNo);
+            int state = ACServerManager.GetHomeSingle(deviceName, axisNo);
+            //实时打印轴状态
+            LogUtil.LOGGER.Debug($" 轴实时状态打印：{axis.DisplayStr},目标位置[{targetPosition}]当前位置[{outCount}]规划位置[{targetCount}]原点状态[{state}]");
+            return false;
+        }
         /// <summary>
         /// <summary>
         /// 判断AC伺服电机轴是否运动完成
         /// 判断AC伺服电机轴是否运动完成
         /// </summary> 
         /// </summary>