调整料架进出逻辑

source/DeviceLibrary/ACPackingStore/AC_BOX_Bean.cs

@@ -3,6 +3,7 @@ using Asa;
 using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using System;
+using System.Collections.Concurrent;
 using System.Collections.Generic;
 using System.Diagnostics;
 using System.Linq;
@@ -18,18 +19,18 @@ namespace OnlineStore.DeviceLibrary
     public partial class AC_BOX_Bean : KTK_Store
     {
         private static bool IsIntSlvBlock = false;
-        public AutoInoutInfo AutoInout = new AutoInoutInfo(); 
+        public AutoInoutInfo AutoInout = new AutoInoutInfo();
         public string CID = "";
-        public AC_BOX_Config Config; 
+        public AC_BOX_Config Config;
         public string lastPosId = "";
         public StoreStatus lastPosIdStatus = StoreStatus.StoreOnline;
-        public List<ConfigMoveAxis> moveAxisList = new List<ConfigMoveAxis>(); 
+        public List<ConfigMoveAxis> moveAxisList = new List<ConfigMoveAxis>();
         public List<string> PositionNumList = new List<string>();
         public List<string> ShelfPosList = new List<string>();
         /// <summary>
         /// 料架未放料盘的位置列表
         /// </summary>
-        public Queue<string> EmprtShelfList = new Queue<string>();
+        public ConcurrentQueue<string> EmprtShelfList = new ConcurrentQueue<string>();
 
         public HumitureBean humBean = null;
         private System.Timers.Timer serverConnectTimer = new System.Timers.Timer();
@@ -57,7 +58,7 @@ namespace OnlineStore.DeviceLibrary
             this.DeviceID = config.DeviceID;
             this.Config = config;
             //温湿度
-            humBean = new HumitureBean(config.Humiture_Port,Name);
+            humBean = new HumitureBean(config.Humiture_Port, Name);
             humBean.Init();
             moveAxisList = new List<ConfigMoveAxis>();
             MoveAxisConfig();
@@ -117,7 +118,7 @@ namespace OnlineStore.DeviceLibrary
             moveAxisList.Add(Config.Middle_Axis);
             moveAxisList.Add(Config.UpDown_Axis);
             moveAxisList.Add(Config.InOut_Axis);
-            moveAxisList.Add(Config.Comp_Axis); 
+            moveAxisList.Add(Config.Comp_Axis);
         }
 
         /// <summary>
@@ -168,7 +169,7 @@ namespace OnlineStore.DeviceLibrary
                 mainTimer.Enabled = true;
                 IoCheckTimer.Enabled = true;
                 serverConnectTimer.Enabled = true;
-               
+
                 return true;
             }
             else
@@ -190,9 +191,9 @@ namespace OnlineStore.DeviceLibrary
 
         #region 原点返回和复位处理
         private void ReturnHome()
-        { 
+        {
             AutoInout.ClearCount();
-           
+
             storeRunStatus = StoreRunStatus.HomeMoving;
             MoveInfo.NewMove(StoreMoveType.ReturnHome);
 
@@ -204,7 +205,7 @@ namespace OnlineStore.DeviceLibrary
             MoveInfo.NewMove(StoreMoveType.StoreReset);
             MoveInfo.NextMoveStep(StoreMoveStep.BOX_H54_TOP1_InOutToP1);
             LogInfo("到待机状态，进出轴到P1，判断叉子没有料盘");
-            ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed); 
+            ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
         }
 
         public override void Reset(bool isNeedClearAuto = true)
@@ -223,8 +224,8 @@ namespace OnlineStore.DeviceLibrary
             {
                 LogInfo("复位时打开轴失败，需要再次复位，直接报警停止复位");
                 return;
-            } 
-            InoutStartReset(); 
+            }
+            InoutStartReset();
             isInPro = false;
         }
         private void InoutStartReset()
@@ -242,7 +243,7 @@ namespace OnlineStore.DeviceLibrary
 
             //开始复位动作
             MoveInfo.NextMoveStep(StoreMoveStep.BOX_H01_DoorClose);
-            LogInfo(MoveInfo.MoveType+": 线体停止，入口移门关闭，NG升降门下降");
+            LogInfo(MoveInfo.MoveType + ": 线体停止，入口移门关闭，NG升降门下降");
             IOMove(IO_Type.Line_BackRun, IO_VALUE.LOW);
             IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
             CylinderMove(MoveInfo, IO_Type.NGDoowCylinder_Up, IO_Type.NGDoorCylinder_Down);
@@ -264,7 +265,7 @@ namespace OnlineStore.DeviceLibrary
             }
             switch (MoveInfo.MoveStep)
             {
-             
+
                 case StoreMoveStep.BOX_H01_DoorClose:
                     MoveInfo.NextMoveStep(StoreMoveStep.BOX_H03_InOutBack);
                     ACAxisHomeMove(Config.InOut_Axis);
@@ -300,54 +301,36 @@ namespace OnlineStore.DeviceLibrary
                     LogInfo(MoveInfo.MoveType + ": 旋转轴运动到P1，上下轴走到P1，压紧轴到P1！");
                     ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1, Config.MiddleAxis_P1_Speed);
                     ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_P1, Config.UpDownAxis_P1_Speed);
-                    ACAxisMove(Config.Comp_Axis,Config.CompAxis_P1_Position, Config.CompAxis_P1_Speed);
+                    ACAxisMove(Config.Comp_Axis, Config.CompAxis_P1_Position, Config.CompAxis_P1_Speed);
 
                     break;
                 case StoreMoveStep.BOX_H06_MiddleAxisToP1:
-                    LogInfo(MoveInfo.MoveType + ": 完成");
-                    storeRunStatus = StoreRunStatus.Runing;
-                    MoveInfo.EndMove();
-                    storeStatus = StoreStatus.StoreOnline;
-                    if (alarmType.Equals(StoreAlarmType.None))
-                    {
-                        WarnMsg = "";
-                    }
+                    LogInfo(MoveInfo.MoveType + ": 完成"); 
+                    MoveEndToRuningStatus(); 
                     break;
 
                 case StoreMoveStep.BOX_H54_TOP1_InOutToP1:
                     MoveInfo.NextMoveStep(StoreMoveStep.BOX_H55_TOP1_CompressHome);
                     LogInfo("到待机状态，压紧轴回原点，关闭舱门");
-                    ACAxisHomeMove(Config.Comp_Axis); 
+                    ACAxisHomeMove(Config.Comp_Axis);
                     break;
                 case StoreMoveStep.BOX_H55_TOP1_CompressHome:
                     MoveInfo.NextMoveStep(StoreMoveStep.BOX_H56_TOP1_OtherAxisToP1);
                     LogInfo(MoveInfo.MoveType + ": 旋转轴运动到P1，上下轴走到P1，压紧轴到P1！");
                     ACAxisMove(Config.Middle_Axis, Config.MiddleAxis_P1, Config.MiddleAxis_P1_Speed);
                     ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_P1, Config.UpDownAxis_P1_Speed);
-                    ACAxisMove(Config.Comp_Axis,Config.CompAxis_P1_Position, Config.CompAxis_P1_Speed);
+                    ACAxisMove(Config.Comp_Axis, Config.CompAxis_P1_Position, Config.CompAxis_P1_Speed);
                     break;
                 case StoreMoveStep.BOX_H56_TOP1_OtherAxisToP1:
-                    LogInfo("到待机状态完成");
-                    MoveInfo.EndMove();
-                    storeStatus = StoreStatus.StoreOnline;
-                    storeRunStatus = StoreRunStatus.Runing;
-                    if (alarmType.Equals(StoreAlarmType.None))
-                    {
-                        WarnMsg = "";
-                    }
+                    LogInfo("到待机状态完成"); 
+                    MoveEndToRuningStatus(); 
                     break;
 
                 default: break;
             }
         }
-         
-        /// <summary>
-        /// 原点返回处理
-        /// </summary>
-        protected override void ReturnHomeProcess()
-        {
-            ResetProcess(); 
-        }
+
+
         #endregion
 
         public bool RunAxis(bool isCheck)
@@ -431,7 +414,7 @@ namespace OnlineStore.DeviceLibrary
             IOMove(IO_Type.Axis_Brake, IO_VALUE.LOW);
             foreach (ConfigMoveAxis axis in moveAxisList)
             {
-                ACServerManager.ServoOff(axis.DeviceName, axis.GetAxisValue()); 
+                ACServerManager.ServoOff(axis.DeviceName, axis.GetAxisValue());
             }
             Thread.Sleep(100);
             IOMove(IO_Type.Run_Signal, IO_VALUE.LOW);
@@ -452,10 +435,10 @@ namespace OnlineStore.DeviceLibrary
             storeRunStatus = StoreRunStatus.Wait;
             mainTimer.Enabled = false;
             TimeSpan span = DateTime.Now - StartTime;
-          
+
 
             //LineConnect.StopConnect();
-           // IOManager.instance.CloseAllDO();
+            // IOManager.instance.CloseAllDO();
 
             LogInfo(",停止运行，总运行时间：" + span.ToString());
         }
@@ -475,20 +458,20 @@ namespace OnlineStore.DeviceLibrary
             if (alarmType.Equals(StoreAlarmType.AxisAlarm) | alarmType.Equals(StoreAlarmType.AxisMoveError))
             {
                 LogUtil.error(Name + "轴报警， 停止运动， 打开报警灯");
-            
+
                 StopMove();
             }
             else if (alarmType == StoreAlarmType.SuddenStop)
             {
                 isInSuddenDown = true;
-                LogUtil.error(Name + "收到急停信号，停止运动， 打开报警灯 "); 
+                LogUtil.error(Name + "收到急停信号，停止运动， 打开报警灯 ");
                 StopMove();
                 storeStatus = StoreStatus.SuddenStop;
             }
             else if (alarmType.Equals(StoreAlarmType.NoAirCheck))
             {
                 isNoAirCheck = true;
-                LogUtil.error(Name + " 未检测到气压信号 ,停止运动， 打开报警灯 "); 
+                LogUtil.error(Name + " 未检测到气压信号 ,停止运动， 打开报警灯 ");
                 StopMove();
                 storeStatus = StoreStatus.SuddenStop;
             }
@@ -690,10 +673,10 @@ namespace OnlineStore.DeviceLibrary
                     {
                         return;
                     }
-                    if (storeRunStatus < StoreRunStatus.Runing|| isInSuddenDown || isNoAirCheck)
+                    if (storeRunStatus < StoreRunStatus.Runing || isInSuddenDown || isNoAirCheck)
                     {
                         return;
-                    } 
+                    }
                     //若BOX和移栽都没有在等待Io的过程中则此Io超时异常可能已经处理过
                     if (MoveInfo.IsInWait == false)
                     {
@@ -715,7 +698,7 @@ namespace OnlineStore.DeviceLibrary
         private void AutoResetProcess()
         {
             try
-            { 
+            {
                 bool noInStore = true;
                 if (AutoInout.CurrInOutACount >= this.Config.Box_ResetACount && noInStore)
                 {
@@ -728,28 +711,16 @@ namespace OnlineStore.DeviceLibrary
                         LogInfo("已经累计出入库" + AutoInout.CurrInOutACount + "次，需要复位一下");
                         Reset();
                     }
-                } 
-                else if(CanStarInOut())
+                    return;
+                }
+                else if (waitOutStoreList.Count > 0)
                 {
                     InOutParam param = null;
-                    lock (waitOutListLock)
-                    {
-                        if (waitOutStoreList.Count > 0 && CanStarInOut())
-                        {
-                            param = waitOutStoreList[0];
-                            waitOutStoreList.RemoveAt(0);
-                        }
-                    }
-                    if (param != null)
-                    {  //出库
-
+                    bool result = waitOutStoreList.TryDequeue(out param);
+                    if (result && param != null)
+                    {  
                         LogInfo("开始执行排队中的出库【" + param.ToStr() + "】");
-                        bool result = StartOutStoreMove(new InOutParam(param.WareCode, param.PosID, param.PlateH, param.PlateW, param.ShelfPosID));
-                        if (!result)
-                        {
-                            LogInfo(" 执行排队中的出库【" + param.ToStr() + "】失败，重新加入等待队列");
-                            AddWaitOutInfo(param);
-                        }
+                        StartExecuctOut(param); 
                     }
                 }
             }
@@ -758,6 +729,7 @@ namespace OnlineStore.DeviceLibrary
                 LogUtil.error(Name + "处理出入库排队列表出错：" + ex.ToString());
             }
         }
+        
 
         /// <summary>
         /// 判断是否报警，返回 true表示报警  报警检测2秒钟检测一次
@@ -774,7 +746,7 @@ namespace OnlineStore.DeviceLibrary
             //在回原点，复位，出入库时，检测报警间隔减小
             if ((storeRunStatus.Equals(StoreRunStatus.Runing) && span.TotalSeconds < 3) || span.TotalSeconds < 1)
             {
-                return false; 
+                return false;
             }
             checkAlarmTime = DateTime.Now;
             bool isInAlarm = false;
@@ -786,7 +758,7 @@ namespace OnlineStore.DeviceLibrary
 
                 if (ACServerManager.GetAlarmStatus(deviceName, axis) == 1)
                 {
-                    WarnMsg = Name + " 运动轴" + axisInfo.Explain + "报警"; 
+                    WarnMsg = Name + " 运动轴" + axisInfo.Explain + "报警";
                     Alarm(StoreAlarmType.AxisAlarm, GetAlarmCodeByAxis(axisInfo).ToString(), WarnMsg, StoreMoveType.None);
                     isInAlarm = true;
                 }
@@ -811,26 +783,17 @@ namespace OnlineStore.DeviceLibrary
             LogInfo("StopMove");
             isInPro = false;
         }
-
-
-        /// <summary>
-        /// 判断是可以开始出入库（当前在忙碌状态则需要排队等待）
-        /// </summary>
-        /// <returns></returns>
-        public bool CanStarInOut()
-        {
-            if (isInSuddenDown || isNoAirCheck ||
-              (!storeRunStatus.Equals(StoreRunStatus.Runing))
-              || storeStatus.Equals(StoreStatus.InStoreExecute) || storeStatus.Equals(StoreStatus.OutStoreExecute)
-              || storeStatus.Equals(StoreStatus.InStoreEnd) || storeStatus.Equals(StoreStatus.OutStoreBoxEnd))
+         
+        private void MoveEndToRuningStatus()
+        { 
+            MoveInfo.EndMove();
+            storeRunStatus = StoreRunStatus.Runing;
+            storeStatus = StoreStatus.StoreOnline;
+            if (alarmType.Equals(StoreAlarmType.None))
             {
-                return false;
+                WarnMsg = "";
             }
-            return true;
         }
-         
-
-   
         #region 与服务器通信定时器，每1秒向服务器通知一次状态,同时执行出库操作
 
         private string CodeMsg = "";
@@ -855,7 +818,7 @@ namespace OnlineStore.DeviceLibrary
                 {
                     LogUtil.error(Name + "定时SendLineStatus出错：" + ex.ToString());
                 }
-            } 
+            }
             isInProcess = false;
         }
 
@@ -875,7 +838,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 lineOperation.status = (int)StoreStatus.Warning;
                 lineOperation.msg = WarnMsg;
-            } 
+            }
             lineOperation.status = (int)StoreStatus.StoreOnline;
 
             BoxStatus boxStatus = new BoxStatus();
@@ -1022,14 +985,14 @@ namespace OnlineStore.DeviceLibrary
                     }
                     else
                     {
-                        InOutParam currInOutFixture = new InOutParam("", posId, plateW, plateH);
+                        InOutParam inoutParam = new InOutParam("", posId, plateW, plateH, "");
 
                         try
                         {
                             //判断是否接收过此库位的出库信息
                             if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore) && MoveInfo.MoveParam.PosID.Equals(posId))
                             {
-                                LogInfo(" 收到出库【" + currInOutFixture.ToStr() + "】重复，当前已在【" + posId + "】出库中");
+                                LogInfo(" 收到出库【" + inoutParam.ToStr() + "】重复，当前已在【" + posId + "】出库中");
                                 continue;
                             }
                             else
@@ -1039,42 +1002,31 @@ namespace OnlineStore.DeviceLibrary
                                 reviceList = (from m in reviceList where m.PosID.Equals(posId) select m).ToList<InOutParam>();
                                 if (reviceList.Count > 0)
                                 {
-                                    LogInfo(" 收到出库【" + currInOutFixture.ToStr() + "】重复，排队列表中已存在【" + reviceList[0].ToStr() + "】");
+                                    LogInfo(" 收到出库【" + inoutParam.ToStr() + "】重复，排队列表中已存在【" + reviceList[0].ToStr() + "】");
                                     continue;
                                 }
                             }
                         }
                         catch (Exception ex)
                         {
-                            LogUtil.error("验证出库【" + currInOutFixture.ToStr() + "】是否重复出错：" + ex.ToString());
+                            LogUtil.error("验证出库【" + inoutParam.ToStr() + "】是否重复出错：" + ex.ToString());
                         }
-                        string shelfPosId = "";
-                        if (EmprtShelfList.Count > 0)
+                        string shelfPosID = "";
+                        bool hasShelf = EmprtShelfList.TryDequeue(out shelfPosID);
+                        if (hasShelf)
                         {
-                            shelfPosId = EmprtShelfList.Dequeue();
+                            inoutParam.NeedEnterShelf = false;
+                            inoutParam.NeedOutShelf = false;
+                            inoutParam.ShelfPosID = shelfPosID;
                         }
                         else
                         {
-                            LogUtil.error(Name + "执行出库【" + currInOutFixture.ToStr() + "】失败，料架没有空位置");
-                        }
-                        if (CanStarInOut() && String.IsNullOrEmpty(shelfPosId).Equals(false))
-                        //if (CanStarInOut() &&( LineConnect.CanStartOut()||IsDebug))
-                        {
-
-                            bool result = StartOutStoreMove(new InOutParam("", posId, plateW, plateH,shelfPosId));
-                            if (!result)
-                            {
-                                LogInfo(" 执行出库【" + currInOutFixture.ToStr() + "】失败，加入等待队列");
-                                AddWaitOutInfo(currInOutFixture);
-                            }
-                        }
-                        else
-                        {
-                            LogUtil.error(Name + "执行出库【" + currInOutFixture.ToStr() + "】失败，当前在忙碌中，加入等待队列");
-                            AddWaitOutInfo(currInOutFixture);
+                            inoutParam.NeedEnterShelf = true;
+                            inoutParam.NeedOutShelf = false;
+                            LogUtil.error(Name + "执行出库【" + inoutParam.ToStr() + "】,么有空料架，需要使用新料架");
                         }
+                        StartExecuctOut(inoutParam);
                     }
-
                 }
                 TimeSpan span = DateTime.Now - time;
                 if (span.TotalMilliseconds > 10)
@@ -1084,6 +1036,6 @@ namespace OnlineStore.DeviceLibrary
             }
         }
         #endregion
-         
+
     }
 }
\ No newline at end of file

source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Partial.cs

 using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using System;
+using System.Collections.Concurrent;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.Threading;
+using System.Threading.Tasks;
 
 namespace OnlineStore.DeviceLibrary
 {
@@ -35,7 +37,7 @@ namespace OnlineStore.DeviceLibrary
                     continue;
                 }
                 NotOkMsg = wait.ToStr();
-                if (wait.WaitType == 1)
+                if (wait.WaitType.Equals(WaitEnum.W001_AxisMove))
                 {
                     string msg = "";
                     if (wait.IsHomeMove)
@@ -54,11 +56,11 @@ namespace OnlineStore.DeviceLibrary
                         break;
                     }
                 }
-                else if (wait.WaitType == 2)
+                else if (wait.WaitType.Equals(WaitEnum.W002_IOValue))
                 {
                     wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);
                     int timeOutMs = Config.IOSingle_TimerOut;
-                   
+
                     if ((!wait.IsEnd) && span.TotalMilliseconds > timeOutMs)
                     {
                         ConfigIO io = Config.getWaitIO(wait.IoType);
@@ -67,26 +69,16 @@ namespace OnlineStore.DeviceLibrary
                         LogUtil.error(Name + wait.IoType + "等待信号(" + io.DisplayStr + "=" + wait.IoValue + ") 超时", 14);
                         isOk = false;
                         break;
-                    }
-                    //else if ((!wait.IsEnd) && MoveInfo.MoveStep.Equals(StoreMoveStep.SO_14_WaitTake) && LineConnect.CanReSend())
-                    //{
-                    //    //判断是否需要重发入库结束命令
-                    //    SendOutStoreEnd(MoveInfo);
-                    //}
+                    } 
                 }
-                else if (wait.WaitType == 3)
+                else if (wait.WaitType.Equals(WaitEnum.W003_Time))
                 {
                     wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
                 }
-                else if (wait.WaitType == 7)
-                {
-                    //wait.IsEnd = (wait.HeightValue.Equals(GetHeight()));
-                    //if (wait.IsEnd)
-                    //{
-                    //    LogUtil.debug("等待height=" + wait.HeightValue + "完成");
-                    //}
+                else if (wait.WaitType.Equals(WaitEnum.W007_ReelHeight))
+                { 
                 }
-                else if (wait.WaitType.Equals(8))
+                else if (wait.WaitType.Equals(WaitEnum.W008_Compress))
                 {
                     string msg = "";
                     if (IOValue(TargetIoType).Equals(TargetIoValue))
@@ -103,10 +95,11 @@ namespace OnlineStore.DeviceLibrary
                         wait.IsEnd = result;
                     }
                 }
-                else if (wait.WaitType.Equals(9))
+                else if (wait.WaitType.Equals(WaitEnum.W009_ScanCode))
                 {
                     wait.IsEnd = (LastScanCodes.Count > 0);
-                }else if (wait.WaitType.Equals(10))
+                }
+                else if (wait.WaitType.Equals(WaitEnum.W010_AgvStatus))
                 {
                     int agvA = (int)AgvClient.GetAction(Config.AgvNodeName);
                     wait.IsEnd = agvA.Equals(wait.TargetPosition);
@@ -157,7 +150,128 @@ namespace OnlineStore.DeviceLibrary
         }
         #endregion
 
+        public ConcurrentQueue<InOutParam> waitOutStoreList = new ConcurrentQueue<InOutParam>();
+        private List<string> LastScanCodes = new List<string>();
+        private int ComTargetPosition = 0;
+        private int LastWidth = 0;
+        private int LastHeight = 0;
+        private RFIDData LastShelfData = new RFIDData(0);
+
+
+
         #region 入库
+        private void ClearLastTrayInfo()
+        {
+            LastScanCodes = new List<string>();
+            ComTargetPosition = 0;
+            LastWidth = 0;
+            LastHeight = 0;
+        }
+        private DateTime startInStoreTime = DateTime.Now;
+        /// <summary>
+        /// 开始单盘入库
+        /// </summary> 
+        public override void StartInStoreMove(InOutParam param)
+        {
+            startInStoreTime = DateTime.Now;
+            string posId = param != null ? param.PosID : "";
+            if (isInSuddenDown || isNoAirCheck ||
+           (!storeRunStatus.Equals(StoreRunStatus.Runing))
+           || (!MoveInfo.MoveType.Equals(StoreMoveType.None)))
+            {
+                LogUtil.error(Name + " 启动出库出错，忙碌或报警中 ，storeStatus=" + storeRunStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirCheck" + isNoAirCheck);
+                return  ;
+            }
+
+            if (!StoreManager.LoadInoutParam(param, true, this))
+            {
+                LogUtil.error(Name + " 启动入库【" + posId + "】出错，找不到库位信息");
+                return;
+            }
+            if (IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
+            {
+                LogUtil.error(Name + " 启动入库【" + posId + "】出错，叉子料盘检测有料");
+                return;
+            }
+            param.NeedEnterShelf = false;
+            param.NeedOutShelf = false;
+            LogInfo(" 启动入库【" + posId + "】");
+            storeRunStatus = StoreRunStatus.Busy;
+            storeStatus = StoreStatus.InStoreExecute;
+            MoveInfo.NewMove(StoreMoveType.InStore, param);
+
+            //新的料架库位
+            MoveInfo.NextMoveStep(StoreMoveStep.BI_11_InoutToP1);
+            MoveInfo.SingleInstore = true;
+            InOutStoreLog("料架取料：叉子后退到待机点P1, 重置盘信息");
+            ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
+            ClearLastTrayInfo(); 
+        }
+
+
+        /// <summary>
+        /// 开始料架入库
+        /// </summary>
+        public void StartShelfInStore()
+        {
+
+            bool canStart = (storeRunStatus.Equals(StoreRunStatus.Runing)
+                && MoveInfo.MoveType.Equals(StoreMoveType.None)
+                && IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH));
+            if (!canStart)
+            {
+                return;
+            }
+
+            //读取RFID
+            RFIDData data = RFIDManager.ReadData(Config.RFID_IP);
+            //TODO 判断料架是否正确
+            if (data.RFType.Equals("A"))
+            {
+                LastShelfData = data;
+                AgvClient.SendRFID(Config.AgvNodeName, data.ToData());
+            }
+            else
+            {
+                LogUtil.error(Name + "检测到入料口有料架，读取RFID数据错误：" + data.ToStr());
+                return;
+            }
+
+            storeRunStatus = StoreRunStatus.Busy;
+            storeStatus = StoreStatus.InStoreExecute;
+            EmprtShelfList = new  ConcurrentQueue<string>();
+            LogInfo(" 空闲中，读取到料架" + data.ToStr() + "，料架入库：入料口移门打开，");
+            MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
+            MoveInfo.MoveParam.MoveP = new LineMoveP();
+
+            MoveInfo.MoveParam.MoveP.ComPress_P1 = Config.CompAxis_P1_Position;
+            MoveInfo.MoveParam.MoveP.InOut_P1 = Config.InOutAxis_P1_Position;
+            MoveInfo.MoveParam.MoveP.Middle_P1 = Config.MiddleAxis_P1;
+            MoveInfo.MoveParam.MoveP.UpDown_P1 = Config.UpDownAxis_P1;
+            MoveInfo.MoveParam.MoveP.UpDown_P2 = Config.UpDownAxis_P2;
+
+            MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
+            MoveInfo.NextMoveStep(StoreMoveStep.BI_02_DoorOpen);
+            CylinderMove(MoveInfo, IO_Type.EntranceDoor_Close, IO_Type.EntranceDoor_Open);
+        }
+
+
+        private void StartMoveToBag()
+        {
+            MoveInfo.NextMoveStep(StoreMoveStep.BI_21_MoveToBag);
+            InOutStoreLog("入库：移动到库位点，轴1（ 转盘） 至P2（ 库位点）轴2(上下） 至P3(库位入库前点）");
+            ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
+            ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
+        }
+
+        private void StartSendTray(string str = "扫码失败")
+        {
+            MoveInfo.NextMoveStep(StoreMoveStep.BI_31_ToNGDoor);
+            InOutStoreLog("送出料盘：" + str + "，升降轴移动到NG料门口上端，旋转轴移动到NG料门口");
+
+            ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
+            ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P1, Config.MiddleAxis_P1_Speed);
+        }
 
         protected override void InStoreProcess()
         {
@@ -170,194 +284,644 @@ namespace OnlineStore.DeviceLibrary
             {
                 return;
             }
-            ShelfInStoreProcess();
+
+
+            #region 料架取料盘扫码获取POSID
+            if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_08_StartGetTray))
+            {
+                if (MoveInfo.NextShelfPos())
+                {
+                    //新的料架库位
+                    startInStoreTime = DateTime.Now;
+                    MoveInfo.NextMoveStep(StoreMoveStep.BI_11_InoutToP1);
+                    InOutStoreLog("料架取料：叉子后退到待机点P1, 重置盘信息");
+                    ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
+                    ClearLastTrayInfo();
+                }
+                else
+                {
+                    //所有料盘已取料完成，送出料架
+                    StartShelfOut();
+                }
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_11_InoutToP1))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_12_MoveToShelf);
+                InOutStoreLog("料架取料：升降轴移动到P101低点，旋转轴移动到P101点，压紧轴到压紧前点");
+                ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P101_Speed);
+                ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
+                ACAxisMove(Config.Comp_Axis, Config.CompAxis_P3_Position, Config.CompAxis_P3_Speed);
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_12_MoveToShelf))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_13_InoutToP101);
+                InOutStoreLog("料架取料：叉子前进到P101点");
+                ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P101_Speed);
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_13_InoutToP101))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_14_UpdownToP102);
+                InOutStoreLog("料架取料：升降轴上升到P102点");
+                ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_14_UpdownToP102))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_15_StartCompress);
+                InOutStoreLog("料架取料：压紧轴开始缓慢压紧到P4");
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitComAxis(Config.Comp_Axis, Config.CompAxis_P4_Position, Config.CompAxis_P4_Speed));
+                Config.Comp_Axis.TargetPosition = Config.CompAxis_P4_Position;
+                ACServerManager.AbsMove(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue(), Config.CompAxis_P4_Position, Config.CompAxis_P4_Speed);
+                ComAxisStartCheck();
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_15_StartCompress))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_16_ComAxisDownMove);
+                int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
+                ComTargetPosition = currPosition;
+                int targetP = currPosition + Config.CompAxis_Down_Position;
+                LastHeight = Config.GetComP2PlateH(targetP);
+                InOutStoreLog("料架取料：检测到料叉压紧确认信号，向下押金【" + ComTargetPosition + "】目标【" + targetP + "】，记录料盘高度【" + LastHeight + "】");
+                ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
+
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_16_ComAxisDownMove))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_17_InoutBack);
+                InOutStoreLog("料架取料：记录压紧高度，叉子后退到扫码点");
+                ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.CompAxis_P1_Speed);
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_17_InoutBack))
+            {
+                if (IOValue(IO_Type.TrayCheck_3).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.TrayCheck_4).Equals(IO_VALUE.HIGH))
+                {
+                    LastWidth = 13;
+                }
+                else if (IOValue(IO_Type.TrayCheck_1).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.TrayCheck_2).Equals(IO_VALUE.HIGH))
+                {
+                    LastWidth = 7;
+                }
+                else
+                {
+                    LogUtil.info("未检测到识别区料盘检测信号， 默认高度为7");
+                }
+
+                if (MoveInfo.SingleInstore)
+                {
+                    //单盘入库，不需要扫码
+                    StartMoveToBag();
+                }
+                else
+                {
+                    MoveInfo.NextMoveStep(StoreMoveStep.BI_18_ScanCode);
+                    InOutStoreLog("料架取料：记录宽度，开始扫码");
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitCode());
+                    Task.Factory.StartNew(delegate
+                    {
+                        IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
+                        LastScanCodes = CodeManager.CameraScan(Config.GetCameraList());
+                        IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
+                    });
+                }
+
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_18_ScanCode))
+            {
+                if (LastScanCodes.Count <= 0)
+                {
+                    StartSendTray("扫码失败");
+                }
+                else
+                {
+                    MoveInfo.NextMoveStep(StoreMoveStep.BI_19_GetPosId);
+                    InOutStoreLog("料架取料：扫码成功，从服务器获取库位号");
+                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
+                    bool result = GetPosIdByCode();
+                    if (result)
+                    {
+                        MoveInfo.NextMoveStep(StoreMoveStep.BI_20_SetInstoreParam);
+                        InOutStoreLog("料架取料: 获取库位号完成，设置位置参数，开始入库");
+                    }
+                    else
+                    {
+                        StartSendTray("获取入库库位失败");
+                    }
+                }
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_19_GetPosId))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_20_SetInstoreParam);
+                InOutStoreLog("料架取料: 获取库位号完成，设置位置参数，开始入库");
+            }
+
+            #endregion
+
+            #region 入库逻辑
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_20_SetInstoreParam))
+            {
+                StartMoveToBag();
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_21_MoveToBag))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_22_DeviceToBag);
+                InOutStoreLog("入库：叉子进入库位中，轴3（ 叉子） 至P3(库位取放料点）");
+                ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_22_DeviceToBag))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_23_PutWareToBag);
+                InOutStoreLog("入库：放下物品，轴2（ 上下） 至P4（ 库位入料缓冲点）轴4（ 压紧） 至P3（ 压紧前点）");
+
+                // 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)   
+                string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
+                lastPosId = posId;
+                lastPosIdStatus = StoreStatus.InStoreEnd;
+                storeStatus = StoreStatus.InStoreEnd;
+                //手动发给服务器状态，防止没有手动
+                //SendLineStatus(StoreID, posId, StoreStatus.InStoreEnd);
+
+                ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
+                ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_23_PutWareToBag))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_24_DeviceBackFromBag);
+                InOutStoreLog("入库：叉子从库位中返回，轴3（ 叉子） 动作至P1（ 待机点）");
+                ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_24_DeviceBackFromBag))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_25_GoBack);
+                InOutStoreLog("入库：返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始");
+                ACAxisMove(Config.Comp_Axis, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
+                ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
+                ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_25_GoBack))
+            {
+                TimeSpan span = DateTime.Now - startInStoreTime;
+                if (MoveInfo.SingleInstore)
+                {
+                    string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
+                    LogInfo("  【" + posId + "】单盘入库结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
+                    MoveEndToRuningStatus();
+                    AutoInout.InOutEndProcess(this, StoreMoveType.InStore);
+                }
+                else
+                {
+                    MoveInfo.NextMoveStep(StoreMoveStep.BI_08_StartGetTray);
+                    InOutStoreLog("料架入库：上一盘入库结束， 耗时【" + FormUtil.GetSpanStr(span) + "】判断是否有下个料盘，扫码入库");
+                }
+            }
+            #endregion
+
+            #region 把料盘送到NG逻辑
+
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_31_ToNGDoor))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_32_NGDoorUp);
+                InOutStoreLog("送出料盘：NG料口升降门上升");
+                CylinderMove(MoveInfo, IO_Type.NGDoorCylinder_Down, IO_Type.NGDoowCylinder_Up);
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_32_NGDoorUp))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_33_InoutToNGDoor);
+                InOutStoreLog("送出料盘：进出轴前进到NG料门口位置");
+                ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_33_InoutToNGDoor))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_34_UpdownDown);
+                InOutStoreLog("送出料盘：升降轴缓慢下降，放下料盘");
+                ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
+                ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_34_UpdownDown))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_35_InoutToP1);
+                InOutStoreLog("送出料盘：叉子后退到P1");
+                ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_35_InoutToP1))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_36_NGDoorDown);
+                InOutStoreLog("送出料盘：关门NG料门，送出料盘结束");
+                CylinderMove(MoveInfo, IO_Type.NGDoowCylinder_Up, IO_Type.NGDoorCylinder_Down);
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_36_NGDoorDown))
+            {
+
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_08_StartGetTray);
+                InOutStoreLog("料架入库：开始循环逐个取料盘，扫码入库");
+            }
+            #endregion
+
+            //料架进入逻辑
+            else if (MoveInfo.MoveStep < StoreMoveStep.BI_08_StartGetTray)
+            {
+                ShelfOutProcess();
+            }
+            //料架送出逻辑
+            else if (MoveInfo.MoveStep >= StoreMoveStep.BS_01_TopCylinder_Down)
+            {
+                ShelfOutProcess();
+            }
+            else
+            {
+                LogInfo(" 入库，moveStatus=" + MoveInfo.MoveStep + "，没有对应的处理！");
+            }
+        }
+
+        #endregion
+
+        #region 扫码获取库位
+
+        private string ProcessCode()
+        {
+            string message = "";
+            string spiltStr = "##";
+            string codeSize = LastWidth + "x" + LastHeight;
+            foreach (string str in LastScanCodes)
+            {
+                if (str.Trim().Equals(""))
+                {
+                    continue;
+                }
+                string code = "=1+0x0-" + codeSize + "=" + str.Trim();
+
+                if (!String.IsNullOrEmpty(code))
+                {
+                    message = message + code + spiltStr;
+                }
+            }
+            return message;
         }
 
-        private DateTime startInStoreTime = DateTime.Now;
         /// <summary>
-        /// 开始入库移动移动
-        /// </summary> 
-        public override void StartInStoreMove(InOutParam param)
+        /// 扫码枪数据接收
+        /// </summary>
+        /// <param name="message"></param>
+        private bool GetPosIdByCode()
         {
-            startInStoreTime = DateTime.Now;
-            string posId = param != null ? param.PosID : "";
-            if (storeRunStatus == StoreRunStatus.Runing)
+            try
             {
-                if (!StoreManager.LoadInoutParam(param,this))
+                string message = ProcessCode();
+                if (message.Equals("") || string.IsNullOrEmpty(message))
+                {
+                    CodeMsg = "未扫到二维码";
+                    LogInfo("未扫到二维码");
+                    return false;
+                }
+
+                if (storeRunStatus.Equals(StoreRunStatus.Wait))
                 {
-                    LogUtil.error(Name + " 启动入库【" + posId + "】出错，找不到库位信息");
-                    return;
+                    LogInfo("二维码【 " + message + "】，设备未启动，不需要发送服务器");
+                    return false;
+                }
+                // CodeMsg = "收到二维码【 " + message + "】，发送给服务器获取入库PosID";
+                LogUtil.info(Name + "二维码【 " + message + "】，发送给服务器获取入库PosID");
+                //发送扫码内容到服务器进行入库操作
+                Operation operation = getLineBoxStatus();
+                operation.op = 1;
+                operation.data = new Dictionary<string, string>() { { "code", message }, { "boxId", DeviceID.ToString() } };
+                string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
+                Operation resultOperation = HttpHelper.Post(StoreManager.GetPostApi(server), operation, false);
+                if (resultOperation == null)
+                {
+                    CodeMsg = "二维码【" + message + "】没有收到服务器反馈";
+                    LogInfo("二维码【 " + message + "】没有收到服务器反馈！");
+                    return false;
                 }
-                if (IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
+                else if (!string.IsNullOrEmpty(resultOperation.msg))
                 {
-                    LogUtil.error(Name + " 启动入库【" + posId + "】出错，叉子料盘检测有料");
-                    return;
+                    //如果有提示消息，直接显示提示
+                    LogInfo("二维码【 " + message + "】  ：" + resultOperation.msg);
+                    return false;
                 }
-                LogInfo(" 启动入库【" + posId + "】");
-                storeRunStatus = StoreRunStatus.Busy;
-                storeStatus = StoreStatus.InStoreExecute;
-                MoveInfo.NewMove(StoreMoveType.InStore, param);
 
-                //新的料架库位
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_11_InoutToP1);
-                MoveInfo.SingleInstore = true ;
-                InOutStoreLog("料架取料：叉子后退到待机点P1, 重置盘信息");
-                ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
-                ClearLastTrayInfo();
+
+                if (resultOperation.op.Equals(1))
+                {
+                    Dictionary<string, string> data = resultOperation.data;
+                    if (data != null && data.ContainsKey(ParamDefine.posId) && data.ContainsKey(ParamDefine.plateH) && data.ContainsKey(ParamDefine.plateW))
+                    {
+                        //服务器返回时有：posId库位编号，plateW:料盘宽度,plateH：料盘高度，
+                        //postId格式BoxId#位置
+                        string posId = data[ParamDefine.posId];
+                        string plateW = data[ParamDefine.plateW];
+                        string plateH = data[ParamDefine.plateH];
+                        string[] posArray = posId.Split('#');
+                        if (!(posArray.Length == 2))
+                        {
+                            WarnMsg = Name + "入库库位格式错误：二维码【" + message + "】库位【" + posId + "】";
+                            LogUtil.error(Name + "服务器反馈   入库库位格式错误：二维码【" + message + "】库位【" + posId + "】");
+
+                            return false;
+                        }
+
+                        int storeId = int.Parse(posArray[0]);
+                        //根据发送的posId获取位置列表
+                        ACBoxPosition position = CSVPositionReader<ACBoxPosition>.GetPositon(posId);
+                        if (position == null)
+                        {   //出入库没有找到服务器发送的库位，需要打印日志方便查询原因
+                            WarnMsg = "入库未找到库位：二维码【" + message + "】库位【" + posId + "】 ";
+                            LogUtil.error(Name + "收到服务器入库命令：入库未找到库位：二维码【" + message + "】库位【" + posId + "】");
+                            return false;
+                        }
+                        LogInfo(" 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】设置入库参数 ， 开始入库！");
+                        MoveInfo.MoveParam.UpdatePosId(message, posId, plateW, plateH, ComTargetPosition);
+                        return true;
+                    }
+                }
+                else if (resultOperation.op.Equals(2))
+                {
+                    ReviceOutStoreProcess(resultOperation);
+                }
+                else if (resultOperation.op.Equals(5))
+                {
+                    humBean.ProcessHumidityCMD(resultOperation);
+                }
+                else
+                {
+                    LogUtil.error("收到服务器命令：op=" + resultOperation.op + "，未找到对应处理");
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error(Name + "GetPosIdByCode" + ex.StackTrace);
+            }
+            return false;
+        }
+
+        #endregion
+
+        #region 料架进出料仓处理：出入库模块共用
+
+        private void ShelfEnterProcess()
+        {
+            string moveName = "料架入库";
+            bool instoreShelf = true;
+            if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
+            {
+                instoreShelf = false;
+                moveName = "空料架进入";
+            }
+            if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_01_ReadyShelf))
+            {
+                MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
+                InOutStoreLog(moveName + "调用AgvClient.MayEnter，小车已到达，打开入料口移门");
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_02_DoorOpen);
+                CylinderMove(MoveInfo, IO_Type.EntranceDoor_Close, IO_Type.EntranceDoor_Open);
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_02_DoorOpen))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_03_LineRun);
+                InOutStoreLog(moveName + "调用AgvClient.MayEnter，线体正转，等待取料位检测到信号");
+                AgvClient.MayEnter(Config.AgvNodeName);
+                IOMove(IO_Type.Line_BackRun, IO_VALUE.LOW);
+                IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
+
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.LOW));
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.HIGH));
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_03_LineRun))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_04_LineStop);
+                InOutStoreLog(moveName + "调用AgvClient.FinishEnter，取料位检测到信号，停止线体正转");
+                IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
+                AgvClient.FinishEnter(Config.AgvNodeName);
+
+                if (!instoreShelf)
+                {
+                    EmprtShelfList = new System.Collections.Concurrent.ConcurrentQueue<string>(ShelfPosList);
+                    if (MoveInfo.MoveParam.ShelfPosID.Equals(""))
+                    {
+                        string shelfPosId = "";
+                        bool result = EmprtShelfList.TryDequeue(out shelfPosId);
+                        if (result)
+                        {
+                            MoveInfo.MoveParam.UpdateShelfPosId(shelfPosId);
+                            InOutStoreLog("出库：重置EmprtShelfList列表，设置料架位置：" + MoveInfo.MoveParam.ShelfPosID);
+                        }
+                        else
+                        {
+                            waitOutStoreList.Enqueue(MoveInfo.MoveParam);
+                            InOutStoreLog("出库：重置EmprtShelfList列表，获取料架位置失败！结束出库，并将"+MoveInfo.MoveParam.ToStr()+"放入等待列表" );
+
+                            MoveEndToRuningStatus();
+                        }
+                    }
+                }
 
             }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_04_LineStop))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_05_DoorClose);
+                InOutStoreLog(moveName + "入料口移门关闭");
+                CylinderMove(MoveInfo, IO_Type.EntranceDoor_Open, IO_Type.EntranceDoor_Close);
+
+                if (!instoreShelf)
+                {
+                    InOutStoreLog("出库：SO_03 走到库位，压紧轴至P3(压紧前点) ,旋转轴至P2(库位点),升降轴至P5(库位出库前点)");
+                    ACAxisMove(Config.Comp_Axis, MoveInfo.MoveParam.MoveP.ComPress_P3, Config.CompAxis_P3_Speed);
+                    ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
+                    ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
+                }
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_05_DoorClose))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_06_LocationUp);
+                InOutStoreLog(moveName + "定位装置上升");
+                CylinderMove(MoveInfo, IO_Type.LocationCylinder_Down, IO_Type.LocationCylinder_Up);
+
+                if (!instoreShelf)
+                {
+                    InOutStoreLog("出库：SO_04 叉子进入库位中，  进出轴至P3(库位取放料点) ");
+                    ACAxisMove(Config.InOut_Axis, MoveInfo.MoveParam.MoveP.InOut_P3, Config.InOutAxis_P3_Speed);
+                }
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_06_LocationUp))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_07_TopCylinderUp);
+                InOutStoreLog(moveName + "顶升装置上升");
+                CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
+
+                if (!instoreShelf)
+                {
+                    InOutStoreLog("出库：SO_05 拿起物品，升降轴至P6(库位出料缓冲点)，压紧轴至P2(压紧点) ");
+                    ACAxisMove(Config.Comp_Axis, MoveInfo.MoveParam.MoveP.ComPress_P2, Config.CompAxis_P2_Speed);
+                    ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
+                }
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_07_TopCylinderUp))
+            {
+                if (instoreShelf)
+                {
+                    MoveInfo.NextMoveStep(StoreMoveStep.BI_08_StartGetTray);
+                    InOutStoreLog(moveName + "开始循环从第一个空位逐个取料盘，扫码入库");
+                }
+                else
+                {
+                    MoveInfo.NextMoveStep(StoreMoveStep.SO_06_BagDeviceBack);
+                    InOutStoreLog("出库：SO_06 叉子从库位返回，进出轴至P1(待机点) ");
+                    //ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
+                    InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
+                    //把库位的物品放到取到叉子上之后是出仓完成 
+                    string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
+                    lastPosId = posId;
+                    lastPosIdStatus = StoreStatus.OutStoreBoxEnd;
+                    storeStatus = StoreStatus.OutStoreBoxEnd;
+                }
+
+            }
+        }
+
+        private void StartShelfOut()
+        {
+            MoveInfo.NextMoveStep(StoreMoveStep.BS_01_TopCylinder_Down);
+            if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
+            {
+                InOutStoreLog("送出出库料架：顶升气缸下降");
+            }
             else
             {
-                LogUtil.error(Name + " 启动【" + posId + "】入库出错，当前状态，storeStatus=" + storeRunStatus);
-            }
-        } 
-
-        //private void SI_02_Move(LineMoveP moveP)
-        //{
-        //    MoveInfo.NextMoveStep(StoreMoveStep.SI_02_InOutAxisHome);
-        //    InOutStoreLog("入库：SI_02_  进出轴(叉子)动作至P1,打开舱门");
-        //    OpenDoor();
-        //    InOutBackToP1(moveP.InOut_P1);
-        //}
-        //private void SI_05_DeviceToDoor()
-        //{
-        //    MoveInfo.NextMoveStep(StoreMoveStep.SI_05_DeviceToDoor);
-        //    InOutStoreLog("入库：SI_05  叉子进入入料口，进出轴至P2(进料口取料点) ");
-        //    ACAxisMove(Config.InOut_Axis, MoveInfo.MoveParam.MoveP.InOut_P2, Config.InOutAxis_P2_Speed);
-        //    //NeedCheckSafetyLight = 1;
-        //}
-        //protected override void InStoreProcess()
-        //{
-        //    LineMoveP moveP = MoveInfo.MoveParam.MoveP;
-        //    if (MoveInfo.IsInWait)
-        //    {
-        //        CheckWait();
-        //    }
-        //    if (MoveInfo.IsInWait)
-        //    {
-        //        return;
-        //    }
-            //if (MoveInfo.MoveStep == StoreMoveStep.SI_00_TrayCheck)
-            //{ 
-            //    SI_02_Move(moveP); 
-            //}
-            //if (MoveInfo.MoveStep == StoreMoveStep.SI_01_LocationCylinderDown)
-            //{
-            //    SI_02_Move(moveP);
-            //}
-            //else if (MoveInfo.MoveStep == StoreMoveStep.SI_02_InOutAxisHome)
-            //{
-            //    MoveInfo.NextMoveStep(StoreMoveStep.SI_03_ReturnHome);
-            //    InOutStoreLog("入库：SI_03    所有轴回到待机点，轴2、轴1 动作到P1,，轴4动作至P3");
-            //    ACAxisMove(Config.Comp_Axis,moveP.ComPress_P3, Config.CompAxis_P3_Speed);
-            //    ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
-            //    ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
-            //}
-            //else if (MoveInfo.MoveStep == StoreMoveStep.SI_03_ReturnHome)
-            //{
-            //    MoveInfo.NextMoveStep(StoreMoveStep.SI_04_CompressWare);
-            //    InOutStoreLog("入库：SI_04_CompressWare  压紧物品(有压紧轴的才需要此步骤)，压紧轴至P3(压紧前点) 开始");
-            //    ACAxisMove(Config.Comp_Axis,moveP.ComPress_P3, Config.CompAxis_P3_Speed);
-            //}
-            //else if (MoveInfo.MoveStep == StoreMoveStep.SI_04_CompressWare)
-            //{
-            //    SI_05_DeviceToDoor();
-            //}
-            //else if (MoveInfo.MoveStep == StoreMoveStep.SI_05_DeviceToDoor)
-            //{
-            //    //NeedCheckSafetyLight = 0;
-            //    MoveInfo.NextMoveStep(StoreMoveStep.SI_06_DoorWarToDevice);
-            //    InOutStoreLog("入库：SI_06 拿物品，压紧轴至P2(压紧点)) 升降轴至P7(进料口取料缓冲点) ");
-            //    ACAxisMove(Config.Comp_Axis,moveP.ComPress_P2, Config.CompAxis_P2_Speed);
-            //  //  ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P7, Config.UpDownAxis_P7_Speed);
-            //}
-            //else if (MoveInfo.MoveStep == StoreMoveStep.SI_06_DoorWarToDevice)
-            //{
-            //    MoveInfo.NextMoveStep(StoreMoveStep.SI_07_DeviceBackFromDoor);
-            //    InOutStoreLog("入库：SI_07 叉子 从入料口抽出，进出轴至P1(待机点) ");
-            //    InOutBackToP1(moveP.InOut_P1);
-            //}
-            //else if (MoveInfo.MoveStep == StoreMoveStep.SI_07_DeviceBackFromDoor)
-            //{
-            //    MoveInfo.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
-            //    InOutStoreLog("入库：SI_09 移动到库位点，旋转轴至P2(库位点),升降轴至P3(库位入库前点) ");
-            //    ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P2_Speed);
-            //    ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed); 
-            //    CloseDoor(false);
-            //}
-            //else if (MoveInfo.MoveStep == StoreMoveStep.SI_08_LocationCylinder_Up)
-            //{
-            //    MoveInfo.NextMoveStep(StoreMoveStep.SI_09_MoveToBag);
-            //    InOutStoreLog("入库：SI_09  移动到库位点，旋转轴至P2(库位点),升降轴至P3(库位入库前点))，关闭舱门  ");
-            //    ACAxisMove(Config.Middle_Axis, moveP.Middle_P2, Config.MiddleAxis_P1_Speed);
-            //    ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P3, Config.UpDownAxis_P3_Speed); 
-            //    CloseDoor(false);
-            //}
-            //else if (MoveInfo.MoveStep == StoreMoveStep.SI_09_MoveToBag)
-            //{
-            //    MoveInfo.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
-            //    InOutStoreLog("入库：SI_11  叉子进入库位中，进出轴至P3(库位取放料点) ");
-            //    ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
-            //}
-            //else if (MoveInfo.MoveStep == StoreMoveStep.SI_10_LocationCylinder_Down)
-            //{ 
-            //    MoveInfo.NextMoveStep(StoreMoveStep.SI_11_DeviceToBag);
-            //    InOutStoreLog("入库：SI_11 叉子进入库位中，进出轴至P3(库位取放料点) ");
-            //    ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
-            //}
-            //else if (MoveInfo.MoveStep == StoreMoveStep.SI_11_DeviceToBag)
-            //{
-            //    // 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)   
-            //    string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
-            //    lastPosId = posId;
-            //    lastPosIdStatus = StoreStatus.InStoreEnd;
-            //    storeStatus = StoreStatus.InStoreEnd;
-            //    //手动发给服务器状态，防止没有手动
-            //    //SendLineStatus(StoreID, posId, StoreStatus.InStoreEnd);
-
-            //    MoveInfo.NextMoveStep(StoreMoveStep.SI_12_PutWareToBag);
-            //    InOutStoreLog("入库：SI_12  放下物品，升降轴至P4(库位入料缓冲点),压紧轴至P3(压紧前点) ");
-            //    ACAxisMove(Config.Comp_Axis,moveP.ComPress_P3, Config.CompAxis_P3_Speed);
-            //    ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
-
-            //}
-            //else if (MoveInfo.MoveStep == StoreMoveStep.SI_12_PutWareToBag)
-            //{
-            //    MoveInfo.NextMoveStep(StoreMoveStep.SI_13_DeviceBackFromBag);
-            //    InOutStoreLog("入库：SI_13  叉子从库位中返回，进出轴动作至P1(待机点) ");
-            //    InOutBackToP1(moveP.InOut_P1);
-            //}
-            //else if (MoveInfo.MoveStep == StoreMoveStep.SI_13_DeviceBackFromBag)
-            //{
-            //    MoveInfo.NextMoveStep(StoreMoveStep.SI_14_GoBack);
-            //    InOutStoreLog("入库：SI_14  返回待机点，轴2/轴1/轴4动作至P1(待机点))，检测门关闭");
-            //    ACAxisMove(Config.Comp_Axis,moveP.ComPress_P1, Config.CompAxis_P1_Speed);
-            //    ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
-            //    ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
-            //    CloseDoor();
-            //}
-            //else if (MoveInfo.MoveStep == StoreMoveStep.SI_14_GoBack)
-            //{
-            //    TimeSpan span = DateTime.Now - startInStoreTime;
-            //    string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
-            //    LogInfo("  【" + posId + "】 整个入库流程结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
-            //    MoveInfo.EndMove();
-            //    storeRunStatus = StoreRunStatus.Runing;
-            //    //设备连接，入库后，BOX恢复原始状态 
-            //    storeStatus = StoreStatus.StoreOnline;
-            //    AutoInout.InOutEndProcess(this, StoreMoveType.InStore);
-            //}
-            //else
-        //    {
-        //        ShelfInStoreProcess();
-        //    }
-        //}
-     
+                InOutStoreLog("送出空料架：顶升气缸下降");
+            }
+            CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
+        }
+        private void ShelfOutProcess()
+        {
+            string moveName = "送出空料架";
+            bool instoreShelf = true;
+            if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
+            {
+                instoreShelf = false;
+                moveName = "送出出库料架";
+            }
+
+            if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_01_TopCylinder_Down))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BS_02_LocatinCylinder_Down);
+                InOutStoreLog(moveName + " ：定位气缸下降");
+                CylinderMove(MoveInfo, IO_Type.LocationCylinder_Up, IO_Type.LocationCylinder_Down);
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_02_LocatinCylinder_Down))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BS_03_DoorOpen);
+                InOutStoreLog(moveName + "：打开仓门，调用AgvClient.ReadyEmpty，等待Agv小车到达");
+                CylinderMove(MoveInfo, IO_Type.EntranceDoor_Close, IO_Type.EntranceDoor_Open);
+                AgvClient.ReadyEmpty(Config.AgvNodeName);
+                //等待小车到达
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)Asa.Actions.Arrive));
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_DoorOpen))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BS_04_LineBack);
+
+                if (instoreShelf)
+                {
+                    InOutStoreLog(moveName + "：调用AgvClient.SendRFID【" + LastShelfData.ToData() + "】,调用AgvClient.MayOut，线体开始反转");
+                    //TODO AGV到达，发送料架信息，是否需要重新读取?
+                    AgvClient.SendRFID(Config.AgvNodeName, LastShelfData.ToData());
+                }
+                else
+                {
+                    InOutStoreLog(moveName + "： 调用AgvClient.MayOut，线体开始反转");
+                }
+                AgvClient.MayOut(Config.AgvNodeName);
+                IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
+                IOMove(IO_Type.Line_BackRun, IO_VALUE.HIGH);
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_04_LineBack))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BS_05_WaitInLineSingle);
+                InOutStoreLog(moveName + "：等待取料工位无信号，入料口有信号");
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.LOW));
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.HIGH));
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_05_WaitInLineSingle))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BS_06_WaitTime);
+                InOutStoreLog(moveName + "：再转动300时间，同时等待收到FinishOut");
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
+                //等到小车离开
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)Asa.Actions.FinishOut));
+            }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_06_WaitTime))
+            {
+                //结束
+
+                MoveEndToRuningStatus();
+                EmprtShelfList = new ConcurrentQueue<string>();
+
+                InOutStoreLog(moveName + "：停止转动，料架入料结束");
+                IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
+                IOMove(IO_Type.Line_BackRun, IO_VALUE.LOW);
+            }
+
+        }
+
         #endregion
 
+        #region 压紧轴压紧处理 
+        private System.Timers.Timer axisCheckTimer = null;
+        private string TargetIoType = IO_Type.Compress_Check;
+        private IO_VALUE TargetIoValue = IO_VALUE.HIGH;
+        private bool ComAxisStartCheck(string targetIo = "", IO_VALUE value = IO_VALUE.HIGH)
+        {
+            if (String.IsNullOrEmpty(targetIo))
+            {
+                targetIo = IO_Type.Compress_Check;
+            }
+            if (axisCheckTimer == null)
+            {
+                axisCheckTimer = new System.Timers.Timer();
+                axisCheckTimer.AutoReset = true;
+                axisCheckTimer.Interval += 30;
+                axisCheckTimer.Elapsed += CheckTimer_Elapsed;
+                axisCheckTimer.Enabled = false;
+            }
+            TargetIoValue = value;
+            TargetIoType = targetIo;
+            axisCheckTimer.Start();
+            return true;
+        }
+
+        private bool ComAxisStopCheck()
+        {
+            if (!(axisCheckTimer == null))
+            {
+                axisCheckTimer.Stop();
+            }
+            return true;
+        }
+        private bool IsInProcess = false;
+        private void CheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
+        {
+            if (IsInProcess) { return; }
+            IsInProcess = true;
+            if (IOValue(TargetIoType).Equals(TargetIoValue))
+            {
+                LogUtil.info(Name + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，可以停止运动");
+                ACServerManager.SuddenStop(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue());
+                ComAxisStopCheck();
+            }
+            IsInProcess = false;
+        }
+        #endregion
 
         #region 出库
         private DateTime startOutStoreTime = DateTime.Now;
+
+        private void StartExecuctOut(InOutParam param)
+        {
+            bool result = StartOutStoreMove(param);
+            if (!result)
+            {
+                LogInfo(" 执行出库【" + param.ToStr() + "】失败，加入等待队列");
+                waitOutStoreList.Enqueue(param);
+            }
+        }
         /// <summary>
         /// 开始出库运动
         /// </summary> 
@@ -365,36 +929,50 @@ namespace OnlineStore.DeviceLibrary
         {
             startOutStoreTime = DateTime.Now;
             string posId = param != null ? param.PosID : "";
-            if (storeRunStatus == StoreRunStatus.Runing)
+
+            if (isInSuddenDown || isNoAirCheck ||
+            (!storeRunStatus.Equals(StoreRunStatus.Runing))
+            || (!MoveInfo.MoveType.Equals(StoreMoveType.None)))
             {
-                if (!StoreManager.LoadInoutParam(param,this))
-                {
-                    LogUtil.error(Name + " 启动出库【" + posId + "】出错，找不到库位信息");
-                    return false;
-                }
-                if (IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
-                {
-                    LogUtil.error(Name + " 启动出库【" + posId + "】出错，叉子料盘检测有料");
-                    return false;
-                }
-                storeStatus = StoreStatus.OutStoreExecute;
-                LogInfo("启动出库【" + posId + "】  ");
-                storeRunStatus = StoreRunStatus.Busy;
-                MoveInfo.NewMove(StoreMoveType.OutStore, param);
+                LogUtil.error(Name + " 启动出库出错，忙碌或报警中 ，storeStatus=" + storeRunStatus + ",MoveType=" + MoveInfo.MoveType + ",isInSuddenDown=" + isInSuddenDown + ",isNoAirCheck" + isNoAirCheck);
+                return false;
+            }
 
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_32_DeviceBack);
-                InOutStoreLog("出库：SO_02  叉子先运动到P1 ，打开舱门 开始");
-                //ACAxisMove(Config.InOut_Axis, StoreMove.MoveParam.MoveP.InOut_P1, Config.InOutAxis_P1_Speed);
+            if (!StoreManager.LoadInoutParam(param, false, this))
+            {
+                LogUtil.error(Name + " 启动出库【" + posId + "】出错，找不到库位信息");
+                return false;
+            }
+            if (IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
+            {
+                LogUtil.error(Name + " 启动出库【" + posId + "】出错，叉子料盘检测有料");
+                return false;
+            }
+            storeStatus = StoreStatus.OutStoreExecute;
+            LogInfo("启动出库【" + posId + "】 NeedEnterShelf【" + MoveInfo.MoveParam.NeedEnterShelf + "】NeedOutShelf【" + MoveInfo.MoveParam.NeedOutShelf + "】 ");
+            storeRunStatus = StoreRunStatus.Busy;
+            MoveInfo.NewMove(StoreMoveType.OutStore, param);
+            //当前无料架，或料架位置为空
+            if ((IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW) && MoveInfo.MoveParam.NeedEnterShelf) || MoveInfo.MoveParam.ShelfPosID.Equals(""))
+            {
+                MoveInfo.NextMoveStep(StoreMoveStep.BI_01_ReadyShelf);
+                InOutStoreLog("出库：ReadyShelf：通知agv调度准备带料架的小车，等待小车到达，进出轴到P1");
                 InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
-
-                return true;
+                //需要先叫小车到达
+                AgvClient.ReadyShelf(Config.AgvNodeName);
+                MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)Asa.Actions.Arrive));
             }
             else
             {
-                LogUtil.error(Name + " 启动出库出错，当前状态，storeStatus=" + storeRunStatus);
+
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_02_DeviceBack);
+                InOutStoreLog("出库：SO_02  进出轴到P1  开始");
+                InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
             }
-            return false;
+            return true;
+
         }
+      
         protected override void OutStoreProcess()
         {
             LineMoveP moveP = MoveInfo.MoveParam.MoveP;
@@ -406,37 +984,39 @@ namespace OnlineStore.DeviceLibrary
             {
                 return;
             }
-            if (MoveInfo.MoveStep == StoreMoveStep.SO_31_LocationCylinderDown)
+
+            #region 出入库步骤
+            if (MoveInfo.MoveStep == StoreMoveStep.SO_01_LocationCylinderDown)
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_32_DeviceBack);
-                InOutStoreLog("出库：SO_02  叉子先运动到P1 ");
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_02_DeviceBack);
+                InOutStoreLog("出库：SO_02  进出轴到P1 ");
                 InOutBackToP1(MoveInfo.MoveParam.MoveP.InOut_P1);
             }
-            else if (MoveInfo.MoveStep == StoreMoveStep.SO_32_DeviceBack)
+            else if (MoveInfo.MoveStep == StoreMoveStep.SO_02_DeviceBack)
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_33_ToBagPosition);
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_03_ToBagPosition);
                 InOutStoreLog("出库：SO_03 走到库位，压紧轴至P3(压紧前点) ,旋转轴至P2(库位点),升降轴至P5(库位出库前点)");
                 ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
                 ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
                 ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P5, Config.UpDownAxis_P5_Speed);
             }
-            else if (MoveInfo.MoveStep == StoreMoveStep.SO_33_ToBagPosition)
+            else if (MoveInfo.MoveStep == StoreMoveStep.SO_03_ToBagPosition)
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_34_DeviceToBag);
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_04_DeviceToBag);
                 InOutStoreLog("出库：SO_04 叉子进入库位中，  进出轴至P3(库位取放料点) ");
                 ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
             }
-            else if (MoveInfo.MoveStep == StoreMoveStep.SO_34_DeviceToBag)
+            else if (MoveInfo.MoveStep == StoreMoveStep.SO_04_DeviceToBag)
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_35_BagWareToDevice);
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_05_BagWareToDevice);
                 InOutStoreLog("出库：SO_05 拿起物品，升降轴至P6(库位出料缓冲点)，压紧轴至P2(压紧点) ");
 
                 ACAxisMove(Config.Comp_Axis, moveP.ComPress_P2, Config.CompAxis_P2_Speed);
                 ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P6, Config.UpDownAxis_P6_Speed);
             }
-            else if (MoveInfo.MoveStep == StoreMoveStep.SO_35_BagWareToDevice)
+            else if (MoveInfo.MoveStep == StoreMoveStep.SO_05_BagWareToDevice)
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_36_BagDeviceBack);
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_06_BagDeviceBack);
                 InOutStoreLog("出库：SO_06 叉子从库位返回，进出轴至P1(待机点) ");
                 //ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
                 InOutBackToP1(moveP.InOut_P1);
@@ -447,7 +1027,7 @@ namespace OnlineStore.DeviceLibrary
                 storeStatus = StoreStatus.OutStoreBoxEnd;
 
             }
-            else if (MoveInfo.MoveStep == StoreMoveStep.SO_36_BagDeviceBack)
+            else if (MoveInfo.MoveStep == StoreMoveStep.SO_06_BagDeviceBack)
             {
                 if (IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.LOW))
                 {
@@ -456,64 +1036,64 @@ namespace OnlineStore.DeviceLibrary
                     LogUtil.error(CodeMsg);
                 }
 
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_38_ToShelfPosition);
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_08_ToShelfPosition);
                 InOutStoreLog("出库：SO_08  走到料架位置，旋转轴至P101，升降轴至P102,  ");
                 ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
                 ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
 
             }
-            else if (MoveInfo.MoveStep == StoreMoveStep.SO_37_LocationCylinder_Up)
+            else if (MoveInfo.MoveStep == StoreMoveStep.SO_07_LocationCylinder_Up)
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_38_ToShelfPosition);
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_08_ToShelfPosition);
                 InOutStoreLog("出库：SO_08  走到料架位置，旋转轴至P101，升降轴至P102,  ");
                 ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
                 ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
 
             }
-            else if (MoveInfo.MoveStep == StoreMoveStep.SO_38_ToShelfPosition)
+            else if (MoveInfo.MoveStep == StoreMoveStep.SO_08_ToShelfPosition)
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_40_WaitNoTray);
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_10_WaitNoTray);
 
             }
             //此处需要等待移栽没有工作，才能把盘放入出料口
-            else if (MoveInfo.MoveStep == StoreMoveStep.SO_39_LocationCylinder_Down)
+            else if (MoveInfo.MoveStep == StoreMoveStep.SO_09_LocationCylinder_Down)
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_40_WaitNoTray);
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_10_WaitNoTray);
             }
-            else if (MoveInfo.MoveStep == StoreMoveStep.SO_40_WaitNoTray)
+            else if (MoveInfo.MoveStep == StoreMoveStep.SO_10_WaitNoTray)
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_41_DeviceToShelf);
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_11_DeviceToShelf);
                 InOutStoreLog("出库：SO_10  叉子进出料口，进出轴至P101");
                 ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P101_Speed);
 
             }
-            else if (MoveInfo.MoveStep == StoreMoveStep.SO_41_DeviceToShelf)
+            else if (MoveInfo.MoveStep == StoreMoveStep.SO_11_DeviceToShelf)
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_42_DevicePutWare);
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_12_DevicePutWare);
                 InOutStoreLog("出库：SO_11 放下物品，压紧轴到P1，升降轴至P101 ");
                 ACAxisMove(Config.Comp_Axis, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
                 ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P101_Speed);
             }
-            else if (MoveInfo.MoveStep == StoreMoveStep.SO_42_DevicePutWare)
+            else if (MoveInfo.MoveStep == StoreMoveStep.SO_12_DevicePutWare)
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_43_DeviceOutFromDoor);
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_13_DeviceOutFromDoor);
                 InOutStoreLog("出库：SO_12 叉子从出料口返回，，进出轴动作至P1(待机点) ");
                 InOutBackToP1(moveP.InOut_P1);
             }
-            else if (MoveInfo.MoveStep == StoreMoveStep.SO_43_DeviceOutFromDoor)
+            else if (MoveInfo.MoveStep == StoreMoveStep.SO_13_DeviceOutFromDoor)
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.SO_44_GoBack);
+                MoveInfo.NextMoveStep(StoreMoveStep.SO_14_GoBack);
                 InOutStoreLog("出库：SO_13 升降轴返回，轴2至P1(待机点)  ,");
                 ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
                 //发送消息给流水线
                 //    SendOutStoreEnd(MoveInfo);
             }
-            else if (MoveInfo.MoveStep == StoreMoveStep.SO_44_GoBack)
+            else if (MoveInfo.MoveStep == StoreMoveStep.SO_14_GoBack)
             {
                 //判断是否需要送出料架
-                if (waitOutStoreList.Count <= 0)
+                if (EmprtShelfList.Count<=0)
                 {
-
+                    StartShelfOut();
                 }
                 else
                 {
@@ -521,10 +1101,18 @@ namespace OnlineStore.DeviceLibrary
                     string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
                     storeStatus = StoreStatus.StoreOnline;
                     LogInfo(" 【" + posId + "】 整个出库流程结束，耗时【" + FormUtil.GetSpanStr(span) + "】！");
-                    MoveInfo.EndMove();
-                    storeRunStatus = StoreRunStatus.Runing;
+
+                    MoveEndToRuningStatus();
                     AutoInout.InOutEndProcess(this, StoreMoveType.OutStore);
                 }
+            } 
+            #endregion
+
+            else if (  MoveInfo.MoveStep <= StoreMoveStep.SO_01_LocationCylinderDown) {
+                ShelfEnterProcess();
+            }else if (MoveInfo.MoveStep >= StoreMoveStep.BS_01_TopCylinder_Down)
+            {
+                ShelfOutProcess();
             }
             else
             {
@@ -535,22 +1123,55 @@ namespace OnlineStore.DeviceLibrary
         #endregion
 
 
-        public List<InOutParam> waitOutStoreList = new List<InOutParam>();
-        public object waitOutListLock = "";
-
-
-        public void AddWaitOutInfo(InOutParam code)
+        #region AGV
+       
+        internal bool ProcessAGVAction(string name, Asa.Actions action)
         {
-            lock (waitOutListLock)
+            string logN = name + "收到调度【" + name + "】=【" + action + "】";
+            //状态处理
+            if (action.Equals(Asa.Actions.Usable))
+            {
+                //判断入口是否可用：入口无料架，缓冲工位无料架，不在入料架处理中
+                bool usable = (storeRunStatus.Equals(StoreRunStatus.Runing) &&
+                    waitOutStoreList.Count<=0&&
+                    MoveInfo.MoveType.Equals(StoreMoveType.None) &&
+                    alarmType.Equals(StoreAlarmType.None)  
+                    && IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW)
+                    && IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW));
+
+                LogUtil.info(logN + "：" + usable);
+                return usable;
+            }
+            else if (action.Equals(Asa.Actions.Arrive))
+            {
+                //出库处理中不处理
+                if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
+                {
+                    return true;
+                }
+                if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW))
+                {
+                    LogUtil.info(logN + " ，未检测到：LineIn_Check，不处理");
+                    return false;
+                }
+                //小车到达，开始处理 
+                if (storeRunStatus.Equals(StoreRunStatus.Runing) &&
+                    MoveInfo.MoveType.Equals(StoreMoveType.None) && 
+                    IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW))
+                {
+                    StartShelfInStore();
+                    return true;
+                }
+            }
+            else
             {
-                waitOutStoreList.Add(code);
+                LogUtil.info(name + logN + " ，未找到相关处理");
             }
+
+            return false;
         }
-        private void InOutStoreLog(string msg)
-        {
-            string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
-            string shelfId = MoveInfo.MoveParam != null ? "_"+MoveInfo.MoveParam.ShelfPosID : "_";
-            LogInfo("[" + posId + shelfId+"]"+MoveInfo.MoveStep+":" + msg);
-        } 
+
+        #endregion
+
     }
 }

source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Shelf.cs

-using Asa;
-using OnlineStore.Common;
-using OnlineStore.LoadCSVLibrary;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace OnlineStore.DeviceLibrary
-{
-    /// <summary>
-    /// 料架新增的出入库逻辑
-    /// </summary>
-    partial class AC_BOX_Bean
-    {
-        private List<string> LastScanCodes = new List<string>();
-        private int ComTargetPosition = 0;
-        private int LastWidth = 0;
-        private int LastHeight = 0;
-        private RFIDData LastShelfData = new RFIDData(0);
-
-        private void ClearLastTrayInfo()
-        {
-            LastScanCodes = new List<string>();
-            ComTargetPosition = 0;
-            LastWidth = 0;
-            LastHeight = 0;
-        }
-
-        /// <summary>
-        /// 开始入库移动移动
-        /// </summary> 
-        public void StartShelfInStore()
-        {
-
-            bool canStart = (storeRunStatus.Equals(StoreRunStatus.Runing)
-                && MoveInfo.MoveType.Equals(StoreMoveType.None)
-                && IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.HIGH));
-            if (!canStart)
-            {
-                return;
-            }
-
-            //读取RFID
-            RFIDData data = RFIDManager.ReadData(Config.RFID_IP);
-            //TODO 判断料架是否正确
-            if (data.RFType.Equals("A"))
-            {
-                LastShelfData = data;
-                AgvClient.SendRFID(Config.AgvNodeName, data.ToData());
-            }
-            else
-            {
-                LogUtil.error(Name + "检测到入料口有料架，读取RFID数据错误：" + data.ToStr());
-                return;
-            }
-
-            storeRunStatus = StoreRunStatus.Busy;
-            storeStatus = StoreStatus.InStoreExecute;
-            EmprtShelfList = new Queue<string>();
-            LogInfo(" 空闲中，读取到料架" + data.ToStr() + "，料架入库：入料口移门打开，");
-            MoveInfo.NewMove(StoreMoveType.InStore, new InOutParam());
-            MoveInfo.MoveParam.MoveP = new LineMoveP();
-
-            MoveInfo.MoveParam.MoveP.ComPress_P1 = Config.CompAxis_P1_Position;
-            MoveInfo.MoveParam.MoveP.InOut_P1 = Config.InOutAxis_P1_Position;
-            MoveInfo.MoveParam.MoveP.Middle_P1 = Config.MiddleAxis_P1;
-            MoveInfo.MoveParam.MoveP.UpDown_P1 = Config.UpDownAxis_P1;
-            MoveInfo.MoveParam.MoveP.UpDown_P2 = Config.UpDownAxis_P2;
-
-            MoveInfo.ShelfPositionList = new List<string>(ShelfPosList);
-            MoveInfo.NextMoveStep(StoreMoveStep.BI_02_DoorOpen);
-            CylinderMove(MoveInfo, IO_Type.EntranceDoor_Close, IO_Type.EntranceDoor_Open);
-
-        }
-
-        private void ShelfInStoreProcess()
-        {
-            LineMoveP moveP = MoveInfo.MoveParam.MoveP;
-            #region 料架移入料仓内部处理
-            //if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_01_LineIn_Check))
-            //{
-            //    MoveInfo.NextMoveStep(StoreMoveStep.BI_02_DoorOpen);
-            //    InOutStoreLog("料架入库：入料口移门打开");
-            //    CylinderMove(MoveInfo, IO_Type.EntranceDoor_Close, IO_Type.EntranceDoor_Open);
-            //}
-            //else 
-            if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_02_DoorOpen))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_03_LineRun);
-                InOutStoreLog("料架入库：调用AgvClient.MayEnter，线体正转，等待取料位检测到信号");
-                AgvClient.MayEnter(Config.AgvNodeName);
-                IOMove(IO_Type.Line_BackRun, IO_VALUE.LOW);
-                IOMove(IO_Type.Line_Run, IO_VALUE.HIGH);
-
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.LOW));
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.HIGH));
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_03_LineRun))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_04_LineStop);
-                InOutStoreLog("料架入库：调用AgvClient.FinishEnter，取料位检测到信号，停止线体正转");
-                IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
-                AgvClient.FinishEnter(Config.AgvNodeName);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_04_LineStop))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_05_DoorClose);
-                InOutStoreLog("料架入库：入料口移门关闭");
-                CylinderMove(MoveInfo, IO_Type.EntranceDoor_Open, IO_Type.EntranceDoor_Close);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_05_DoorClose))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_06_LocationUp);
-                InOutStoreLog("料架入库：定位装置上升");
-                CylinderMove(MoveInfo, IO_Type.LocationCylinder_Down, IO_Type.LocationCylinder_Up);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_06_LocationUp))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_07_TopCylinderUp);
-                InOutStoreLog("料架入库：顶升装置上升");
-                CylinderMove(MoveInfo, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_Up);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_07_TopCylinderUp))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_08_StartGetTray);
-                InOutStoreLog("料架入库：开始循环从第一个空位逐个取料盘，扫码入库");
-
-            }
-            #endregion
-
-            #region 料架取料盘扫码获取POSID
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_08_StartGetTray))
-            {
-                if (MoveInfo.NextShelfPos())
-                {
-                    //新的料架库位
-                    MoveInfo.NextMoveStep(StoreMoveStep.BI_11_InoutToP1);
-                    InOutStoreLog("料架取料：叉子后退到待机点P1, 重置盘信息");
-                    ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
-                    ClearLastTrayInfo();
-                }
-                else
-                {
-                    //所有料盘已取料完成，送出料架
-                    StartSendShelfOut();
-                }
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_11_InoutToP1))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_12_MoveToShelf);
-                InOutStoreLog("料架取料：升降轴移动到P101低点，旋转轴移动到P101点，压紧轴到压紧前点");
-                ACAxisMove(Config.UpDown_Axis, moveP.UpDown_LP101, Config.UpDownAxis_P101_Speed);
-                ACAxisMove(Config.Middle_Axis, moveP.Middle_P101, Config.MiddleAxis_P101_Speed);
-                ACAxisMove(Config.Comp_Axis, Config.CompAxis_P3_Position, Config.CompAxis_P3_Speed);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_12_MoveToShelf))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_13_InoutToP101);
-                InOutStoreLog("料架取料：叉子前进到P101点");
-                ACAxisMove(Config.InOut_Axis, moveP.InOut_P101, Config.InOutAxis_P101_Speed);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_13_InoutToP101))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_14_UpdownToP102);
-                InOutStoreLog("料架取料：升降轴上升到P102点");
-                ACAxisMove(Config.UpDown_Axis, moveP.UpDown_HP102, Config.UpDownAxis_P102_Speed);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_14_UpdownToP102))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_15_StartCompress);
-                InOutStoreLog("料架取料：压紧轴开始缓慢压紧到P4");
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitComAxis(Config.Comp_Axis, Config.CompAxis_P4_Position, Config.CompAxis_P4_Speed));
-                Config.Comp_Axis.TargetPosition = Config.CompAxis_P4_Position;
-                ACServerManager.AbsMove(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue(), Config.CompAxis_P4_Position, Config.CompAxis_P4_Speed);
-                ComAxisStartCheck();
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_15_StartCompress))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_16_ComAxisDownMove);
-                int currPosition = ACServerManager.GetActualtPosition(Config.Comp_Axis);
-                ComTargetPosition = currPosition;
-                int targetP = currPosition + Config.CompAxis_Down_Position;
-                LastHeight = Config.GetComP2PlateH(targetP);
-                InOutStoreLog("料架取料：检测到料叉压紧确认信号，向下押金【" + ComTargetPosition + "】目标【" + targetP + "】，记录料盘高度【" + LastHeight + "】");
-                ACAxisMove(Config.Comp_Axis, targetP, Config.CompAxis_P1_Speed);
-
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_16_ComAxisDownMove))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_17_InoutBack);
-                InOutStoreLog("料架取料：记录压紧高度，叉子后退到扫码点");
-                ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.CompAxis_P1_Speed);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_17_InoutBack))
-            {
-                if (IOValue(IO_Type.TrayCheck_3).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.TrayCheck_4).Equals(IO_VALUE.HIGH))
-                {
-                    LastWidth = 13;
-                }
-                else if (IOValue(IO_Type.TrayCheck_1).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.TrayCheck_2).Equals(IO_VALUE.HIGH))
-                {
-                    LastWidth = 7;
-                }
-                else
-                {
-                    LogUtil.info("未检测到识别区料盘检测信号， 默认高度为7");
-                }
-
-                if (MoveInfo.SingleInstore)
-                {
-                    //单盘入库，不需要扫码
-                    StartMoveToBag();
-                }
-                else
-                {
-                    MoveInfo.NextMoveStep(StoreMoveStep.BI_18_ScanCode);
-                    InOutStoreLog("料架取料：记录宽度，开始扫码");
-                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
-                    MoveInfo.WaitList.Add(WaitResultInfo.WaitCode());
-                    Task.Factory.StartNew(delegate
-                    {
-                        IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
-                        LastScanCodes = CodeManager.CameraScan(Config.GetCameraList());
-                        IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
-                    });
-                }
-
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_18_ScanCode))
-            {
-                if (LastScanCodes.Count <= 0)
-                {
-                    StartSendTray("扫码失败");
-                }
-                else
-                {
-                    MoveInfo.NextMoveStep(StoreMoveStep.BI_19_GetPosId);
-                    InOutStoreLog("料架取料：扫码成功，从服务器获取库位号");
-                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
-                    bool result = GetPosIdByCode();
-                    if (result)
-                    {
-                        MoveInfo.NextMoveStep(StoreMoveStep.BI_20_SetInstoreParam);
-                        InOutStoreLog("料架取料: 获取库位号完成，设置位置参数，开始入库");
-                    }
-                    else
-                    {
-                        StartSendTray("获取入库库位失败");
-                    }
-                }
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_19_GetPosId))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_20_SetInstoreParam);
-                InOutStoreLog("料架取料: 获取库位号完成，设置位置参数，开始入库");
-            }
-
-            #endregion
-
-            #region 入库逻辑
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_20_SetInstoreParam))
-            {
-                StartMoveToBag();
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_21_MoveToBag))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_22_DeviceToBag);
-                InOutStoreLog("入库：叉子进入库位中，轴3（ 叉子） 至P3(库位取放料点）");
-                ACAxisMove(Config.InOut_Axis, moveP.InOut_P3, Config.InOutAxis_P3_Speed);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_22_DeviceToBag))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_23_PutWareToBag);
-                InOutStoreLog("入库：放下物品，轴2（ 上下） 至P4（ 库位入料缓冲点）轴4（ 压紧） 至P3（ 压紧前点）");
-
-                // 5= 入仓位完成(料仓Box把料盘放入对应的库位中，装置还未恢复原始状态)   
-                string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
-                lastPosId = posId;
-                lastPosIdStatus = StoreStatus.InStoreEnd;
-                storeStatus = StoreStatus.InStoreEnd;
-                //手动发给服务器状态，防止没有手动
-                //SendLineStatus(StoreID, posId, StoreStatus.InStoreEnd);
-
-                ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
-                ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P4, Config.UpDownAxis_P4_Speed);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_23_PutWareToBag))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_24_DeviceBackFromBag);
-                InOutStoreLog("入库：叉子从库位中返回，轴3（ 叉子） 动作至P1（ 待机点）");
-                ACAxisMove(Config.InOut_Axis, Config.InOutAxis_P1_Position, Config.InOutAxis_P1_Speed);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_24_DeviceBackFromBag))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_25_GoBack);
-                InOutStoreLog("入库：返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始");
-                ACAxisMove(Config.Comp_Axis, moveP.ComPress_P1, Config.CompAxis_P1_Speed);
-                ACAxisMove(Config.Middle_Axis, moveP.Middle_P1, Config.MiddleAxis_P1_Speed);
-                ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_25_GoBack))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_08_StartGetTray);
-                InOutStoreLog("料架入库：开始循环逐个取料盘，扫码入库");
-            }
-            #endregion
-
-            #region 把料盘送到NG逻辑
-
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_31_ToNGDoor))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_32_NGDoorUp);
-                InOutStoreLog("送出料盘：NG料口升降门上升");
-                CylinderMove(MoveInfo, IO_Type.NGDoorCylinder_Down, IO_Type.NGDoowCylinder_Up);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_32_NGDoorUp))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_33_InoutToNGDoor);
-                InOutStoreLog("送出料盘：进出轴前进到NG料门口位置");
-                ACAxisMove(Config.InOut_Axis, moveP.InOut_P2, Config.InOutAxis_P2_Speed);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_33_InoutToNGDoor))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_34_UpdownDown);
-                InOutStoreLog("送出料盘：升降轴缓慢下降，放下料盘");
-                ACAxisMove(Config.UpDown_Axis, moveP.UpDown_P2, Config.UpDownAxis_P2_Speed);
-                ACAxisMove(Config.Comp_Axis, moveP.ComPress_P3, Config.CompAxis_P3_Speed);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_34_UpdownDown))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_35_InoutToP1);
-                InOutStoreLog("送出料盘：叉子后退到P1");
-                ACAxisMove(Config.InOut_Axis, moveP.InOut_P1, Config.InOutAxis_P1_Speed);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_35_InoutToP1))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_36_NGDoorDown);
-                InOutStoreLog("送出料盘：关门NG料门，送出料盘结束");
-                CylinderMove(MoveInfo, IO_Type.NGDoowCylinder_Up, IO_Type.NGDoorCylinder_Down);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_36_NGDoorDown))
-            {
-
-                MoveInfo.NextMoveStep(StoreMoveStep.BI_08_StartGetTray);
-                InOutStoreLog("料架入库：开始循环逐个取料盘，扫码入库");
-            }
-            #endregion
-
-            //料架送出逻辑
-            else if (MoveInfo.MoveStep >= StoreMoveStep.BS_01_TopCylinder_Down && MoveInfo.MoveStep >= StoreMoveStep.BS_06_WaitTime)
-            {
-                SendShelfProcess();
-            }
-            else
-            {
-                LogInfo(" 入库，moveStatus=" + MoveInfo.MoveStep + "，没有对应的处理！");
-            }
-        }
-
-        private void StartMoveToBag()
-        {
-            MoveInfo.NextMoveStep(StoreMoveStep.BI_21_MoveToBag);
-            InOutStoreLog("入库：移动到库位点，轴1（ 转盘） 至P2（ 库位点）轴2(上下） 至P3(库位入库前点）");
-            ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P2, Config.MiddleAxis_P2_Speed);
-            ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P3, Config.UpDownAxis_P3_Speed);
-        }
-
-        private void StartSendTray(string str = "扫码失败")
-        {
-            MoveInfo.NextMoveStep(StoreMoveStep.BI_31_ToNGDoor);
-            InOutStoreLog("送出料盘：" + str + "，升降轴移动到NG料门口上端，旋转轴移动到NG料门口");
-
-            ACAxisMove(Config.UpDown_Axis, MoveInfo.MoveParam.MoveP.UpDown_P1, Config.UpDownAxis_P1_Speed);
-            ACAxisMove(Config.Middle_Axis, MoveInfo.MoveParam.MoveP.Middle_P1, Config.MiddleAxis_P1_Speed);
-        }
-
-        private void StartSendShelfOut()
-        {
-            MoveInfo.NextMoveStep(StoreMoveStep.BS_01_TopCylinder_Down);
-            InOutStoreLog("送出料架：顶升气缸下降");
-            CylinderMove(MoveInfo, IO_Type.TopCylinder_Up, IO_Type.TopCylinder_Down);
-        }
-        private void SendShelfProcess()
-        {
-            if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_01_TopCylinder_Down))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BS_02_LocatinCylinder_Down);
-                InOutStoreLog("送出料架：定位气缸下降");
-                CylinderMove(MoveInfo, IO_Type.LocationCylinder_Up, IO_Type.LocationCylinder_Down);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_02_LocatinCylinder_Down))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BS_03_DoorOpen);
-                InOutStoreLog("送出料架：打开仓门，调用AgvClient.ReadyEmpty，等待Agv小车到达");
-                CylinderMove(MoveInfo, IO_Type.EntranceDoor_Close, IO_Type.EntranceDoor_Open);
-                AgvClient.ReadyEmpty(Config.AgvNodeName);
-                //等待小车到达
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)Asa.Actions.Arrive));
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_DoorOpen))
-            {
-
-                MoveInfo.NextMoveStep(StoreMoveStep.BS_04_LineBack);
-                InOutStoreLog("送出料架：调用AgvClient.SendRFID【" + LastShelfData.ToData() + "】,调用AgvClient.MayOut，线体开始反转");
-                //TODO AGV到达，发送料架信息，是否需要重新读取?
-                AgvClient.SendRFID(Config.AgvNodeName, LastShelfData.ToData());
-                AgvClient.MayOut(Config.AgvNodeName);
-                IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
-                IOMove(IO_Type.Line_BackRun, IO_VALUE.HIGH);
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_04_LineBack))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BS_05_WaitInLineSingle);
-                InOutStoreLog("送出料架：等待取料工位无信号，入料口有信号");
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineTake_Check, IO_VALUE.LOW));
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LineIn_Check, IO_VALUE.HIGH));
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_05_WaitInLineSingle))
-            {
-                MoveInfo.NextMoveStep(StoreMoveStep.BS_06_WaitTime);
-                InOutStoreLog("送出料架：再转动300时间，同时等待收到FinishOut");
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(300));
-                //等到小车离开
-                MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)Asa.Actions.FinishOut));
-            }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_06_WaitTime))
-            {
-                //结束
-                MoveInfo.EndMove();
-                storeRunStatus = StoreRunStatus.Runing;
-                storeStatus = StoreStatus.StoreOnline;
-                EmprtShelfList = new Queue<string>();
-
-                InOutStoreLog("送出料架：停止转动，料架入料结束");
-                IOMove(IO_Type.Line_Run, IO_VALUE.LOW);
-                IOMove(IO_Type.Line_BackRun, IO_VALUE.LOW);
-            }
-            //else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_07_LineStop))
-            //{
-            //    MoveInfo.NextMoveStep(StoreMoveStep.BS_08_CallAGV);
-            //    InOutStoreLog("送出料架：通知调度系统拿走");
-            //    //TODO 
-            //}
-            //else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_08_CallAGV))
-            //{
-            //    MoveInfo.NextMoveStep(StoreMoveStep.BS_09_CloseDoor);
-            //    InOutStoreLog("送出料架：关闭仓门");
-            //    CylinderMove(MoveInfo, IO_Type.EntranceDoor_Open, IO_Type.EntranceDoor_Close);
-            //}
-            //else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_09_CloseDoor))
-            //{ 
-
-            //}
-
-        }
-
-        #region 扫码获取库位
-
-        private string ProcessCode()
-        {
-            string message = "";
-            string spiltStr = "##";
-            string codeSize = LastWidth + "x" + LastHeight;
-            foreach (string str in LastScanCodes)
-            {
-                if (str.Trim().Equals(""))
-                {
-                    continue;
-                }
-                string code = "=1+0x0-" + codeSize + "=" + str.Trim();
-
-                if (!String.IsNullOrEmpty(code))
-                {
-                    message = message + code + spiltStr;
-                }
-            }
-            return message;
-        }
-
-        /// <summary>
-        /// 扫码枪数据接收
-        /// </summary>
-        /// <param name="message"></param>
-        private bool GetPosIdByCode()
-        {
-            try
-            {
-                string message = ProcessCode();
-                if (message.Equals("") || string.IsNullOrEmpty(message))
-                {
-                    CodeMsg = "未扫到二维码";
-                    LogInfo("未扫到二维码");
-                    return false;
-                }
-
-                if (storeRunStatus.Equals(StoreRunStatus.Wait))
-                {
-                    LogInfo("二维码【 " + message + "】，设备未启动，不需要发送服务器");
-                    return false;
-                }
-                // CodeMsg = "收到二维码【 " + message + "】，发送给服务器获取入库PosID";
-                LogUtil.info(Name + "二维码【 " + message + "】，发送给服务器获取入库PosID");
-                //发送扫码内容到服务器进行入库操作
-                Operation operation = getLineBoxStatus();
-                operation.op = 1;
-                operation.data = new Dictionary<string, string>() { { "code", message }, { "boxId", DeviceID.ToString() } };
-                string server = ConfigAppSettings.GetValue(Setting_Init.http_server);
-                Operation resultOperation = HttpHelper.Post(StoreManager.GetPostApi(server), operation, false);
-                if (resultOperation == null)
-                {
-                    CodeMsg = "二维码【" + message + "】没有收到服务器反馈";
-                    LogInfo("二维码【 " + message + "】没有收到服务器反馈！");
-                    return false;
-                }
-                else if (!string.IsNullOrEmpty(resultOperation.msg))
-                {
-                    //如果有提示消息，直接显示提示
-                    LogInfo("二维码【 " + message + "】  ：" + resultOperation.msg);
-                    return false;
-                }
-
-
-                if (resultOperation.op.Equals(1))
-                {
-                    Dictionary<string, string> data = resultOperation.data;
-                    if (data != null && data.ContainsKey(ParamDefine.posId) && data.ContainsKey(ParamDefine.plateH) && data.ContainsKey(ParamDefine.plateW))
-                    {
-                        //服务器返回时有：posId库位编号，plateW:料盘宽度,plateH：料盘高度，
-                        //postId格式BoxId#位置
-                        string posId = data[ParamDefine.posId];
-                        string plateW = data[ParamDefine.plateW];
-                        string plateH = data[ParamDefine.plateH];
-                        string[] posArray = posId.Split('#');
-                        if (!(posArray.Length == 2))
-                        {
-                            WarnMsg = Name + "入库库位格式错误：二维码【" + message + "】库位【" + posId + "】";
-                            LogUtil.error(Name + "服务器反馈   入库库位格式错误：二维码【" + message + "】库位【" + posId + "】");
-
-                            return false;
-                        }
-
-                        int storeId = int.Parse(posArray[0]);
-                        //根据发送的posId获取位置列表
-                        ACBoxPosition position = CSVPositionReader<ACBoxPosition>.GetPositon(posId);
-                        if (position == null)
-                        {   //出入库没有找到服务器发送的库位，需要打印日志方便查询原因
-                            WarnMsg = "入库未找到库位：二维码【" + message + "】库位【" + posId + "】 ";
-                            LogUtil.error(Name + "收到服务器入库命令：入库未找到库位：二维码【" + message + "】库位【" + posId + "】");
-                            return false;
-                        }
-                        LogInfo(" 收到服务器入库命令：库位号【" + posId + "】二维码【" + message + "】设置入库参数 ， 开始入库！");
-                        MoveInfo.MoveParam.UpdatePosId(message, posId, plateW, plateH, ComTargetPosition);
-                        return true;
-                    }
-                }
-                else if (resultOperation.op.Equals(2))
-                {
-                    ReviceOutStoreProcess(resultOperation);
-                }
-                else if (resultOperation.op.Equals(5))
-                {
-                    humBean.ProcessHumidityCMD(resultOperation);
-                }
-                else
-                {
-                    LogUtil.error("收到服务器命令：op=" + resultOperation.op + "，未找到对应处理");
-                }
-            }
-            catch (Exception ex)
-            {
-                LogUtil.error(Name + "GetPosIdByCode" + ex.StackTrace);
-            }
-            return false;
-        }
-
-
-        #endregion
-
-        #region 压紧轴压紧处理 
-        private System.Timers.Timer axisCheckTimer = null;
-        private string TargetIoType = IO_Type.Compress_Check;
-        private IO_VALUE TargetIoValue = IO_VALUE.HIGH;
-        private bool ComAxisStartCheck(string targetIo = "", IO_VALUE value = IO_VALUE.HIGH)
-        {
-            if (String.IsNullOrEmpty(targetIo))
-            {
-                targetIo = IO_Type.Compress_Check;
-            }
-            if (axisCheckTimer == null)
-            {
-                axisCheckTimer = new System.Timers.Timer();
-                axisCheckTimer.AutoReset = true;
-                axisCheckTimer.Interval += 30;
-                axisCheckTimer.Elapsed += CheckTimer_Elapsed;
-                axisCheckTimer.Enabled = false;
-            }
-            TargetIoValue = value;
-            TargetIoType = targetIo;
-            axisCheckTimer.Start();
-            return true;
-        }
-
-        private bool ComAxisStopCheck()
-        {
-            if (!(axisCheckTimer == null))
-            {
-                axisCheckTimer.Stop();
-            }
-            return true;
-        }
-        private bool IsInProcess = false;
-        private void CheckTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
-        {
-            if (IsInProcess) { return; }
-            IsInProcess = true;
-            if (IOValue(TargetIoType).Equals(TargetIoValue))
-            {
-                LogUtil.info(Name + "上料轴，检测到 " + TargetIoType + "=" + TargetIoValue + "，可以停止运动");
-                ACServerManager.SuddenStop(Config.Comp_Axis.DeviceName, Config.Comp_Axis.GetAxisValue());
-                ComAxisStopCheck();
-            }
-            IsInProcess = false;
-        }
-        #endregion
-
-
-        #region AGV
-        private bool ProcessShelf = false;
-        internal bool ProcessAGVAction(string name, Actions action)
-        {
-            string logN = name + "收到调度【" + name + "】=【" + action + "】";
-            //状态处理
-            if (action.Equals(Asa.Actions.Usable))
-            {
-                //判断入口是否可用：入口无料架，缓冲工位无料架，不在入料架处理中
-                bool usable = (storeRunStatus.Equals(StoreRunStatus.Runing) &&
-                    MoveInfo.MoveType.Equals(StoreMoveType.None) &&
-                    ProcessShelf.Equals(false)
-                    && IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW)
-                    && IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW));
-
-                LogUtil.info(logN + "：" + usable);
-                return usable;
-            }
-            else if (action.Equals(Asa.Actions.Arrive))
-            {
-                if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW))
-                {
-                    LogUtil.info(logN + " ，未检测到：LineIn_Check，不处理");
-                    return false;
-                }
-                //小车到达，开始处理 
-                if (storeRunStatus.Equals(StoreRunStatus.Runing) &&
-                    MoveInfo.MoveType.Equals(StoreMoveType.None) &&
-                    ProcessShelf.Equals(false) &&
-                    IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW))
-                {
-                    StartShelfInStore();
-                    return true;
-                }
-            }
-            else
-            {
-                LogUtil.info(name + logN + " ，未找到相关处理");
-            }
-
-            return false;
-        }
-
-
-        #endregion
-
-    }
-}

source/DeviceLibrary/ACPackingStore/PackingStoreBean.cs

@@ -445,6 +445,30 @@ namespace OnlineStore.DeviceLibrary
             }
             return false;
         }
+        public override void Alarm(StoreAlarmType alarmType, string alarmDetial, string alarmMsg, StoreMoveType storeMoveType)
+        {
+
+        }
+        #region 出库
+
+        public override bool StartOutStoreMove(InOutParam param)
+        {
+
+            return true;
+        }
+        protected override void OutStoreProcess()
+        {
+        }
+        #endregion
+
+        #region 入库 
+        public override void StartInStoreMove(InOutParam param)
+        {
+        }
+        protected override void InStoreProcess()
+        {
+        }
 
+        #endregion
     }
 }
\ No newline at end of file

source/DeviceLibrary/ACPackingStore/PackingStoreBean_Partial.cs

-using OnlineStore.Common;
-using OnlineStore.LoadCSVLibrary;
-using System;
-using System.Collections.Generic;
-using System.Linq;
-using System.Text;
-using System.Threading.Tasks;
-
-namespace OnlineStore.DeviceLibrary
-{
-    partial class PackingStoreBean
-    {
-        public override void Alarm(StoreAlarmType alarmType, string alarmDetial, string alarmMsg, StoreMoveType storeMoveType)
-        {
-
-        }
-
-        protected override void ReturnHomeProcess()
-        {
-
-        }
-
-        #region 出库
-
-        public override bool StartOutStoreMove(InOutParam param)
-        {
-       
-            return true;
-        }
-        protected override void OutStoreProcess()
-        {
-        }
-        #endregion
-
-        #region 入库 
-        public override void  StartInStoreMove(InOutParam param)
-        { 
-        }
-        protected override void InStoreProcess()
-        { 
-        }
-
-        #endregion
-
-     
-         
-    }
-}
- 
\ No newline at end of file

source/DeviceLibrary/ACPackingStore/StoreManager.cs

@@ -160,7 +160,7 @@ namespace OnlineStore.DeviceLibrary
                 LOGGER.Error("出错：", ex);
             }return false;
         }
-        public static bool LoadInoutParam(InOutParam param, AC_BOX_Bean box)
+        public static bool LoadInoutParam(InOutParam param, bool needCheckShelf, AC_BOX_Bean box)
         {
             if (param == null)
             {
@@ -177,16 +177,18 @@ namespace OnlineStore.DeviceLibrary
                     return false;
                 }
                 ShelfPosition sp = CSVPositionReader<ShelfPosition>.GetPositon(param.ShelfPosID);
-                if (sp == null)
+                if (sp == null&&needCheckShelf)
                 {
                     LogUtil.error(box.Name + "GetPositon[" + param.ShelfPosID + "]=null,没有库位不能执行出入库");
                     return false;
                 }
-
-                p.InOut_P101 = sp.InoutAxis_P101;
-                p.UpDown_LP101 = sp.UpDownAxis_LP101;
-                p.UpDown_HP102 = sp.UpDownAxis_HP102;
-                p.Middle_P101 = sp.MiddleAxis_P101;
+                if (sp != null)
+                {
+                    p.InOut_P101 = sp.InoutAxis_P101;
+                    p.UpDown_LP101 = sp.UpDownAxis_LP101;
+                    p.UpDown_HP102 = sp.UpDownAxis_HP102;
+                    p.Middle_P101 = sp.MiddleAxis_P101;
+                }
 
                 p.ComPress_P1 = box.Config.CompAxis_P1_Position;
                 p.InOut_P1 = box.Config.InOutAxis_P1_Position;

source/DeviceLibrary/DeviceLibrary.csproj

@@ -68,10 +68,8 @@
   <ItemGroup>
     <Compile Include="ACPackingStore\AC_BOX_Bean.cs" />
     <Compile Include="ACPackingStore\AC_BOX_Bean_Partial.cs" />
-    <Compile Include="ACPackingStore\AC_BOX_Bean_Shelf.cs" />
     <Compile Include="ACPackingStore\HumitureBean.cs" />
     <Compile Include="ACPackingStore\PackingStoreBean.cs" />
-    <Compile Include="ACPackingStore\PackingStoreBean_Partial.cs" />
     <Compile Include="ACPackingStore\StoreManager.cs" />
     <Compile Include="agvClient\AgvClient.cs" />
     <Compile Include="device\halcon\CodeManager.cs" />

source/DeviceLibrary/StoreConfig/BoxConfig_1.csv

@@ -129,6 +129,6 @@ PRO,每次吹气的时间（分钟）,BlowAir_Time,10,,,,,,,
 PRO,两次吹气间隔（分钟）,BlowAir_Interval,10,,,,,,,
 ,,,,,,,,,,
 PRO,温湿度端口号,Humiture_Port,COM2,,,,,,,
-PRO,扫码的相机名称(多个用#分隔),CameraNameList,,,,,,,,
+PRO,扫码的相机名称(多个用#分隔),CameraNameList,CameraName,,,,,,,
 PRO,RFID读卡器IP,RFID_IP,192.168.106.101,,,,,,,
 PRO,是否是调试状态,IsInDebug,1,,,,,,,

source/DeviceLibrary/StoreConfig/BoxConfig_2.csv

@@ -128,7 +128,7 @@ PRO,每次吹气的时间（分钟）,BlowAir_Time,10,,,,,,,
 PRO,两次吹气间隔（分钟）,BlowAir_Interval,10,,,,,,,
 PRO,温湿度端口号,Humiture_Port,COM2,,,,,,,
 ,,,,,,,,,,
-PRO,扫码的相机名称(多个用#分隔),CameraNameList,,,,,,
+PRO,扫码的相机名称(多个用#分隔),CameraNameList,CameraName,,,,,,,
 PRO,RFID读卡器IP,RFID_IP,192.168.106.102,,,,,,,
 PRO,是否是调试状态,IsInDebug,1,,,,,,,
 

source/DeviceLibrary/store/AutoInoutInfo.cs

@@ -83,7 +83,7 @@ namespace OnlineStore.DeviceLibrary
                             boxBean.LogInfo("自动进入下一个出库：posid=" + posid + ",当时已经出入库" + CurrInOutACount + "次，需要重置BOX，先把出库信息存入排队列表中");
                             boxBean.Reset(false);
                             autoMsg = "自动出库：" + posid;
-                            boxBean.AddWaitOutInfo(new InOutParam("", posid, shelfPosId));
+                            boxBean.waitOutStoreList.Enqueue(new InOutParam("", posid, shelfPosId));
                         } 
                         else
                         {
@@ -119,7 +119,7 @@ namespace OnlineStore.DeviceLibrary
                             boxBean.LogInfo("自动进入下一个入库：posid=" + posid + ",当时已经出入库" + CurrInOutACount + "次，需要重置BOX，先把入库信息存入排队列表中");
                             boxBean.Reset(false);
                             autoMsg = "自动入库：" + posid;
-                            boxBean.AddWaitOutInfo(new InOutParam("AAAA", posid, shelfPosId));
+                            boxBean.waitOutStoreList.Enqueue(new InOutParam("AAAA", posid, shelfPosId));
                         } 
                         else
                         {

source/DeviceLibrary/store/InOutParam.cs

@@ -34,7 +34,7 @@ namespace OnlineStore.DeviceLibrary
             MoveP = null;
             IsSolderPaste = false;
         }
-        public InOutParam(string wareNo, string posId,string plateH,string plateW, string ShelfPosID="")
+        public InOutParam(string wareNo, string posId,string plateH,string plateW, string ShelfPosID )
         {
             this.ShelfPosID = ShelfPosID;
             WareCode = wareNo;
@@ -50,6 +50,8 @@ namespace OnlineStore.DeviceLibrary
             PosID = posId;
             MoveP = linePosition;
             IsSolderPaste = false;
+            NeedEnterShelf = false;
+            NeedOutShelf = false;
         }  
         /// <summary>
         /// 物品二维码信息

source/DeviceLibrary/store/KTK_Store.cs

@@ -67,8 +67,7 @@ namespace OnlineStore.DeviceLibrary
         /// 是否没有检测到气压
         /// </summary>
         public bool isNoAirCheck = false;
-
-        //protected int NeedCheckSafetyLight = 0;
+         
         /// <summary>
         /// 是否再报警中
         /// </summary>
@@ -142,7 +141,7 @@ namespace OnlineStore.DeviceLibrary
                         isInPro = false;
                         break;
                     case StoreMoveType.ReturnHome:
-                        ReturnHomeProcess();
+                        ResetProcess();
                         isInPro = false;
                         break;
                     case StoreMoveType.StoreReset:
@@ -226,10 +225,7 @@ namespace OnlineStore.DeviceLibrary
         /// 重置处理
         /// </summary>
         protected abstract void ResetProcess();
-        /// <summary>
-        /// 原点返回处理
-        /// </summary>
-        protected abstract void ReturnHomeProcess();
+        
 
         /// <summary>
         /// 松下伺服轴原点返回运动，等待收到反馈后才会返回
@@ -474,7 +470,7 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 阻塞等待IO信号，等到返回true,未等到返回false
         /// </summary>c
-        public bool WaitIo(string ioType, IO_VALUE value, int timeOut, string errName = "")
+        protected bool WaitIo(string ioType, IO_VALUE value, int timeOut, string errName = "")
         {
             return WaitUtil.Wait(timeOut, delegate () {
                 return value.Equals(IOValue(ioType));
@@ -484,6 +480,12 @@ namespace OnlineStore.DeviceLibrary
         {
             LogUtil.info(Name + logInfo);
         }
+        protected void InOutStoreLog(string msg)
+        {
+            string posId = MoveInfo.MoveParam != null ? MoveInfo.MoveParam.PosID : "";
+            string shelfId = MoveInfo.MoveParam != null ? "_" + MoveInfo.MoveParam.ShelfPosID : "_";
+            LogInfo("[" + posId + shelfId + "]" + MoveInfo.MoveStep + ":" + msg);
+        }
         protected int GetAlarmCodeByAxis(ConfigMoveAxis axis)
         {
             int alarmCode = LineAlarm.InOutAxisAlarm;

source/DeviceLibrary/store/StoreStep.cs

@@ -115,7 +115,7 @@ namespace OnlineStore.DeviceLibrary
         /// 无操作，等待状态
         /// </summary>
         Wait = 0,
-        #region 料仓原点返回和重置步骤  010开始
+        #region 料仓原点返回和重置步骤  0010开始
         /// <summary>
         /// BOX复位：线体停止，入料移门关闭，NG料口关闭
         /// </summary>
@@ -154,330 +154,244 @@ namespace OnlineStore.DeviceLibrary
         BOX_H56_TOP1_OtherAxisToP1 = 56,
         #endregion
 
-
-        #region 料仓内部出库步骤  10101开始
+        #region 料架进入料仓步骤 1000开始
         /// <summary>
-        ///料仓出库，，定位气缸下降
+        /// 通知agv准备带料架小车
         /// </summary>
-        SO_31_LocationCylinderDown =10131,
+        BI_01_ReadyShelf=1001,
         /// <summary>
-        ///料仓出库：叉子先运动到P1
+        /// 料架入库：入料口移门打开
         /// </summary>
-        SO_32_DeviceBack =10132,
+        BI_02_DoorOpen = 1002,
 
         /// <summary>
-        ///  料仓出库，，所有轴运行到库位，  轴4（ 压紧） 至P3(压紧前点) ,轴1（ 转盘） 至P2（ 库位点）,轴2(上下） 至P5(库位出库前点） 
+        /// 料架入库：线体正转
         /// </summary>
-        SO_33_ToBagPosition =10133,
+        BI_03_LineRun = 1003,
         /// <summary>
-        ///  料仓出库，，叉子进入库位中，  轴3（ 叉子） 至P3(库位取放料点）
+        /// 料架入库：取料位检测到信号，停止线体正转
         /// </summary>
-        SO_34_DeviceToBag =10134,
-
+        BI_04_LineStop = 1004,
         /// <summary>
-        ///料仓出库，， 库位的物品放入叉子上，轴2（ 上下） 至P6（ 库位出料缓冲点），轴4（ 压紧） 至P2(压紧点)
+        /// 料架入库：入料口移门关闭
         /// </summary>
-        SO_35_BagWareToDevice =10135,
-
+        BI_05_DoorClose = 1005,
         /// <summary>
-        ///料仓出库，，叉子从 库位返回，轴3（ 叉子） 至P1（ 待机点）
+        /// 料架入库：定位装置上升
         /// </summary>
-        SO_36_BagDeviceBack =10136,
-
+        BI_06_LocationUp = 1006,
         /// <summary>
-        /// 料仓出库，定位气缸伸出（有压紧轴的不需要此步骤 ）
+        /// 料架入库：顶升装置上升
         /// </summary>
-        SO_37_LocationCylinder_Up =10137,
+        BI_07_TopCylinderUp = 1007,
 
-        /// <summary>
-        /// 料仓出库，走到料架位置，旋转轴至P101，升降轴至P102,  
-        /// </summary>
-        SO_38_ToShelfPosition = 10138,
+        #endregion
+
+        #region 出库步骤  2000开始
 
+      
+         
         /// <summary>
-        /// 料仓出库，定位气缸退回（有压紧轴的不需要此步骤），，定位气缸退回(Y104-1/PCI5O1-84)  (Y104-2/PCI5O1-91)   (Y104-2/PCI5O1-96)   退回到位
+        ///料仓出库，，定位气缸下降
         /// </summary>
-        SO_39_LocationCylinder_Down =10139,
+        SO_01_LocationCylinderDown = 2001,
         /// <summary>
-        /// 等待门口无料盘
+        ///料仓出库：叉子先运动到P1
         /// </summary>
-        SO_40_WaitNoTray =10140,
+        SO_02_DeviceBack = 2002,
 
         /// <summary>
-        /// 料仓出库，叉子到料架，进出轴至P101
-        /// /// </summary>
-        SO_41_DeviceToShelf = 10141,
-        /// <summary>
-        /// 料仓出库，，把物品放下，压紧轴到P1，升降轴至P101
+        ///  料仓出库，，所有轴运行到库位，  轴4（ 压紧） 至P3(压紧前点) ,轴1（ 转盘） 至P2（ 库位点）,轴2(上下） 至P5(库位出库前点） 
         /// </summary>
-        SO_42_DevicePutWare = 10142,
+        SO_03_ToBagPosition = 2003,
         /// <summary>
-        /// 料仓出库，，叉子从出料口返回，，轴3（ 叉子） 动作至P1（ 待机点）
+        ///  料仓出库，，叉子进入库位中，  轴3（ 叉子） 至P3(库位取放料点）
         /// </summary>
-        SO_43_DeviceOutFromDoor =10143,
+        SO_04_DeviceToBag = 2004,
 
         /// <summary>
-        /// 料仓出库，，升降轴返回，，  轴2至P1（ 待机点）
+        ///料仓出库，， 库位的物品放入叉子上，轴2（ 上下） 至P6（ 库位出料缓冲点），轴4（ 压紧） 至P2(压紧点)
         /// </summary>
-        SO_44_GoBack =10144,
-        
-       
+        SO_05_BagWareToDevice = 2005,
 
         /// <summary>
-        /// 送出料架：顶升气缸下降
-        /// </summary>
-        SO_51_TopCylinder_Down = 10151,
-        /// <summary>
-        /// 送出料架：定位气缸下降
-        /// </summary>
-        SO_52_LocatinCylinder_Down = 10152,
-        /// <summary>
-        /// 送出料架：打开仓门
-        /// </summary>
-        SO_53_DoorOpen = 10153,
-        /// <summary>
-        /// 送出料架：线体反转
+        ///料仓出库，，叉子从 库位返回，轴3（ 叉子） 至P1（ 待机点）
         /// </summary>
-        SO_54_LineBack = 10154,
+        SO_06_BagDeviceBack = 2006,
+
         /// <summary>
-        /// 送出料架：等待取料工位无信号，入料口有信号
+        /// 料仓出库，定位气缸伸出（有压紧轴的不需要此步骤 ）
         /// </summary>
-        SO_55_WaitInLineSingle = 10155,
+        SO_07_LocationCylinder_Up = 2007,
+
         /// <summary>
-        /// 送出料架：再转动300时间
+        /// 料仓出库，走到料架位置，旋转轴至P20，升降轴至P102,  
         /// </summary>
-        SO_56_WaitTime = 10156,
-
-        #endregion
-
-        #region 料仓内部入库步骤  20500
-        ///// <summary>
-        ///// 入库检测
-        ///// </summary>
-        //SI_00_TrayCheck = 20500,
-        ///// <summary>
-        ///// 入库，。定位气缸下降
-        ///// </summary>
-        //SI_01_LocationCylinderDown =20501,
-        ///// <summary>
-        ///// 入库。。进出轴（叉子）先返回P1
-        ///// </summary>
-        //SI_02_InOutAxisHome =20502,
-        ///// <summary>
-        ///// 入库。。所有轴先回到待机点，轴2、轴1 动作到P1,，轴4动作至P3
-        ///// </summary>
-        //SI_03_ReturnHome =20503,
-        ///// <summary>
-        ///// 入库。。压紧物品（有压紧轴的才需要此步骤），轴4（ 压紧） 至P3(压紧前点)
-        ///// </summary>
-        //SI_04_CompressWare =20504,
-        ///// <summary>
-        ///// 入库。。叉子进入入料口，轴3（ 叉子） 至P2（ 进料口取料点）
-        ///// </summary>
-        //SI_05_DeviceToDoor =20505,
-        ///// <summary>
-        ///// 入库。。把物品放入叉子上，轴2（ 上下） 至P7（ 进料口取料缓冲点）,压紧物品（有压紧轴的才需要此步骤），轴4（ 压紧） 至P2(压紧点)
-        ///// </summary>
-        //SI_06_DoorWarToDevice =20506,
+        SO_08_ToShelfPosition = 2008,
 
-        ///// <summary>
-        ///// 入库。。叉子 从入料口抽出，轴3（ 叉子） 至P1（ 待机点）
-        ///// </summary>
-        //SI_07_DeviceBackFromDoor =20507,
-        ///// <summary>
-        ///// 入库。。，定位气缸伸出 (有压紧轴的不需要此步骤) 
-        ///// </summary>
-        //SI_08_LocationCylinder_Up =20508,
-        ///// <summary>
-        ///// 入库。。移动到库位点，轴1（ 转盘） 至P2（ 库位点）轴2(上下） 至P3(库位入库前点）
-        ///// </summary>
-        //SI_09_MoveToBag =20509,
-        ///// <summary>
-        ///// 入库。。定位气缸退回 （有压紧轴的不需要此步骤）
-        ///// </summary>
-        //SI_10_LocationCylinder_Down =20510,
-        ///// <summary>
-        ///// 入库。。叉子进入库位中，轴3（ 叉子） 至P3(库位取放料点）
-        ///// </summary>
-        //SI_11_DeviceToBag =20511,
-        ///// <summary>
-        ///// 入库。。放下物品，轴2（ 上下） 至P4（ 库位入料缓冲点）轴4（ 压紧） 至P3（ 压紧前点）
-        ///// </summary>
-        //SI_12_PutWareToBag =20512,
-        ///// <summary>
-        ///// 入库。。叉子从库位中返回，轴3（ 叉子） 动作至P1（ 待机点）
-        ///// </summary>
-        //SI_13_DeviceBackFromBag =20513,
-        ///// <summary>
-        ///// 入库。。返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始
-        ///// </summary>
-        //SI_14_GoBack =20514,
-
-        #endregion
-
-        #region 料架入库步骤，20001开始
         /// <summary>
-        /// 料架入库：检测到线体入料口信号
+        /// 料仓出库，定位气缸退回（有压紧轴的不需要此步骤），，定位气缸退回(Y104-1/PCI5O1-84)  (Y104-2/PCI5O1-91)   (Y104-2/PCI5O1-96)   退回到位
         /// </summary>
-        BI_01_LineIn_Check = 20001,
+        SO_09_LocationCylinder_Down = 2009,
         /// <summary>
-        /// 料架入库：入料口移门打开
+        /// 等待门口无料盘
         /// </summary>
-        BI_02_DoorOpen = 20002,
+        SO_10_WaitNoTray = 2010,
 
         /// <summary>
-        /// 料架入库：线体正转
-        /// </summary>
-        BI_03_LineRun = 20003,
-        /// <summary>
-        /// 料架入库：取料位检测到信号，停止线体正转
-        /// </summary>
-        BI_04_LineStop = 20004,
+        /// 料仓出库，叉子到料架，进出轴至P20
+        /// /// </summary>
+        SO_11_DeviceToShelf = 2011,
         /// <summary>
-        /// 料架入库：入料口移门关闭
+        /// 料仓出库，，把物品放下，压紧轴到P1，升降轴至P20
         /// </summary>
-        BI_05_DoorClose = 20005,
+        SO_12_DevicePutWare = 2012,
         /// <summary>
-        /// 料架入库：定位装置上升
+        /// 料仓出库，，叉子从出料口返回，，轴3（ 叉子） 动作至P1（ 待机点）
         /// </summary>
-        BI_06_LocationUp = 20006,
+        SO_13_DeviceOutFromDoor = 2013,
+
         /// <summary>
-        /// 料架入库：顶升装置上升
+        /// 料仓出库，，升降轴返回，，  轴2至P1（ 待机点）
         /// </summary>
-        BI_07_TopCylinderUp = 20007,
+        SO_14_GoBack = 2044,
 
+       
 
+        #endregion
+          
+        #region 料架入库步骤，3000开始
         /// <summary>
         /// 料架入库：开始循环从第一个空位逐个取料盘，扫码入库
         /// </summary>
-        BI_08_StartGetTray= 20008,
+        BI_08_StartGetTray = 20008,
 
         /// <summary>
         /// 料架取料：叉子后退到待机点P1
         /// </summary>
-        BI_11_InoutToP1 = 20111,
+        BI_11_InoutToP1 = 3011,
         /// <summary>
         /// 料架取料：升降轴移动到P101低点，旋转轴移动到P101点，压紧轴到压紧前点
         /// </summary>
-        BI_12_MoveToShelf = 20112,
+        BI_12_MoveToShelf = 3012,
         /// <summary>
         /// 料架取料：叉子前进到P101点
         /// </summary>
-        BI_13_InoutToP101 = 20113,
+        BI_13_InoutToP101 = 3013,
         /// <summary>
         /// 料架取料：升降轴上升到P102点
         /// </summary>
-        BI_14_UpdownToP102 = 20114,
+        BI_14_UpdownToP102 = 3014,
         /// <summary>
         /// 料架取料：压紧轴开始缓慢压紧
         /// </summary>
-        BI_15_StartCompress = 20115,
+        BI_15_StartCompress = 3015,
         /// <summary>
         /// 料架取料：检测到料叉压紧确认信号，再次向下压紧指定的值
         /// </summary>
-        BI_16_ComAxisDownMove = 20116,
+        BI_16_ComAxisDownMove = 3016,
         /// <summary>
         /// 料架取料：记录压紧高度，叉子后退到扫码点
         /// </summary>
-        BI_17_InoutBack = 20117,
+        BI_17_InoutBack = 3017,
         /// <summary>
         /// 料架取料：记录宽度，开始扫码
         /// </summary>
-        BI_18_ScanCode = 20118,
+        BI_18_ScanCode = 3018,
         /// <summary>
         /// 料架取料：扫码成功，从服务器获取库位号
         /// </summary>
-        BI_19_GetPosId = 20119,
+        BI_19_GetPosId = 3019,
         /// <summary>
         /// 料架取料: 获取库位号完成，设置位置参数，开始入库
         /// </summary>
-        BI_20_SetInstoreParam= 20120,
+        BI_20_SetInstoreParam= 3020,
         
         /// <summary>
         /// 入库。。移动到库位点，轴1（ 转盘） 至P2（ 库位点）轴2(上下） 至P3(库位入库前点）
         /// </summary>
-        BI_21_MoveToBag = 20121, 
+        BI_21_MoveToBag = 3021, 
         /// <summary>
         /// 入库。。叉子进入库位中，轴3（ 叉子） 至P3(库位取放料点）
         /// </summary>
-        BI_22_DeviceToBag = 20122,
+        BI_22_DeviceToBag = 3022,
         /// <summary>
         /// 入库。。放下物品，轴2（ 上下） 至P4（ 库位入料缓冲点）轴4（ 压紧） 至P3（ 压紧前点）
         /// </summary>
-        BI_23_PutWareToBag = 20123,
+        BI_23_PutWareToBag = 3023,
         /// <summary>
         /// 入库。。叉子从库位中返回，轴3（ 叉子） 动作至P1（ 待机点）
         /// </summary>
-        BI_24_DeviceBackFromBag = 20124,
+        BI_24_DeviceBackFromBag = 3024,
         /// <summary>
         /// 入库。。返回待机点，轴2/轴1/轴4动作至P1（ 待机点）)开始
         /// </summary>
-        BI_25_GoBack = 20125,
+        BI_25_GoBack = 3025,
 
         /// <summary>
         /// 送出料盘：扫码或获取库位失败，升降轴移动到NG料门口上端，旋转轴移动到NG料门口
         /// </summary>
-        BI_31_ToNGDoor=20131,
+        BI_31_ToNGDoor=3031,
         /// <summary>
         /// 送出料盘：NG料口升降门上升
         /// </summary>
-        BI_32_NGDoorUp = 20132,
+        BI_32_NGDoorUp = 3032,
         /// <summary>
         /// 送出料盘：进出轴前进到NG料门口位置
         /// </summary>
-        BI_33_InoutToNGDoor = 20133,
+        BI_33_InoutToNGDoor = 3033,
         /// <summary>
         /// 送出料盘：升降轴缓慢下降，放下料盘
         /// </summary>
-        BI_34_UpdownDown= 20134,
+        BI_34_UpdownDown= 3034,
         /// <summary>
         /// 送出料盘：叉子后退到P1
         /// </summary>
-        BI_35_InoutToP1 = 20135,
+        BI_35_InoutToP1 = 3035,
         /// <summary>
         /// 送出料盘：关门NG料门，送出料盘结束
         /// </summary>
-        BI_36_NGDoorDown = 20136,
+        BI_36_NGDoorDown = 3036,
         #endregion
 
-        #region 把料架送出步骤 21000开始
+        #region 把料架送出步骤 4000开始
 
         /// <summary>
-        /// 送出料架：顶升气缸下降
+        /// 送出空料架：顶升气缸下降
         /// </summary>
-        BS_01_TopCylinder_Down=21001,
+        BS_01_TopCylinder_Down=4001,
         /// <summary>
-        /// 送出料架：定位气缸下降
+        /// 送出空料架：定位气缸下降
         /// </summary>
-        BS_02_LocatinCylinder_Down = 21002, 
+        BS_02_LocatinCylinder_Down = 4002, 
         /// <summary>
-        /// 送出料架：打开仓门
+        /// 送出空料架：打开仓门
         /// </summary>
-        BS_03_DoorOpen = 21003, 
+        BS_03_DoorOpen = 4003, 
         /// <summary>
-        /// 送出料架：线体反转
+        /// 送出空料架：线体反转
         /// </summary>
-        BS_04_LineBack= 21004,
+        BS_04_LineBack= 4004,
         /// <summary>
-        /// 送出料架：等待取料工位无信号，入料口有信号
+        /// 送出空料架：等待取料工位无信号，入料口有信号
         /// </summary>
-        BS_05_WaitInLineSingle = 21005,
+        BS_05_WaitInLineSingle = 4005,
         /// <summary>
-        /// 送出料架：再转动300时间
+        /// 送出空料架：再转动300时间
         /// </summary>
-        BS_06_WaitTime = 21006,
+        BS_06_WaitTime = 4006,
         ///// <summary>
-        ///// 送出料架：停止转动 
+        ///// 送出空料架：停止转动 
         ///// </summary>
-        //BS_07_LineStop= 21007,
+        //BS_07_LineStop= 4007,
         ///// <summary>
-        ///// 送出料架：通知调度系统拿走
+        ///// 送出空料架：通知调度系统拿走
         ///// </summary>
-        //BS_08_CallAGV = 21008,
+        //BS_08_CallAGV = 4008,
         ///// <summary>
-        ///// 送出料架：关闭仓门
+        ///// 送出空料架：关闭仓门
         ///// </summary>
-        //BS_09_CloseDoor= 21009,
+        //BS_09_CloseDoor= 4009,
         #endregion
 
     }

source/DeviceLibrary/store/model/StoreMoveInfo.cs

@@ -156,88 +156,81 @@ namespace OnlineStore.DeviceLibrary
     {
         private WaitResultInfo()
         {
+            IsEnd = false;
+            CanWhileMoveCount = 0;
         }
 
         public static  WaitResultInfo WaitIO(string ioType, IO_VALUE ioValue)
         {
-            WaitResultInfo wait = new WaitResultInfo();
-            wait.CanWhileMoveCount = 0;
-            wait.WaitType = 2;
+            WaitResultInfo wait = new WaitResultInfo(); 
+            wait.WaitType = WaitEnum.W002_IOValue;
             wait.IoType = ioType;
-            wait.IoValue = ioValue;
-            wait.IsEnd = false;
+            wait.IoValue = ioValue; 
             return wait;
         }
         public static WaitResultInfo WaitAxis(ConfigMoveAxis axis,int targetPosition,int targetSpeed )
         {
-            WaitResultInfo wait = new WaitResultInfo();
-            wait.CanWhileMoveCount = 0;
-            wait.WaitType = 1;
+            WaitResultInfo wait = new WaitResultInfo(); 
+            wait.WaitType = WaitEnum.W001_AxisMove;
             wait.AxisInfo = axis;
             wait.IsHomeMove = false;
             wait.TargetPosition = targetPosition;
-            wait.TargetSpeed = targetSpeed;
-            wait.IsEnd = false;
+            wait.TargetSpeed = targetSpeed; 
             return wait;
         }
         public static WaitResultInfo WaitAxis(ConfigMoveAxis axis, bool isHomeMove)
         {
-            WaitResultInfo wait = new WaitResultInfo();
-            wait.CanWhileMoveCount = 0;
-            wait.WaitType = 1;
+            WaitResultInfo wait = new WaitResultInfo(); 
+            wait.WaitType = WaitEnum.W001_AxisMove;
             wait.AxisInfo = axis;
-            wait.IsHomeMove = true;
-            wait.IsEnd = false;
-            return wait;
-        }
-        public static WaitResultInfo WaitStell(byte slvAddr, int targetPosition, int speed)
-        {
-            WaitResultInfo wait = new WaitResultInfo();
-            wait.CanWhileMoveCount =10;
-            wait.WaitType = 4;
-            wait.SlvAddr = slvAddr;
-            wait.IsHomeMove = false;
-            wait.TargetPosition = targetPosition;
-            wait.TargetSpeed = speed;
-            wait.IsEnd = false;
-            return wait;
-        }
-         public static WaitResultInfo WaitStellHome(byte slvAddr, int targetPosition, int speed)
-        {
-            WaitResultInfo wait = new WaitResultInfo();
-            wait.CanWhileMoveCount = 10;
-            wait.WaitType = 4;
-            wait.SlvAddr = slvAddr;
-            wait.IsHomeMove = true;
-            wait.TargetPosition = 0;
-            wait.TargetSpeed = speed;
-            wait.IsEnd = false;
+            wait.IsHomeMove = true; 
             return wait;
         }
-         public static WaitResultInfo WaitShuoKe(int slvAddr, int targetPosition, bool isHome)
-         {
-             WaitResultInfo wait = new WaitResultInfo();
-             wait.CanWhileMoveCount = 0;
-             wait.WaitType = 5;
-             wait.SlvAddr =(byte) slvAddr;
-             wait.TargetPosition = targetPosition;
-             wait.IsHomeMove = isHome;
-             return wait;
-         }
+        //public static WaitResultInfo WaitStell(byte slvAddr, int targetPosition, int speed)
+        //{
+        //    WaitResultInfo wait = new WaitResultInfo();
+        //    wait.CanWhileMoveCount =10;
+        //    wait.WaitType = WaitEnum.W004_StellMove;
+        //    wait.SlvAddr = slvAddr;
+        //    wait.IsHomeMove = false;
+        //    wait.TargetPosition = targetPosition;
+        //    wait.TargetSpeed = speed; 
+        //    return wait;
+        //}
+        // public static WaitResultInfo WaitStellHome(byte slvAddr, int targetPosition, int speed)
+        //{
+        //    WaitResultInfo wait = new WaitResultInfo();
+        //    wait.CanWhileMoveCount = 10;
+        //    wait.WaitType = WaitEnum.W004_StellMove;
+        //    wait.SlvAddr = slvAddr;
+        //    wait.IsHomeMove = true;
+        //    wait.TargetPosition = 0;
+        //    wait.TargetSpeed = speed; 
+        //    return wait;
+        //}
+         //public static WaitResultInfo WaitShuoKe(int slvAddr, int targetPosition, bool isHome)
+         //{
+         //    WaitResultInfo wait = new WaitResultInfo();
+         //    wait.CanWhileMoveCount = 0;
+         //    wait.WaitType = WaitEnum.W005_ShuoKe;
+         //    wait.SlvAddr =(byte) slvAddr;
+         //    wait.TargetPosition = targetPosition;
+         //    wait.IsHomeMove = isHome;
+         //    return wait;
+         //}
         public static WaitResultInfo WaitTime(int MScends)
         {
             WaitResultInfo wait = new WaitResultInfo();
             wait.CanWhileMoveCount = 0;
-            wait.WaitType = 3;
+            wait.WaitType = WaitEnum.W003_Time;
             wait.TimeMSeconds = MScends;
             wait.IsEnd = false;
             return wait;
         }
         public static WaitResultInfo WaitAxisOrg(ConfigMoveAxis axis,IO_VALUE value )
         {
-            WaitResultInfo wait = new WaitResultInfo();
-            wait.CanWhileMoveCount = 0;
-            wait.WaitType = 6;
+            WaitResultInfo wait = new WaitResultInfo(); 
+            wait.WaitType = WaitEnum.W006_AxisOrg;
             wait.AxisInfo = axis;
             wait.IsHomeMove = true;
             wait.IoValue = value;
@@ -246,77 +239,73 @@ namespace OnlineStore.DeviceLibrary
         }
          public static WaitResultInfo WaitComAxis(ConfigMoveAxis axis, int targetPosition, int targetSpeed)
         {
-            WaitResultInfo wait = new WaitResultInfo();
-            wait.CanWhileMoveCount = 0;
-            wait.WaitType = 8;
+            WaitResultInfo wait = new WaitResultInfo(); 
+            wait.WaitType = WaitEnum.W008_Compress;
             wait.AxisInfo = axis;
             wait.IsHomeMove = false;
             wait.TargetPosition = targetPosition;
-            wait.TargetSpeed = targetSpeed;
-            wait.IsEnd = false;
+            wait.TargetSpeed = targetSpeed; 
             return wait;
         }
 
         internal static WaitResultInfo WaitCode()
         {
-            WaitResultInfo wait = new WaitResultInfo();
-            wait.CanWhileMoveCount = 0;
-            wait.WaitType = 9; 
-            wait.IsHomeMove = false; 
-            wait.IsEnd = false;
+            WaitResultInfo wait = new WaitResultInfo(); 
+            wait.WaitType = WaitEnum.W009_ScanCode; 
+            wait.IsHomeMove = false;  
             return wait;
         }
         public static WaitResultInfo WaitAgvAction(  int arrive)
         {
-            WaitResultInfo wait = new WaitResultInfo();
-            wait.CanWhileMoveCount = 0;
-            wait.WaitType = 10;
-            wait.TargetPosition = arrive;
-            wait.IsEnd = false;
+            WaitResultInfo wait = new WaitResultInfo(); 
+            wait.WaitType = WaitEnum.W010_AgvStatus;
+            wait.TargetPosition = arrive;  
             return wait;
         }
         public string ToStr()
         {
-            if (WaitType == 1)
+            if (WaitType.Equals(WaitEnum.W001_AxisMove))
             {
                 if (IsHomeMove)
                 {
-                    return "轴【" + AxisInfo.DisplayStr  + "】原点返回";
+                    return "轴【" + AxisInfo.DisplayStr + "】原点返回";
                 }
                 else
                 {
                     return "轴【" + AxisInfo.DisplayStr + "】绝对运动，目标位置【" + TargetPosition + "】";
                 }
             }
-            else if (WaitType == 2)
+            else if (WaitType.Equals(WaitEnum.W002_IOValue))
             {
-                return "IO信号等待，IO类型【" + IoType + "】,等待值【" + IoValue + "】";
+                return "等待【" + IoType + "】=【" + IoValue + "】";
             }
-            else if (WaitType == 3)
+            else if (WaitType.Equals(WaitEnum.W003_Time))
             {
                 return "时间等待：【" + TimeMSeconds + "】毫秒";
             }
-            else if (WaitType == 4)
+            else if (WaitType.Equals(WaitEnum.W004_StellMove))
             {
                 return "电钢目标位置：【" + TargetPosition + "】 ";
             }
-            else if (WaitType == 5)
+            else if (WaitType.Equals(WaitEnum.W005_ShuoKe))
             {
                 return "硕科电机目标位置：【" + TargetPosition + "】 ";
             }
-            else if (WaitType == 6)
+            else if (WaitType.Equals(WaitEnum.W006_AxisOrg))
             {
-                return "轴【" + AxisInfo.DisplayStr  + "】ORG信号：【" + IoValue + "】 ";
-            }else if (WaitType == 7)
+                return "轴【" + AxisInfo.DisplayStr + "】ORG信号：【" + IoValue + "】 ";
+            }
+            else if (WaitType.Equals(WaitEnum.W007_ReelHeight))
             {
                 return "料盘高度【" + TargetPosition + "】  ";
-            }else if (WaitType.Equals(8))
+            }
+            else if (WaitType.Equals(WaitEnum.W008_Compress))
             { 
                 return "压紧轴压紧到位";
-            }else if (WaitType.Equals(9))
+            }else if (WaitType.Equals(WaitEnum.W009_ScanCode))
             {
                 return "扫码完成";
-            }else if (WaitType.Equals(10))
+            }else if (WaitType.Equals(WaitEnum.W010_AgvStatus))
             {
                 return "agv小车状态：" + (Asa.Actions)TargetPosition;
             }
@@ -370,8 +359,51 @@ namespace OnlineStore.DeviceLibrary
         /// 是否已经结束
         /// </summary>
         public bool IsEnd{ get; set; }
-         
-  
+
+
+    }
+    internal class WaitEnum
+    {
+        /// <summary>
+        /// 伺服运动
+        /// </summary>
+        internal static int W001_AxisMove = 1;
+        /// <summary>
+        /// 信号到达
+        /// </summary>
+        internal static int W002_IOValue = 2;
+        /// <summary>
+        /// 时间等待
+        /// </summary>
+        internal static int W003_Time = 3;
+        /// <summary>
+        /// 电钢运动
+        /// </summary>
+        internal static int W004_StellMove = 4;
+        /// <summary>
+        /// 硕科电机
+        /// </summary>
+        internal static int W005_ShuoKe = 5;
+        /// <summary>
+        /// 轴原点信号
+        /// </summary>
+        internal static int W006_AxisOrg = 6;
+        /// <summary>
+        /// 料盘高度
+        /// </summary>
+        internal static int W007_ReelHeight = 7;
+        /// <summary>
+        /// 压紧轴压紧到位
+        /// </summary>
+        internal static int W008_Compress= 8;
+        /// <summary>
+        /// 扫码完成
+        /// </summary>
+        internal static int W009_ScanCode = 9;
+        /// <summary>
+        /// agv小车状态
+        /// </summary>
+        internal static int W010_AgvStatus = 10; 
     }
     public enum StoreMoveType
     {

source/LoadCVSLibrary/storeConfig/ConfigItemBase.cs

@@ -64,7 +64,7 @@ namespace OnlineStore.LoadCSVLibrary
         {
             if (String.IsNullOrEmpty(ProType) || String.IsNullOrEmpty(ProName) ||   String.IsNullOrEmpty(ProValue))
             {
-                throw new CVSFieldNotMatchingExection(ToString() + "，【类型：ProType】【名称：ProName】【属性值：ProVale】必须配置值！");
+                throw new CVSFieldNotMatchingExection(ToString() + "，【类型】【名称】【属性值】必须配置值！");
             }
         }
     }