入库完空料架等待30秒，有出库时出库

source/DeviceLibrary/PackingStore/AC_BOX_Bean_OutStore.cs

@@ -17,7 +17,7 @@ namespace OnlineStore.DeviceLibrary
     {
         private DateTime startOutStoreTime = DateTime.Now;
         public bool IsIgnoreComSig = false; //忽略料叉压紧信号
-        private void StartExecuctOut(InOutParam param)
+        private bool StartExecuctOut(InOutParam param)
         {
 
             bool result;
@@ -29,6 +29,7 @@ namespace OnlineStore.DeviceLibrary
                 LogInfo(" 执行出库【" + param.ToStr() + "】失败，加入等待队列");
                 waitOutStoreList.Enqueue(param);
             }
+            return result;
         }
 
         /// <summary>
@@ -412,8 +413,13 @@ namespace OnlineStore.DeviceLibrary
                 if (hasShelf)
                 {
                     string LastRfidID = GetLastRfid();
-                    //    if (IsRightShelfId(CurrShelfID, MoveInfo.MoveParam.realRfid))
-                    if (MoveInfo.MoveParam.rfid.Equals(LastRfidID))
+                    if (IsRightShelfId(LastRfidID, MoveInfo.MoveParam.realRfid))
+                    {
+                        LogRunStepInfo($"【LastRfidID={LastRfidID}】【{MoveInfo.MoveParam.rfid}】 料架未使用，开始取料");
+                        SO_03_ToBagPosition();
+                        return;
+                    }
+                    else if (MoveInfo.MoveParam.rfid.Equals(LastRfidID))
                     {
                         //if(MoveInfo.MoveParam.cutReel || MoveInfo.MoveParam.urgentReel)
                         //{
@@ -688,7 +694,25 @@ namespace OnlineStore.DeviceLibrary
                 LogUtil.error(Name + " 出库处理，moveStatus=" + MoveInfo.MoveStep + "，没有对应的处理！");
             }
         }
-
+        bool IsRightShelfId(string curShelfId,string xuniId)
+        {
+            if(string.IsNullOrEmpty(curShelfId) || curShelfId.StartsWith("0"))
+            {
+                LogRunStepInfo($"当前料架号为空，无法出库");
+                return false;
+            }
+            if(string.IsNullOrEmpty(xuniId))
+            {
+                LogRunStepInfo($"当前虚拟rfid为空，无法出库");
+                return false;
+            }
+           if(string.IsNullOrEmpty(StoreManager.FindRealRfidByTempRfid(xuniId)))
+            {
+                LogRunStepInfo($"当前虚拟rfid={xuniId}未出库，可以使用{curShelfId}出库");
+                return true;
+            }
+            return false;
+        }
         //private void SO_06_StartCompress()
         //{
         //    //如果检测信号亮或者当前位置大于P4，直接走相对位置

source/DeviceLibrary/PackingStore/AC_BOX_Bean_Shelf.cs

@@ -184,7 +184,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 if (instoreShelf)
                 {
-                    if (!IgnoreEmptySig()&&CheckShelfIsEmpty())//空料架
+                    if (!IgnoreEmptySig() && CheckShelfIsEmpty())//空料架
                     {
                         LogRunStepInfo(moveName + "检测到料架为空料架，不进行入库，即将送出料架");
                         StartShelfOut();
@@ -215,7 +215,7 @@ namespace OnlineStore.DeviceLibrary
                 }
                 else
                 {
-                    if(IgnoreEmptySig())
+                    if (IgnoreEmptySig())
                     {
                         SO_03_ToBagPosition();
                     }
@@ -264,13 +264,11 @@ namespace OnlineStore.DeviceLibrary
             if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
             {
                 string mark = GetMarkInfo();
-                LogRunStepInfo("送出[" + CurrShelfID + "][" + mark + "]：顶升下降,调用 NeedLeave[" + mark + "][" + CurrShelfID + "] ");
-                AgvClient.NeedLeave(Config.AgvNodeName, mark, CurrShelfID);
+                LogRunStepInfo("送出出库料架[" + CurrShelfID + "][" + mark + "]：顶升下降[" + mark + "][" + CurrShelfID + "] ");
             }
             else
             {
-                LogRunStepInfo("送出空料架[" + CurrShelfID + "]：顶升下降,调用 NeedLeave[0][" + CurrShelfID + "]，clearPutInRfid[" + CurrShelfID + "]");
-                AgvClient.NeedLeave(Config.AgvNodeName, "0", CurrShelfID);
+                LogRunStepInfo("送出空料架[" + CurrShelfID + "]：顶升下降[" + CurrShelfID + "]，clearPutInRfid[" + CurrShelfID + "]");
                 StoreManager.clearPutInRfid(Name, CurrShelfID);
                 ACAxisMove(Config.UpDown_Axis, Config.UpDownAxis_P1, Config.UpDownAxis_P1_Speed);
             }
@@ -290,10 +288,40 @@ namespace OnlineStore.DeviceLibrary
             //  LogCPU();
             if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_01_TopDown))
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.BS_02_LocatinDown);
-                LogRunStepInfo(moveName + "定位气缸下降");
+                if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
+                {
+                    MoveInfo.NextMoveStep(StoreMoveStep.BS_02_LocatinDown);
+                    LogRunStepInfo(moveName + "定位气缸下降");
+                }
+                else
+                {
+                    if (CheckShelfIsEmpty())
+                    {
+                        MoveInfo.NextMoveStep(StoreMoveStep.BS_02_1_CheckOutSotre);
+                        LogRunStepInfo(moveName + "是空料架，检查出库并等待30秒");
+                    }
+                    else
+                    {
+                        MoveInfo.NextMoveStep(StoreMoveStep.BS_02_LocatinDown);
+                        LogRunStepInfo(moveName + "不是空料架，定位气缸下降");
+                    }
+                }
                 // CylinderMove(MoveInfo, IO_Type.LocationCylinder_Up, IO_Type.LocationCylinder_Down);
             }
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_02_1_CheckOutSotre))
+            {
+                TimeSpan span = DateTime.Now - MoveInfo.LastSetpTime;
+                if (waitOutStoreList.Count > 0)
+                {
+                    LogRunStepInfo(moveName + "有出库任务，结束出空料架");
+                    MoveEndToRuningStatus();
+                }
+                else if (span.TotalSeconds > 30)
+                {
+                    MoveInfo.NextMoveStep(StoreMoveStep.BS_02_LocatinDown);
+                    LogRunStepInfo(moveName + "等待30秒无出库任务");
+                }
+            }
             else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_02_LocatinDown))
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.BS_03_WaitEmptyAgv);

source/DeviceLibrary/store/StoreStep.cs

@@ -558,6 +558,7 @@ namespace OnlineStore.DeviceLibrary
         /// 送出空料架：关闭仓门
         /// </summary>
         BS_11_CloseDoor = 4011,
+        BS_02_1_CheckOutSotre,
         #endregion
 
         #region 把紧急料送到紧急料箱