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LineBean_Partial.cs 34.0 KB
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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 LineBean
    {
        #region 定时处理方法 

        public bool LineCanRun()
        {
            //if (IOValue(IO_Type.Line_Run).Equals(IO_VALUE.HIGH))
            {
                return true;
            }
            return false;
        }

        public bool CanProcessLine(bool isCheckSleep = true)
        {
            if (runStatus<=LineRunStatus.Wait)
            {
                return true;
            }
            if (LineCanRun() &&
                IOManager.IOValue(IO_Type.DriveMotor_Run1, 0).Equals(IO_VALUE.HIGH) &&
                IOManager.IOValue(IO_Type.DriveMotor_Run2, 0).Equals(IO_VALUE.HIGH) &&
                IOManager.IOValue(IO_Type.DriveMotor_Run3, 0).Equals(IO_VALUE.HIGH) &&
                IOManager.IOValue(IO_Type.DriveMotor_Run4, 0).Equals(IO_VALUE.HIGH))
            {
                if (isCheckSleep)
                {
                    if (runStatus >= LineRunStatus.Runing && IsSleep.Equals(false))
                    {
                        return true;
                    }
                    else
                    {
                        return false;
                    }
                }
                return true;
            }
            return false;
        }
        /// <summary>
        /// 判断出料流水线是否可以开始出料
        /// </summary> 
        internal bool DLineStartOut(int dlineId, int LineNum)
        {
            foreach (DischargeLine line in DisLineMap.Values)
            {
                if ((line.DeviceID % 100).Equals(dlineId))
                {
                    if (line.CanStartOut(LineNum))
                    {
                        return true;
                    }
                }
            }
            return false;
        }
        internal bool DLineStopOut(int dlineId, int LineNum)
        {
            foreach (DischargeLine line in DisLineMap.Values)
            {
                if ((line.DeviceID % 100).Equals(dlineId))
                {
                    if (LineNum.Equals(1) && line.MoveInfo.MoveType.Equals(LineMoveType.OutStore))
                    {
                        line.MoveInfo.EndMove();
                    }
                    else if (LineNum.Equals(2) && line.SecondMoveInfo.MoveType.Equals(LineMoveType.OutStore))
                    {
                        line.SecondMoveInfo.EndMove();
                    }
                }
            }
            return false;
        }
        private bool isInprocess = false;
        private DateTime lastProTime = DateTime.Now;
        private void InOutTimerProcess()
        {
            TimeSpan span = DateTime.Now - lastProTime;
            if (isInprocess && span.TotalSeconds < 10)
            {
                return;
            }
            try
            {
                isInprocess = true;
                lastProTime = DateTime.Now;
                //出入料口条件： 各料仓无报警（ 伺服）， 各移栽装置处 于原位待机，  检测夹具IO，驱动电机运转 
                //if (!CanProcessLine(false))
                //{
                //    isWaitOutGo = false;
                //    isInprocess = false;
                //    return;
                //}

                //TODO  需要处理NG料盘推出

            }
            catch (Exception ex)
            {
                LogUtil.error("InOutTimerProcess出错：" + ex.ToString());
            }
            isInprocess = false;

        }
        /// <summary>
        /// 判断当前是否可以开始扫码
        /// </summary> 
        public bool CanScanCode()
        {
            //若有移栽在出库过程中，则不能扫码
            foreach (MoveEquip move in MoveEquipMap.Values)
            {
                List<InOutParam> ps = new List<InOutParam>(move.waitOutStoreList);
                if (move.MoveInfo.MoveType.Equals(LineMoveType.OutStore) || ps.Count > 0)
                {
                    return false;
                }
            }
            return true;
        }

        private DateTime preIoTimerOutTime = DateTime.Now;
        private void IOTimeOutProcess()
        {
            try
            {
                TimeSpan span = DateTime.Now - preIoTimerOutTime;
                if (span.TotalSeconds > 1 && alarmType.Equals(LineAlarmType.IoSingleTimeOut))
                {
                    preIoTimerOutTime = DateTime.Now;

                    if (runStatus < LineRunStatus.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.Equals(false) && SW41_MoveInfo.IsInWait.Equals(false) && SW23_MoveInfo.IsInWait.Equals(false))
                    {
                        LogUtil.info(Name + "清理信号超时报警【" + WarnMsg + "】 ");
                        alarmType = LineAlarmType.None;
                        SetWarnMsg("");
                    }
                }
            }
            catch (Exception ex)
            {
                LogUtil.error("IOTimeOutProcess出错：" + ex.ToString());
            }
        }
        private DateTime preRWTime = DateTime.Now;
        private void CheckWait(LineMoveInfo checkWaitInfo)
        {
            try
            {
                List<WaitResultInfo> list = checkWaitInfo.WaitList;
                if (list.Count <= 0)
                {
                    checkWaitInfo.EndStepWait();
                    return;
                }

                //当等待超过一分钟时，需要打印提示 
                TimeSpan span = DateTime.Now - checkWaitInfo.LastSetpTime;
                string NotOkMsg = "";
                bool isOk = true;
                if (checkWaitInfo.OneWaitCanEndStep)
                {
                    isOk = false;
                }
                foreach (WaitResultInfo wait in list)
                {
                    if (wait.IsEnd)
                    {
                        continue;
                    }
                    NotOkMsg = wait.ToStr();
                    if (wait.WaitType.Equals(WaitEnum.W002_IOValue))
                    {
                        NotOkMsg = " (" + Config.GetDisplayName(wait.IoType) + "=" + wait.IoValue + ") ";
                        wait.IsEnd = IOValue(wait.IoType).Equals(wait.IoValue);

                        if (!wait.IsEnd)
                        {
                            List<WriteIOInfo> wLists = checkWaitInfo.WriteIoList;
                            TimeSpan rwSpan = DateTime.Now - preRWTime;
                            if (span.TotalMilliseconds > LineManager.Config.IOSingle_TimerOut)
                            {
                                ConfigIO io = Config.getWaitIO(wait.IoType);

                                WarnMsg = Name + " 等待" + NotOkMsg + "超时";
                                Alarm(LineAlarmType.IoSingleTimeOut);
                                LogUtil.error(checkWaitInfo.Name + "：" + checkWaitInfo.MoveStep + "等待" + NotOkMsg + "超时", 14);

                                isOk = false;
                                break;
                            }
                            else if (rwSpan.TotalSeconds > 3 && span.TotalSeconds > 3 && (wLists != null) && wLists.Count > 0)
                            {
                                preRWTime = DateTime.Now;
                                string msg = checkWaitInfo.Name + "[" + checkWaitInfo.MoveStep + "]" + " 已等待 " + NotOkMsg + Math.Abs(span.TotalSeconds) + "秒，重写DO：";
                                foreach (WriteIOInfo ww in wLists)
                                {
                                    IOMove(ww.IoType, ww.IoValue);
                                    msg += "[" + ww.IoType + "=" + ww.IoValue + "],";
                                }
                                LogUtil.error(msg);
                            }
                        }
                    }
                    else if (wait.WaitType.Equals(WaitEnum.W003_Time))
                    {
                        wait.IsEnd = (span.TotalMilliseconds >= wait.TimeMSeconds);
                    }
                    else if (wait.WaitType.Equals(WaitEnum.W008_InStoreCheckOK))
                    {
                        string posId = checkWaitInfo.MoveParam.PosId;
                        int id = checkWaitInfo.MoveParam.GetStoreId();
                        wait.IsEnd = LineServer.RightInPosId(id, posId);
                    }
                    else if (wait.WaitType.Equals(WaitEnum.W009_BoxCanInstore))
                    {
                        int storeId = checkWaitInfo.MoveParam.GetStoreId();
                        wait.IsEnd = LineServer.BoxCanReviceTray(storeId);
                    }
                    if (wait.IsEnd && checkWaitInfo.OneWaitCanEndStep)
                    {
                        isOk = true;
                        break;
                    }
                    else if (!checkWaitInfo.OneWaitCanEndStep && wait.IsEnd.Equals(false))
                    {
                        isOk = false;
                        break;
                    }
                }
                if (isOk)
                {
                    checkWaitInfo.EndStepWait();
                }
                else if (span.TotalSeconds > checkWaitInfo.TimeOutSeconds)
                {
                    WarnMsg = checkWaitInfo.Name + "[" + checkWaitInfo.MoveStep + "][" + NotOkMsg + "]已等待[" + Math.Round(span.TotalSeconds, 1) + "]秒";
                    LogUtil.error(WarnMsg, 100);
                    Alarm(LineAlarmType.IoSingleTimeOut);
                }
            }
            catch (Exception ex)
            {
                LogUtil.error(checkWaitInfo.Name + " [" + checkWaitInfo.MoveStep + "] CheckWait 出错：" + ex.StackTrace);
            }
        }

        #endregion
        #region 扫码处理

        private void CodeProcess()
        {

        }
        #endregion

        #region 出库

        public override bool StartOutStoreMove(InOutParam param)
        {
            //阻挡气缸0-2下降
            runStatus = LineRunStatus.Busy;
            InOutLog("开始出库忙碌中[BUSY]");
            MoveInfo.NewMove(LineMoveType.OutStore, param);
            MoveInfo.NextMoveStep(LineMoveStep.LO_00_Wait100);
            return true;
        }
        protected override void OutStoreProcess()
        {
            if (!LineCanRun())
            {
                return;
            }
            if (MoveInfo.IsInWait)
            {
                CheckWait(MoveInfo);
            }
            if (MoveInfo.IsInWait)
            {
                return;
            }
        }
        #endregion

        #region 入库
        /// <summary>
        /// 开始入库移动移动
        /// </summary> 
        public override bool StartInStoreMove(InOutParam param)
        {
            //TODO:发送数据给服务器，获取需要入库的库位号，记录盘信息，料仓位置信息到缓存中 
            runStatus = LineRunStatus.Busy;
            InOutLog("开始入库忙碌中[BUSY]");
            MoveInfo.NewMove(LineMoveType.InStore);
            MoveInfo.NextMoveStep(LineMoveStep.LI_00_Wait100);
            MoveInfo.MoveParam = param;

            //等待料仓验证成功，最多等待10秒，若验证不成功，直接失败
            MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(10000));
            MoveInfo.WaitList.Add(WaitResultInfo.WaitCanInstore());
            MoveInfo.OneWaitCanEndStep = true;
            return true;

        }
        protected override void InStoreProcess()
        {
            if (!LineCanRun())
            {
                return;
            }
            if (MoveInfo.IsInWait)
            {
                CheckWait(MoveInfo);
            }
            if (MoveInfo.IsInWait)
            {
                return;
            }
        }

        #endregion

        #region IO操作
        private void InOutLog(string msg)
        {
            LogUtil.debug(Name + msg);
        }

        private bool IsDoValue(string ioType, IO_VALUE value)
        {
            if (IOManager.DOValue(ioType, 0).Equals(value))
            {
                return true;
            }
            return false;
        }

        #endregion


        #region 横移处理-
        /// <summary>
        /// 横移无处理
        /// </summary>
        /// <param name="sidesWayNum"></param>
        /// <returns></returns>
        internal bool SwNoProcess(int sidesWayNum)
        {
            if (sidesWayNum.Equals(1) || sidesWayNum.Equals(4))
            {
                if (SW41_MoveInfo.MoveType.Equals(LineMoveType.None))
                {
                    return true;
                }
            }
            else if (sidesWayNum.Equals(2) || sidesWayNum.Equals(3))
            {
                if (SW23_MoveInfo.MoveType.Equals(LineMoveType.None))
                {
                    return true;
                }
            }
            else
            {
                return true;
            }
            return false;
        }
        private static LineMoveInfo SW41_MoveInfo = null;
        private static LineMoveInfo SW23_MoveInfo = null;
         
        private void SideWayStop()
        {
            SideWay41IsWait = false;
            SideWay23IsWait = false;

            SW41_MoveInfo.EndMove();
            SW23_MoveInfo.EndMove();

            IOMove(IO_Type.SW1_MotorRun, IO_VALUE.LOW);
            IOMove(IO_Type.SW2_MotorRun, IO_VALUE.LOW);
            IOMove(IO_Type.SW3_MotorRun, IO_VALUE.LOW);
            IOMove(IO_Type.SW4_MotorRun, IO_VALUE.LOW);

        }
        private DateTime SideWay41Ntime = DateTime.Now;
        private bool SideWay41IsWait = false;
        private DateTime SideWay23Ntime = DateTime.Now;
        private bool SideWay23IsWait = false;


        private bool sdIsInprocess = false;
        private DateTime sdlastProTime = DateTime.Now;
        private void SideWayTimerProcess()
        {
            TimeSpan span = DateTime.Now - sdlastProTime;
            if (sdIsInprocess && span.TotalSeconds < 5)
            {
                return;
            }
            try
            {
                sdIsInprocess = true; sdlastProTime = DateTime.Now;
                //流水线转动中，并且在忙碌或出入库处理中，需要处理移栽
                if (!CanProcessLine())
                {
                    SideWay23IsWait = false;
                    SideWay41IsWait = false;
                    sdIsInprocess = false;
                    return;
                }
                if (SW41_MoveInfo.MoveType.Equals(LineMoveType.None))
                {


                    if (IOValue(IO_Type.SW4_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.SW1_TrayCheck).Equals(IO_VALUE.LOW) &&
                        TrayManager.CanMoveSidesWay(4) && TrayManager.CanMoveSidesWay(1))
                    {
                        TimeSpan span12 = DateTime.Now - SideWay41Ntime;
                        if (SideWay41IsWait && span12.TotalSeconds > 1)
                        {
                            // TrayManager.UpdateSWState(4, 2);
                            // TrayManager.UpdateSWState(1, 2);
                            SW41_MoveInfo.NewMove(LineMoveType.InStore);
                            SW41_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
                            SWLog("横移轨道41：定位气缸下降， 等待横移4托盘检测信号     ");
                            SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_TrayCheck, IO_VALUE.HIGH));
                            CylinderMove(SW41_MoveInfo, IO_Type.SW4_LocationCylinder_Up, IO_Type.SW4_LocationCylinder_Down);
                            CylinderMove(SW41_MoveInfo, IO_Type.SW1_LocationCylinder_Up, IO_Type.SW1_LocationCylinder_Down);
                        }
                        else if (!SideWay41IsWait)
                        {
                            SideWay41IsWait = true;
                            SideWay41Ntime = DateTime.Now;
                        }
                    }
                    else
                    {
                        SideWay41IsWait = false;
                    }
                }
                else
                {
                    SideWay41IsWait = false;
                    SideWay41BusyProcess();
                }

                if (SW23_MoveInfo.MoveType.Equals(LineMoveType.None))
                {

                    //检测到阻挡夹具信号后，阻挡气缸下降，等待有夹具信号，阻挡气缸上升，
                    //顶升气缸上升到位，开始流水线转动，检测到出口信号后，停止转动，顶升气缸下降，阻挡4下降，盘通过
                    if (IOValue(IO_Type.SW2_TrayCheck).Equals(IO_VALUE.HIGH) && IOValue(IO_Type.SW3_TrayCheck).Equals(IO_VALUE.LOW) &&
                        TrayManager.CanMoveSidesWay(2) && TrayManager.CanMoveSidesWay(3))
                    {
                        TimeSpan span34 = DateTime.Now - SideWay23Ntime;
                        if (SideWay23IsWait && span34.TotalSeconds > 1)
                        {
                            // TrayManager.UpdateSWState(2, 2);
                            //TrayManager.UpdateSWState(3, 2);
                            SW23_MoveInfo.NewMove(LineMoveType.InStore);
                            SW23_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
                            SWLog("横移轨道23：定位气缸下降， 等待横移4托盘检测信号     ");
                            SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_TrayCheck, IO_VALUE.HIGH));
                            CylinderMove(SW23_MoveInfo, IO_Type.SW2_LocationCylinder_Up, IO_Type.SW3_LocationCylinder_Down);
                            CylinderMove(SW23_MoveInfo, IO_Type.SW2_LocationCylinder_Up, IO_Type.SW3_LocationCylinder_Down);
                        }
                        else if (!SideWay23IsWait)
                        {
                            SideWay23IsWait = true;
                            SideWay23Ntime = DateTime.Now;
                        }
                    }
                    else
                    {
                        SideWay23IsWait = false;
                    }
                }
                else
                {
                    SideWay23IsWait = false;
                    SideWay23BusyProcess();
                }

            }
            catch (Exception ex)
            {
                LogUtil.error("SideWayTimerProcess 出错：" + ex.StackTrace);
            }
            sdIsInprocess = false;
        }

        private void SideWay41BusyProcess()
        {
            if (SW41_MoveInfo.IsInWait)
            {
                CheckWait(SW41_MoveInfo);
            }
            if (SW41_MoveInfo.IsInWait)
            {
                return;
            }
            if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW01_LocationCylinderDown))
            {
                SW41_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
                SWLog("横移轨道41： 等待横移4托盘检测信号     ");
                SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_TrayCheck, IO_VALUE.HIGH));
            }
            else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW02_WaitFixtureCheck))
            {
                SW41_MoveInfo.NextMoveStep(LineMoveStep.SW03_TopCylinderUp);
                SWLog("横移轨道41：顶升气缸上升  ,至少等待1000 ");
                SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                CylinderMove(SW23_MoveInfo, IO_Type.SW4_TopCylinder_Down, IO_Type.SW4_TopCylinder_Up);
                CylinderMove(SW23_MoveInfo, IO_Type.SW1_TopCylinder_Down, IO_Type.SW1_TopCylinder_Up);

            }
            else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW03_TopCylinderUp))
            {
                SW41_MoveInfo.NextMoveStep(LineMoveStep.SW04_DriveMotorMove);
                SWLog("横移轨道41：开始转动电机  ,等待1000，SW4_TrayCheck=0,  SW1_TrayCheck=1 ");
                IOMove(IO_Type.SW4_MotorRun, IO_VALUE.HIGH);
                IOMove(IO_Type.SW1_MotorRun, IO_VALUE.HIGH);
                SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_TrayCheck, IO_VALUE.HIGH));
                SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_TrayCheck, IO_VALUE.LOW));
            }
            else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW04_DriveMotorMove))
            {
                SW41_MoveInfo.NextMoveStep(LineMoveStep.SW05_WaitOutFixtureCheck);
                SWLog("横移轨道41：等待托盘到达出口     ");
                SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(800));
                SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_TrayCheck, IO_VALUE.HIGH));
            }
            else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW05_WaitOutFixtureCheck))
            {
                SW41_MoveInfo.NextMoveStep(LineMoveStep.SW06_WatOutFixture2);
                SWLog("横移轨道41：再次验证托盘是否在出口处     ");
                SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_TrayCheck, IO_VALUE.HIGH));

            }
            else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW06_WatOutFixture2))
            {
                SW41_MoveInfo.NextMoveStep(LineMoveStep.SW07_TopCylinderDown);
                SWLog("横移轨道41：托盘已到达出口，顶升气缸下降，判断入料1是否需要此托盘     ");
                CylinderMove(SW41_MoveInfo, IO_Type.SW4_TopCylinder_Up, IO_Type.SW4_TopCylinder_Down);
                if (!CheckTrayIsNeed(101))
                {
                    CylinderMove(SW41_MoveInfo, IO_Type.SW1_TopCylinder_Up, IO_Type.SW1_TopCylinder_Down);
                }
            }
            else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW07_TopCylinderDown))
            {
                if (CheckTrayIsNeed(101))
                {
                    SW41_MoveInfo.NextMoveStep(LineMoveStep.SW09_WaitTrayGo);
                    SWLog("横移轨道41：关闭皮带电机，不需要等待 托盘离开");
                    IOMove(IO_Type.SW4_MotorRun, IO_VALUE.LOW);
                    IOMove(IO_Type.SW1_MotorRun, IO_VALUE.LOW);
                    SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW4_MotorRun, IO_VALUE.LOW));
                    SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_MotorRun, IO_VALUE.LOW));
                }
                else
                {
                    SW41_MoveInfo.NextMoveStep(LineMoveStep.SW09_WaitTrayGo);
                    SWLog("横移轨道41：关闭皮带电机，等待SW1_TrayCheck=0，最多等待5秒，关闭横移电机 ");
                    IOMove(IO_Type.SW4_MotorRun, IO_VALUE.LOW);
                    IOMove(IO_Type.SW1_MotorRun, IO_VALUE.LOW);
                    SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW1_TrayCheck, IO_VALUE.LOW));
                    SW41_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
                    SW41_MoveInfo.OneWaitCanEndStep = true;
                }
            }
            else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW08_StopDrive))
            {

            }
            else if (SW41_MoveInfo.MoveStep.Equals(LineMoveStep.SW09_WaitTrayGo))
            {
                SW41_MoveInfo.EndMove();
                SWLog("横移轨道41：横移结束     ");
                TrayManager.UpdateSWState(4, 0);
                TrayManager.UpdateSWState(1, 0);
            }
        }
        private bool CheckTrayIsNeed(int deviceId)
        {
            //横移1对应入料1

            if (FeedingEquipMap.ContainsKey(deviceId))
            {
                FeedingEquip equip = FeedingEquipMap[deviceId];
                if (equip.runStatus >= LineRunStatus.Runing)
                {
                    if (equip.NeedCurrTray())
                    {
                        return true;
                    }
                }
            }
            return false;
        }
        private void SideWay23BusyProcess()
        {
            if (SW23_MoveInfo.IsInWait)
            {
                CheckWait(SW23_MoveInfo);
            }
            if (SW23_MoveInfo.IsInWait)
            {
                return;
            }
            if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW01_LocationCylinderDown))
            {
                SW23_MoveInfo.NextMoveStep(LineMoveStep.SW02_WaitFixtureCheck);
                SWLog("横移轨道23： 等待横移4托盘检测信号     ");
                SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_TrayCheck, IO_VALUE.HIGH));
            }
            else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW02_WaitFixtureCheck))
            {
                SW23_MoveInfo.NextMoveStep(LineMoveStep.SW03_TopCylinderUp);
                SWLog("横移轨道23：顶升气缸上升  ,至少等待1000 ");
                SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                CylinderMove(SW23_MoveInfo, IO_Type.SW2_TopCylinder_Down, IO_Type.SW2_TopCylinder_Up);
                CylinderMove(SW23_MoveInfo, IO_Type.SW3_TopCylinder_Down, IO_Type.SW3_TopCylinder_Up);

            }
            else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW03_TopCylinderUp))
            {
                SW23_MoveInfo.NextMoveStep(LineMoveStep.SW04_DriveMotorMove);
                SWLog("横移轨道23：开始转动电机  ,等待1000，SW2_TrayCheck=0,  SW3_TrayCheck=1 ");
                IOMove(IO_Type.SW2_MotorRun, IO_VALUE.HIGH);
                IOMove(IO_Type.SW3_MotorRun, IO_VALUE.HIGH);
                SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
                SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_TrayCheck, IO_VALUE.HIGH));
                SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_TrayCheck, IO_VALUE.LOW));
            }
            else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW04_DriveMotorMove))
            {
                SW23_MoveInfo.NextMoveStep(LineMoveStep.SW05_WaitOutFixtureCheck);
                SWLog("横移轨道23：等待托盘到达出口     ");
                SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(800));
                SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_TrayCheck, IO_VALUE.HIGH));
            }
            else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW05_WaitOutFixtureCheck))
            {
                SW23_MoveInfo.NextMoveStep(LineMoveStep.SW06_WatOutFixture2);
                SWLog("横移轨道23：再次验证托盘是否在出口处     ");
                SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
                SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_TrayCheck, IO_VALUE.HIGH));

            }
            else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW06_WatOutFixture2))
            {
                SW23_MoveInfo.NextMoveStep(LineMoveStep.SW07_TopCylinderDown);
                SWLog("横移轨道23：托盘已到达出口，顶升气缸下降     ");
                CylinderMove(SW23_MoveInfo, IO_Type.SW2_TopCylinder_Up, IO_Type.SW2_TopCylinder_Down);
                if (!CheckTrayIsNeed(104))
                {
                    CylinderMove(SW23_MoveInfo, IO_Type.SW3_TopCylinder_Up, IO_Type.SW3_TopCylinder_Down);
                }
            }
            else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW07_TopCylinderDown))
            {
                if (CheckTrayIsNeed(104))
                {
                    SW23_MoveInfo.NextMoveStep(LineMoveStep.SW09_WaitTrayGo);
                    SWLog("横移轨道41：关闭皮带电机，不需要等待 托盘离开");
                    IOMove(IO_Type.SW2_MotorRun, IO_VALUE.LOW);
                    IOMove(IO_Type.SW3_MotorRun, IO_VALUE.LOW);
                    SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW2_MotorRun, IO_VALUE.LOW));
                    SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_MotorRun, IO_VALUE.LOW));
                }
                else
                {
                    SW23_MoveInfo.NextMoveStep(LineMoveStep.SW09_WaitTrayGo);
                    SWLog("横移轨道23：关闭皮带电机，等待SW3_TrayCheck=0，最多等待5秒，关闭横移电机 ");
                    IOMove(IO_Type.SW2_MotorRun, IO_VALUE.LOW);
                    IOMove(IO_Type.SW3_MotorRun, IO_VALUE.LOW);
                    SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.SW3_TrayCheck, IO_VALUE.LOW));
                    SW23_MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(5000));
                    SW23_MoveInfo.OneWaitCanEndStep = true;
                }
            }
            else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW08_StopDrive))
            {

            }
            else if (SW23_MoveInfo.MoveStep.Equals(LineMoveStep.SW09_WaitTrayGo))
            {
                SW23_MoveInfo.EndMove();
                SWLog("横移轨道23：横移结束     ");
                TrayManager.UpdateSWState(2, 0);
                TrayManager.UpdateSWState(3, 0);
            }
        }

        private void SWLog(string msg)
        {
            LogUtil.debug(Name + msg);
        }
        #endregion


        #region 料仓出入库逻辑处理


        /// <summary>--
        /// BOX出入库完成事件
        /// </summary> 
        public void boxBean_OutStoreEnd(int storeId, InOutParam param)
        {
            MoveEquip moveEquip = MoveEquipMap[storeId];
            string posId = param != null ? param.PosId : "";
            if (moveEquip.IsDebug)
            {
                LogUtil.error(param.ToStr() + "  已经完成出库，" + moveEquip.Name + "当前正在调试中，不继续操作！");
                return;
            }

            //料仓出库完成，移栽装置开始出库检测
            if (moveEquip.IsDebug == false && moveEquip.MoveInfo.MoveType == LineMoveType.None && moveEquip.runStatus == LineRunStatus.Runing)
            {
                LogUtil.info(param.ToStr() + "  已经完成出库，开始" + moveEquip.Name + "出库！");
                bool result = moveEquip.StartOutStoreMove(param);
                if (!result)
                {
                    LogUtil.info(Name + " 执行出库【" + param.ToStr() + "】失败， 加入等待队列");
                    moveEquip.AddWaitOutInfo(param);
                }
            }
            else
            {
                LogUtil.info(param.ToStr() + "已经完成出库，" + moveEquip.Name + "正在忙碌中，把出库信息放入列表中！");
                moveEquip.AddWaitOutInfo(param);
            }
        }
        /// <summary>
        /// 判断移栽当前是否处于可出库状态
        /// </summary>
        /// <param name="id"></param>
        /// <returns></returns>
        public bool CanOutStore(int id)
        {
            if (!alarmType.Equals(LineAlarmType.None) || isInSuddenDown || isNoAirCheck)
            {
                return false;
            }
            if (!MoveEquipMap.ContainsKey(id))
            {
                return false;
            }
            MoveEquip move = MoveEquipMap[id];
            if (!move.alarmType.Equals(LineAlarmType.None) || move.waitInStoreList.Count > 0 || move.IsDebug || move.waitOutStoreList.Count > 0)
            {
                return false;
            }
            if (runStatus.Equals(LineRunStatus.Runing) || runStatus.Equals(LineRunStatus.Busy))
            {
                if (move.MoveInfo.MoveType.Equals(LineMoveType.None) && move.runStatus.Equals(LineRunStatus.Runing))
                {
                    return true;
                }
                else if (move.runStatus.Equals(LineRunStatus.Busy) && move.MoveInfo.MoveType.Equals(LineMoveType.OutStore) &&
                   move.MoveInfo.MoveStep >= (LineMoveStep.MO_56_BeforeAfterCylinderAfter))
                {
                    return true;
                }
            }
            return false;
        }

        public bool CanIntore(int id)
        {
            if (!alarmType.Equals(LineAlarmType.None) || isInSuddenDown || isNoAirCheck)
            {
                return false;
            }
            if (!MoveEquipMap.ContainsKey(id))
            {
                return false;
            }
            MoveEquip move = MoveEquipMap[id];
            if (!move.alarmType.Equals(LineAlarmType.None) || move.IsDebug || move.waitOutStoreList.Count > 0)
            {
                return false;
            }
            if (runStatus.Equals(LineRunStatus.Runing) || runStatus.Equals(LineRunStatus.Busy))
            {
                if ((move.MoveInfo.MoveType.Equals(LineMoveType.None) || move.MoveInfo.MoveType.Equals(LineMoveType.InStore))
                    && (move.runStatus.Equals(LineRunStatus.Runing) || move.runStatus.Equals(LineRunStatus.Busy)))
                {
                    return true;
                }
            }
            //  LogUtil.error("runStatus【" + runStatus + "】，move.MoveInfo.MoveType【" + move.MoveInfo.MoveType + "】，move.runStatus【" + move.runStatus + "】 ");
            return false;
        }
        #endregion

        #region AGV小车判断

        internal bool FeedAGVProcess(string name, Asa.Actions action)
        {
            foreach (FeedingEquip feed in FeedingEquipMap.Values)
            {
                if (feed.Config.AgvInName.Equals(name) || feed.Config.AgvOutName.Equals(name))
                {
                    return feed.ProcessAGVAction(name, action);
                }
            }
            LogUtil.error("收到agv调度Actions【" + name + "】=【" + action + "】，未找到对应的设备");
            return false;
        }
        #endregion
    }
}