agv对接增加MayEnter，MayLeave设置

source/DeviceLibrary/assemblyLine/EquipBase.cs

@@ -400,6 +400,11 @@ namespace OnlineStore.DeviceLibrary
                 }
                 }
                 foreach (WaitResultInfo wait in list)
                 foreach (WaitResultInfo wait in list)
                 {
                 {
+                    if (wait == null  )
+                    {
+                        LogUtil.error(Name+"[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] wait == null 跳过此项等待"); 
+                        continue;
+                    }
                     if (wait.IsEnd)
                     if (wait.IsEnd)
                     {
                     {
                         continue;
                         continue;

source/DeviceLibrary/assemblyLine/FeedingEquip.cs

@@ -739,11 +739,10 @@ namespace OnlineStore.DeviceLibrary
                 string logName = Name + "[" + Config.AgvOutName + "] 料架送入AGV ";
                 string logName = Name + "[" + Config.AgvOutName + "] 料架送入AGV ";
                 try
                 try
                 {
                 {
-                    LogUtil.info(logName + "开始，先设置状态为None");
-                    AgvClient.SetStatus(Config.AgvOutName, LastOutShelfId, ClientAction.None, ClientLevel.High, true);
                     if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
                     if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
                     {
                     {
-                        //    AgvClient.SetStatus(Config.AgvOutName,"",ClientAction.MayLeave,ClientLevel.High);
+                        LogUtil.info(logName + "开始，设置状态=MayLeave");
+                        AgvClient.SetStatus(Config.AgvOutName,"",ClientAction.MayLeave,ClientLevel.High,true);
                         ProcessShelfOut = true;
                         ProcessShelfOut = true;
                         //出口阻挡下降，出口线体转动 
                         //出口阻挡下降，出口线体转动 
                         IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.HIGH);
                         IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.HIGH);
@@ -773,7 +772,8 @@ namespace OnlineStore.DeviceLibrary
                     }
                     }
                     else
                     else
                     {
                     {
-                        LogUtil.info(logName + "开始，未检测到料架信号，不处理");
+                        LogUtil.info(logName + "开始，未检测到料架信号，不处理，设置状态=None");
+                        AgvClient.SetStatus(Config.AgvOutName, LastOutShelfId, ClientAction.None, ClientLevel.High, true);
                     }
                     }
                 }
                 }
                 catch (TimeoutException te)
                 catch (TimeoutException te)
@@ -800,8 +800,8 @@ namespace OnlineStore.DeviceLibrary
                 {
                 {
                     if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.LOW))
                     if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.LOW))
                     {
                     {
-                        LogUtil.info(logName + "   开始");
-                        //AgvClient.SetStatus(Config.AgvInName,"",ClientAction.MayEnter,ClientLevel.High);
+                        LogUtil.info(logName + "   开始，设置状态=MayEnter");
+                        AgvClient.SetStatus(Config.AgvInName,"",ClientAction.MayEnter,ClientLevel.High,true);
                         ProcessShelfEnter = true;
                         ProcessShelfEnter = true;
                         ////进料阻挡上升
                         ////进料阻挡上升
                         //IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);
                         //IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);
@@ -849,6 +849,11 @@ namespace OnlineStore.DeviceLibrary
                         ProcessShelfEnter = false;
                         ProcessShelfEnter = false;
                         LogUtil.info(logName + "   结束");
                         LogUtil.info(logName + "   结束");
                     }
                     }
+                    else
+                    {
+                        LogUtil.info(logName + "开始，未检测到料架信号，不处理，设置=None");
+                        AgvClient.SetStatus(Config.AgvInName, LastOutShelfId, ClientAction.None, ClientLevel.High, true);
+                    }
                 }
                 }
                 catch (TimeoutException te)
                 catch (TimeoutException te)
                 {
                 {

source/DeviceLibrary/assemblyLine/LineBean_Partial.cs

@@ -88,6 +88,11 @@ namespace OnlineStore.DeviceLibrary
                 }
                 }
                 foreach (WaitResultInfo wait in list)
                 foreach (WaitResultInfo wait in list)
                 {
                 {
+                    if (wait == null)
+                    {
+                        LogUtil.error(Name + "[" + checkWaitInfo.MoveType + "][" + checkWaitInfo.MoveStep + "] wait == null 跳过此项等待");
+                        continue;
+                    }
                     if (wait == null || wait.IsEnd)
                     if (wait == null || wait.IsEnd)
                     {
                     {
                         continue;
                         continue;