1

source/DeviceLibrary/assemblyLine/FeedingEquip.cs

@@ -639,7 +639,7 @@ namespace OnlineStore.DeviceLibrary
 
         internal void AgvReady(string nodeId, RFIDData data)
         {
-            string logN = Name + "收到 AgvReady 事件 [" + nodeId + "] [" + data.ToData() + "] ";
+            string logN = Name + "收到 AgvReady 事件 [" + nodeId + "] [" + data.NumStr() + "] ";
 
             if (nodeId.Equals(Config.AgvInName))
             {
@@ -667,47 +667,49 @@ namespace OnlineStore.DeviceLibrary
             //AGV已到达，将料架送入AGV中
             Task.Factory.StartNew(delegate
             {
+                string logName = Name + "[" + Config.AgvOutName + "] 料架送入AGV ";
                 try
                 {
                     if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
                     {
-                        LogUtil.info(Name + "料架送入AGV  开始");
+                        LogUtil.info(logName+"开始");
                         AgvClient.MayLeave(Config.AgvOutName);
                         ProcessShelfOut = true;
                         //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_OutLine_Run, IO_VALUE.HIGH);
 
-                        if (WaitIo(IO_Type.SL_Out_Check, IO_VALUE.LOW, 6000))
-                        {
-                            //再转动2000
-                            Thread.Sleep(3000);
-                            //停止转动 ,阻挡上升
-                            IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.LOW);
-                            IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
-                            AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.FinishLeave);
-                            Task.Factory.StartNew(delegate
-                            {
-                                Thread.Sleep(2000);
-                                AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None);
-                            });
-                            ProcessShelfOut = false;
-                            LogUtil.info(Name + "料架送入AGV  结束");
-
+                        bool result = WaitIo(IO_Type.SL_Out_Check, IO_VALUE.LOW, 60000);
+                        if (!result)
+                        { 
+                            LogUtil.info(logName + "  等待SL_Out_Check=LOW超时，等待3000后停止转动，发送FinishLeave");
                         }
                         else
-                        {
-                            LogUtil.info(Name + "料架送入AGV  等待SL_Out_Check=LOW超时");
+                        { 
+                            LogUtil.info(logName + "  已收到SL_Out_Check=LOW ，等待3000后停止转动，发送FinishLeave");
                         }
+                        //再转动2000
+                        Thread.Sleep(3000);
+                        //停止转动 ,阻挡上升
+                        IOMove(IO_Type.SL_OutLine_Run, IO_VALUE.LOW);
+                        IOMove(IO_Type.SL_Out_StopDown, IO_VALUE.LOW);
+                        AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.FinishLeave);
+                        Task.Factory.StartNew(delegate
+                        {
+                            Thread.Sleep(10000);
+                            AgvClient.SetStatus(Config.AgvOutName, "", ClientAction.None);
+                        });
+                        ProcessShelfOut = false;
+                        LogUtil.info(logName + "  结束"); 
                     }
                 }
                 catch (TimeoutException te)
                 {
-                    LogUtil.error("料架送入AGV 超时：" + te);
+                    LogUtil.error(logName + " 超时：" + te);
                 }
                 catch (Exception ex)
                 {
-                    LogUtil.error("料架送入AGV 出错：", ex);
+                    LogUtil.error(logName + " 出错：", ex);
                 }
                 finally
                 {
@@ -717,14 +719,15 @@ namespace OnlineStore.DeviceLibrary
             });
         }
         internal void ShelfEnterProcess()
-        {
+        { 
             Task.Factory.StartNew(delegate
             {
+                string logName = Name + "AGV料架进入 [" + Config.AgvInName + "] ";
                 try
                 {
                     if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.LOW))
                     {
-                        LogUtil.info(Name + "AGV料架进入  开始");
+                        LogUtil.info(logName+ "   开始");
                         AgvClient.MayEnter(Config.AgvInName);
                         ProcessShelfEnter = true;
                         ////进料阻挡上升
@@ -734,36 +737,37 @@ namespace OnlineStore.DeviceLibrary
                         IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
 
                         //等待进料检测信号
-                        if (WaitIo(IO_Type.SL_Entry_Check, IO_VALUE.HIGH, 5000))
-                        {
+                        bool result = WaitIo(IO_Type.SL_Entry_Check, IO_VALUE.HIGH, 60000);
 
-                            //等待200毫秒后停止转动
-                            Thread.Sleep(3000);
-                            IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
-                            //料架可离开
-                            AgvClient.FinishEnter(Config.AgvInName);
-                            Task.Factory.StartNew(delegate
-                            {
-                                Thread.Sleep(2000);
-                                AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None);
-                            });
-                            ProcessShelfEnter = false;
-                            LogUtil.info(Name + "AGV料架进入  结束");
+                        if (!result)
+                        {
+                            LogUtil.info(logName +" 等待 SL_Stop_Check=High 超时，等待3000后停止转动，发送  FinishEnter");
                         }
                         else
                         {
-                            LogUtil.info(Name + "AGV料架进入  等待SL_Stop_Check=High超时");
+                            LogUtil.info(logName + "已收到 SL_Stop_Check=High ，等待3000后停止转动，发送   FinishEnter");
                         }
-
+                        //等待200毫秒后停止转动
+                        Thread.Sleep(3000);
+                        IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
+                        //料架可离开
+                        AgvClient.FinishEnter(Config.AgvInName);
+                        Task.Factory.StartNew(delegate
+                        {
+                            Thread.Sleep(10000);
+                            AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None);
+                        });
+                        ProcessShelfEnter = false;
+                        LogUtil.info(logName + "   结束"); 
                     }
                 }
                 catch (TimeoutException te)
                 {
-                    LogUtil.error("AGV料架进入  超时：" + te);
+                    LogUtil.error(logName + "  超时：" + te);
                 }
                 catch (Exception ex)
                 {
-                    LogUtil.error("AGV料架进入  出错：", ex);
+                    LogUtil.error(logName + "   出错：", ex);
                 }
                 finally
                 {

source/DeviceLibrary/model/KTK_Store.cs

@@ -446,11 +446,20 @@ 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="")
+        public bool WaitIo(string ioType, IO_VALUE value, int timeOut, string errName = "")
         {
-            return WaitUtil.Wait(timeOut, delegate () {
-                return value.Equals(IOValue(ioType));
-            },errName);
+            try
+            {
+                return WaitUtil.Wait(timeOut, delegate ()
+                {
+                    return value.Equals(IOValue(ioType));
+                }, errName);
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error(Name + "等待" + ioType + "=" + value + "超时：" + ex.ToString());
+                return false;
+            }
         }
     }
 }