agv只发一次

source/DeviceLibrary/agvClient/AgvClient.cs

@@ -130,7 +130,7 @@ namespace OnlineStore.DeviceLibrary
         }
         }
         private static void AgvClient_Log(string s)
         private static void AgvClient_Log(string s)
         {
         {
-           LogUtil.info("AGV " + ServerIp + " Log:" + s);
+           LogUtil.info(" AGV " + ServerIp + " Log : " + s);
         }
         }
         
         
         public static string GetAction(string NodeName)
         public static string GetAction(string NodeName)

source/DeviceLibrary/assemblyLine/FeedingEquip.cs

@@ -264,6 +264,11 @@ namespace OnlineStore.DeviceLibrary
                         break;
                         break;
                     case LineMoveStep.FR_15_BatchAxisToP1:  
                     case LineMoveStep.FR_15_BatchAxisToP1:  
                         LogInfo("重置完成！");
                         LogInfo("重置完成！");
+                        if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
+                        {
+                            LogInfo("重置完成，出口检测到有料架，调用 AgvClient.NeedLeave");
+                            AgvClient.NeedLeave(Config.AgvOutName);
+                        } 
                         runStatus = LineRunStatus.Runing;
                         runStatus = LineRunStatus.Runing;
                         lineStatus = LineStatus.StoreOnline;
                         lineStatus = LineStatus.StoreOnline;
                         MoveInfo.EndMove();
                         MoveInfo.EndMove();

source/DeviceLibrary/assemblyLine/FeedingEquip_InStore.cs

@@ -402,7 +402,7 @@ namespace OnlineStore.DeviceLibrary
             else if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
             else if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
             {
             {
                 //线体出口检测到料架，需要通知AGV小车
                 //线体出口检测到料架，需要通知AGV小车
-                AgvClient.NeedLeave(Config.AgvOutName);
+                //   AgvClient.NeedLeave(Config.AgvOutName);
                 // SendShelfToAGV();
                 // SendShelfToAGV();
             }
             }
 
 

source/DeviceLibrary/assemblyLine/FeedingEquip_OutStore.cs

@@ -78,8 +78,8 @@ namespace OnlineStore.DeviceLibrary
             else if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
             else if (IOValue(IO_Type.SL_Out_Check).Equals(IO_VALUE.HIGH))
             {
             {
                 //线体出口检测到料架，需要通知AGV小车
                 //线体出口检测到料架，需要通知AGV小车
-                AgvClient.NeedLeave(Config.AgvOutName); 
-            } 
+                //  AgvClient.NeedLeave(Config.AgvOutName); 
+            }
         }
         }
         public override bool StartOutStoreMove(InOutParam param)
         public override bool StartOutStoreMove(InOutParam param)
         {
         {