入料口入料架修改。

source/DeviceLibrary/agvClient/AgvClient.cs

@@ -5,6 +5,7 @@ using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
+using System.Threading;
 using System.Threading.Tasks;
 
 namespace OnlineStore.DeviceLibrary
@@ -83,13 +84,21 @@ namespace OnlineStore.DeviceLibrary
         }
         private static void AgvClient_CloseDoor(string id, string rfid)
         {
-          //  RFIDData data = new RFIDData(content);
-            LogUtil.info("收到 AgvClient_CloseDoor [" + id + "] [" + rfid + "]  ");
+            LogUtil.info("收到 AgvClient_CloseDoor [" + id + "] [" + rfid + "] 更新状态 ");
+            UpdateAction(id, ClientAction.CloseDoor);
+            Task.Factory.StartNew(delegate
+            {
+                Thread.Sleep(5000);
+                if (GetAction(id).Equals(ClientAction.CloseDoor))
+                {
+                    SetStatus(id); 
+                    LogUtil.error ("收到 AgvClient_CloseDoor [" + id + "] [" + rfid + "] 5秒后，更新状态为None ");
+                }
+            });
         }
         private static void AgvClient_Ready(string id, string rfid)
         {
-            UpdateAction(id, ClientAction.Ready);
-            //    RFIDData data = new RFIDData(content);
+            UpdateAction(id, ClientAction.Ready); 
             LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + rfid + "]  ");
             FeedingEquip equip = getFeedEquip(id);
 
@@ -103,8 +112,7 @@ namespace OnlineStore.DeviceLibrary
 
         private static void AgvClient_Arrive(string id, string rfid)
         {
-            UpdateAction(id, ClientAction.Arrive);
-           // RFIDData data = new RFIDData(content);
+            UpdateAction(id, ClientAction.Arrive); 
             LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + rfid + "]   ");
             FeedingEquip equip = getFeedEquip(id);
             if (equip == null)

source/DeviceLibrary/assemblyLine/FeedingEquip.cs

@@ -727,7 +727,7 @@ namespace OnlineStore.DeviceLibrary
                 }
                 ShelfOutProcess();
             }
-        }
+        }        
         private bool ProcessShelfEnter = false;
         private bool ProcessShelfOut = false;
 
@@ -801,48 +801,43 @@ namespace OnlineStore.DeviceLibrary
                     if (IOValue(IO_Type.SL_Entry_Check).Equals(IO_VALUE.LOW))
                     {
                         LogUtil.info(logName + "   开始，设置状态=MayEnter");
-                        AgvClient.SetStatus(Config.AgvInName,"",ClientAction.MayEnter,ClientLevel.High,true);
+                        AgvClient.SetStatus(Config.AgvInName, "", ClientAction.MayEnter, ClientLevel.High, true);
                         ProcessShelfEnter = true;
-                        ////进料阻挡上升
-                        //IOMove(IO_Type.SL_Entry_StopDown, IO_VALUE.LOW);
 
                         //转动线体
                         IOMove(IO_Type.SL_Line_Run, IO_VALUE.HIGH);
 
                         //等待进料检测信号
-                        bool result = WaitIo(IO_Type.SL_Entry_Check, IO_VALUE.HIGH, 60000);
+                        bool result = WaitIo(IO_Type.SL_Entry_Check, IO_VALUE.HIGH, 600000);
 
-                        if (!result)
-                        {
-                            LogUtil.info(logName + " 等待 SL_Entry_Check=High 超时， 等待 SL_Stop_Check 信号");
-                        }
-                        else
-                        {
-                            LogUtil.info(logName + "已收到 SL_Entry_Check=High ， 等待 SL_Stop_Check 信号");
-                        }
-                        result = WaitIo(IO_Type.SL_Stop_Check, IO_VALUE.HIGH, 60000);
+                        LogUtil.info(logName + " 等待 SL_Entry_Check=High " + result + "， 等待 SL_Stop_Check 信号");
+                        result = WaitIo(IO_Type.SL_Stop_Check, IO_VALUE.HIGH, 600000);
 
-                        if (!result)
+                        LogUtil.info(logName + " 等待 SL_Stop_Check=High " + result + "，开始等待CloseDoor 超时10分钟");
+                        try
                         {
-                            LogUtil.info(logName + " 等待 SL_Stop_Check=High 超时，等待3000后停止转动，发送  FinishEnter");
+                            result = WaitUtil.Wait(600000, delegate ()
+                             {
+                                 return AgvClient.GetAction(Config.AgvInName).Equals(ClientAction.CloseDoor);
+                             }, logName + "等待CloseDoor超时");
                         }
-                        else
+                        catch (TimeoutException te)
                         {
-                            LogUtil.info(logName + "已收到 SL_Stop_Check=High ，等待5000后停止转动，发送   FinishEnter");
+                            LogUtil.error(logName + "  超时：" + te);
                         }
-                        //等待 15000 毫秒后停止转动
-                        Thread.Sleep(15000);
+                        ////等待 15000 毫秒后停止转动
+                        //Thread.Sleep(15000);
                         if (MoveInfo.MoveStep.Equals(LineMoveStep.FI_03_LineStart))
                         {
-                            LogUtil.info(logName + " 等待 15000 后, MoveInfo.MoveType= FI_03_LineStart  不需要停止链条转动");
+                            LogUtil.info(logName + " 完成, MoveInfo.MoveType= FI_03_LineStart  不需要停止链条转动");
                         }
                         else
                         {
-                            LogUtil.info(logName + "等待 15000 后，停止链条转动");
+                            LogUtil.info(logName + "完成，停止链条转动");
                             IOMove(IO_Type.SL_Line_Run, IO_VALUE.LOW);
                         }
                         //料架可离开
-                        AgvClient.SetStatus(Config.AgvInName, "", ClientAction.FinishEnter, ClientLevel.High, true);
+                        //AgvClient.SetStatus(Config.AgvInName, "", ClientAction.FinishEnter, ClientLevel.High, true);  
 
                         Thread.Sleep(1000);
                         AgvClient.SetStatus(Config.AgvInName, "", ClientAction.None, ClientLevel.High, true);