机器人取完料再判断是否干涉

source/DeviceLibrary/doubleLine/RobotMoveBean.cs

@@ -159,7 +159,7 @@ namespace OnlineStore.DeviceLibrary
                                 CurrPoint = pname + CurrTray.shelfP;
 
                                 //判断另一个机器人是否干涉
-                                if (LineManager.Line.ABBCanStart(robotNum, MyPointList.Contains(CurrPoint)))
+                                //if (LineManager.Line.ABBCanStart(robotNum, MyPointList.Contains(CurrPoint)))
                                 {
                                     if (!CurrTray.realRFID.Equals(LineManager.Line.S1_CurrShelfId) || LineManager.Line.GetXNrfid(LineManager.Line.S1_CurrShelfId).Equals(""))
                                     {
@@ -229,10 +229,14 @@ namespace OnlineStore.DeviceLibrary
             {
                 if (ABBControl.GetAbbCmd(RobotIp).Equals(""))
                 {
-                    MoveInfo.NextMoveStep(MoveStep.T02_PutTray);
-                    LogUtil.debug(Name + MoveInfo.SLog + "【" + CurrPoint + "】取料完成，开始放料");
-                    MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
-                    ABBControl.SendCmd(RobotIp, ABBControl.Cmd_moveput, CurrPoint, "L", ABBControl.DefaultSpeed);
+                    //判断另一个机器人是否干涉
+                    if (LineManager.Line.ABBCanStart(robotNum, MyPointList.Contains(CurrPoint)))
+                    {
+                        MoveInfo.NextMoveStep(MoveStep.T02_PutTray);
+                        LogUtil.debug(Name + MoveInfo.SLog + "【" + CurrPoint + "】取料完成，开始放料");
+                        MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(100));
+                        ABBControl.SendCmd(RobotIp, ABBControl.Cmd_moveput, CurrPoint, "L", ABBControl.DefaultSpeed);
+                    }
                 }
                 else if (MoveInfo.IsTimeOut(180))
                 {