重写io频率改为5秒一次

source/DeviceLibrary/bean/RobotBase.cs

@@ -47,8 +47,8 @@ namespace OnlineStore.DeviceLibrary
             {
                 if (moveInfo != null)
                 {
-                    moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW,true));
-                    moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH,true));
+                    moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoLowType, IO_VALUE.LOW, true));
+                    moveInfo.WaitList.Add(WaitResultInfo.WaitIO(IoHighType, IO_VALUE.HIGH, true));
                     MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(200));
                 }
                 if (isCheckMove)
@@ -89,7 +89,7 @@ namespace OnlineStore.DeviceLibrary
                     IOManager.IOMove(IoType, value);
                     Thread.Sleep(msTime);
                     IO_VALUE tValue = value.Equals(IO_VALUE.HIGH) ? IO_VALUE.LOW : IO_VALUE.HIGH;
-                    LogUtil.info(msTime + "时间到，设置"+ IoType + "=" + tValue);
+                    LogUtil.info(msTime + "时间到，设置" + IoType + "=" + tValue);
                     IOManager.IOMove(IoType, tValue);
                 });
             }
@@ -121,7 +121,7 @@ namespace OnlineStore.DeviceLibrary
             }
             catch (Exception ex)
             {
-                LogUtil.error(Name  + " 等待" + ioType + "=" + value + "超时：" + ex.ToString());
+                LogUtil.error(Name + " 等待" + ioType + "=" + value + "超时：" + ex.ToString());
                 return false;
             }
         }
@@ -203,24 +203,16 @@ namespace OnlineStore.DeviceLibrary
                                 IOMove(wait.IoType, wait.IoValue);
                                 LogInfo(" [" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]重写DO: " + wait.ToStr());
                             }
-                            if (wait.IsDO)
-                            { 
-                                IOMove(wait.IoType, wait.IoValue);
-                                LogInfo(" [" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "]重写DO: " + wait.ToStr());
-                            }
+                            //if (wait.IsDO)
+                            //{
+                            //    if (IOManager.DOValue(wait.IoType).Equals(wait.IoValue).Equals(false))
+                            //        IOMove(wait.IoType, wait.IoValue);
+                            //}
+
                             TimeSpan rwSpan = DateTime.Now - preRWTime;
                             //一分钟还未检测到
-                            if (span.TotalSeconds > LineManager.Config.IOSingle_TimerOut)
-                            {
-                                if (alarmType.Equals(AlarmType.None))
-                                {
-                                    ConfigIO io = baseConfig.getWaitIO(wait.IoType);
-                                    WarnMsg = Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] 等待" + NotOkMsg + " 超时 " + Math.Round(span.TotalSeconds, 1) + "秒";
-                                    LogUtil.error(Name + WarnMsg, 13);
-                                    Alarm(AlarmType.IoSingleTimeOut);
-                                }
-                            }
-                            else if (rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6 && span.TotalSeconds < LineManager.Config.IOSingle_TimerOut * 2)
+
+                            if (rwSpan.TotalSeconds > 5 && span.TotalSeconds > 6)//&& span.TotalSeconds < LineManager.Config.IOSingle_TimerOut * 2
                             {
                                 if (moveInfo.CanRMoveIO)
                                 {
@@ -246,6 +238,16 @@ namespace OnlineStore.DeviceLibrary
                                 }
                             }
 
+                            if (span.TotalSeconds > LineManager.Config.IOSingle_TimerOut)
+                            {
+                                if (alarmType.Equals(AlarmType.None))
+                                {
+                                    ConfigIO io = baseConfig.getWaitIO(wait.IoType);
+                                    WarnMsg = Name + "[" + moveInfo.MoveType + "][" + moveInfo.MoveStep + "] 等待" + NotOkMsg + " 超时 " + Math.Round(span.TotalSeconds, 1) + "秒";
+                                    LogUtil.error(Name + WarnMsg, 13);
+                                    Alarm(AlarmType.IoSingleTimeOut);
+                                }
+                            }
                             if (!moveInfo.OneWaitCanEndStep)
                             {
                                 isOk = false;