上料工位要料架，循环检测左右两边

source/Common/Setting_Init.cs

@@ -38,7 +38,7 @@ namespace OnlineStore.Common
 
         public static string ABBServerPort = "ABBServerPort";
 
-        public static string BenQ_AGV = "BenQ_AGV";
+        public static string Line_AGV = "Line_AGV";
 
         public static string DefaultSpeed = "DefaultSpeed";
     }

source/DeviceLibrary/agvClient/AgvClient_Dbline.cs

@@ -12,7 +12,7 @@ namespace OnlineStore.DeviceLibrary
 {
     public class AgvClient_Dbline
     {
-        private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.BenQ_AGV);
+        private static string ServerIp = ConfigAppSettings.GetValue(Setting_Init.Line_AGV);
         public AsaPL.AgvClient agvClient;
         private static bool isInit = false;
         public static Dictionary<string, AsaPL.ClientAction> actionMap = new Dictionary<string, AsaPL.ClientAction>();

source/DeviceLibrary/doubleLine/DoubleLineBean.cs

@@ -70,9 +70,9 @@ namespace OnlineStore.DeviceLibrary
             WarnMsg = "";
             if (IOValue(IO_Type.SuddenStop_BTN).Equals(IO_VALUE.HIGH))
             {
-                S1_RightShelfId = "";
-                S1_CurrShelfId = "";
-                S1_LeftShelfId = "";
+                //S1_RightShelfId = "";
+                //S1_CurrShelfId = "";
+                //S1_LeftShelfId = "";
                 RealRfidMap = new Dictionary<string, string>();
                 mainTimer.Enabled = false;
                 // AgvClient.SetCancelState(false);
@@ -349,6 +349,7 @@ namespace OnlineStore.DeviceLibrary
         }
 
         private bool InProcess = false;
+        static object s1ShelfLock = new object();
         private Stopwatch stopwatch = new Stopwatch();
         public bool MoveStop = false;
         protected void timersTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
@@ -406,7 +407,22 @@ namespace OnlineStore.DeviceLibrary
 
                             if (SOneMoveInfo.MoveType.Equals(LineMoveType.None))
                             {
-                                S1_ShelfCheck();
+                                if (Monitor.TryEnter(s1ShelfLock))
+                                {
+                                    try
+                                    {
+                                        S1_ShelfProcess();
+                                    }
+                                    catch (Exception ex)
+                                    {
+                                        LogUtil.error(Name + " S1_ShelfProcess出错", ex);
+                                    }
+                                    finally
+                                    {
+                                        Monitor.Exit(s1ShelfLock);
+                                    }
+
+                                }
                                 if (S1_RightShelfId != "")
                                 {
                                     S2CanGetShelf = false;

source/DeviceLibrary/doubleLine/DoubleLineBean_S1Shelf.cs

@@ -233,6 +233,11 @@ namespace OnlineStore.DeviceLibrary
             {
                 if (needNewShelf.EndsWith(Static_String.BigShelf_RFID_Prefix) || needNewShelf.StartsWith(Static_String.BigShelf_RFID_Prefix))
                 {
+                    if(IOManager.IOValue(IO_Type.LLow_StopCheck2).Equals(IO_VALUE.LOW))
+                    {
+                        SOneMoveInfo.NextMoveStep(MoveStep.S1_NewShelf);
+                        return;
+                    }
                     LogUtil.info("双层线_S1" + AllTaskInfo.ToStr() + "S1需要新料架【" + needNewShelf + "】，等待 LLow_StopCheck3");
                     //放一个C料架
                     SOneMoveInfo.NewMove(LineMoveType.S1Shelf, MoveStep.S1_C01_GetC);
@@ -242,7 +247,12 @@ namespace OnlineStore.DeviceLibrary
                 }
                 else if (needNewShelf.EndsWith(Static_String.SmallShelf_RFID_Prefix) || needNewShelf.StartsWith(Static_String.SmallShelf_RFID_Prefix))
                 {
-                    LogUtil.info("双层线_S1" + AllTaskInfo.ToStr() + "S1需要新料架【" + needNewShelf + "】，等待 LHigh_StopCheck3");
+                    if (IOManager.IOValue(IO_Type.LHigh_StopCheck2).Equals(IO_VALUE.LOW))
+                    {
+                        SOneMoveInfo.NextMoveStep(MoveStep.S1_NewShelf);
+                        return;
+                    }
+                    LogUtil.info("双层线_S1" + AllTaskInfo.ToStr() + "S1需要新料架【" + needNewShelf + "】，等待 LHigh_StopCheck2");
                     //放一个D料架
                     SOneMoveInfo.NewMove(LineMoveType.S1Shelf, MoveStep.S1_D10_GetD);
                     SOneMoveInfo.WaitList.Add(WaitResultInfo.WaitIO(IO_Type.LHigh_StopCheck2, IO_VALUE.HIGH));

source/DeviceLibrary/doubleLine/DoubleLineBean_lineShelf.cs

@@ -73,7 +73,7 @@ namespace OnlineStore.DeviceLibrary
                     //右侧上层需要放个料架
                     Task.Factory.StartNew(delegate
                     {
-                        LHighProcess = true;
+                        RHighProcess = true;
                         LogUtil.info("右侧双层线_" + "右上层放料架到阻挡2");
                         IOMove(IO_Type.RHigh_LineRun, IO_VALUE.HIGH, 30000);
                         IOMove(IO_Type.RHigh_StopCylinder1, IO_VALUE.HIGH, 3000);

source/DeviceLibrary/packageLine/PackageLine_S1RightMove.cs

@@ -63,8 +63,8 @@ namespace OnlineStore.DeviceLibrary
                     }
                     else
                     {
-                        s1RLeaveStep.Msg = "工位1放行料架完成,停止工位1线体";
-                        CheckAndMove(IO_Type.S1_LineRun, IO_VALUE.LOW);
+                        s1RLeaveStep.Msg = "工位1放行料架完成";
+                        //CheckAndMove(IO_Type.S1_LineRun, IO_VALUE.LOW);
                         s1RLeaveStep.ToNextStep(S1_R_LEAVE_SHELF_STEP.NONE);
                         //右侧下方线体是否停止，要根据情况来
                         outShelfStep.ToNextStep(SHELF_TO_LEAVE_STATION.SHELF_OUT_S2);

source/DoubleLineClient_3D/App.config

@@ -8,7 +8,7 @@
     <add key="App_AutoRun" value="1" />
     <add key="App_Title" value="双层料架流水线" />
     <!--Server address-->
-    <add key="httpAddr" value="http://10.85.160.25/myproject/rest/api/qisda/device/"/>
+    <add key="httpAddr" value="http://10.85.162.124/myproject/rest/api/qisda/device/"/>
  
     <!--start one store config-->
     <add key="Line_Config" value="\LineConfig\DoubleLineConfig.csv" />
@@ -17,15 +17,15 @@
     <add key="UseAIOBOX" value="1" />
     <add key="DIMS" value="150" />
     <add key="DOMS" value="300" />
-    <!--AGV调度服务器地址-->
+    <!--AGV料仓调度服务器地址-->
     <add key="AgvServerIp" value="127.0.0.1" />
+    <!--AGV产线调度服务器地址-->
+    <add key="Line_AGV" value="10.85.197.3" />
     <!--是否调试状态-->
     <add key="IsInDebug" value="1" />
     <add key ="Agv_Log_Open" value ="1"/>
     <!--ABB机器人服务器-->
     <add key ="ABBServerPort" value ="10021"/>
-    <!--明基agv地址-->
-    <add key="BenQ_AGV" value="10.85.161.122"/>
     <add key ="DefaultSpeed" value ="1000"/>
   </appSettings>
   <log4net>
@@ -57,7 +57,7 @@
       <appender-ref ref="RollingLogFileAppender" />
     </logger>
     <logger name="TheRFID">
-      <level value="Info" />
+      <level value="Error" />
       <appender-ref ref="TheRFID" />
     </logger>
      <!--<root>