左上阻挡不放行

source/DeviceLibrary/bean/RobotBase.cs

@@ -121,7 +121,7 @@ namespace OnlineStore.DeviceLibrary
             }
             catch (Exception ex)
             {
-                LogUtil.error(Name + " 等待" + ioType + "=" + value + "超时：" + ex.ToString());
+                LogUtil.error(Name + "WaitIo 等待" + ioType + "=" + value + "超时：" + ex.ToString());
                 return false;
             }
         }

source/DeviceLibrary/doubleLine/DoubleLineBean_lineShelf.cs

@@ -32,7 +32,7 @@ namespace OnlineStore.DeviceLibrary
             if (IOValue(IO_Type.LHigh_StopCheck2).Equals(IO_VALUE.LOW) &&
                 IOValue(IO_Type.LHigh_StopCylinder2).Equals(IO_VALUE.LOW) &&
                 IOValue(IO_Type.LHigh_StopCheck1).Equals(IO_VALUE.HIGH) &&
-                IOValue(IO_Type.LHigh_LineRun).Equals(IO_VALUE.LOW) && LHighProcess.Equals(false)
+                 LHighProcess.Equals(false)
                 )
             {
                 bool isUseHighShelf = (SOneMoveInfo.MoveStep >= MoveStep.S1_D12_LineRun && SOneMoveInfo.MoveStep <= MoveStep.S1_D12_LineRun);
@@ -42,23 +42,35 @@ namespace OnlineStore.DeviceLibrary
                     //左侧上层需要放个料架
                     Task.Factory.StartNew(delegate
                     {
-                        LHighProcess = true;
-                        LogUtil.info("左侧双层线_" + "左上层放料架到阻挡2");
-                        IOMove(IO_Type.LHigh_LineRun, IO_VALUE.HIGH, 30000);
-                        IOMove(IO_Type.LHigh_StopCylinder1, IO_VALUE.HIGH, 2000);
-                        if (WaitIo(IO_Type.LHigh_StopCheck2, IO_VALUE.HIGH, 30000, "左侧_上层放料架到阻挡2"))
+                        try
                         {
-                            IOMove(IO_Type.LHigh_StopCylinder1, IO_VALUE.LOW);
+                            LHighProcess = true;
+                            LogUtil.info("左侧双层线_" + "左上层放料架到阻挡2");
+                            IOMove(IO_Type.LHigh_LineRun, IO_VALUE.HIGH);
+                            IOMove(IO_Type.LHigh_StopCylinder1, IO_VALUE.HIGH, 2000);
+                            if (WaitIo(IO_Type.LHigh_StopCheck2, IO_VALUE.HIGH, 30000, "左侧_上层放料架到阻挡2"))
+                            {
+                                IOMove(IO_Type.LHigh_StopCylinder1, IO_VALUE.LOW);
+                                LogUtil.info("左侧双层线_" + "左上层放料架到阻挡2 完成");
+                            }
+                        }catch(Exception ex)
+                        {
+                            LogUtil.error("左侧双层线_" + "左上层放料架到阻挡2 异常:",ex);
+                        }
+                        finally
+                        {
+                            LHighProcess = false;
+                            IOMove(IO_Type.LHigh_LineRun, IO_VALUE.LOW);
                         }
-                        LHighProcess = false;
                     });
                 }
             }
             else
             {
-                if (LHighProcess)
+                if (LHighProcess && IOValue(IO_Type.LHigh_LineRun).Equals(IO_VALUE.LOW))
                 {
                     KeepLineRun(IO_Type.LHigh_LineRun);
+                    LogUtil.info("左侧双层线_" + "左上层放料架到阻挡2中，左上链条未转，重新转动");
                 }
                 lhighWatch.Stop();
             }