ERROR SHELF_DOWN Wait Error 修改

source/DeviceLibrary/packageLine/PackageLine_BenQInShelf.cs

@@ -38,6 +38,11 @@ namespace OnlineStore.DeviceLibrary
             SHELF_ENTER,
             SHELF_ENTER,
 
 
             /// <summary>
             /// <summary>
+            /// 阻挡上升,线体停止
+            /// </summary>
+            SHELF_STOPUP,
+
+            /// <summary>
             /// 提升机下降
             /// 提升机下降
             /// </summary>
             /// </summary>
             SHELF_DOWN,
             SHELF_DOWN,
@@ -206,15 +211,24 @@ namespace OnlineStore.DeviceLibrary
                     IOManager.IOValue(IO_Type.R_RightStopCheck).Equals(IO_VALUE.LOW);
                     IOManager.IOValue(IO_Type.R_RightStopCheck).Equals(IO_VALUE.LOW);
                 if (noShelf && benQInFromOutStep.IsFinished())//料盘进入完成
                 if (noShelf && benQInFromOutStep.IsFinished())//料盘进入完成
                 {
                 {
-                    IOMove(IO_Type.R_RightStopCylinder, IO_VALUE.LOW);
-                    IOMove(IO_Type.R_LeftStopCylinder, IO_VALUE.LOW);
-                    benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.SHELF_DOWN);
+                    //IOMove(IO_Type.R_RightStopCylinder, IO_VALUE.LOW);
+                    //IOMove(IO_Type.R_LeftStopCylinder, IO_VALUE.LOW);
+                    //benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.SHELF_DOWN);
+                    //CheckAndMove(IO_Type.R_LeftStopCylinder, IO_VALUE.LOW);
+                    //IOMove(IO_Type.R_OutLineBackRun, IO_VALUE.LOW);
+                    //benQInFromOutStep.Msg = "料架到达右侧上层，5秒后允许继续进入";
+                    //benQInFromOutStep.AddIoWait(IO_Type.R_Updown_Down, IO_VALUE.HIGH);
+                    //CylinderMove(MoveInfo, IO_Type.R_Updown_Up, IO_Type.R_Updown_Down);
+                    //benQInFromOutStep.AddTimeWait(5000);
+
+                    benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.SHELF_STOPUP);
+                    benQInFromOutStep.Msg = "停止轨道反转，阻挡上升";
+                    benQInFromOutStep.AddIoWait(IO_Type.R_RightStopCylinder, IO_VALUE.LOW);
+                    benQInFromOutStep.AddIoWait(IO_Type.R_LeftStopCylinder, IO_VALUE.LOW);
+                    benQInFromOutStep.AddIoWait(IO_Type.R_OutLineBackRun, IO_VALUE.LOW);
+                    IOMove(IO_Type.R_RightStopCylinder, IO_VALUE.LOW); 
                     CheckAndMove(IO_Type.R_LeftStopCylinder, IO_VALUE.LOW);
                     CheckAndMove(IO_Type.R_LeftStopCylinder, IO_VALUE.LOW);
                     IOMove(IO_Type.R_OutLineBackRun, IO_VALUE.LOW);
                     IOMove(IO_Type.R_OutLineBackRun, IO_VALUE.LOW);
-                    benQInFromOutStep.Msg = "料架到达右侧上层，5秒后允许继续进入";
-                    benQInFromOutStep.AddIoWait(IO_Type.R_Updown_Down, IO_VALUE.HIGH);
-                    CylinderMove(MoveInfo, IO_Type.R_Updown_Up, IO_Type.R_Updown_Down);
-                    benQInFromOutStep.AddTimeWait(5000);
                 }
                 }
                 else if (benQInFromOutStep.IsTimeOut(15000))
                 else if (benQInFromOutStep.IsTimeOut(15000))
                 {
                 {
@@ -223,7 +237,20 @@ namespace OnlineStore.DeviceLibrary
                     IOMove(IO_Type.R_RightStopCylinder, IO_VALUE.HIGH);
                     IOMove(IO_Type.R_RightStopCylinder, IO_VALUE.HIGH);
                     IOMove(IO_Type.R_LeftStopCylinder, IO_VALUE.HIGH);
                     IOMove(IO_Type.R_LeftStopCylinder, IO_VALUE.HIGH);
                 }
                 }
+                
+            }
+            else if (benQInFromOutStep.IsStep(BenQ_IN_FROM_OUT_STEP.SHELF_STOPUP))
+            {
+                if (benQInFromOutStep.IsFinished())
+                {
+                    benQInFromOutStep.ToNextStep(BenQ_IN_FROM_OUT_STEP.SHELF_DOWN);
+                    benQInFromOutStep.Msg = "料架到达右侧上层，5秒后允许继续进入";
+                    benQInFromOutStep.AddTimeWait(5000);
+                    benQInFromOutStep.AddIoWait(IO_Type.R_Updown_Down, IO_VALUE.HIGH);
+                    CylinderMove(MoveInfo, IO_Type.R_Updown_Up, IO_Type.R_Updown_Down);
+                }
             }
             }
+
             else if (benQInFromOutStep.IsStep(BenQ_IN_FROM_OUT_STEP.SHELF_DOWN))
             else if (benQInFromOutStep.IsStep(BenQ_IN_FROM_OUT_STEP.SHELF_DOWN))
             {
             {
                 if (benQInFromOutStep.IsFinished())
                 if (benQInFromOutStep.IsFinished())
@@ -249,7 +276,7 @@ namespace OnlineStore.DeviceLibrary
                     KeepLineRun(IO_Type.RHigh_LineRun);
                     KeepLineRun(IO_Type.RHigh_LineRun);
                 }
                 }
             }
             }
-            else  if(benQInFromOutStep.IsStep(BenQ_IN_FROM_OUT_STEP.LINE_RUN_WAIT))
+            else if (benQInFromOutStep.IsStep(BenQ_IN_FROM_OUT_STEP.LINE_RUN_WAIT))
             {
             {
                 if (benQInFromOutStep.IsFinished())
                 if (benQInFromOutStep.IsFinished())
                 {
                 {

source/DeviceLibrary/packageLine/bean/StepInfo.cs

@@ -21,7 +21,7 @@ namespace OnlineStore.DeviceLibrary
                     //不为空，且与上一个消息不一样才打印
                     //不为空，且与上一个消息不一样才打印
                     if (!value.Equals(msg))
                     if (!value.Equals(msg))
                     {
                     {
-                        LogUtil.info(value);
+                        LogUtil.info(this.step+" : "+ value);
                     }
                     }
                 }
                 }
                 msg = value;
                 msg = value;