io输出重发机制

source/DeviceLibrary/deviceLibrary/IO/IOManager.cs

@@ -23,9 +23,10 @@ namespace OnlineStore.DeviceLibrary
                 ConfigIO configIo = LineManager.Config.DOList[ioType];
                 ConfigIO configIo = LineManager.Config.DOList[ioType];
                 instance.WriteSingleDO(configIo.IO_IP, configIo.SlaveID, configIo.GetIOAddr(), ioValue);
                 instance.WriteSingleDO(configIo.IO_IP, configIo.SlaveID, configIo.GetIOAddr(), ioValue);
                 Thread.Sleep(60);
                 Thread.Sleep(60);
-                if (!IOValue(ioType).Equals(ioValue))
+                while (!IOValue(ioType).Equals(ioValue))
                 {
                 {
                     instance.WriteSingleDO(configIo.IO_IP, configIo.SlaveID, configIo.GetIOAddr(), ioValue);
                     instance.WriteSingleDO(configIo.IO_IP, configIo.SlaveID, configIo.GetIOAddr(), ioValue);
+                    Thread.Sleep(60);
                 }
                 }
             }
             }
             else
             else

source/DeviceLibrary/doubleLine/RobotMoveBean.cs

@@ -159,7 +159,7 @@ namespace OnlineStore.DeviceLibrary
                                 CurrPoint = pname + CurrTray.shelfP;
                                 CurrPoint = pname + CurrTray.shelfP;
 
 
                                 //判断另一个机器人是否干涉
                                 //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(""))
                                     if (!CurrTray.realRFID.Equals(LineManager.Line.S1_CurrShelfId) || LineManager.Line.GetXNrfid(LineManager.Line.S1_CurrShelfId).Equals(""))
                                     {
                                     {
@@ -230,7 +230,7 @@ namespace OnlineStore.DeviceLibrary
                 if (ABBControl.GetAbbCmd(RobotIp).Equals(""))
                 if (ABBControl.GetAbbCmd(RobotIp).Equals(""))
                 {
                 {
                     //判断另一个机器人是否干涉
                     //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)))
                     {
                     {
                         MoveInfo.NextMoveStep(MoveStep.T02_PutTray);
                         MoveInfo.NextMoveStep(MoveStep.T02_PutTray);
                         LogUtil.debug(Name + MoveInfo.SLog + "【" + CurrPoint + "】取料完成，开始放料");
                         LogUtil.debug(Name + MoveInfo.SLog + "【" + CurrPoint + "】取料完成，开始放料");