1

source/DeviceLibrary/acFeederLine/FeederLineBean.cs

 
 
+using Asa;
 using OnlineStore.Common;
 using OnlineStore.Common;
 using OnlineStore.LoadCSVLibrary;
 using OnlineStore.LoadCSVLibrary;
 using System;
 using System;
@@ -146,6 +147,7 @@ namespace OnlineStore.DeviceLibrary
                 case MoveStep.Feeder_H_LineRun:
                 case MoveStep.Feeder_H_LineRun:
                     LogUtil.info(Name + " 复位完成");
                     LogUtil.info(Name + " 复位完成");
                     MoveInfo.EndMove();
                     MoveInfo.EndMove();
+                    AgvClient.SetCancelState(false);
                     runStatus = RunStatus.Runing;
                     runStatus = RunStatus.Runing;
                     break;
                     break;
                 default: break;
                 default: break;
@@ -236,7 +238,7 @@ namespace OnlineStore.DeviceLibrary
                         }
                         }
                         else if (runStatus.Equals(RunStatus.Runing))
                         else if (runStatus.Equals(RunStatus.Runing))
                         {
                         {
-                            //InLineTimerProcess();
+                            InLineTimerProcess();
 
 
                             OutLineTimerProcess();
                             OutLineTimerProcess();
                             TranverseTimerProcess();
                             TranverseTimerProcess();
@@ -260,9 +262,56 @@ namespace OnlineStore.DeviceLibrary
 
 
         private Stopwatch ol_noshelfWatch = new Stopwatch();
         private Stopwatch ol_noshelfWatch = new Stopwatch();
         private Stopwatch ol_noshelfWatch1 = new Stopwatch();
         private Stopwatch ol_noshelfWatch1 = new Stopwatch();
+        private Stopwatch il_outstopCheckWarch = new Stopwatch();
         private DateTime ol_lastSendShelfTime = DateTime.Now;
         private DateTime ol_lastSendShelfTime = DateTime.Now;
         private int StopDownMS = 1500;
         private int StopDownMS = 1500;
         /// <summary>
         /// <summary>
+        /// 入料线体定时处理
+        /// </summary> 
+        private void InLineTimerProcess()
+        {
+            TimeSpan span = DateTime.Now - il_lastCallAgvTime;
+            //出口有料架，需要通知agv取走料架
+            //每次叫小车时间间隔3分钟？
+            //出口信号需要持续1秒钟
+            if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.HIGH) && span.TotalSeconds > 60)
+            {
+                //if (LastOutShelfId.Equals("000").Equals(false))
+                {
+                    if (LineManager.checkWatch(il_outstopCheckWarch, 1000))
+                    {
+                        il_lastCallAgvTime = DateTime.Now;
+                        //StopIOMove(IO_Type.InL_OutStopDown, StopDownMS);
+
+                        LogUtil.info(" 退料2线体出口有料架" + LastOutShelfId + "，呼叫agv小车[" + Config.L2_AgvName + "] [NeedLeave] ");
+                        AgvClient.NeedLeave(Config.L2_AgvName, LastOutShelfId);
+                    }
+               }
+            }
+            else if (span.TotalMilliseconds > StopDownMS)
+            {
+                il_outstopCheckWarch.Stop();
+                ClientAction currA = AgvClient.GetAction(Config.L2_AgvName);
+                if (currA.Equals(ClientAction.None) || currA.Equals(ClientAction.NeedLeave) || currA.Equals(ClientAction.NeedEnter))
+                {
+                    if (IOManager.IOValue(IO_Type.L1_StopDown).Equals(IO_VALUE.HIGH))
+                    {
+                        IOManager.IOMove(IO_Type.L1_StopDown, IO_VALUE.LOW);
+                    }
+                }
+            }
+            //如果是出口无料架，NeedLeave状态，改为None
+            if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.LOW) && AgvClient.GetAction(Config.L2_AgvName).Equals(ClientAction.NeedLeave))
+            {
+                il_outstopCheckWarch.Stop();
+                LogUtil.info(" 分盘2线体出口无料架 ，更改[" + Config.L2_AgvName + "] 状态[None] ");
+                AgvClient.SetToNone(Config.L2_AgvName, "");
+            }
+
+
+        }
+
+        /// <summary>
         /// 出料线体定时处理
         /// 出料线体定时处理
         /// </summary>
         /// </summary>
         private void OutLineTimerProcess()
         private void OutLineTimerProcess()
@@ -306,7 +355,15 @@ namespace OnlineStore.DeviceLibrary
                 IOManager.CIOMove(IO_Type.L1_StopDown, IO_VALUE.LOW);
                 IOManager.CIOMove(IO_Type.L1_StopDown, IO_VALUE.LOW);
                 IOManager.CIOMove(IO_Type.L1_OutStopDown, IO_VALUE.LOW);
                 IOManager.CIOMove(IO_Type.L1_OutStopDown, IO_VALUE.LOW);
             }
             }
-
+            //如果入口无料架即可进入
+            if (IOManager.IOValue(IO_Type.L1_InCheck).Equals(IO_VALUE.LOW))
+            {
+                AgvClient.NeedEnter(Config.L1_AgvName, "");
+            }
+            else
+            {
+                AgvClient.SetToNone(Config.L1_AgvName, "");
+            }
         }
         }
         private Task TranverseTask;
         private Task TranverseTask;
         private static void TranverseProcess()
         private static void TranverseProcess()

source/DeviceLibrary/agvClient/AgvClient.cs

@@ -93,7 +93,7 @@ namespace OnlineStore.DeviceLibrary
                 {
                 {
                     Task.Factory.StartNew(delegate
                     Task.Factory.StartNew(delegate
                     {
                     {
-                        //       SetStatus(id, "", ClientAction.MayEnter);
+                        SetStatus(id, "", ClientAction.MayEnter);
                         LogUtil.info(logName + "  ,等待OutL_InCheck");
                         LogUtil.info(logName + "  ,等待OutL_InCheck");
                         try
                         try
                         {
                         {
@@ -133,7 +133,7 @@ namespace OnlineStore.DeviceLibrary
                     LineManager.feederLine.UpdateSleep(false);
                     LineManager.feederLine.UpdateSleep(false);
                     LineManager.feederLine.StopIOMove(IO_Type.L2_OutStopDown, 1500);
                     LineManager.feederLine.StopIOMove(IO_Type.L2_OutStopDown, 1500);
                     //agvClient.MayLeave(id);
                     //agvClient.MayLeave(id);
-                    //  SetStatus(id, shefId, ClientAction.MayLeave);
+                    SetStatus(id, shefId, ClientAction.MayLeave);
                     LogUtil.info(logName + "下降 L2_OutStopDown ，  " + shefId);
                     LogUtil.info(logName + "下降 L2_OutStopDown ，  " + shefId);
 
 
                     Task.Factory.StartNew(delegate
                     Task.Factory.StartNew(delegate