料架切换状态不切换问题

source/DeviceLibrary/acFeederLine/FeederLineBean.cs

@@ -262,6 +262,7 @@ namespace OnlineStore.DeviceLibrary
         private Stopwatch ol_noshelfWatch = new Stopwatch();
         private Stopwatch ol_noshelfWatch1 = new Stopwatch();
         private Stopwatch rfidWatch = new Stopwatch();
+        private Stopwatch rfidNoWatch = new Stopwatch();
         private DateTime ol_lastSendShelfTime = DateTime.Now;
         private int StopDownMS = 1500;
         /// <summary>
@@ -284,7 +285,6 @@ namespace OnlineStore.DeviceLibrary
                     IOManager.CIOMove(IO_Type.L2_OutStopDown, IO_VALUE.LOW);
                     LogUtil.info(" Feeder2线体出口无料架，下降 [" + IO_Type.L2_StopDown + "] [" + StopDownMS + "] 秒");
                     ol_lastSendShelfTime = DateTime.Now;
-                    agvClient.OutLine_RFID = "";
                     StopIOMove(IO_Type.L2_StopDown, StopDownMS);
                 }
             }
@@ -309,10 +309,16 @@ namespace OnlineStore.DeviceLibrary
                 IOManager.CIOMove(IO_Type.L1_StopDown, IO_VALUE.LOW);
                 IOManager.CIOMove(IO_Type.L1_OutStopDown, IO_VALUE.LOW);
             }
+
             if(IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.HIGH) && LineManager.checkWatch(rfidWatch, 2000))
             {
                agvClient.OutLine_NeedLeave(LastOutShelfId);              
             }
+            if (IOManager.IOValue(IO_Type.L2_OutCheck).Equals(IO_VALUE.LOW) && LineManager.checkWatch(rfidNoWatch, 2000))
+            {
+                agvClient.OutLine_RFID = "";
+                agvClient.OutLine_None(LastOutShelfId);
+            }
         }
         private Task TranverseTask;
         private static void TranverseProcess()
@@ -357,6 +363,7 @@ namespace OnlineStore.DeviceLibrary
             LogUtil.info(" 横移电机停止");
             IOManager.CIOMove(IO_Type.Tranverse_Up_SOL, IO_VALUE.LOW);
             Thread.Sleep(1000);
+            IOManager.CIOMove(IO_Type.Tranverse_Up_SOL, IO_VALUE.LOW);
             IOManager.CIOMove(IO_Type.Tranverse_Down_SOL, IO_VALUE.HIGH);
             Thread.Sleep(1000);
             LogUtil.info(" 横移机构下降");

source/DeviceLibrary/agvClient/AgvClient.cs

@@ -30,14 +30,14 @@ namespace OnlineStore.DeviceLibrary
         /// </summary>
         public void InLine_None()
         {
-            SetStatus(InLine_Name, "", ClientAction.None);
+            SetStatus(InLine_Name, "000", ClientAction.None);
         }
         /// <summary>
         /// 可以进入状态
         /// </summary>
         public void InLine_NeedEnter()
         {
-            SetStatus(InLine_Name, "", ClientAction.NeedEnter);
+            SetStatus(InLine_Name, "000", ClientAction.NeedEnter);
         }
         #endregion
 
@@ -306,17 +306,17 @@ namespace OnlineStore.DeviceLibrary
             if (actionMap.ContainsKey(name))
             {
                 ClientAction currA = actionMap[name]; //相同状态就设置一次
-                if (currA.Equals(action) && shelfId == "")
+                if (currA.Equals(action) && (shelfId == "000"))
                 {
                     return false;
                 }
-                // actionMap[name] = action;
-                // agvClient.SetStatus(name, shelfId, action, level);
+                actionMap[name] = action;
+                agvClient.SetStatus(name, shelfId, action, level);
                 LogUtil.info("设置 " + name + " [" + shelfId + "] " + action.ToString());
                 return true;
             }
             agvClient.SetStatus(name, shelfId, action, level);
-            //actionMap.Add(name, action);
+            actionMap.Add(name, action);
             LogUtil.info("设置 " + name + " ["+ shelfId + "] "+ action.ToString());
             return true;
         }