提升初次料串上升速度, 入料机构回原时带上料仓一起回原

source/DeviceLibrary/storeBean/boxBean/AutoInoutInfo.cs

@@ -46,16 +46,34 @@ namespace OnlineStore.DeviceLibrary
         {
             try
             {
-                //是否自动进入出库状态
-                if (!autoNext)
+                if (StoreManager.XLRStore.boxEquip.paresetReset)
                 {
-                    return;
+                    if (storeMoveType == MoveType.InStore)
+                    {
+                        StoreManager.XLRStore.boxEquip.paresetReset = false;
+                        boxBean.LogInfo($"上料机构复位时请求料仓复位");
+                        boxBean.Reset();
+                        CurrInOutCount = 0;
+                    }
                 }
                 CurrInOutCount++;
                 if (CurrInOutCount >= boxBean.Config.Box_ResetCount)
                 {
                     boxBean.LogInfo($"存储机构出入库达到{CurrInOutCount}次数，需要复位");
-                    boxBean.Reset();
+
+                    //if (storeMoveType == MoveType.InStore)
+                    //{
+                    //    boxBean.Reset();
+                    //}
+                    //if (storeMoveType == MoveType.OutStore)
+                    //{
+                    //    boxBean.Reset();
+                    //}                    
+                }
+                //是否自动进入出库状态
+                if (!autoNext)
+                {
+                    return;
                 }
                 if (storeMoveType.Equals(MoveType.InStore))
                 {

source/DeviceLibrary/storeBean/boxBean/BoxEquip.cs

@@ -294,7 +294,19 @@ namespace OnlineStore.DeviceLibrary
             SetAllTimer(true);
             return true;
         }
-
+        public bool paresetReset = false;
+        public void SafeReset() {
+            if (MoveInfo.MoveStep == StepEnum.Wait)
+            {
+                LogInfo("料仓没有动作 开始重置");
+                Reset();
+            }
+            else
+            {
+                LogInfo("料仓正在动作 结束后重置");
+                paresetReset = true;
+            }
+        }
         public override bool Reset()
         {
             StopMove();

source/DeviceLibrary/storeBean/inputBean/BatchMoveBean.cs

@@ -345,7 +345,10 @@ namespace OnlineStore.DeviceLibrary
                         targetP2 = Config.BatchAxisP2;
                     }
                 }
-                targetSpeed = Robot.Config.BatchAxis_P3Speed/2;
+                targetSpeed = Robot.Config.BatchAxis_P3Speed;
+            }
+            else {
+                targetSpeed = Robot.Config.BatchAxis_P1Speed;
             }
             //  需要增加定时器，获取验证信号并停止伺服
             StartMovePosition = BatchAxis.GetAclPosition();
@@ -365,7 +368,7 @@ namespace OnlineStore.DeviceLibrary
         public void BatchAxisDown()
         {
             int targetP1 = Config.BatchAxisP1;
-            int targetSpeed = Robot.Config.BatchAxis_P3Speed / 2;
+            int targetSpeed = Robot.Config.BatchAxis_P1Speed;
             {
                 MoveInfo.TimeOutSeconds = 200;
                 MoveInfo.CanWhileCount = 0;

source/DeviceLibrary/storeBean/inputBean/InputEquip.cs

@@ -158,6 +158,7 @@ namespace OnlineStore.DeviceLibrary
                 OnlyResetInputAxis = true;
                 LogUtil.info($"入料机构出入库到达{resetCnt}，准备复位");
                 Reset();
+                StoreManager.XLRStore.boxEquip.SafeReset();
             }
         }
         public override bool Reset()