入库抽屉推进去以后检查料叉

source/DeviceLibrary/manager/model/DeviceStep.cs

@@ -497,6 +497,7 @@ namespace OnlineStore.DeviceLibrary
         /// 料仓入库:料斗拉取进出轴到P1（待机点）,检查另一边入库情况
         /// 料仓入库:料斗拉取进出轴到P1（待机点）,检查另一边入库情况
         /// </summary>
         /// </summary>
         SI_19_InoutBack,
         SI_19_InoutBack,
+        SI_19_InoutBack_1,
         /// <summary>
         /// <summary>
         /// 料仓入库:如果上料机构入料口有料，则去待机点
         /// 料仓入库:如果上料机构入料口有料，则去待机点
         /// </summary>
         /// </summary>

source/DeviceLibrary/storeBean/boxBean/BoxEquip_InExecute.cs

@@ -402,15 +402,15 @@ namespace OnlineStore.DeviceLibrary
                     //PullAxis_Inout_To_P1();
                     //PullAxis_Inout_To_P1();
 
 
                     MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayMiddle);
                     MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayMiddle);
-                    LogInfo($"入库 {MoveInfo.SLog}：推到抽屉提取点，抽屉拉取进出轴到料屉提取点P2[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
+                    LogInfo($"入库 {MoveInfo.SLog}：推到抽屉提取点，抽屉拉取进出轴到料屉提取点P2/P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                     PullAxis_Inout_To_P2_P4();
                     PullAxis_Inout_To_P2_P4();
-                    MiddleAxis_To_P2();
+                    // MiddleAxis_To_P2();
                     break;
                     break;
                 case StepEnum.SI_17_PushTray:
                 case StepEnum.SI_17_PushTray:
                     MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayMiddle);
                     MoveInfo.NextMoveStep(StepEnum.SI_18_PutTrayMiddle);
-                    LogInfo($"入库 {MoveInfo.SLog}：推到抽屉提取点，抽屉拉取进出轴到料斗提取点P2/P4,移栽旋转轴到水平点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
+                    LogInfo($"入库 {MoveInfo.SLog}：推到抽屉提取点，抽屉拉取进出轴到料斗提取点P2/P4[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                     PullAxis_Inout_To_P2_P4();
                     PullAxis_Inout_To_P2_P4();
-                    MiddleAxis_To_P2();
+                    //MiddleAxis_To_P2();,移栽旋转轴到水平点
 
 
                     //Bitmap bitmap = AcqImage(CamPosSide(MoveInfo.MoveParam.PosInfo.PosId));
                     //Bitmap bitmap = AcqImage(CamPosSide(MoveInfo.MoveParam.PosInfo.PosId));
                     //bool rtn = MatchAndSaveImg(bitmap, $"{DateTime.Now.ToString("HHmmss")}");
                     //bool rtn = MatchAndSaveImg(bitmap, $"{DateTime.Now.ToString("HHmmss")}");
@@ -453,11 +453,11 @@ namespace OnlineStore.DeviceLibrary
                     }
                     }
                     PullAxis_Inout_To_Cam();
                     PullAxis_Inout_To_Cam();
                     bool rtn = SServerManager.InstorePosCheck(MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.barcode);
                     bool rtn = SServerManager.InstorePosCheck(MoveInfo.MoveParam.PosInfo.PosId, MoveInfo.MoveParam.PosInfo.barcode);
-                    if(!rtn) 
+                    if (!rtn)
                     {
                     {
-                        InOutParam inOut=  new InOutParam(new InOutPosInfo(MoveInfo.MoveParam.PosInfo.barcode, MoveInfo.MoveParam.PosInfo.PosId));
+                        InOutParam inOut = new InOutParam(new InOutPosInfo(MoveInfo.MoveParam.PosInfo.barcode, MoveInfo.MoveParam.PosInfo.PosId));
                         LogInfo($"入库 {MoveInfo.SLog}：验证入库完成失败，将该库位出库[{inOut.PosInfo.ToStr()}][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
                         LogInfo($"入库 {MoveInfo.SLog}：验证入库完成失败，将该库位出库[{inOut.PosInfo.ToStr()}][{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
-                       // if (CheckASide())
+                        // if (CheckASide())
                         {
                         {
                             waitAOutStoreList.Enqueue(inOut);
                             waitAOutStoreList.Enqueue(inOut);
                         }
                         }
@@ -474,6 +474,12 @@ namespace OnlineStore.DeviceLibrary
                         return;
                         return;
                     }
                     }
                     ignoreCurFork = false;
                     ignoreCurFork = false;
+                    MoveInfo.NextMoveStep(StepEnum.SI_19_InoutBack_1);
+                    MiddleAxis_To_P2();
+                    LogInfo($"入库 {MoveInfo.SLog}：移栽旋转轴到水平点[{MoveInfo.MoveParam.PosInfo.GetPosSide()}面]");
+                    break;
+                case StepEnum.SI_19_InoutBack_1:
+
                     if (!CheckInStoreOtherSideInfo())
                     if (!CheckInStoreOtherSideInfo())
                     {
                     {
                         //if (InDoorSigCheck())
                         //if (InDoorSigCheck())