料盘夹取根据实际厚度

source/DeviceLibrary/manager/SServerManager.cs

@@ -272,7 +272,7 @@ namespace OnlineStore.DeviceLibrary
                     int pH = FormUtil.GetIntValue(serverResult.plateH);
                     int pW = FormUtil.GetIntValue(serverResult.plateW);
                     result.Param = new InOutPosInfo(serverResult.barcode, serverResult.posId, pW, pH, urgentReel, cutReel, smallReel, serverResult.rfid, rfidloc);
-
+                    result.Param.PlateTotalH = pH;
                     LogUtil.error(deviceName + "  【" + codeStr + "】结果入库NG：收到出库信息： " + result.Param.ToStr() + "  ");
 
                     result.Msg = "收到出库信息[" + serverResult.barcode + "][" + serverResult.posId + "] ";
@@ -308,6 +308,7 @@ namespace OnlineStore.DeviceLibrary
                     //  判断PosID是否已经在入库或者在排队列表中，如果已经存在，加入列表失败     
                     result.Param = new InOutPosInfo(serverResult.barcode, posId, width, height);
                     result.Param.rfid = rfid;
+                    result.Param.PlateTotalH = totalHeight;
                     BoxPosition position = CSVPositionReader<BoxPosition>.GetPositon(posId);
                     if (position == null)
                     {

source/DeviceLibrary/manager/model/InOutParam.cs

@@ -136,7 +136,7 @@ namespace OnlineStore.DeviceLibrary
         public bool singleOut = false;
         public string ToStr()
         {
-            return $" NgMsg[{NgMsg}] [" + barcode + "] [" + PosId + "] [" + PlateW + "x" + PlateH + "]"+ $" hSerial[{hSerial}]" +$" isNg[{IsNG}]"+ " singleOut[" + singleOut + "]";
+            return $" NgMsg[{NgMsg}] [" + barcode + "] [" + PosId + "] [" + PlateW + "x" + PlateH + $"({PlateTotalH})]"+ $" hSerial[{hSerial}]" +$" isNg[{IsNG}]"+ " singleOut[" + singleOut + "]";
         }
         public string ToStr1()
         {

source/DeviceLibrary/storeBean/boxBean/BoxEquip_ConnectServerTimer.cs

@@ -438,6 +438,7 @@ namespace OnlineStore.DeviceLibrary
                     InOutParam inoutParam = new InOutParam(new InOutPosInfo(barcode, posId, plateW, plateH, urgentReel));
                     inoutParam.PosInfo.hSerial = hSerials;
                     inoutParam.PosInfo.singleOut = singleOut;
+                    inoutParam.PosInfo.PlateTotalH = plateH;
                     //根据发送的posId获取位置列表
                     BoxPosition position = CSVPositionReader<BoxPosition>.GetPositon(posId);
                     if (position == null)

source/DeviceLibrary/storeBean/boxBean/BoxEquip_Partial.cs

@@ -622,9 +622,10 @@ namespace OnlineStore.DeviceLibrary
             BoxPosition position = CSVPositionReader<BoxPosition>.GetPositon(MoveInfo.MoveParam.PosInfo.PosId);
             if (position != null)
             {
-                diff = position.BagHigh - MoveInfo.MoveParam.PosInfo.PlateH;
+                var pH = MoveInfo.MoveParam.PosInfo.PlateTotalH==0? MoveInfo.MoveParam.PosInfo.PlateH: MoveInfo.MoveParam.PosInfo.PlateTotalH;
+                diff = position.BagHigh - pH;
                 if (diff < 0) diff = 0;
-                LogInfo($"{MoveInfo.MoveParam.PosInfo.PosId}库位高度：{position.BagHigh}，料盘高度：{MoveInfo.MoveParam.PosInfo.PlateH}，差值：{diff}，系数：{comAxis_offset}，" +
+                LogInfo($"{MoveInfo.MoveParam.PosInfo.PosId}库位高度：{position.BagHigh}，料盘高度：{MoveInfo.MoveParam.PosInfo.PlateH}，实际高度：{MoveInfo.MoveParam.PosInfo.PlateTotalH}，差值：{diff}，系数：{comAxis_offset}，" +
                     $"实际值：{MoveInfo.MoveParam.MoveP.ComAxis_AB_P3 + diff * comAxis_offset}={MoveInfo.MoveParam.MoveP.ComAxis_AB_P3}加{diff * comAxis_offset}");
             }
             int target = MoveInfo.MoveParam.MoveP.ComAxis_AB_P3 + diff * comAxis_offset;