出料口流程agv对接无反应处理

DeviceLibrary/AGVService/Controllers/queryStatusController.cs

@@ -116,10 +116,14 @@ namespace WebApi.Controllers
                                         result.code = 0;
                                         result.code = 0;
                                         result.status = "IS_DELIVERING";
                                         result.status = "IS_DELIVERING";
                                     }
                                     }
+                                    else if (RobotManage.mainMachine.IOValue(IO_Type.LeftFornt_Check).Equals(IO_VALUE.HIGH)
+                                             || RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.HIGH))
+                                    {
+                                        result.status = "HAS_STACKER";
+                                    }
                                     else
                                     else
                                     {
                                     {
-                                        result.code = 203;
-                                        result.status = "Error";
+                                        result.status = "EMPTY";
                                     }
                                     }
                                 }
                                 }
                                 break;
                                 break;

DeviceLibrary/AGVService/Controllers/startRollerController.cs

@@ -60,12 +60,12 @@ namespace WebApi.Controllers
                             case "B2"://NS200出料口上料任务
                             case "B2"://NS200出料口上料任务
                                 if ("RECEIVE".Equals(requestData.op))
                                 if ("RECEIVE".Equals(requestData.op))
                                 {
                                 {
-                                    RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.L60_InShelf);//等待agv到位后执行,启动进入
+                                    RobotManage.mainMachine.LeftMoveInfo.NewMove(MoveStep.L60_InShelf);//等待agv到位后执行,启动进入
                                     result.status = "IS_RECEIVING";
                                     result.status = "IS_RECEIVING";
                                 }
                                 }
                                 else if ("DELIVER".Equals(requestData.op))
                                 else if ("DELIVER".Equals(requestData.op))
                                 {
                                 {
-                                    RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.L50_OutShelf);//等待agv到位后执行,启动料串离开 
+                                    RobotManage.mainMachine.LeftMoveInfo.NewMove(MoveStep.L50_OutShelf);//等待agv到位后执行,启动料串离开 
                                     result.status = "IS_DELIVERING";
                                     result.status = "IS_DELIVERING";
                                     LogUtil.info("AGVManager:下料请求，等待agv到位后执行,启动料串离开");
                                     LogUtil.info("AGVManager:下料请求，等待agv到位后执行,启动料串离开");
                                 }
                                 }