优化一次上下料流程结束后，ZR回原问题

Rs.SkyLine/Flow/NormalFlow/DischargeFlow.cs

@@ -139,6 +139,7 @@ namespace Rs.MotionPlat.Flow
                             || LoadAndUnloadTask.Instance.GetTaskNum(ETaskType.Unload) > 0
                             || LoadAndUnloadTask.Instance.GetTaskNum(ETaskType.Change) > 0)
                         {
+                            ZRHomeFlow.Instance.Wait();
                             StockTrayToTurnoverTray = true;
                             logInfo = GetClassName()+$"接收到排料任务";
                             MessageQueue.Instance.Insert(logInfo);
@@ -1660,26 +1661,27 @@ namespace Rs.MotionPlat.Flow
                     errCode = AxisControl.LoadX.MovePos(SysConfigParam.GetValue<double>("LoadXStartPos"), GlobalVar.WholeSpeed);
                     if(errCode== ErrorCode.Ok || GlobalVar.VirtualAxis)
                     {
-                        AxisControl.NozzleZ1.Home();
-                        AxisControl.NozzleZ2.Home();
-                        AxisControl.NozzleZ3.Home();
-                        AxisControl.NozzleZ4.Home();
-                        AxisControl.NozzleZ5.Home();
-                        AxisControl.NozzleZ6.Home();
-                        AxisControl.NozzleZ7.Home();
-                        AxisControl.NozzleZ8.Home();
+                        //AxisControl.NozzleZ1.Home();
+                        //AxisControl.NozzleZ2.Home();
+                        //AxisControl.NozzleZ3.Home();
+                        //AxisControl.NozzleZ4.Home();
+                        //AxisControl.NozzleZ5.Home();
+                        //AxisControl.NozzleZ6.Home();
+                        //AxisControl.NozzleZ7.Home();
+                        //AxisControl.NozzleZ8.Home();
 
-                        AxisControl.NozzleR1.Home();
-                        AxisControl.NozzleR2.Home();
-                        AxisControl.NozzleR3.Home();
-                        AxisControl.NozzleR4.Home();
-                        AxisControl.NozzleR5.Home();
-                        AxisControl.NozzleR6.Home();
-                        AxisControl.NozzleR7.Home();
-                        AxisControl.NozzleR8.Home();
+                        //AxisControl.NozzleR1.Home();
+                        //AxisControl.NozzleR2.Home();
+                        //AxisControl.NozzleR3.Home();
+                        //AxisControl.NozzleR4.Home();
+                        //AxisControl.NozzleR5.Home();
+                        //AxisControl.NozzleR6.Home();
+                        //AxisControl.NozzleR7.Home();
+                        //AxisControl.NozzleR8.Home();
                         errCode = AxisControl.LoadY.MovePos(SysConfigParam.GetValue<double>("LoadYStartPos"), GlobalVar.WholeSpeed);
                         if(errCode== ErrorCode.Ok || GlobalVar.VirtualAxis)
                         {
+                            ZRHomeFlow.Instance.GoHome();
                             if (GlobalVar.VirtualAxis)
                             {
                                 Thread.Sleep(GlobalVar.VirtualAxisMoveTime);

Rs.SkyLine/Flow/SubFlow/ZRHomeFlow.cs

@@ -32,14 +32,16 @@ namespace Rs.MotionPlat.Flow.SubFlow
                 return instance;
             }
         }
-        private ManualResetEvent homeFinished = new ManualResetEvent(false);
+        private ManualResetEvent homeFinished = new ManualResetEvent(true);
         private EZRHomeFlowStep step = EZRHomeFlowStep.StartHome;
-        bool finished = false;
+        bool finished = true;
 
         public void GoHome()
         {
+            step = EZRHomeFlowStep.StartHome;
             if (finished)
             {
+                homeFinished.Reset();
                 finished = false;
             }
             else
@@ -117,5 +119,10 @@ namespace Rs.MotionPlat.Flow.SubFlow
                 }
             });
         }
+
+        public bool Wait()
+        {
+            return homeFinished.WaitOne();
+        }
     }
 }