From f7cdd1d6b39a947966999e8af882c2bba6a29ea5 Mon Sep 17 00:00:00 2001
From: lhiven <lhiven@163.com>
Date: Wed, 27 Sep 2023 10:59:49 +0900
Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E6=96=99=E7=9B=98=E5=88=B0?=
 =?UTF-8?q?=E4=BD=8D=E8=B6=85=E6=97=B6=E6=9C=BA=E5=88=B6?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 Rs.SkyLine/Flow/Space/TrayTest.cs | 90 ++++++++++++++++++-------------
 1 file changed, 53 insertions(+), 37 deletions(-)

diff --git a/Rs.SkyLine/Flow/Space/TrayTest.cs b/Rs.SkyLine/Flow/Space/TrayTest.cs
index 17caec0..5e26bde 100644
--- a/Rs.SkyLine/Flow/Space/TrayTest.cs
+++ b/Rs.SkyLine/Flow/Space/TrayTest.cs
@@ -4,6 +4,7 @@ using Rs.Motion;
 using Rs.Motion.Base;
 using Rs.MotionPlat.Commom;
 using Rs.MotionPlat.Flow;
+using System.Diagnostics;
 using System.Threading;
 
 namespace Rs.AutoDischarge.V3.Flow
@@ -97,6 +98,8 @@ namespace Rs.AutoDischarge.V3.Flow
         bool bStop= false;
         IAxis StockFlow = null;
         IAxis StockZ=null;
+        Stopwatch timer = new Stopwatch();
+        string loginfo = "";
         public override void Run()
         {
             
@@ -262,48 +265,61 @@ namespace Rs.AutoDischarge.V3.Flow
                 case ETrayTestStep.到上料终点位:
                     StockFlow.MoveOffset(-1* SysConfigParam.GetValue<double>("LowSpeedDistance"), 3);
                     Step = ETrayTestStep.等待到上料终点位;
+                    timer.Restart();
                     break;
                 case ETrayTestStep.等待到上料终点位:
-                    if (IoManager.Instance.ReadIn($"{stockNo}号料仓料盘到位光电检测") == 1)
+                    if(timer.ElapsedMilliseconds<=1000*30)
                     {
-                        switch (stockNo)
+                        if (IoManager.Instance.ReadIn($"{stockNo}号料仓料盘到位光电检测") == 1)
                         {
-                            case 1:
-                                GlobalTray.Empty1Tray.ResetTray();
-                                GlobalTray.Empty1Tray.Clear();
-                                break;
-                            case 2:
-                                GlobalTray.InputTray.ResetTray();
-                                GlobalTray.InputTray.Fill();
-                                break;
-                            case 3:
-                                GlobalTray.OkTary.ResetTray();
-                                GlobalTray.OkTary.Clear();
-                                break;
-                            case 4:
-                                GlobalTray.NgTray.ResetTray();
-                                GlobalTray.NgTray.Clear();
-                                break;
-                            case 5:
-                                GlobalTray.MultiTray.ResetTray();
-                                GlobalTray.MultiTray.Clear();
-                                break;
-                            case 6:
-                                GlobalTray.Empty2Tray.ResetTray();
-                                GlobalTray.Empty2Tray.Clear();
-                                break;
-                            default:
-                                break;
+                            switch (stockNo)
+                            {
+                                case 1:
+                                    GlobalTray.Empty1Tray.ResetTray();
+                                    GlobalTray.Empty1Tray.Clear();
+                                    break;
+                                case 2:
+                                    GlobalTray.InputTray.ResetTray();
+                                    GlobalTray.InputTray.Fill();
+                                    break;
+                                case 3:
+                                    GlobalTray.OkTary.ResetTray();
+                                    GlobalTray.OkTary.Clear();
+                                    break;
+                                case 4:
+                                    GlobalTray.NgTray.ResetTray();
+                                    GlobalTray.NgTray.Clear();
+                                    break;
+                                case 5:
+                                    GlobalTray.MultiTray.ResetTray();
+                                    GlobalTray.MultiTray.Clear();
+                                    break;
+                                case 6:
+                                    GlobalTray.Empty2Tray.ResetTray();
+                                    GlobalTray.Empty2Tray.Clear();
+                                    break;
+                                default:
+                                    break;
+                            }
+                            Thread.Sleep(500);
+                            StockFlow.Stop();
+                            Thread.Sleep(200);
+                            IoManager.Instance.WriteOut($"{stockNo}号料仓斜推气缸", 1);
+                            Thread.Sleep(200);
+                            finished = true;
+                            Status = ETrayStatus.Loaded;
+                            Step = ETrayTestStep.等待命令;
+                            Thread.Sleep(200);
                         }
-                        Thread.Sleep(500);
-                        StockFlow.Stop();
-                        Thread.Sleep(200);
-                        IoManager.Instance.WriteOut($"{stockNo}号料仓斜推气缸", 1);
-                        Thread.Sleep(200);
-                        finished = true;
-                        Status = ETrayStatus.Loaded;
-                        Step = ETrayTestStep.等待命令;
-                        Thread.Sleep(200);
+                    }
+                    else
+                    {
+                        timer.Stop();
+                        loginfo = $"料仓{stockNo}上料未到位，请手动处理后，点击确定";
+                        MessageQueue.Instance.Warn(loginfo);
+                        LogHelper.Debug(loginfo);
+                        Msg.ShowError(loginfo);
+                        timer.Restart();
                     }
                     break;
             }