增加料盘到位超时机制

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()
         {
             
@@ -262,8 +265,11 @@ 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(timer.ElapsedMilliseconds<=1000*30)
+                    {
                         if (IoManager.Instance.ReadIn($"{stockNo}号料仓料盘到位光电检测") == 1)
                         {
                             switch (stockNo)
@@ -305,6 +311,16 @@ namespace Rs.AutoDischarge.V3.Flow
                             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;
             }
         }