180更新

FryPot_DosingSystem/Control/DosingLogicControl.cs

@@ -513,7 +513,7 @@ namespace FryPot_DosingSystem.Control
             catch (Exception)
             {
 
-              //  throw;
+                //  throw;
             }
         }
         /// <summary>
@@ -1752,7 +1752,7 @@ namespace FryPot_DosingSystem.Control
                     using (FileStream writeStream = new FileStream("AccessFile\\" + "DB\\" + "炒锅4状态数据\\" + DateTime.Now.ToShortDateString() + "\\" + DateTime.Now.ToString("HH:mm").Replace(':', '.') + fryFourRecipe + ".bin", FileMode.OpenOrCreate, FileAccess.Write))
                     {
                         writeStream.Position = writeStream.Length;
-                        PotFourStatus p1 = new PotFourStatus { Temperature = FryPotMonitorManage.GetInstance.fryFour.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryFour.HotPower, Speed = FryPotMonitorManage.GetInstance.fryFour.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryFour.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryFour.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryFour.TotalProduct, RecipeName = fryFourRecipe,Time= DateTime.Now.ToString("yyyy-MM-dd-HH-mm") };
+                        PotFourStatus p1 = new PotFourStatus { Temperature = FryPotMonitorManage.GetInstance.fryFour.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryFour.HotPower, Speed = FryPotMonitorManage.GetInstance.fryFour.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryFour.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryFour.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFour.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryFour.TotalProduct, RecipeName = fryFourRecipe, Time = DateTime.Now.ToString("yyyy-MM-dd-HH-mm") };
                         BinaryFormatter bf = new BinaryFormatter();
                         bf.Serialize(writeStream, p1);
 
@@ -2133,7 +2133,7 @@ namespace FryPot_DosingSystem.Control
                 {
                     while (AlarmHelper<AlarmInfo>.Alarm.CleanOutputRollerRunning == 1)
                     {
-                        Thread.Sleep(5);
+                        Thread.Sleep(1000);
                         if (globalVar.ExitLineOneTask)
                             return;
                     }
@@ -2164,10 +2164,17 @@ namespace FryPot_DosingSystem.Control
 
                         string info = AGVHelper.GetInstance.AgvLeaveLOneToClean(id);//1号线到洗桶处
                         LSevenrobotJobId.Add(id);
-                        Thread.Sleep(500);
-                        LineToCleanCarryTaskErrorCodeAnalysis(info, 1);
-                        globalVar.rollerLineOne.IsEpmtyBefore = true;
-                       // AgvFromLineOneToClean(globalVar.rollerLineOne.EmptyRollerNums.ElementAt(0));//AGV从线体1到清洗处
+                        // Thread.Sleep(500);
+                        if (LineToCleanCarryTaskErrorCodeAnalysis(info, 1))
+                        {
+
+                            globalVar.rollerLineOne.IsEpmtyBefore = true;
+                        }
+                        else
+                        {
+                            LSevenrobotJobId.Remove(id);
+                        }
+                        // AgvFromLineOneToClean(globalVar.rollerLineOne.EmptyRollerNums.ElementAt(0));//AGV从线体1到清洗处
                     }
                 }
                 else
@@ -2199,10 +2206,17 @@ namespace FryPot_DosingSystem.Control
 
                         string info = AGVHelper.GetInstance.AgvLeaveLTwoToClean(id);//2号线到洗桶处
                         LEightrobotJobId.Add(id);
-                        Thread.Sleep(500);
-                        LineToCleanCarryTaskErrorCodeAnalysis(info, 2);
-                        globalVar.rollerLineTwo.IsEpmtyBefore = true;
-                        
+                        //Thread.Sleep(500);
+                        if (LineToCleanCarryTaskErrorCodeAnalysis(info, 2))
+                        {
+
+                            globalVar.rollerLineTwo.IsEpmtyBefore = true;
+                        }
+                        else
+                        {
+                            LEightrobotJobId.Remove(id);
+                        }
+
                         //AgvFromLineTwoToClean(globalVar.rollerLineTwo.EmptyRollerNums.ElementAt(0));//AGV从线体2到清洗处
                     }
                 }
@@ -2234,10 +2248,17 @@ namespace FryPot_DosingSystem.Control
 
                         string info = AGVHelper.GetInstance.AgvLeaveLThreeToClean(id);//3号线到洗桶处
                         LNinerobotJobId.Add(id);
-                        Thread.Sleep(500);
-                        LineToCleanCarryTaskErrorCodeAnalysis(info, 3);
-                        globalVar.rollerLineThree.IsEpmtyBefore = true;
-                       
+                        //Thread.Sleep(500);
+                        if (LineToCleanCarryTaskErrorCodeAnalysis(info, 3))//呼叫成功
+                        {
+
+                            globalVar.rollerLineThree.IsEpmtyBefore = true;
+                        }
+                        else//呼叫失败
+                        {
+                            LNinerobotJobId.Remove(id);
+                        }
+
                         //AgvFromLineThreeToClean(globalVar.rollerLineThree.EmptyRollerNums.ElementAt(0));//AGV从线体3到清洗处
                     }
                 }
@@ -2257,18 +2278,18 @@ namespace FryPot_DosingSystem.Control
             {
                 globalVar.rollerLineOne.agvArriveCleanUnLoad = false;
                 MessageLog.GetInstance.ShowRunLog("空桶从线体1到达清洗位置，准备卸桶");
-                
-               erp: if (AlarmHelper<AlarmInfo>.Alarm.CleanEnterRollerRunning == 0)
+
+            erp: if (AlarmHelper<AlarmInfo>.Alarm.CleanEnterRollerRunning == 0)
                 {
                     //plc交互
                     WritePlcData("D1065", 1);//AGV空桶洗桶就位信号下发PLC
-                    
+
                 }
                 else//有故障
                 {
                     while (AlarmHelper<AlarmInfo>.Alarm.CleanEnterRollerRunning == 1)
                     {
-                        Thread.Sleep(5);
+                        Thread.Sleep(1000);
                         if (globalVar.ExitLineOneTask)
                             return;
                     }
@@ -2300,7 +2321,7 @@ namespace FryPot_DosingSystem.Control
                 {
                     while (AlarmHelper<AlarmInfo>.Alarm.CleanEnterRollerRunning == 1)
                     {
-                        Thread.Sleep(5);
+                        Thread.Sleep(1000);
                         if (globalVar.ExitLineOneTask)
                             return;
                     }
@@ -2331,7 +2352,7 @@ namespace FryPot_DosingSystem.Control
                 {
                     while (AlarmHelper<AlarmInfo>.Alarm.CleanEnterRollerRunning == 1)
                     {
-                        Thread.Sleep(5);
+                        Thread.Sleep(1000);
                         if (globalVar.ExitLineOneTask)
                             return;
                     }
@@ -2363,9 +2384,13 @@ namespace FryPot_DosingSystem.Control
 
                 string info = AGVHelper.GetInstance.AgvFromCleanToLineFourUnLoadRoller(id);
                 LTenrobotJobId.Add(id);
-                Thread.Sleep(500);
+                //Thread.Sleep(500);
                 MessageLog.GetInstance.ShowRunLog("清洗台呼叫AGV取桶");
-                CleanToLineCarryTaskErrorCodeAnalysis(info, 4);
+                if (!CleanToLineCarryTaskErrorCodeAnalysis(info, 4))
+                {
+                    LTenrobotJobId.Remove(id);
+                    MessageLog.GetInstance.ShowRunLog("清洗台呼叫AGV取桶失败");
+                }
             }
         }
         /// <summary>
@@ -2863,7 +2888,7 @@ namespace FryPot_DosingSystem.Control
                 //    Sqlite<PotFourStatus>.GetInstance.Save();//保存数据
                 //}
                 //FryPotOneRollerTroubleCheck();
-                if ((FryPotAlarm == 1 && globalVar.LOneFryPotSerial == 1 )|| (FryPotFourAlarm == 1&& globalVar.LOneFryPotSerial == 4))//炒锅滚筒无故障
+                if ((FryPotAlarm == 1 && globalVar.LOneFryPotSerial == 1) || (FryPotFourAlarm == 1 && globalVar.LOneFryPotSerial == 4))//炒锅滚筒无故障
                 {
                     if (globalVar.LOneFryPotSerial == 1)
                     {
@@ -2877,10 +2902,14 @@ namespace FryPot_DosingSystem.Control
 
                     //炒锅滚筒进料运行到位处理
                     FryPotOneOrFourInputMaterialRollerOperate();
-                    AgvFromFryPotOneOrFourToClean();//上游下发搬运任务给AGV
-                    AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LOneFryPotSerial, IsRun.Start);
-                    globalVar.InOrOutputLock = true;
-                    globalVar.PotOneOutputRollerArrive = true;
+                    //上游下发搬运任务给AGV
+                    if (AgvFromFryPotOneOrFourToClean())
+                    {
+                        AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LOneFryPotSerial, IsRun.Start);
+                        globalVar.InOrOutputLock = true;
+                        globalVar.PotOneOutputRollerArrive = true;
+                    }
+
                 }
             }
 
@@ -2921,8 +2950,8 @@ namespace FryPot_DosingSystem.Control
                 //    Sqlite<PotFiveStatus>.GetInstance.Base.Add(new PotFiveStatus { Temperature = FryPotMonitorManage.GetInstance.fryFive.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryFive.HotPower, Speed = FryPotMonitorManage.GetInstance.fryFive.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryFive.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryFive.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryFive.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryFive.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                 //    Sqlite<PotFiveStatus>.GetInstance.Save();//保存数据
                 //}
-                
-                if ((FryPotTwoAlarm == 1&& globalVar.LTwoFryPotSerial == 2) ||( FryPotFiveAlarm == 1&& globalVar.LTwoFryPotSerial == 5))//炒锅滚筒无故障
+
+                if ((FryPotTwoAlarm == 1 && globalVar.LTwoFryPotSerial == 2) || (FryPotFiveAlarm == 1 && globalVar.LTwoFryPotSerial == 5))//炒锅滚筒无故障
                 {
                     if (globalVar.LTwoFryPotSerial == 2)
                     {
@@ -2938,10 +2967,14 @@ namespace FryPot_DosingSystem.Control
 
                     //炒锅滚筒进料运行到位处理
                     FryPotTwoOrFiveInputMaterialRollerOperate();
-                    AgvFromFryPotTwoOrFiveToClean();//上游下发搬运任务给AGV
-                    AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LTwoFryPotSerial, IsRun.Start);
-                    globalVar.LTwoInOrOutputLock = true;
-                    globalVar.LTwoPotOutputRollerArrive = true;
+                    //上游下发搬运任务给AGV
+                    if (AgvFromFryPotTwoOrFiveToClean())
+                    {
+                        AgvViewModel.GetInstance().Set启动或停止炒锅(globalVar.LTwoFryPotSerial, IsRun.Start);
+                        globalVar.LTwoInOrOutputLock = true;
+                        globalVar.LTwoPotOutputRollerArrive = true;
+                    }
+
                 }
             }
         }
@@ -2967,18 +3000,21 @@ namespace FryPot_DosingSystem.Control
             {
                 //Sqlite<PotThreeStatus>.GetInstance.Base.Add(new PotThreeStatus { Temperature = FryPotMonitorManage.GetInstance.fryThree.Temperature, HotPower = FryPotMonitorManage.GetInstance.fryThree.HotPower, Speed = FryPotMonitorManage.GetInstance.fryThree.Speed, FryPotWeight = FryPotMonitorManage.GetInstance.fryThree.FryPotWeight, OilCapacity = FryPotMonitorManage.GetInstance.fryThree.OilCapacity, TotalOilCapactiy = FryPotMonitorManage.GetInstance.fryThree.TotalOilCapactiy, TotalProduct = FryPotMonitorManage.GetInstance.fryThree.TotalProduct, Time = DateTime.Now.ToShortDateString() });//向表中新增数据
                 //Sqlite<PotThreeStatus>.GetInstance.Save();//保存数据
-                
+
                 if (FryPotThreeAlarm == 1)//炒锅滚筒无故障
                 {
-
                     Application.Current.Dispatcher.Invoke(new Action(() => { AgvViewModel.GetInstance().wokModel_3.workflows.Add(new WorkflowModel { id = globalVar.LThreeCurrentCookingStep, Name = LThreeOutputMaterialQuene.ElementAt(0).materialType.MaterialName, isBool = IsBool.Yes }); }));
 
                     //炒锅滚筒进料运行到位处理
                     FryPotThreeInputMaterialRollerOperate();
-                    AgvFromFryPotThreeToClean();//上游下发搬运任务给AGV
-                    AgvViewModel.GetInstance().Set启动或停止炒锅(3, IsRun.Start);
-                    globalVar.LThreeInOrOutputLock = true;
-                    globalVar.LThreePotOutputRollerArrive = true;
+                    //上游下发搬运任务给AGV
+                    if (AgvFromFryPotThreeToClean())
+                    {
+                        AgvViewModel.GetInstance().Set启动或停止炒锅(3, IsRun.Start);
+                        globalVar.LThreeInOrOutputLock = true;
+                        globalVar.LThreePotOutputRollerArrive = true;
+                    }
+                   
                 }
             }
         }
@@ -3040,8 +3076,8 @@ namespace FryPot_DosingSystem.Control
             {
 
                 // FryPotOneRollerTroubleCheck();
-                if (FryPotAlarm == 1 || FryPotFourAlarm == 1)//无故障
-                {
+                //if (FryPotAlarm == 1 || FryPotFourAlarm == 1)//无故障
+                //{
                     if (globalVar.agvFryPotEmptyRollerArrive)
                     {
                         FryPotOneOrFourOutEmpetyRollerOperate();
@@ -3069,7 +3105,7 @@ namespace FryPot_DosingSystem.Control
 
                         }
                     }
-                }
+                //}
             }
 
 
@@ -3087,6 +3123,7 @@ namespace FryPot_DosingSystem.Control
                 AgvArriveFryPotTwoOrFiveOutEmptyRollerSingleSetDown();//暂时考虑agv送完料后原地等待，不加条件，直接发送到位信号
                 globalVar.agvArriveLTwoUpLoad = false;
                 globalVar.LTwoAgvArrivePot = true;
+                FryPotTwoRollerTroubleCheck();
             }
         }
 
@@ -3094,9 +3131,9 @@ namespace FryPot_DosingSystem.Control
         {
             if ((globalVar.fryPotTwo.EmptyBarrelArrivedSingle == 1 || globalVar.fryPotFive.EmptyBarrelArrivedSingle == 1) && LTwoOutputMaterialQuene.Count > 0 && globalVar.LTwoAgvArrivePot)
             {
-                FryPotTwoRollerTroubleCheck();
-                if (FryPotTwoAlarm == 1 || FryPotFiveAlarm == 1)//无故障
-                {
+               
+                //if (FryPotTwoAlarm == 1 || FryPotFiveAlarm == 1)//无故障
+                //{
                     if (globalVar.LTwoagvFryPotEmptyRollerArrive)
                     {
                         FryPotTwoOrFiveOutEmpetyRollerOperate();
@@ -3125,7 +3162,7 @@ namespace FryPot_DosingSystem.Control
 
                         }
                     }
-                }
+                //}
             }
 
         }
@@ -3140,6 +3177,7 @@ namespace FryPot_DosingSystem.Control
                 AgvArriveFryPotThreeOutEmptyRollerSingleSetDown();//暂时考虑agv送完料后原地等待，不加条件，直接发送到位信号
                 globalVar.agvArriveLThreeUpLoad = false;
                 globalVar.LThreeAgvArrivePot = true;
+                FryPotThreeRollerTroubleCheck();
             }
         }
 
@@ -3147,9 +3185,8 @@ namespace FryPot_DosingSystem.Control
         {
             if (globalVar.fryPotThree.EmptyBarrelArrivedSingle == 1 && LThreeOutputMaterialQuene.Count > 0 && globalVar.LThreeAgvArrivePot)
             {
-                FryPotThreeRollerTroubleCheck();
-                if (FryPotThreeAlarm == 1)//无故障
-                {
+                //if (FryPotThreeAlarm == 1)//无故障
+                //{
                     if (globalVar.LThreeagvFryPotEmptyRollerArrive)
                     {
                         FryPotThreeOutEmpetyRollerOperate();
@@ -3171,7 +3208,7 @@ namespace FryPot_DosingSystem.Control
 
                         }
                     }
-                }
+               // }
             }
 
         }
@@ -3562,8 +3599,9 @@ namespace FryPot_DosingSystem.Control
         /// <summary>
         /// AGV离开炒锅1,4运送空桶任务
         /// </summary>
-        public void AgvFromFryPotOneOrFourToClean()
+        public bool AgvFromFryPotOneOrFourToClean()
         {
+            bool result = true;
             switch (OutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
             {
                 case 1:
@@ -3575,7 +3613,13 @@ namespace FryPot_DosingSystem.Control
                     MessageLog.GetInstance.ShowRunLog("AGV执行【1】号炒锅空桶回收任务");
                     string info = AGVHelper.GetInstance.AgvLeaveFryPotOne(id);
                     LFourrobotJobId = id;
-                    FryCarryTaskErrorCodeAnalysis(info, 1); break;
+
+                    if (!FryCarryTaskErrorCodeAnalysis(info, 1))
+                    {
+                        id = String.Empty;
+                        result = false;
+                    }
+                    break;
                 case 4:
                 erp3: string id3 = Guid.NewGuid().ToString("N");//上游唯一ID
                     if (id3 == LOnerobotJobId || id3 == LTworobotJobId || id3 == LThreerobotJobId || id3 == LFourrobotJobId || id3 == LFiverobotJobId || id3 == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id3) != null || LEightrobotJobId.FirstOrDefault(p => p == id3) != null || LNinerobotJobId.FirstOrDefault(p => p == id3) != null || LTenrobotJobId.FirstOrDefault(p => p == id3) != null)
@@ -3585,14 +3629,22 @@ namespace FryPot_DosingSystem.Control
                     MessageLog.GetInstance.ShowRunLog("AGV执行【4】号炒锅空桶回收任务");
                     string info3 = AGVHelper.GetInstance.AgvLeaveFryPotFour(id3);
                     LFourrobotJobId = id3;
-                    FryCarryTaskErrorCodeAnalysis(info3, 4); break;
+                    if (!FryCarryTaskErrorCodeAnalysis(info3, 4))
+                    {
+                        id3 = String.Empty;
+                        result = false;
+                    }
+
+                    break;
             }
+            return result;
         }
         /// <summary>
         /// AGV离开炒锅2,5运送空桶任务
         /// </summary>
-        public void AgvFromFryPotTwoOrFiveToClean()
+        public bool AgvFromFryPotTwoOrFiveToClean()
         {
+            bool result = true;
             switch (LTwoOutputMaterialQuene.ElementAt(0).materialType.MaterialLoc / 100)
             {
                 case 2:
@@ -3604,7 +3656,13 @@ namespace FryPot_DosingSystem.Control
                     MessageLog.GetInstance.ShowRunLog("AGV执行【2】号炒锅空桶回收任务");
                     string info1 = AGVHelper.GetInstance.AgvLeaveFryPotTwo(id1);
                     LFiverobotJobId = id1;
-                    FryCarryTaskErrorCodeAnalysis(info1, 2); break;
+
+                    if (!FryCarryTaskErrorCodeAnalysis(info1, 2))
+                    {
+                        id1 = String.Empty;
+                        result = false;
+                    }
+                    break;
                 case 5:
                 erp4: string id4 = Guid.NewGuid().ToString("N");//上游唯一ID
                     if (id4 == LOnerobotJobId || id4 == LTworobotJobId || id4 == LThreerobotJobId || id4 == LFourrobotJobId || id4 == LFiverobotJobId || id4 == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id4) != null || LEightrobotJobId.FirstOrDefault(p => p == id4) != null || LNinerobotJobId.FirstOrDefault(p => p == id4) != null || LTenrobotJobId.FirstOrDefault(p => p == id4) != null)
@@ -3614,14 +3672,22 @@ namespace FryPot_DosingSystem.Control
                     MessageLog.GetInstance.ShowRunLog("AGV执行【5】号炒锅空桶回收任务");
                     string info4 = AGVHelper.GetInstance.AgvLeaveFryPotFive(id4);
                     LFiverobotJobId = id4;
-                    FryCarryTaskErrorCodeAnalysis(info4, 5); break;
+
+                    if (!FryCarryTaskErrorCodeAnalysis(info4, 5))
+                    {
+                        id4 = String.Empty;
+                        result = false;
+                    }
+                    break;
             }
+            return result;
         }
         /// <summary>
         /// AGV离开炒锅3运送空桶任务
         /// </summary>
-        public void AgvFromFryPotThreeToClean()
+        public bool AgvFromFryPotThreeToClean()
         {
+            bool result = true;
         erp2: string id2 = Guid.NewGuid().ToString("N");//上游唯一ID
             if (id2 == LOnerobotJobId || id2 == LTworobotJobId || id2 == LThreerobotJobId || id2 == LFourrobotJobId || id2 == LFiverobotJobId || id2 == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id2) != null || LEightrobotJobId.FirstOrDefault(p => p == id2) != null || LNinerobotJobId.FirstOrDefault(p => p == id2) != null || LTenrobotJobId.FirstOrDefault(p => p == id2) != null)
             {
@@ -3630,7 +3696,13 @@ namespace FryPot_DosingSystem.Control
             MessageLog.GetInstance.ShowRunLog("AGV执行【3】号炒锅空桶回收任务");
             string info2 = AGVHelper.GetInstance.AgvLeaveFryPotThree(id2);
             LSixrobotJobId = id2;
-            FryCarryTaskErrorCodeAnalysis(info2, 3);
+
+            if (!FryCarryTaskErrorCodeAnalysis(info2, 3))
+            {
+                id2 = string.Empty;
+                result = false;
+            }
+            return result;
         }
         /// <summary>
         /// 处理agv从线体1到送料到炒锅的条件
@@ -3662,7 +3734,7 @@ namespace FryPot_DosingSystem.Control
             {
                 while (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 1)
                 {
-                    Thread.Sleep(5);
+                    Thread.Sleep(1000);
                     if (globalVar.ExitLineOneTask)
                         return;
                 }
@@ -3700,7 +3772,7 @@ namespace FryPot_DosingSystem.Control
             {
                 while (AlarmHelper<AlarmInfo>.Alarm.LOneRollerTrouble == 1)
                 {
-                    Thread.Sleep(5);
+                    Thread.Sleep(1000);
                     if (globalVar.ExitLineOneTask)
                         return;
                 }
@@ -3741,7 +3813,7 @@ namespace FryPot_DosingSystem.Control
             {
                 while (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 1)
                 {
-                    Thread.Sleep(5);
+                    Thread.Sleep(1000);
                     if (globalVar.ExitLineTwoTask)
                         return;
                 }
@@ -3780,7 +3852,7 @@ namespace FryPot_DosingSystem.Control
             {
                 while (AlarmHelper<AlarmInfo>.Alarm.LTwoRollerTrouble == 1)
                 {
-                    Thread.Sleep(5);
+                    Thread.Sleep(1000);
                     if (globalVar.ExitLineOneTask)
                         return;
                 }
@@ -3821,7 +3893,7 @@ namespace FryPot_DosingSystem.Control
             {
                 while (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 1)
                 {
-                    Thread.Sleep(5);
+                    Thread.Sleep(1000);
                     if (globalVar.ExitLineThreeTask)
                         return;
                 }
@@ -3861,7 +3933,7 @@ namespace FryPot_DosingSystem.Control
             {
                 while (AlarmHelper<AlarmInfo>.Alarm.LThreeRollerTrouble == 1)
                 {
-                    Thread.Sleep(5);
+                    Thread.Sleep(1000);
                     if (globalVar.ExitLineOneTask)
                         return;
                 }
@@ -3876,20 +3948,22 @@ namespace FryPot_DosingSystem.Control
         /// </summary>
         /// <param name="errorCode"></param>
         /// <param name="num"></param>
-        public void LineCarryTaskErrorCodeAnalysis(string errorCode, int num)
+        public bool LineCarryTaskErrorCodeAnalysis(string errorCode, int num)
         {
             if (errorCode == "SUCCESS")
             {
                 MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线装桶");
-                globalVar.AllowAgvToLineLoadRoller = false;
+                return true;
             }
             else if (errorCode == "Analysis Error")
             {
                 MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线API调用失败，请检查请求报文");
+                return false;
             }
             else
             {
                 MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线失败，错误码:{errorCode}");
+                return false;
             }
         }
         /// <summary>
@@ -3897,20 +3971,22 @@ namespace FryPot_DosingSystem.Control
         /// </summary>
         /// <param name="errorCode"></param>
         /// <param name="num"></param>
-        public void LineToCleanCarryTaskErrorCodeAnalysis(string errorCode, int num)
+        public bool LineToCleanCarryTaskErrorCodeAnalysis(string errorCode, int num)
         {
             if (errorCode == "SUCCESS")
             {
-
-                MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线装桶");
+                MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线装空桶");
+                return true;
             }
             else if (errorCode == "Analysis Error")
             {
                 MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线API调用失败，请检查请求报文");
+                return false;
             }
             else
             {
                 MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线失败，错误码:{errorCode}");
+                return false;
             }
         }
         /// <summary>
@@ -3918,20 +3994,22 @@ namespace FryPot_DosingSystem.Control
         /// </summary>
         /// <param name="errorCode"></param>
         /// <param name="num"></param>
-        public void CleanToLineCarryTaskErrorCodeAnalysis(string errorCode, int num)
+        public bool CleanToLineCarryTaskErrorCodeAnalysis(string errorCode, int num)
         {
             if (errorCode == "SUCCESS")
             {
-
-                MessageLog.GetInstance.ShowRunLog($"AGV去{num}号滚筒线卸桶");
+                MessageLog.GetInstance.ShowRunLog($"AGV从清洗台到{num}号滚筒线卸桶");
+                return true;
             }
             else if (errorCode == "Analysis Error")
             {
                 MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线API调用失败，请检查请求报文");
+                return false;
             }
             else
             {
                 MessageLog.GetInstance.ShowRunLog($"提示：AGV去{num}号滚筒线失败，错误码:{errorCode}");
+                return false;
             }
         }
         /// <summary>
@@ -3939,19 +4017,22 @@ namespace FryPot_DosingSystem.Control
         /// </summary>
         /// <param name="errorCode"></param>
         /// <param name="num"></param>
-        public void FryCarryTaskErrorCodeAnalysis(string errorCode, int num)
+        public bool FryCarryTaskErrorCodeAnalysis(string errorCode, int num)
         {
             if (errorCode == "SUCCESS")
             {
                 MessageLog.GetInstance.ShowRunLog($"AGV离开{num}号炒锅");
+                return true;
             }
             else if (errorCode == "Analysis Error")
             {
                 MessageLog.GetInstance.ShowRunLog($"提示：AGV离开{num}号炒锅接口调用失败，请检查");
+                return false;
             }
             else
             {
                 MessageLog.GetInstance.ShowRunLog($"提示：AGV离开{num}号炒锅失败，错误码:{errorCode}");
+                return false;
             }
         }
 
@@ -3964,15 +4045,18 @@ namespace FryPot_DosingSystem.Control
                     if (globalVar.rollerLineOne.StationEight == InputMaterialQuene.ElementAt(0).materialType.MaterialLoc && !globalVar.rollerLineOne.IsEpmtyBefore)//工位8上面是配方料桶
                     {
                         globalVar.rollerLineOne.CanRun = false;
-                    e: string id = Guid.NewGuid().ToString("N");
+                    e: string id = Guid.NewGuid().ToString("N");//32位
                         if (id == LOnerobotJobId || id == LTworobotJobId || id == LThreerobotJobId || id == LFourrobotJobId || id == LFiverobotJobId || id == LSixrobotJobId || LSevenrobotJobId.FirstOrDefault(p => p == id) != null || LEightrobotJobId.FirstOrDefault(p => p == id) != null || LNinerobotJobId.FirstOrDefault(p => p == id) != null || LTenrobotJobId.FirstOrDefault(p => p == id) != null)
                             goto e;
 
                         string info = AGVHelper.GetInstance.AgvToLineOneLoadRoller(id);
                         LOnerobotJobId = id;
-                        Thread.Sleep(500);
-                        LineCarryTaskErrorCodeAnalysis(info, 1);
-                        globalVar.LoadRoller = true;
+                        if (LineCarryTaskErrorCodeAnalysis(info, 1))
+                        {
+                            globalVar.AllowAgvToLineLoadRoller = false;
+                            globalVar.LoadRoller = true;
+                        }
+
                     }
                     //else if (globalVar.rollerLineOne.StationEight != InputMaterialQuene.ElementAt(0).materialType.MaterialLoc)
                     //{
@@ -4028,9 +4112,13 @@ namespace FryPot_DosingSystem.Control
 
                         string info = AGVHelper.GetInstance.AgvToLineTwoLoadRoller(id);
                         LTworobotJobId = id;
-                        Thread.Sleep(500);
-                        LineCarryTaskErrorCodeAnalysis(info, 2);
-                        globalVar.LTwoLoadRoller = true;
+                        //Thread.Sleep(500);
+                        if (LineCarryTaskErrorCodeAnalysis(info, 2))
+                        {
+                            globalVar.LTwoLoadRoller = true;
+                            globalVar.AllowAgvToLineTwoLoadRoller = false;
+                        }
+
                     }
                     //else if (globalVar.rollerLineTwo.StationEight != LTwoInputMaterialQuene.ElementAt(0).materialType.MaterialLoc)
                     //{
@@ -4079,9 +4167,13 @@ namespace FryPot_DosingSystem.Control
 
                         string info = AGVHelper.GetInstance.AgvToLineThreeLoadRoller(id);
                         LThreerobotJobId = id;
-                        Thread.Sleep(500);
-                        LineCarryTaskErrorCodeAnalysis(info, 3);
-                        globalVar.LThreeLoadRoller = true;
+                        //Thread.Sleep(500);
+                        if (LineCarryTaskErrorCodeAnalysis(info, 3))
+                        {
+                            globalVar.LThreeLoadRoller = true;
+                            globalVar.AllowAgvToLineThreeLoadRoller = false;
+                        }
+
                     }
                     //else if (globalVar.rollerLineThree.StationEight != LThreeInputMaterialQuene.ElementAt(0).materialType.MaterialLoc)
                     //{
@@ -4371,7 +4463,7 @@ namespace FryPot_DosingSystem.Control
                     }
                     while (AlarmHelper<AlarmInfo>.Alarm.FryPotOneRollerTrouble == 1)
                     {
-                        Thread.Sleep(5); if (globalVar.ExitLineOneTask)
+                        Thread.Sleep(1000); if (globalVar.ExitLineOneTask)
                             return;
                     }
                     MessageLog.GetInstance.ShowRunLog("炒锅【1】输送滚筒故障解除，继续运行");
@@ -4379,7 +4471,7 @@ namespace FryPot_DosingSystem.Control
                 case 4:
                     if (AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble == 1) { FryPotFourAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【4】输送滚筒发生故障"); } else { FryPotFourAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotFourRollerTrouble == 1)
                     {
-                        Thread.Sleep(5); if (globalVar.ExitLineOneTask)
+                        Thread.Sleep(1000); if (globalVar.ExitLineOneTask)
                             return;
                     }
                     MessageLog.GetInstance.ShowRunLog("炒锅【4】输送滚筒故障解除，继续运行");
@@ -4399,7 +4491,7 @@ namespace FryPot_DosingSystem.Control
                 case 2:
                     if (AlarmHelper<AlarmInfo>.Alarm.FryPotTwoRollerTrouble == 1) { FryPotTwoAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【1】输送滚筒发生故障"); } else { FryPotTwoAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotTwoRollerTrouble == 1)
                     {
-                        Thread.Sleep(5); if (globalVar.ExitLineTwoTask)
+                        Thread.Sleep(1000); if (globalVar.ExitLineTwoTask)
                             return;
                     }
                     MessageLog.GetInstance.ShowRunLog("炒锅【1】输送滚筒故障解除，继续运行");
@@ -4407,7 +4499,7 @@ namespace FryPot_DosingSystem.Control
                 case 5:
                     if (AlarmHelper<AlarmInfo>.Alarm.FryPotFiveRollerTrouble == 1) { FryPotFiveAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【4】输送滚筒发生故障"); } else { FryPotFiveAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotFiveRollerTrouble == 1)
                     {
-                        Thread.Sleep(5); if (globalVar.ExitLineTwoTask)
+                        Thread.Sleep(1000); if (globalVar.ExitLineTwoTask)
                             return;
                     }
                     MessageLog.GetInstance.ShowRunLog("炒锅【4】输送滚筒故障解除，继续运行");
@@ -4422,7 +4514,7 @@ namespace FryPot_DosingSystem.Control
             FryPotThreeAlarm = 0;
             if (AlarmHelper<AlarmInfo>.Alarm.FryPotThreeRollerTrouble == 1) { FryPotThreeAlarm = -1; MessageLog.GetInstance.ShowRunLog("警告：炒锅【3】输送滚筒发生故障"); } else { FryPotThreeAlarm = 1; return; } while (AlarmHelper<AlarmInfo>.Alarm.FryPotThreeRollerTrouble == 1)
             {
-                Thread.Sleep(5); if (globalVar.ExitLineThreeTask)
+                Thread.Sleep(1000); if (globalVar.ExitLineThreeTask)
                     return;
             }
             MessageLog.GetInstance.ShowRunLog("炒锅【3】输送滚筒故障解除，继续运行");