GGG

HBLConsole.MORKD/Control_MORKD.cs

@@ -255,7 +255,7 @@ namespace HBLConsole.MORKD
                             mORKD.DropBowlStart((ushort)(mORKD.AxisIdleIndex + 1), orderLocInfo.Loc);
                             mORKD.AxisIdleLock[mORKD.AxisIdleLockIndex] = true;
                             MessageLog.GetInstance.Show($"执行取碗控制,碗位置:[{orderLocInfo.Loc}]，轴位置：[{mORKD.AxisIdleIndex + 1}]");
-                            MessageLog.GetInstance.Show($"{mORKD.AxisIdleIndex}号轴订单ID:[{orderLocInfo.SuborderId}]");
+                            MessageLog.GetInstance.Show($"{mORKD.AxisIdleIndex + 1}号轴订单ID:[{orderLocInfo.SuborderId}]");
                         }
                     }
                 }
@@ -269,15 +269,18 @@ namespace HBLConsole.MORKD
         {
             if (mORKD.TurntableInPlace && mORKD.InitComplete && !mORKD.AllowTakeNoodle && mORKD.RBTakeNoodleTask.Count > 0)
             {
+                var result = Json<BatchingInfoPar>.Data.orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == mORKD.RBTakeNoodleTask.ElementAt(0).BatchingId).ToList();
+                
                 if (mORKD.TurntableLowerLimit)
                 {
-                    if (mORKD.TurntableFeedbackloc == mORKD.RBTakeNoodleTask.ElementAt(0).Loc)
+                  
+                    if (mORKD.TurntableFeedbackloc == mORKD.RBTakeNoodleTask.ElementAt(0).Loc || (result?.Count > 0 && result?.Count == mORKD.TurntableLocLists.Count))
                     {
                         mORKD.TurntableLocLists.Clear();
                         mORKD.AllowTakeNoodle = true;
                         MessageLog.GetInstance.Show("转台位置OK,执行机器人取面");
                     }
-                    else
+                    else 
                     {
                         if (!mORKD.TurntableInterlock)
                         {
@@ -290,20 +293,39 @@ namespace HBLConsole.MORKD
                 {
                     if (!mORKD.TurntableInterlock)
                     {
-                        var result = Json<BatchingInfoPar>.Data.orderMaterialDelivery.BatchingInfo.Where(p => p.BatchingId == mORKD.RBTakeNoodleTask.ElementAt(0).BatchingId).ToList();
-                        result?.ForEach(item =>
+                        
+                        
+                        if (result!= null)
                         {
-                            if (ushort.TryParse(item.BatchingLoc, out ushort loc))
+                            foreach (var item in result)
                             {
-                                if (mORKD.TurntableFeedbackloc != loc && !mORKD.TurntableLocLists.Contains(loc))
+                                if (ushort.TryParse(item.BatchingLoc, out ushort loc))
                                 {
-                                    mORKD.TurntableStart(loc);
-                                    MessageLog.GetInstance.Show($"没有物料检测的启动转台控制,转台位置：[{loc}]");
-                                    return;
+                                    if (mORKD.TurntableFeedbackloc != loc && !mORKD.TurntableLocLists.Contains(loc))
+                                    {
+                                        mORKD.TurntableStart(loc);
+                                        MessageLog.GetInstance.Show($"没有物料检测的启动转台控制,转台位置：[{loc}]");
+                                        break;
+                                    }
+                                    else if (mORKD.TurntableFeedbackloc == loc && !mORKD.TurntableLocLists.Contains(loc)) mORKD.TurntableLocLists.Add(loc);
                                 }
-                                else if (mORKD.TurntableFeedbackloc == loc) mORKD.TurntableLocLists.Add(loc);
                             }
-                        });
+                        }
+                        
+                       
+                        //result?.ForEach(item =>
+                        //{
+                        //    if (ushort.TryParse(item.BatchingLoc, out ushort loc))
+                        //    {
+                        //        if (mORKD.TurntableFeedbackloc != loc && !mORKD.TurntableLocLists.Contains(loc))
+                        //        {
+                        //            mORKD.TurntableStart(loc);
+                        //            MessageLog.GetInstance.Show($"没有物料检测的启动转台控制,转台位置：[{loc}]");
+                        //            return;
+                        //        }
+                        //        else if (mORKD.TurntableFeedbackloc == loc) mORKD.TurntableLocLists.Add(loc);
+                        //    }
+                        //});
                     }
 
                 }

HBLConsole.MORKD/GVL_MORKD.cs

@@ -85,7 +85,7 @@ namespace HBLConsole.MORKD
         {
             this.TurntableLoc = TurntableLoc;
             TurntableInterlock = true;
-            TurntableLocLists.Add(TurntableLoc);
+           if (!TurntableLocLists.Contains(TurntableLoc)) TurntableLocLists.Add(TurntableLoc);
             ModbusTcpHelper.GetInstance.Write(100, WriteType.HoldingRegisters, TurntableLoc);
             ModbusTcpHelper.GetInstance.Write(325, WriteType.Coils, true);
         }