启动激光重测加入心跳机制

parkMonitor/server/PLCLinker/PLCLinker.cs

@@ -447,7 +447,7 @@ namespace parkMonitor.server
                     AsyncCmdServer.ins.send(AsyncCmdType.PLCReadException);
                     return;
                 }
-                Thread.Sleep(300);
+                Thread.Sleep(200);
             }
             catch (Exception)
             {
@@ -455,7 +455,26 @@ namespace parkMonitor.server
                 return;
             }
         }
-
+        private void WaitForLaserReady(LaserProcessUnit lpuTemp)
+        {
+            bool jumpOut = false;
+            while (!jumpOut)
+            {
+                Thread.Sleep(1000);
+                if (plcMsg != null && plcMsg.originalPlcList.Count > lpuTemp.laser_status_address)
+                {
+                    foreach (PLCNode node in plcMsg.originalPlcList)
+                    {
+                        //判断激光空闲状态
+                        if (node.Address.Equals(lpuTemp.laser_status_address.ToString()) && (node.Value.Equals("254") || node.Value.Equals("255")))
+                        {
+                            jumpOut = true;
+                            break;
+                        }
+                    }
+                }
+            }
+        }
         //***************公有方法****************
         public AbstractMessage GetMessage()
         {
@@ -516,23 +535,7 @@ namespace parkMonitor.server
                                 if (laser_start_addr == "")
                                     return;
 
-                                bool jumpOut = false;
-                                while (!jumpOut)
-                                {
-                                    Thread.Sleep(1000);
-                                    if (plcMsg != null && plcMsg.originalPlcList.Count > lpuTemp.laser_status_address)
-                                    {
-                                        foreach (PLCNode node in plcMsg.originalPlcList)
-                                        {
-                                            //判断激光空闲状态
-                                            if (node.Address.Equals(lpuTemp.laser_status_address.ToString()) && (node.Value.Equals("254") || node.Value.Equals("255")))
-                                            {
-                                                jumpOut = true;
-                                                break;
-                                            }
-                                        }
-                                    }
-                                }
+                                WaitForLaserReady(lpuTemp);
                                 SendtoPLC(laser_start_addr, "0");
                                 foreach (LaserMessage lm in plcMsg.laserMsgList)
                                 {
@@ -594,9 +597,10 @@ namespace parkMonitor.server
                                 SendtoPLC(rpu1.frontWheelbase.ToString(), pm.frontWheelbase.ToString());
                                 SendtoPLC(rpu1.rearWheelbase.ToString(), pm.rearWheelbase.ToString());
                                 //取至区域
-                                SendtoPLC(rpu1.fetch_to_address.ToString(), pm.fetchPosition.ToString());
+                                //SendtoPLC(rpu1.fetch_to_address.ToString(), pm.fetchPosition.ToString());
+                                SendtoPLC(rpu1.fetch_to_address.ToString(), pm.parkingSpaceX);
                                 //车位信息
-                                SendtoPLC(rpu1.parkingSpaceID_address.ToString(), "1");
+                                SendtoPLC(rpu1.parkingSpaceID_address.ToString(), pm.parkingSpaceID);
                                 SendtoPLC((rpu1.parkingSpaceID_address + 1).ToString(), pm.parkingSpaceX);
                                 SendtoPLC((rpu1.parkingSpaceID_address + 2).ToString(), pm.parkingSpaceY);
                                 SendtoPLC((rpu1.parkingSpaceID_address + 3).ToString(), pm.parkingSpaceZ);
@@ -734,6 +738,7 @@ namespace parkMonitor.server
                     if (!disconnected)
                     {
                         laserMsg.status = value;
+                        //UILogServer.ins.log(value.ToString());
                     }
                     //after status 0, start to check laser heartbeat
                     if (value == 0)
@@ -783,11 +788,19 @@ namespace parkMonitor.server
                                         //停车指令置0
                                         PLCNode pn = new PLCNode(laser_start_address.ToString(), "0");
                                         plc.SetMessage(pn);
-                                        Thread.Sleep(1000);
                                         //未终止重测，车未开走，停车指令归零后置1
                                         if (!laserMsg.abort_rescan)
                                         {
                                             UILogServer.ins.error("激光" + laserMsg.id + "计算异常，重新测量");
+                                            //重测检测心跳
+                                            Task rescan_wait_heartbeat = Task.Factory.StartNew(() =>
+                                            {
+                                                while (laserMsg.status != 254 && laserMsg.status != 255)
+                                                {
+                                                    Thread.Sleep(1000);
+                                                }
+                                            });
+                                            rescan_wait_heartbeat.Wait();
                                             pn = new PLCNode(laser_start_address.ToString(), "1");
                                             plc.SetMessage(pn);
                                             laserMsg.status = value;