revise festo manager

CyberX8_RT/Modules/EFEM/EFEMAlignRoutine.cs

@@ -80,13 +80,13 @@ namespace CyberX8_RT.Modules.EFEM
         public RState Monitor()
         {
             Runner.Wait(AlignStep.WaitVacuumIdle, WaitEFEMIdle)
-                .Run(AlignStep.VacuumOn, VacuumOn,CheckAlignDone,_delay_5s)
+                //.Run(AlignStep.VacuumOn, VacuumOn,CheckAlignDone,_delay_5s)
                 .Wait(AlignStep.WaitIdle, WaitEFEMIdle)
                 .Run(AlignStep.SetAngle, SetAlignAngle, CheckAlignDone, _delay_5s)
                 .Wait(AlignStep.ReWaitIdle, WaitEFEMIdle)
                 .Run(AlignStep.Rotate, Align, CheckAlignDone, _moveTimeout)
                 .Wait(AlignStep.LastWaitIdle, WaitEFEMIdle)
-                .Run(AlignStep.VacuumOff,VacuumOff,CheckAlignDone,_delay_5s)
+                //.Run(AlignStep.VacuumOff,VacuumOff,CheckAlignDone,_delay_5s)
                 .End( AlignStep.End,            ActionDone,                  0);
             return Runner.Status;
         }

CyberX8_Simulator/Devices/WagoSocketSimulator.cs

@@ -30,11 +30,11 @@ namespace CyberX8_Simulator.Devices
         //存储模拟器数据的数组
         public byte[] DOBytes = new byte[100];
 
-        public short[] AOShorts = new short[50];
+        public short[] AOShorts = new short[100];
 
         public byte[] DIBytes = new byte[100];
 
-        public short[] AIShorts = new short[50];
+        public short[] AIShorts = new short[100];
 
         /// <summary>
         /// 写DO锁

Framework/Common/Device/Festo/FestoControllerCfgManager.cs

@@ -12,6 +12,7 @@ using System.IO;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using System.Windows.Media.Animation;
 
 namespace MECF.Framework.Common.Device.Festo
 {
@@ -26,7 +27,10 @@ namespace MECF.Framework.Common.Device.Festo
         /// 名称数据数组字典(key-festo名称，value-每个festo的byte数组)
         /// </summary>
         private ConcurrentDictionary<string, byte[]> _nameDatasDictionary = new ConcurrentDictionary<string, byte[]>();
-
+        /// <summary>
+        /// 名称锁字典(key-fest名称,value-locker)
+        /// </summary>
+        private Dictionary<string, object> _nameLockerDictionary = new Dictionary<string, object>();
         /// <summary>
         /// 名称数据数组字典(key-festo名称，value-每个festo的byte数组长度)
         /// </summary>
@@ -70,9 +74,11 @@ namespace MECF.Framework.Common.Device.Festo
                             (byte)config.Channel);
                         modbusDevice.ReceiveTimeout = config.RecvTimeout;
                         modbusDevice.SendTimeout = config.SendTimeout;
+                        _nameLockerDictionary[config.Name] = new object();
                         InitialDeviceConfig(config, modbusDevice,lst);
                         ushort addressCiount = (ushort)_nameDataLengthDictionary[config.Name];
                         modbusDevice.InitializeAddressCount(addressCiount);
+
                     }
                 }
             }
@@ -135,39 +141,48 @@ namespace MECF.Framework.Common.Device.Festo
                 LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"{festName} is not connected");
                 return false;
             }
-            byte[] data = _nameDatasDictionary[festName];
-
-            if (festoDO.DataIndex >= data.Length)
-            {
-                LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"{festName} data index is overflow");
-                return false;
-            }
-
-            if (!_doModbusDictionary.ContainsKey(doName))
+            if (!_nameLockerDictionary.ContainsKey(festName))
             {
-                LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"{doName} festo device is null");
+                LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"{festName} has no locker");
                 return false;
             }
-            FestoModbusDevice device = _doModbusDictionary[doName];
-            try
+            lock (_nameLockerDictionary[festName])
             {
-                bool lastValue=festoDO.Invert?!value: value;
-                byte festoValue = GenerateFestoData(festoDO, data[festoDO.DataIndex], lastValue);
-                bool result= device.SetFestoValue((ushort)festoDO.Address, festoValue);
-                if (result)
+                byte[] data = _nameDatasDictionary[festName];
+
+                if (festoDO.DataIndex >= data.Length)
                 {
-                    LOG.WriteLog(eEvent.INFO_FESTO, "Festo", $"{doName} write {value} success");
+                    LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"{festName} data index is overflow");
+                    return false;
                 }
-                else
+
+                if (!_doModbusDictionary.ContainsKey(doName))
                 {
-                    LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"{doName} write {value} failed");
+                    LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"{doName} festo device is null");
+                    return false;
+                }
+                FestoModbusDevice device = _doModbusDictionary[doName];
+                try
+                {
+                    bool lastValue = festoDO.Invert ? !value : value;
+                    byte festoValue = GenerateFestoData(festoDO, data[festoDO.DataIndex], lastValue);
+                    bool result = device.SetFestoValue((ushort)festoDO.Address, festoValue);
+                    if (result)
+                    {
+                        _nameDatasDictionary[festName][festoDO.DataIndex] = festoValue;
+                        LOG.WriteLog(eEvent.INFO_FESTO, "Festo", $"{doName} write {value} success");
+                    }
+                    else
+                    {
+                        LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"{doName} write {value} failed");
+                    }
+                    return result;
+                }
+                catch (Exception ex)
+                {
+                    LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"write {doName} value {value} {ex.Message}");
+                    return false;
                 }
-                return result;
-            }
-            catch(Exception ex)
-            {
-                LOG.WriteLog(eEvent.ERR_FESTO, "Festo", $"write {doName} value {value} {ex.Message}");
-                return false;
             }
         }
         /// <summary>