From 2f7c7a0621ee2e84c47ccd054889a71e8ce4fdd0 Mon Sep 17 00:00:00 2001
From: wanshenmean <cathay_xy@163.com>
Date: 星期六, 18 四月 2026 22:08:14 +0800
Subject: [PATCH] feat(机械手任务): 实现换盘任务多阶段处理逻辑
---
Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Communicator/Omron/OmronEtherNetCommunicator.cs | 11 +++++++++--
1 files changed, 9 insertions(+), 2 deletions(-)
diff --git a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Communicator/Omron/OmronEtherNetCommunicator.cs b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Communicator/Omron/OmronEtherNetCommunicator.cs
index a3ee114..bfe0b83 100644
--- a/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Communicator/Omron/OmronEtherNetCommunicator.cs
+++ b/Code/WCS/WIDESEAWCS_Server/WIDESEAWCS_Communicator/Omron/OmronEtherNetCommunicator.cs
@@ -24,6 +24,13 @@
[Description("娆у榫橢therNet/IP(CIP)")]
public class OmronEtherNetCommunicator : BaseCommunicator
{
+ #region Constants
+ /// <summary>
+ /// Ping 妫�娴嬮棿闅旀椂闂达紙姣锛�
+ /// </summary>
+ private const int PingIntervalMs = 100;
+ #endregion Constants
+
#region Private Member
/// <summary>
/// HSLCommunication鐨勮タ闂ㄥ瓙鐨凷7鍗忚鐨勯�氳绫�
@@ -328,7 +335,7 @@
private void Ping()
{
- Task.Run(() =>
+ Task.Run(async () =>
{
while (_isPing)
{
@@ -342,7 +349,7 @@
}
finally
{
- Thread.Sleep(100);
+ await Task.Delay(PingIntervalMs);
}
}
});
--
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