1

AGVControl-ProductionLine/BLL/Common.cs

@@ -570,7 +570,7 @@ namespace AGVControl
         /// <returns></returns>
         public static bool CheckIsInAirDoor(string nodeName)
         {
-            return SettingString.Lines_In_Air_Door.Contains(nodeName);
+            return SettingString.Lines_In_Air_Door.Split(',').Contains(nodeName);
         }
         /// <summary>
         /// 检查当前任务是否结束
@@ -884,6 +884,23 @@ namespace AGVControl
             return true;
         }
         /// <summary>
+        /// 出料前检查接驳台状态
+        /// </summary>
+        /// <returns></returns>
+        public static bool CheckStationState(ClientNode clientNode)
+        {
+            if (Common.missionManager.GetUnlockCnt(clientNode.Name)>0)
+            {
+                // if (warnMsg.Equals(""))
+                {
+                    warnMsg = string.Format("接驳台[{1}]有空料架未回收完，无法出满料，请检查接驳台RFID读取情况", clientNode.RFID, clientNode.Name);
+                    Common.LogInfo(warnMsg);
+                }
+                return false;
+            }
+            return true;
+        }
+        /// <summary>
         ///  计算当前小车距离最近的任务点(只针对产线)
         /// </summary>
         /// <param name="agv"></param>

AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4C.cs

@@ -35,7 +35,7 @@ namespace AGVControl
             {
                 if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
                     continue;
-                if (agv.CurJob is GoEmptyShelfLineJob|| (agv.CurJob is EmptyShelfBackJob))
+                if (agv.CurJob is GoEmptyShelfLineJob || (agv.CurJob is EmptyShelfBackJob))
                 {
                     emptyJobCnt++;
                 }
@@ -86,6 +86,23 @@ namespace AGVControl
 
                 if (SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
                 {
+                    ClientNode node = Common.nodeInfo.Find(s => s.Name.Equals(SettingString.A6)
+                            && (s.StateEquals(eNodeStatus.NeedLeave) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && !s.RFID.Equals("00"));
+                    if (node != null && node.Name.Equals(SettingString.A6))
+                    {
+                        if (AGVManager.FindFullShelfTarget(node.RFID, out AGVManager.BoxDestInfo boxDestInfo))
+                        {
+                            if (boxDestInfo != null)
+                            {
+                                ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(boxDestInfo.location));
+                                if (!Common.CheckStationState(clientNode))
+                                {
+                                    return null;
+                                }
+                            }
+                        }
+                    }
+
                     int i = Common.agvInfo.FindIndex(s => s.CurJob is GoFullShelfStationJob && !s.IP.Equals(currentAgv.IP));
                     if (i == -1)
                         return new GoFullShelfStationJob(currentAgv.Place);

AGVControl-ProductionLine/bean/node/DoubleLineNodeFor4D.cs

@@ -103,6 +103,11 @@ namespace AGVControl
                         {
                             if (boxDestInfo != null)
                             {
+                                ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(boxDestInfo.location));
+                                if (!Common.CheckStationState(clientNode))
+                                {
+                                    return null;
+                                }
                                 i = Common.agvInfo.FindIndex(s => s.CurJob is SendFullShelfToLineJob && !s.IP.Equals(currentAgv.IP)
                                 && ((SendFullShelfToLineJob)s.CurJob).FullShelfPlace.Equals(boxDestInfo.location));
                                 if (i > -1)

AGVControl-ProductionLine/bin/Debug/Config/UnlockInfo.json

-{"NodeUnlockMissions":{"D1":{"NodeName":"D1","EmptyCnt":1,"Rfids":{"D3":"2020/12/02/14:12:20,387"}},"D2":{"NodeName":"D2","EmptyCnt":0,"Rfids":{}},"D3":{"NodeName":"D3","EmptyCnt":0,"Rfids":{}},"D4":{"NodeName":"D4","EmptyCnt":0,"Rfids":{}},"D5":{"NodeName":"D5","EmptyCnt":0,"Rfids":{}},"D6":{"NodeName":"D6","EmptyCnt":0,"Rfids":{}},"D8":{"NodeName":"D8","EmptyCnt":0,"Rfids":{}},"D9":{"NodeName":"D9","EmptyCnt":0,"Rfids":{}},"D10":{"NodeName":"D10","EmptyCnt":0,"Rfids":{}},"D11":{"NodeName":"D11","EmptyCnt":0,"Rfids":{}},"D12":{"NodeName":"D12","EmptyCnt":0,"Rfids":{}},"D14":{"NodeName":"D14","EmptyCnt":0,"Rfids":{}},"D15":{"NodeName":"D15","EmptyCnt":0,"Rfids":{}},"D16":{"NodeName":"D16","EmptyCnt":0,"Rfids":{}},"D22":{"NodeName":"D22","EmptyCnt":0,"Rfids":{}},"C1":{"NodeName":"C1","EmptyCnt":0,"Rfids":{}},"C2":{"NodeName":"C2","EmptyCnt":0,"Rfids":{}},"C3":{"NodeName":"C3","EmptyCnt":0,"Rfids":{}},"C4":{"NodeName":"C4","EmptyCnt":0,"Rfids":{}},"C5":{"NodeName":"C5","EmptyCnt":0,"Rfids":{}},"C6":{"NodeName":"C6","EmptyCnt":0,"Rfids":{}},"C7":{"NodeName":"C7","EmptyCnt":0,"Rfids":{}},"C8":{"NodeName":"C8","EmptyCnt":0,"Rfids":{}},"C9":{"NodeName":"C9","EmptyCnt":0,"Rfids":{}},"C10":{"NodeName":"C10","EmptyCnt":0,"Rfids":{}},"C14":{"NodeName":"C14","EmptyCnt":0,"Rfids":{}},"C15":{"NodeName":"C15","EmptyCnt":0,"Rfids":{}},"C22":{"NodeName":"C22","EmptyCnt":0,"Rfids":{}}}}
+{"NodeUnlockMissions":{"D1":{"NodeName":"D1","EmptyCnt":0,"Rfids":{}},"D2":{"NodeName":"D2","EmptyCnt":0,"Rfids":{}},"D3":{"NodeName":"D3","EmptyCnt":1,"Rfids":{"D3":"2020/12/05/22:50:48,047"}},"D4":{"NodeName":"D4","EmptyCnt":0,"Rfids":{}},"D5":{"NodeName":"D5","EmptyCnt":0,"Rfids":{}},"D6":{"NodeName":"D6","EmptyCnt":0,"Rfids":{}},"D8":{"NodeName":"D8","EmptyCnt":0,"Rfids":{}},"D9":{"NodeName":"D9","EmptyCnt":0,"Rfids":{}},"D10":{"NodeName":"D10","EmptyCnt":0,"Rfids":{}},"D11":{"NodeName":"D11","EmptyCnt":0,"Rfids":{}},"D12":{"NodeName":"D12","EmptyCnt":0,"Rfids":{}},"D14":{"NodeName":"D14","EmptyCnt":0,"Rfids":{}},"D15":{"NodeName":"D15","EmptyCnt":0,"Rfids":{}},"D16":{"NodeName":"D16","EmptyCnt":0,"Rfids":{}},"D22":{"NodeName":"D22","EmptyCnt":0,"Rfids":{}},"C1":{"NodeName":"C1","EmptyCnt":0,"Rfids":{}},"C2":{"NodeName":"C2","EmptyCnt":0,"Rfids":{}},"C3":{"NodeName":"C3","EmptyCnt":0,"Rfids":{}},"C4":{"NodeName":"C4","EmptyCnt":0,"Rfids":{}},"C5":{"NodeName":"C5","EmptyCnt":0,"Rfids":{}},"C6":{"NodeName":"C6","EmptyCnt":0,"Rfids":{}},"C7":{"NodeName":"C7","EmptyCnt":0,"Rfids":{}},"C8":{"NodeName":"C8","EmptyCnt":0,"Rfids":{}},"C9":{"NodeName":"C9","EmptyCnt":0,"Rfids":{}},"C10":{"NodeName":"C10","EmptyCnt":0,"Rfids":{}},"C14":{"NodeName":"C14","EmptyCnt":0,"Rfids":{}},"C15":{"NodeName":"C15","EmptyCnt":0,"Rfids":{}},"C22":{"NodeName":"C22","EmptyCnt":0,"Rfids":{}}}}

AGVControl-ProductionLine/bin/Debug/Config/tempData.ini

+[D3]
+EmptyShelfCnt=1
 [MiR_R1763]
 RFID=
 [MiR_R1764]
@@ -10,4 +12,3 @@ RFID=
 RFID=
 [MiR_R1580]
 RFID=
-

AGVControl-ProductionLine/obj/Debug/AGVControl-ProductionLine.csproj.FileListAbsolute.txt

@@ -70,5 +70,4 @@ E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLi
 E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csproj.CopyComplete
 E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.exe
 E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.pdb
-E:\Neotel\Projects\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csprojAssemblyReference.cache
 C:\myproject\Gitee\AGVControl-Qisda-ProductionLine\AGVControl-ProductionLine\obj\Debug\AGVControl-ProductionLine.csprojAssemblyReference.cache