增加invalid状态控制

AGVControl-ProductionLine/BLL/Common.cs

@@ -30,6 +30,7 @@ namespace AGVControl
         public const string Wait = "Wait";
         public const string Done = "Done";
         public const string Aborted = "Aborted";
+        public const string Invalid = "Invalid";
         public const string AutoCharge = "AutoCharge";
         public const string Executing = "Executing";
 
@@ -582,7 +583,7 @@ namespace AGVControl
                         if (loc.StartsWith(SettingString.C4_Name_Prefix) && SettingString.C4_AGV_IPs.Contains(agv.IP))
                         {
                             nodeName = loc;
-                            //Common.LogInfo("双层线正在出的工单目标产线有空料架，优先处4C-" + loc);
+                            Common.log.Debug("双层线正在出的工单目标产线有空料架，优先处4C-" + loc);
                             return true;
                         }
                         else if (loc.StartsWith(SettingString.D4_Name_Prefix) && !SettingString.C4_AGV_IPs.Contains(agv.IP))
@@ -606,6 +607,9 @@ namespace AGVControl
                     //4C车间寻找
                     if (SettingString.C4_AGV_IPs.Contains(agv.IP))
                     {
+                        List<Agv_Info> agvs = Common.agvInfo.FindAll(s => SettingString.C4_AGV_IPs.Contains(s.IP) && (s.CurJob is EmptyShelfBackJob || s.CurJob is GoEmptyShelfLineJob));
+                        if (agvs != null && agvs.Count > 1)
+                            return false;
                         string nearNodeName = CalculateNearNode(agv, SettingString.C4_Name_Prefix);
                         if (nearNodeName.Equals(""))
                         {
@@ -619,6 +623,9 @@ namespace AGVControl
                     //4D车间寻找
                     if (!SettingString.C4_AGV_IPs.Contains(agv.IP))
                     {
+                        List<Agv_Info> agvs = Common.agvInfo.FindAll(s => !SettingString.C4_AGV_IPs.Contains(s.IP) && (s.CurJob is EmptyShelfBackJob || s.CurJob is GoEmptyShelfLineJob));
+                        if (agvs != null && agvs.Count > 1)
+                            return false;
                         string nearNodeName = CalculateNearNode(agv, SettingString.D4_Name_Prefix);
                         if (nearNodeName.Equals(""))
                         {

AGVControl-ProductionLine/bean/Job.cs

@@ -52,7 +52,7 @@ namespace AGVControl
             bool rtn = false;
             if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string stateStr))
             {
-                if (stateStr.Equals(SettingString.Aborted))
+                if (stateStr.Equals(SettingString.Aborted) || stateStr.Equals(SettingString.Invalid))
                 {
                     rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission[CurTaskName]);
                     if (rtn)

AGVControl-ProductionLine/bean/job/EmptyAGVBackJob.cs

@@ -56,9 +56,8 @@ namespace AGVControl
             CurTaskState = Common.GetTakJobState(CurTaskID);
             if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.NONE))
             {
-
                 if (Common.FindEmptyShelfNode(agv, out string nodeName, true))
-                {
+                {                   
                     int i = Common.agvInfo.FindIndex(s => s.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)s.CurJob).EmptyShelfPlace.Equals(nodeName));
                     if (i == -1)
                     {