解决空车返回时未检测满料目的地是否有空架

AGVControl-ProductionLine/bean/job/EmptyAGVBackJob.cs

@@ -51,13 +51,13 @@ namespace AGVControl
         {
             string msg = agv.Name + " ";
             bool rtn = false;
-            agv.Msg = "返回任务："+runInfo;
-           // runInfo = "返回任务：";
+            agv.Msg = "返回任务：" + runInfo;
+            // runInfo = "返回任务：";
             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)
                     {
@@ -187,7 +187,23 @@ namespace AGVControl
                 }
                 else
                 {
-                    if (Common.FindFullShelfTask(agv))
+                    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)
+                        {
+                            ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(nodeName));
+                            if (Common.CheckStationState(clientNode, out string rfid))
+                            {
+                                runInfo = "小车在产线 " + agvPlace + " 准备返回时检测到 " + nodeName + " 有空料架";
+                                msg += runInfo;
+                                EmptyAGVBackStep.Msg = msg;
+                                return new GoEmptyShelfLineJob(agvPlace, nodeName, rfid);
+                            }
+                        }
+
+                    }
+                    else if (Common.FindFullShelfTask(agv))
                     {
                         runInfo = "从产线" + agvPlace + "回待机位过程中，检测到A6出满料，去A6";
                         msg += runInfo;
@@ -215,20 +231,36 @@ namespace AGVControl
                 CurTaskState = Common.GetTakJobState(CurTaskID);
                 if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
                 {
-                    if (Common.FindFullShelfTask(agv))
+                    if (Common.FindEmptyShelfNode(agv, out string nodeName, true))
                     {
-                        runInfo = "从产线" + agvPlace + "到达4D门，检测到A6出满料，去A6";
-                        msg += runInfo;
-                        EmptyAGVBackStep.Msg = msg;
-                        return new GoFullShelfStationJob(SettingString.DoorCToD);
+                        int i = Common.agvInfo.FindIndex(s => s.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)s.CurJob).EmptyShelfPlace.Equals(nodeName));
+                        if (i == -1)
+                        {
+                            ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(nodeName));
+                            if (Common.CheckStationState(clientNode, out string rfid))
+                            {
+                                runInfo = "小车在产线 " + agvPlace + " 准备返回时检测到 " + nodeName + " 有空料架";
+                                msg += runInfo;
+                                EmptyAGVBackStep.Msg = msg;
+                                return new GoEmptyShelfLineJob(agvPlace, nodeName, rfid);
+                            }
+                        }
+
                     }
-                    else
+                    else if (Common.FindFullShelfTask(agv))
                     {
-                        runInfo =  "从产线" + agvPlace + "到达4D门，暂无任务，去充电位";
+                        runInfo = "从产线" + agvPlace + "到达4D门，检测到A6出满料，去A6";
                         msg += runInfo;
                         EmptyAGVBackStep.Msg = msg;
-                        return new ChargeJob(SettingString.DoorCToD);
+                        return new GoFullShelfStationJob(SettingString.DoorCToD);
                     }
+
+
+                    runInfo = "从产线" + agvPlace + "到达4D门，暂无任务，去充电位";
+                    msg += runInfo;
+                    EmptyAGVBackStep.Msg = msg;
+                    return new ChargeJob(SettingString.DoorCToD);
+
                 }
             }
             return this;

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

@@ -71,3 +71,4 @@ 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