流程ok

DeviceLibrary/AGVManager.cs

@@ -95,6 +95,13 @@ namespace DeviceLibrary
                     {
                     {
                         taskStates.Add(new TaskState() { task_code = task_code, task_status = task_status });
                         taskStates.Add(new TaskState() { task_code = task_code, task_status = task_status });
                     }
                     }
+                    if(task_code.StartsWith(STDTaskType.MIMO_LOAD)|| task_code.StartsWith(STDTaskType.MIMO_UNLOAD))
+                    {
+                        if("SUCCESS".Equals(task_status))
+                        {
+                            sendOpMimoCmd(task_code, StringDoor(false));
+                        }
+                    }
                     sendAgvLog("AGV任务" + task_code + "状态更新" + task_status);
                     sendAgvLog("AGV任务" + task_code + "状态更新" + task_status);
                 }
                 }
                 catch (Exception ex)
                 catch (Exception ex)
@@ -256,7 +263,7 @@ namespace DeviceLibrary
                     }
                     }
                     else if (DeviceCheckDto.LOAD_DONE.Equals(deviceCheckDto.operate))//上料完成
                     else if (DeviceCheckDto.LOAD_DONE.Equals(deviceCheckDto.operate))//上料完成
                     {
                     {
-
+                        sendOpMimoCmd(deviceCheckDto.operate, StringLine(false));
                     }
                     }
                     else if (DeviceCheckDto.UNLOAD_REQ.Equals(deviceCheckDto.operate))//下料请求
                     else if (DeviceCheckDto.UNLOAD_REQ.Equals(deviceCheckDto.operate))//下料请求
                     {
                     {
@@ -284,7 +291,7 @@ namespace DeviceLibrary
                     }
                     }
                     else if (DeviceCheckDto.UNLOAD_DONE.Equals(deviceCheckDto.operate))//下料完成
                     else if (DeviceCheckDto.UNLOAD_DONE.Equals(deviceCheckDto.operate))//下料完成
                     {
                     {
-
+                        sendOpMimoCmd(deviceCheckDto.operate, StringLine(false));
                     }
                     }
                     else
                     else
                     {
                     {

DeviceLibrary/DeviceLibrary/ServerCommunication.cs

@@ -149,8 +149,6 @@ namespace DeviceLibrary
         int laststatus = 0;
         int laststatus = 0;
         public void SendLineStatus()
         public void SendLineStatus()
         {
         {
-            if (RobotManage.IsDebug)
-                return;
             try
             try
             {
             {
                 lock (serverclock)
                 lock (serverclock)
@@ -301,7 +299,8 @@ namespace DeviceLibrary
                     Dictionary<string, string> dataMap = item.Value;
                     Dictionary<string, string> dataMap = item.Value;
                     if (dataMap.ContainsKey(ParamDefine.SendEmptyShelf) && dataMap[ParamDefine.SendEmptyShelf].Equals(ParamDefine.doit))
                     if (dataMap.ContainsKey(ParamDefine.SendEmptyShelf) && dataMap[ParamDefine.SendEmptyShelf].Equals(ParamDefine.doit))
                     {
                     {
-                        LogUtil.info(StoreName + $"收到服务器命令：MIMO({item.Key}) SendEmptyShelf=doit 不执行");
+                        AGVManager.CreateAGVTask(STDTaskType.MIMO_UNLOAD);
+                        LogUtil.info(StoreName + $"收到服务器命令：MIMO({item.Key}) SendEmptyShelf=doit");
                     }
                     }
                     else if (dataMap.ContainsKey(ParamDefine.NeedEmptySHelf) && dataMap[ParamDefine.NeedEmptySHelf].Equals(ParamDefine.doit))
                     else if (dataMap.ContainsKey(ParamDefine.NeedEmptySHelf) && dataMap[ParamDefine.NeedEmptySHelf].Equals(ParamDefine.doit))
                     {
                     {