移门打开后调用MayLeave,然后等待ready

source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Shelf.cs

@@ -230,7 +230,8 @@ namespace OnlineStore.DeviceLibrary
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.BS_05_WaitReady);
                 MoveInfo.TimeOutSeconds = 120;
-                InOutStoreLog(moveName + MoveInfo.SLog + "：等待agv "+Config.AgvNodeName+" Ready");
+                InOutStoreLog(moveName + MoveInfo.SLog + "：移门已打开，调用MayLeave[" + CurrShelfID + "]，等待agv " + Config.AgvNodeName+" Ready");
+                AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID, ClientAction.MayLeave, ClientLevel.High);
 
                 //等待agv到达
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitAgvAction((int)ClientAction.Ready));
@@ -239,9 +240,7 @@ namespace OnlineStore.DeviceLibrary
             {
                 MoveInfo.NextMoveStep(StoreMoveStep.BS_06_LineBackRun); 
                 MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(500));
-                InOutStoreLog(moveName + MoveInfo.SLog + "：agv " + Config.AgvNodeName + " Ready，调用MayLeave[" + CurrShelfID + "] ，线体开始反转");
-                //TODO AGV到达，发送料架信息，是否需要重新读取?
-                AgvClient.SetStatus(Config.AgvNodeName, "", CurrShelfID, ClientAction.MayLeave, ClientLevel.High);
+                InOutStoreLog(moveName + MoveInfo.SLog + "：收到agv " + Config.AgvNodeName + " Ready ，线体开始反转"); 
                 LineBackRun();
             }
             else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_06_LineBackRun))