agv到达时需要判断料架是否正确

source/ACPackingStore/FrmStore.Designer.cs

@@ -130,8 +130,6 @@
             // chbAGV
             // 
             this.chbAGV.AutoSize = true;
-            this.chbAGV.Checked = true;
-            this.chbAGV.CheckState = System.Windows.Forms.CheckState.Checked;
             this.chbAGV.Font = new System.Drawing.Font("微软雅黑", 10.5F, System.Drawing.FontStyle.Regular, System.Drawing.GraphicsUnit.Point, ((byte)(134)));
             this.chbAGV.Location = new System.Drawing.Point(36, 470);
             this.chbAGV.Name = "chbAGV";

source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Partial.cs

@@ -138,7 +138,7 @@ namespace OnlineStore.DeviceLibrary
                                 wait.IsEnd = true;
                             }
                         }
-                        else if (wait.AgvAction.Equals((int)ClientAction.Arrive)&&MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
+                        else if (wait.AgvAction.Equals((int)ClientAction.Arrive)&&MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitArrive))
                         {
                             if (IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW))
                             {

source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Shelf.cs

@@ -249,7 +249,7 @@ namespace OnlineStore.DeviceLibrary
             }
             else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_02_LocatinDown))
             {
-                MoveInfo.NextMoveStep(StoreMoveStep.BS_03_WaitEmptyAgv);
+                MoveInfo.NextMoveStep(StoreMoveStep.BS_03_WaitArrive);
                 MoveInfo.TimeOutSeconds = 600; 
                 //MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(30000));
                 //等待agv到达
@@ -257,7 +257,7 @@ namespace OnlineStore.DeviceLibrary
                 InOutStoreLog(moveName + MoveInfo.SLog + "：再次调用 NeedLeave["+mark+"][" + CurrShelfID + "]，等待Agv " + Config.AgvNodeName + " Arrive ,最多等待1200秒");
                 AgvClient.SetStatus(Config.AgvNodeName, mark, CurrShelfID, ClientAction.NeedLeave, ClientLevel.High, true);
             }
-            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitArrive))
             {
                 
                 //agv到达
@@ -363,60 +363,30 @@ namespace OnlineStore.DeviceLibrary
 
         #region AGV
 
-        internal bool ProcessAGVAction(string name, string rfid, ClientAction action)
+        internal bool ProcessAGVAction(string name,string rfid, ClientAction action)
         {
-            string logN = name + "收到调度" + name + "=" + action + ",RFID[" + rfid + "]";
+            string logN = name + "收到调度" + name + "=" + action + ",RFID["+rfid+"]";
              
             //Arrive收到后打开门
-            if (!action.Equals(ClientAction.Arrive))
+            if (action.Equals(ClientAction.Arrive))
             { 
-                LogUtil.info(Name + logN + " ，未找到相关处理");
-                return false;
-
-            }
                 //出库处理中不处理
                 if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore))
                 {
+                    //出库等待料架到达
                     if (MoveInfo.MoveStep.Equals(StoreMoveStep.BI_00_ReadyShelf))
                     {
-                    if (rfid.Equals(""))
-                    {
-                        string mark = GetMarkInfo();
-                        LogUtil.error(Name + logN + " 当前出库中 BI_00_ReadyShelf，RFID无效，不处理agv，重发 NeedEnter [" + mark + "][" + MoveInfo.MoveParam.rfid + "]");
-                        AgvClient.SetStatus(Config.AgvNodeName, mark, MoveInfo.MoveParam.rfid, ClientAction.NeedEnter, ClientLevel.High, true);
-                        return false;
-                    }
 
-                    //出库等待料架到达
-                    LogUtil.info(Name + logN + ",当前出库中 BI_00_ReadyShelf，正在等待料架到达");
-                    MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
-                    InOutStoreLog("出库等待料架" + MoveInfo.SLog + " agv已到达，打开入料口移门");
-                    DoorBean.StartOpen(MoveInfo);
-                    return true;
                     }
-                else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
-                {
-                    if (!rfid.Equals(""))
-                    {
-                        string mark = GetMarkInfo();
-                        LogUtil.error(Name + logN + " 当前出库中 BS_03_WaitEmptyAgv，RFID[" + rfid + "]不是空车，不处理agv，重发 NeedLeave [" + mark + "][" + CurrShelfID + "]");
-                        AgvClient.SetStatus(Config.AgvNodeName, mark, CurrShelfID, ClientAction.NeedLeave, ClientLevel.High, true);
-                        return false;
+                  else if(MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitArrive))
                 }
                 
-                    //等待空车到达
-                    LogUtil.info(Name + logN + ",当前出库中 BS_03_WaitEmptyAgv，正在等待料架到达");
-                    MoveInfo.NextMoveStep(StoreMoveStep.BS_04_DoorOpen);
-                    InOutStoreLog("送出料架等待空车" + MoveInfo.SLog + "：agv到达,打开入料口移门");
-                    DoorBean.StartOpen(MoveInfo);
-                    return true;
-                }
-            }
-            else if (storeRunStatus.Equals(StoreRunStatus.Runing) &&
+                //agv到达，开始处理 
+                if (storeRunStatus.Equals(StoreRunStatus.Runing) &&
                     MoveInfo.MoveType.Equals(StoreMoveType.None) &&
                     IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW))
                 {
-                //agv到达，开始处理 
+
                     if (rfid.Equals(""))
                     {
                         LogUtil.error(Name + logN + " ，RFID无效，不需要入库处理");
@@ -426,6 +396,11 @@ namespace OnlineStore.DeviceLibrary
                     StartShelfInStore();
                     return true;
                 }
+            }
+            else
+            {
+                LogUtil.info(Name + logN + " ，未找到相关处理");
+            }
 
             return false;
         }

source/DeviceLibrary/store/StoreStep.cs

@@ -429,7 +429,7 @@ namespace OnlineStore.DeviceLibrary
         /// <summary>
         /// 通知AGV准备空车
         /// </summary>
-        BS_03_WaitEmptyAgv = 4003,
+        BS_03_WaitArrive = 4003,
         /// <summary>
         /// 送出空料架：打开仓门
         /// </summary>