AGV到达时需要判断rfid是否正确。

source/ACPackingStore/记录.txt

@@ -115,7 +115,7 @@ PRO,压紧轴（轴4）七寸盘压紧前点相对压紧点的位置,CompAxis7_P
 出库时发现料架对不上，送出料架时发的mark应该用原来的
 
 
-
+agv到达时，根据rfid判断是否有料架
 
 
 

source/DeviceLibrary/ACPackingStore/AC_BOX_Bean_Partial.cs

@@ -116,9 +116,12 @@ namespace OnlineStore.DeviceLibrary
                 }
                 else if (wait.WaitType.Equals(WaitEnum.W010_AgvStatus))
                 {
-
+                    if (wait.AgvAction.Equals((int)ClientAction.Ready))
+                    {
+                        //Ready时使用状态判断，arrive时需要判断料架号是否正确
                         ClientAction agvA = AgvClient.GetAction(Config.AgvNodeName);
                         wait.IsEnd = ((int)agvA).Equals(wait.AgvAction);
+                    }
                     if (!wait.IsEnd && span.TotalSeconds > 10)
                     {
                         //如果是等待AGV到达，等待有料架信号也算结束
@@ -135,7 +138,7 @@ namespace OnlineStore.DeviceLibrary
                                 wait.IsEnd = true;
                             }
                         }
-                        else if (wait.AgvAction.Equals((int)ClientAction.Arrive)&&MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitArrive))
+                        else if (wait.AgvAction.Equals((int)ClientAction.Arrive)&&MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
                         {
                             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_WaitArrive);
+                MoveInfo.NextMoveStep(StoreMoveStep.BS_03_WaitEmptyAgv);
                 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_WaitArrive))
+            else if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
             {
                 
                 //agv到达
@@ -273,10 +273,11 @@ namespace OnlineStore.DeviceLibrary
                     if (IOValue(IO_Type.LineIn_Check).Equals(IO_VALUE.LOW) && IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW))
                     {
                         MoveInfo.NextMoveStep(StoreMoveStep.BS_06_LineBackRun);
+                        AgvClient.SetToNone(Config.AgvNodeName);
                         //如果agv未到达，直接结束 
                         MoveEndToRuningStatus();
                         //EmprtShelfList = new ConcurrentQueue<string>();
-                        InOutStoreLog(moveName + MoveInfo.SLog + "：等待Agv " + Config.AgvNodeName + " Arrive超时，检测不到料架信号，认为料架已手动离开，出库结束");
+                        InOutStoreLog(moveName + MoveInfo.SLog + "：等待Agv " + Config.AgvNodeName + " Arrive超时，检测不到料架信号，认为料架已离开，出库结束，设置"+ Config.AgvNodeName + "=None");
                     }
                     else
                     {
@@ -349,12 +350,12 @@ namespace OnlineStore.DeviceLibrary
             {
                 //结束 
                 MoveEndToRuningStatus();
+                AgvClient.SetStatus(Config.AgvNodeName);
                 //EmprtShelfList = new ConcurrentQueue<string>();
-                InOutStoreLog(moveName + MoveInfo.SLog + "：料架"+ CurrShelfID + "已离开 ，"+ Config.AgvNodeName + "=None");
+                InOutStoreLog(moveName + MoveInfo.SLog + "：料架"+ CurrShelfID + "已离开 ，设置"+ Config.AgvNodeName + "=None");
                 CurrShelfID = "";
                 LastOutParam = new InOutParam();
                 //LastRfidID = "";
-                AgvClient.SetStatus(Config.AgvNodeName);
             }
         }
 
@@ -362,33 +363,69 @@ namespace OnlineStore.DeviceLibrary
 
         #region AGV
 
-        internal bool ProcessAGVAction(string name, ClientAction action)
+        internal bool ProcessAGVAction(string name, string rfid, ClientAction action)
         {
-            string logN = name + "收到调度【" + name + "】=【" + action + "】";
+            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))
             {
+                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;
+                    }
 
-                //agv到达，开始处理 
-                if (storeRunStatus.Equals(StoreRunStatus.Runing) &&
+                    //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) &&
                 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");
+                    return false;
+                }
                 LogUtil.info(Name + logN + " ，检测到料架，开始料架入库");
                 StartShelfInStore();
                 return true;
             }
-            }
-            else
-            {
-                LogUtil.info(Name + logN + " ，未找到相关处理");
-            }
 
             return false;
         }

source/DeviceLibrary/ACPackingStore/PackingStoreBean.cs

@@ -387,13 +387,13 @@ namespace OnlineStore.DeviceLibrary
             WarnMsg = msg;
         }
 
-        internal bool AGVProcess(string name, ClientAction action)
+        internal bool AGVProcess(string name, string rfid, ClientAction action)
         {
             foreach (AC_BOX_Bean box in this.BoxMap.Values)
             {
                 if (box.Config.AgvNodeName.Equals(name))
                 {
-                    return box.ProcessAGVAction(name, action);
+                    return box.ProcessAGVAction(name,rfid, action);
                 }
             }
             return false;

source/DeviceLibrary/agvClient/AgvClient.cs

@@ -58,7 +58,7 @@ namespace OnlineStore.DeviceLibrary
         {
            // RFIDData data = new RFIDData(content);
             LogUtil.info("收到 AgvClient_EnterShelf [" + id + "] [" + rfid+ "]  ");
-            StoreManager.Store.AGVProcess(id, ClientAction.Arrive);
+            StoreManager.Store.AGVProcess(id, rfid, ClientAction.Arrive);
             foreach (AC_BOX_Bean box in StoreManager.Store.BoxMap.Values)
             {
                 if (box.Config.AgvNodeName.Equals(id))
@@ -114,7 +114,7 @@ namespace OnlineStore.DeviceLibrary
             UpdateAction(id, ClientAction.Ready);
            // RFIDData data = new RFIDData(content);
             LogUtil.info("收到 AgvClient_Ready [" + id + "] [" + rfid+ "]  ");
-            StoreManager.Store.AGVProcess(id, ClientAction.Ready);
+            StoreManager.Store.AGVProcess(id, rfid, ClientAction.Ready);
         }
          
 
@@ -124,7 +124,7 @@ namespace OnlineStore.DeviceLibrary
            // RFIDData data = new RFIDData(content);
             LogUtil.info("收到 AgvClient_Arrive [" + id + "] [" + rfid+ "]   ");
 
-            StoreManager.Store.AGVProcess(id, ClientAction.Arrive);
+            StoreManager.Store.AGVProcess(id, rfid,ClientAction.Arrive);
         }
 
 
@@ -223,6 +223,7 @@ namespace OnlineStore.DeviceLibrary
             }
         }
     } 
+
     //public class AGVAction
     //{
     //    public static string None = "None";

source/DeviceLibrary/store/StoreStep.cs

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