料架缓存问题优化

DeviceLibrary/Control.cs

@@ -197,6 +197,20 @@ namespace DeviceLibrary
                 try
                 {
                     AgvInfo agv = AGVManager.agvInfo[i];
+
+                    //if (agv.CurJob == null)
+                    //{
+                    //    Job job = GetJob(agv);
+                    //    if (job != null)
+                    //    {
+                    //        agv.CurJob = job;
+                    //    }
+                    //}
+                    //else
+                    //{
+                    //    agv.CurJob = agv.CurJob.Execute(agv);
+                    //}
+
                     if (!agv.IsCon) continue;   //AGV网络连接
                     if (!AGVManager.agvInfo[i].Auto) continue;   //AGV是否可用
                     if (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Error))

DeviceLibrary/bean/job/LiftToLinesJob.cs

@@ -582,7 +582,7 @@ namespace DeviceLibrary
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
                     //设置任务状态为料架换缓存
-                    MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.料架缓存, out string msg);
+                    MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.料架缓存_返回, out string msg);
                     ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
                     //执行取空成品任务
                     Node src = manager.NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);

DeviceLibrary/bean/jobType/ShelfBuffToLiftJobType.cs

@@ -18,8 +18,8 @@ namespace DeviceLibrary.bean.jobType
     {
         public override Job GetNewJob(AgvInfo agv)
         {
-            if (!agv.IsIdle())
-                return null;
+            //if (!agv.IsIdle())
+            //    return null;
             if (LiftContext.CheckHasEmptyFinished(agv, SettingString.LIFT_D2, out LiftStatus liftStatus))
                 return null;
             service.model.MissionInfo missionInfo = manager.MissionManager.BuffToLiftMission(agv);
@@ -39,11 +39,7 @@ namespace DeviceLibrary.bean.jobType
                     Common.LogUtil.error($"无法生成任务，电梯不存在：{missionInfo.liftName}");
                     return null;
                 }
-                //if (TargetIsOccupied(agv, missionInfo.liftName))
-                //{
-                //    return null;
-                //}
-                if (missionInfo.state.Equals(MissionState.前往电梯))
+                if (missionInfo.state.Equals(MissionState.料架缓存))
                 {
                     JobParam jobParam = new JobParam(src, dest, null, missionInfo);
                     MissionManager.SetMissionOccupied(missionInfo, agv);
@@ -58,12 +54,12 @@ namespace DeviceLibrary.bean.jobType
                     else
                         return new LineToLiftJob(jobParam);
                 }
-                else if (missionInfo.state.Equals(MissionState.返回电梯))
+                else if (missionInfo.state.Equals(MissionState.料架缓存_返回))
                 {
                     JobParam jobParam = new JobParam(dest, src, null, missionInfo);
                     MissionManager.SetMissionOccupied(missionInfo, agv);
                     LiftToLinesJob job = new LiftToLinesJob(jobParam);
-                    job.JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_BackToLift);                   
+                    job.JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_BackToLift);
                     LiftContext.SetLiftNodeOccupied(agv, dest.Name);
                     return job;
                 }

DeviceLibrary/manager/MissionManager.cs

@@ -279,7 +279,7 @@ namespace DeviceLibrary.manager
                 var missions = GetMissionInfos().Where(w => w.state != MissionState.中止
                 && w.state != MissionState.取消 && w.state != MissionState.完成).ToList();
 
-                missionInfo = missions.Find(s => (s.state.Equals(MissionState.料架缓存) &&
+                missionInfo = missions.Find(s => ((s.state.Equals(MissionState.料架缓存) || s.state.Equals(MissionState.料架缓存_返回)) &&
                                 agv.Scope.Tasks.Contains(s.projectType.ToString())
                                 ));
                 if (missionInfo != null && AgvCanGetMission(missionInfo))

DeviceLibrary/service/model/MissionInfo.cs

@@ -223,7 +223,8 @@ namespace DeviceLibrary.service.model
         /// </summary>
         完成,
         等待成品回收,
-        料架缓存
+        料架缓存,
+        料架缓存_返回
     }
     /// <summary>
     /// 项目类型