跨门任务判断逻辑优化

DeviceLibrary/bean/job/F1LiftC1ToLiftD2Job.cs

@@ -256,8 +256,21 @@ namespace DeviceLibrary.bean.job
                 {
                 {
                     if (LiftContext.HasShelfNeedLeaveFinished(JobParam.CurTargetNode.Name, agv.Client, out JobParam.LiftStatus))
                     if (LiftContext.HasShelfNeedLeaveFinished(JobParam.CurTargetNode.Name, agv.Client, out JobParam.LiftStatus))
                     {
                     {
-                        MissionManager.SetMissionOccupied(JobParam.GetMissionInfo().missionId, agv);
-                        job = new SwitchShelfJob(JobParam);        
+                        MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId ?? "");
+                        if (missionInfo != null)
+                        {
+                            MissionManager.SetMissionOccupied(JobParam.GetMissionInfo().missionId, agv);
+                            job = new SwitchShelfJob(JobParam);
+                        }
+                        else
+                        {
+                            JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_12_ToStandby);
+                            //设置电梯占用
+                            //SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
+                            runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，内有料车但无工单信息，去待机点,需要手动清空电梯缓存并关闭电梯门";//
+                            ToStandby(agv);
+                            JobRunStep.Msg = runInfo;
+                        }      
                     }
                     }
                     else //if (!TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
                     else //if (!TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
                     {
                     {

DeviceLibrary/manager/NodeManager.cs

@@ -224,7 +224,8 @@ namespace DeviceLibrary.manager
             isIn = true;
             isIn = true;
             isAirDoor = false;
             isAirDoor = false;
             if (agv.Scope.Workshop.Equals("1F")) return false;
             if (agv.Scope.Workshop.Equals("1F")) return false;
-            //return false;
+            if (agv.Scope.Workshop.Equals("4C")) return false;
+            if (agv.Scope.Workshop.Equals("3C")) return false;
             try
             try
             {
             {
                 if (cur == null) cur = agv.Place;
                 if (cur == null) cur = agv.Place;
@@ -317,6 +318,9 @@ namespace DeviceLibrary.manager
         public static bool NeedCrossTwoDoor(AgvInfo agv, Node src, Node dst)
         public static bool NeedCrossTwoDoor(AgvInfo agv, Node src, Node dst)
         {
         {
             if (agv.Scope.Workshop.Equals("1F")) return false;
             if (agv.Scope.Workshop.Equals("1F")) return false;
+            if (agv.Scope.Workshop.Equals("4C")) return false;
+            if (agv.Scope.Workshop.Equals("3C")) return false;
+            if (agv.Scope.Workshop.Equals("3D")) return false;
             try
             try
             {
             {
                 if (src == null) src = agv.Place;
                 if (src == null) src = agv.Place;