跨车间判断问题

AGVDispatch/FrmMain.Designer.cs

@@ -53,7 +53,6 @@
             this.txtShow = new System.Windows.Forms.TextBox();
             this.tableLayoutPanel4 = new System.Windows.Forms.TableLayoutPanel();
             this.flowLayoutPanel1 = new System.Windows.Forms.FlowLayoutPanel();
-            this.textBox1 = new System.Windows.Forms.TextBox();
             this.tableLayoutPanel3.SuspendLayout();
             this.tabControl1.SuspendLayout();
             this.tabPage2.SuspendLayout();
@@ -359,7 +358,6 @@
             // 
             // tabPage5
             // 
-            this.tabPage5.Controls.Add(this.textBox1);
             this.tabPage5.Controls.Add(this.txtShow);
             this.tabPage5.Location = new System.Drawing.Point(4, 25);
             this.tabPage5.Margin = new System.Windows.Forms.Padding(4);
@@ -371,12 +369,12 @@
             // 
             // txtShow
             // 
-            this.txtShow.Dock = System.Windows.Forms.DockStyle.Top;
+            this.txtShow.Dock = System.Windows.Forms.DockStyle.Fill;
             this.txtShow.Location = new System.Drawing.Point(0, 0);
             this.txtShow.Margin = new System.Windows.Forms.Padding(4);
             this.txtShow.Multiline = true;
             this.txtShow.Name = "txtShow";
-            this.txtShow.Size = new System.Drawing.Size(1696, 199);
+            this.txtShow.Size = new System.Drawing.Size(1696, 356);
             this.txtShow.TabIndex = 0;
             // 
             // tableLayoutPanel4
@@ -404,16 +402,6 @@
             this.flowLayoutPanel1.Size = new System.Drawing.Size(1698, 506);
             this.flowLayoutPanel1.TabIndex = 0;
             // 
-            // textBox1
-            // 
-            this.textBox1.Dock = System.Windows.Forms.DockStyle.Top;
-            this.textBox1.Location = new System.Drawing.Point(0, 199);
-            this.textBox1.Margin = new System.Windows.Forms.Padding(4);
-            this.textBox1.Multiline = true;
-            this.textBox1.Name = "textBox1";
-            this.textBox1.Size = new System.Drawing.Size(1696, 151);
-            this.textBox1.TabIndex = 1;
-            // 
             // FrmMain
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 15F);
@@ -475,7 +463,6 @@
         private System.Windows.Forms.TextBox txtShow;
         private System.Windows.Forms.CheckBox checkBox1;
         private System.Windows.Forms.Button button1;
-        private System.Windows.Forms.TextBox textBox1;
     }
 }
 

AGVDispatch/FrmMain.cs

@@ -157,11 +157,11 @@ namespace AGVControl
 
             Invoke(new Action(() =>
             {
-                txtShow.Text = JsonHelper.SerializeObject(MissionManager.AUOResult);
                 try
                 {
-                   
-                    textBox1.Text = LiftContext.GetLiftNodeOccupiedInfo();
+                    txtShow.Text = "AUO占用："+JsonHelper.SerializeObject(MissionManager.AUOResult) + "\r\n" 
+                    + "电梯信息："+LiftContext.GetLiftInfos() + "\r\n"
+                    +"电梯节点占用："+LiftContext.GetLiftNodeOccupiedInfo();
                 }
                 catch { }
 

DeviceLibrary/bean/jobType/LiftToLinesJobType.cs

@@ -34,6 +34,12 @@ namespace DeviceLibrary
                 if (agv.HasEmptyShelfInLift(out string liftname, out lift.LiftStatus lift))//!agv.Scope.Floor.Equals(1) &&
                 {
                     service.model.MissionInfo missionInfo = manager.MissionManager.GetReceiveMission(agv);
+                    //检查是否是空台车领用 3D->4C
+                    if (missionInfo == null && agv.Scope.Workshop.Equals(SettingString._4D))
+                    {
+                        missionInfo = MissionManager.Get3DTo4CReceiveMission(agv);
+                    }
+
                     if (missionInfo != null)
                     {
                         if (!liftname.Equals(missionInfo?.liftName))
@@ -63,7 +69,7 @@ namespace DeviceLibrary
                             }
                         }
                         LiftContext.SetLiftNodeOccupied(agv, liftname);
-                        MissionManager.SetMissionOccupied(missionInfo, agv);               
+                        MissionManager.SetMissionOccupied(missionInfo, agv);
                         MissionManager.Log.Info($"执行任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
                         return new LiftToLinesJob(jobParam);
                     }
@@ -102,8 +108,8 @@ namespace DeviceLibrary
             {
                 if (agv.Scope.Workshop.Equals("1F"))
                 {
-                    AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto &&  !s.IP.Equals(agv.IP)&&s.Scope.Workshop.Equals(agv.Scope.Workshop)
-                    && s.CurJob != null  && s.Scope.Workshop.Equals("1F") && (s.CurJob is LineToLiftJob || s.CurJob is F1LiftC1ToLiftD2Job
+                    AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && !s.IP.Equals(agv.IP) && s.Scope.Workshop.Equals(agv.Scope.Workshop)
+                    && s.CurJob != null && s.Scope.Workshop.Equals("1F") && (s.CurJob is LineToLiftJob || s.CurJob is F1LiftC1ToLiftD2Job
                     || s.CurJob is F1LiftD2ToLiftC1Job));
                     if (agvInfo != null)
                         return true;

DeviceLibrary/lift/LiftContext.cs

@@ -17,6 +17,15 @@ namespace DeviceLibrary.lift
         /// </summary>
         static Dictionary<string, LiftInfo> lifts = new Dictionary<string, LiftInfo>();
 
+        public static string GetLiftInfos()
+        {
+            try
+            {
+                return JsonHelper.SerializeObject(lifts);
+            }
+            catch { }
+            return "";
+        }
         public static void Init()
         {
             string[] names = Common.AppConfigHelper.GetValue(Common.SettingString.Lift_Names).Split(',');

DeviceLibrary/manager/MissionManager.cs

@@ -332,6 +332,33 @@ namespace DeviceLibrary.manager
             return null;
         }
         /// <summary>
+        /// 获取接收料任务，以准备执行 LiftToLinesJobType
+        /// </summary>
+        /// <param name="missionType"></param>
+        /// <returns></returns>
+        public static MissionInfo Get3DTo4CReceiveMission(AgvInfo agv)
+        {
+            MissionInfo missionInfo = null;
+            try
+            {
+                var missions = GetMissionInfos().FindAll(w => w.state != MissionState.中止
+                                 && w.state != MissionState.取消 && w.state != MissionState.完成);
+                missionInfo = missions.Find(s => s.destinationWorkshop.Equals(SettingString._4C) &&
+                s.sourceWorkshop.Equals(SettingString._3D)&&
+                (s.state >= MissionState.到达电梯 && s.state <= MissionState.电梯到达)
+                && agv.Scope.Tasks.Contains(s.projectType.ToString()) && s.projectType.Equals(ProjectType.空台车领用));
+                if (missionInfo != null && AgvCanGetMission(missionInfo))
+                {
+                    return missionInfo;
+                }
+            }
+            catch (Exception e)
+            {
+                Log.Error("GetReceiveMission", e);
+            }
+            return null;
+        }
+        /// <summary>
         /// 获取料架返回任务，排除钢网项目
         /// </summary>
         /// <param name="agv"></param>

DeviceLibrary/manager/NodeManager.cs

@@ -325,7 +325,8 @@ namespace DeviceLibrary.manager
             {
                 if (src == null) src = agv.Place;
                 if (dst == null) dst = agv.Place;
-                if (!src.Workshop.Equals(dst.Workshop) && linesInAirShower.ContainsKey(dst.Workshop))
+                if (!src.Workshop.Equals(dst.Workshop) && linesInAirShower.ContainsKey(dst.Workshop)
+                    && linesInAirShower[dst.Workshop].Contains(dst.Name))
                 {
                     return true;
                 }