4楼2和7号车送料与接料在电梯口冲突问题修复

DeviceLibrary/bean/job/LiftToLinesJob.cs

@@ -204,7 +204,7 @@ namespace DeviceLibrary.bean.job
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
                 {
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_12_WaitDoorOpen);
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_12_WaitDoorOpen);
-                    runInfo = $"到达{JobParam.SrcNode.AliceName}，等待电梯门开";
+                    runInfo = $"到达{JobParam.SrcNode.AliceName}，请求使用电梯并等待电梯门开";
                     JobRunStep.Msg = runInfo;
                     JobRunStep.Msg = runInfo;
                     //上报位置
                     //上报位置
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
@@ -230,7 +230,7 @@ namespace DeviceLibrary.bean.job
                 {
                 {
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_12_WaitDoorOpen);
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_12_WaitDoorOpen);
                     //请求电梯
                     //请求电梯
-                    lift.LiftContext.Request(JobParam.GetMissionInfo(), agv,true);
+                    lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true);
                 }
                 }
             }
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_13_CheckLiftStatus))
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_13_CheckLiftStatus))
@@ -240,12 +240,12 @@ namespace DeviceLibrary.bean.job
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_01_ToTemp1);
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_01_ToTemp1);
                     runInfo = $"{JobParam.SrcNode.AliceName}内有料车，去临时点1放料点";
                     runInfo = $"{JobParam.SrcNode.AliceName}内有料车，去临时点1放料点";
                     AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
                     AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
-                    service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
-                    if (missionInfo != null)
-                    {
-                        //任务状态变更
-                        MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回电梯到达, out string msg);
-                    }
+                    //service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
+                    //if (missionInfo != null)
+                    //{
+                    //    //任务状态变更
+                    //    MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.电梯到达, out string msg);
+                    //}
                     JobRunStep.Msg = runInfo;
                     JobRunStep.Msg = runInfo;
                 }
                 }
                 else
                 else
@@ -327,12 +327,15 @@ namespace DeviceLibrary.bean.job
             }
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_02_WaitLiftIdle))
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_02_WaitLiftIdle))
             {
             {
+                if (!lift.LiftContext.HasShelfNeedLeave(JobParam.SrcNode.Name, agv.Client, out liftStatus))
+                {
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_03_RequestLift);
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_03_RequestLift);
                     runInfo = $"请求使用{JobParam.SrcNode.AliceName}";
                     runInfo = $"请求使用{JobParam.SrcNode.AliceName}";
                     JobRunStep.Msg = runInfo;
                     JobRunStep.Msg = runInfo;
                     //请求电梯
                     //请求电梯
                     lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true);
                     lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true);
                 }
                 }
+            }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_03_RequestLift))
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_03_RequestLift))
             {
             {
                 if (!lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
                 if (!lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))

DeviceLibrary/lift/LiftContext.cs

@@ -30,7 +30,7 @@ namespace DeviceLibrary.lift
         public static bool IsDoorOpen(string liftId, int floor)
         public static bool IsDoorOpen(string liftId, int floor)
         {
         {
             LiftStatus liftStatus = GetLiftStatus(liftId);
             LiftStatus liftStatus = GetLiftStatus(liftId);
-            if (liftStatus.door.Equals("opened") && liftStatus.floor.Equals(floor) &&!CheckLiftOccupied(liftId))
+            if (liftStatus.door.Equals("opened") && liftStatus.floor.Equals(floor) && !CheckLiftOccupied(liftId))// 
                 return true;
                 return true;
             return false;
             return false;
         }
         }