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Commit 5fad85aa 由 张东亮
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启用空台车项目

1 个父辈 ab1c3da7
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正在显示 5 个修改的文件 包含 18 行增加 和 15 行删除
DeviceLibrary/bean/job/LineOneToManyJob.cs
......@@ -27,7 +27,7 @@ namespace DeviceLibrary.bean.job
runInfo = $"任务开始，去{JobParam.SrcNode.AliceName}的取料点";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.已分配, out string msg);
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
ToPutShelfOn(agv, $"{JobParam.SrcNode.Name}");
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_01_ToPickUpPosition))
......@@ -59,7 +59,7 @@ namespace DeviceLibrary.bean.job
runInfo = $"在{JobParam.SrcNode.AliceName}拾取料车完成，去{JobParam.CurTargetNode.AliceName}的放料点";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
ToTakeShelfOff(agv, $"{JobParam.CurTargetNode.Name}");
JobRunStep.Msg = runInfo;
}
}
......@@ -132,7 +132,7 @@ namespace DeviceLibrary.bean.job
System.Threading.Thread.Sleep(1000);
runInfo = $"去下一线体{JobParam.CurTargetNode.AliceName}的放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
ToTakeShelfOff(agv, $"{JobParam.CurTargetNode.Name}");
}
else
{
......@@ -142,7 +142,7 @@ namespace DeviceLibrary.bean.job
runInfo = $"{JobParam.CurTargetNode.AliceName}是最后一个线体，分发结束，需要返回{JobParam.SrcNode.Name}的放料点";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回起始地, out string msg);
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.TakeShelfOff}");
ToTakeShelfOff(agv, $"{JobParam.SrcNode.Name}");
JobRunStep.Msg = runInfo;
}
else if (JobParam.GetMissionInfo() != null && !JobParam.GetMissionInfo().needBack)
......@@ -150,7 +150,7 @@ namespace DeviceLibrary.bean.job
JobRunStep.ToNextStep(RunStep.SD_Line_OnToMany_08_TakeShelfOff);
runInfo = $"{JobParam.CurTargetNode.AliceName}是最后一个线体，分发结束，无需返回，直接卸下";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
TakeShelfOff(agv);
}
else
{
......@@ -171,7 +171,7 @@ namespace DeviceLibrary.bean.job
$"到达{ JobParam.SrcNode.Name }"));
runInfo = $"到达{JobParam.SrcNode.AliceName}的放料点，准备卸下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.TakeShelfOff);
TakeShelfOff(agv);
}
}
else if (JobRunStep.IsStep(RunStep.SD_Line_OnToMany_08_TakeShelfOff))
......
DeviceLibrary/bean/job/SteelLiftToLinesJob.cs
......@@ -20,7 +20,6 @@ namespace DeviceLibrary.bean.job
{
}
lift.LiftStatus liftStatus;
public override Job Run(AgvInfo agv)
{
agv.SetJobContext(new bean.agv.JobContext()
......@@ -37,7 +36,7 @@ namespace DeviceLibrary.bean.job
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_01_ToLift);
runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.SrcNode.Name);
ToLift(agv, JobParam.SrcNode.Name);
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_01_ToLift))
{
......@@ -60,7 +59,7 @@ namespace DeviceLibrary.bean.job
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_03_EnterLift);
SetLiftOccupied(JobParam.SrcNode.Name, agv);
runInfo = $"{JobParam.SrcNode.AliceName}门已开启，进电梯取料点";
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
ToPutShelfOn(agv, JobParam.SrcNode.Name);
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.电梯到达, out string msg);
JobRunStep.Msg = runInfo;
......@@ -74,7 +73,6 @@ namespace DeviceLibrary.bean.job
runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，准备拾取料车";
JobRunStep.Msg = runInfo;
PutLiftShelfOn(agv, JobParam.SrcNode.Name);
//AllocateTask(agv, $"{SettingString.PutShelfOn}_{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_04_PutShelfOn))
......@@ -89,7 +87,7 @@ namespace DeviceLibrary.bean.job
runInfo = $"在{JobParam.SrcNode.AliceName}拾取料车完成，准备离开";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
LeaveLift(agv, $"{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_05_LeaveLift))
......@@ -103,6 +101,7 @@ namespace DeviceLibrary.bean.job
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.离开电梯, out string msg);
JobRunStep.Msg = runInfo;
ClearLiftNodeOccupied(agv);
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_06_CloseLiftDoor))
......
DeviceLibrary/bean/job/SwitchShelfJob.cs
......@@ -90,8 +90,8 @@ namespace DeviceLibrary
if (AGVTaskIsFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Switch_03_ToLift);
runInfo = $"去{JobParam.CurTargetNode.AliceName},,{missionInfo()}";
MoveToNode(agv, JobParam.CurTargetNode.Name);
runInfo = $"去{JobParam.CurTargetNode.AliceName},{missionInfo()}";
//MoveToNode(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
......@@ -181,7 +181,7 @@ namespace DeviceLibrary
{
JobRunStep.ToNextStep(RunStep.Switch_11_ToLift);
runInfo = $"去{JobParam.CurTargetNode.AliceName},{missionInfo()}";
MoveToNode(agv, JobParam.CurTargetNode.Name);
//MoveToNode(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
......
DeviceLibrary/manager/MissionManager.cs
......@@ -456,7 +456,11 @@ namespace DeviceLibrary.manager
missionInfo = missions.Where(s => s.destinationWorkshop.Equals(agv.Scope.Workshop) &&
s.sourceWorkshop.Equals(agv.Scope.Workshop) &&
((s.projectType.Equals(ProjectType.半成品领用)) || (s.sourceWorkshop.Equals(s.destinationWorkshop))) &&
((s.projectType.Equals(ProjectType.半成品领用)||
s.projectType.Equals(ProjectType.空台车领用)||
s.projectType.Equals(ProjectType.空台车归还)) ||
(s.sourceWorkshop.Equals(s.destinationWorkshop)))
&&
(s.state == MissionState.创建) && agv.Scope.Tasks.Contains(s.projectType.ToString())).FirstOrDefault();
if (missionInfo != null && AgvCanGetMission(missionInfo))
{
......
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