4D到4C逻辑

DeviceLibrary/DeviceLibrary.csproj

@@ -92,7 +92,6 @@
     <Compile Include="bean\jobType\F1LiftC1ToLiftD2JobType.cs" />
     <Compile Include="bean\jobType\F1LiftC1ToLiftD2JobType.cs" />
     <Compile Include="bean\jobType\F1LiftD2ToLiftC1JobType.cs" />
     <Compile Include="bean\jobType\F1LiftD2ToLiftC1JobType.cs" />
     <Compile Include="bean\jobType\SteelLineToLiftJobType.cs" />
     <Compile Include="bean\jobType\SteelLineToLiftJobType.cs" />
-    <Compile Include="bean\jobType\LineToLineJobType.cs" />
     <Compile Include="bean\jobType\RecoveryJobType.cs" />
     <Compile Include="bean\jobType\RecoveryJobType.cs" />
     <Compile Include="bean\jobType\LineOneToManyJobType.cs" />
     <Compile Include="bean\jobType\LineOneToManyJobType.cs" />
     <Compile Include="bean\jobType\ToLiftGetShelfJobType.cs" />
     <Compile Include="bean\jobType\ToLiftGetShelfJobType.cs" />

DeviceLibrary/bean/RunStep.cs

@@ -353,10 +353,13 @@ namespace DeviceLibrary.bean
         /// 顶起料车
         /// 顶起料车
         /// </summary>
         /// </summary>
         SD_Line_OneToMany_02_PutShelfOn,
         SD_Line_OneToMany_02_PutShelfOn,
+        SD_Line_OneToMany_03_1_CrossDoor,
+        SD_Line_OneToMany_03_2_CrossTwoDoor,
         /// <summary>
         /// <summary>
         /// 去线体
         /// 去线体
         /// </summary>
         /// </summary>
         SD_Line_OneToMany_03_ToLine,
         SD_Line_OneToMany_03_ToLine,
+
         /// <summary>
         /// <summary>
         /// 到达线体，上报位置
         /// 到达线体，上报位置
         /// </summary>
         /// </summary>
@@ -369,6 +372,8 @@ namespace DeviceLibrary.bean
         /// 检查下一线体
         /// 检查下一线体
         /// </summary>
         /// </summary>
         SD_Line_OneToMany_06_CheckNextLine,
         SD_Line_OneToMany_06_CheckNextLine,
+        SD_Line_OneToMany_07_CrossTwoDoor,
+        SD_Line_OneToMany_07_CrossDoor,
         /// <summary>
         /// <summary>
         /// 返回至取料位置
         /// 返回至取料位置
         /// </summary>
         /// </summary>

DeviceLibrary/bean/jobType/LineOneToManyJobType.cs

@@ -18,6 +18,8 @@ namespace DeviceLibrary.bean.jobType
                 missionInfo = manager.MissionManager.GetLineToLineMission(agv);
                 missionInfo = manager.MissionManager.GetLineToLineMission(agv);
                 if (missionInfo == null)
                 if (missionInfo == null)
                     missionInfo = manager.MissionManager.GetStoreToLinesMission(agv);
                     missionInfo = manager.MissionManager.GetStoreToLinesMission(agv);
+                if(missionInfo == null)
+                    missionInfo=manager.MissionManager.Get4DTo4CLinesMission(agv);
                 if (missionInfo != null)
                 if (missionInfo != null)
                 {
                 {
                     Node src = manager.NodeManager.GetNode(missionInfo.sourcePoint, NodeType.Node);
                     Node src = manager.NodeManager.GetNode(missionInfo.sourcePoint, NodeType.Node);

DeviceLibrary/manager/MissionManager.cs

@@ -593,6 +593,36 @@ namespace DeviceLibrary.manager
             }
             }
             return null;
             return null;
         }
         }
+        /// <summary>
+        /// 
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <returns></returns>
+        public static MissionInfo Get4DTo4CLinesMission(AgvInfo agv)
+        {
+            MissionInfo missionInfo = null;
+            try
+            {
+                var missions = GetMissionInfos().Where(w => w.state != MissionState.中止
+                                 && w.state != MissionState.取消 && w.state != MissionState.完成).ToList();
+
+                missionInfo = missions.Where(s => s.destinationWorkshop.Equals(SettingString._4C) &&
+                s.sourceWorkshop.Equals(SettingString._4D) &&
+                //(s.projectType.Equals(ProjectType.PCB领用) || s.projectType.Equals(ProjectType.包材领用))&&
+                (s.state == MissionState.创建) && agv.Scope.Tasks.Contains(s.projectType.ToString())).FirstOrDefault();
+                if (missionInfo != null && AgvCanGetMission(missionInfo))
+                {
+                    SetMissionOccupied(missionInfo, agv);
+                    Log.Info($"执行4D到4C任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
+                    return missionInfo;
+                }
+            }
+            catch (Exception e)
+            {
+                Log.Error("Get4DTo4CLinesMission", e);
+            }
+            return null;
+        }
         public static void SetMissionOccupied(MissionInfo missionInfo, AgvInfo agv)
         public static void SetMissionOccupied(MissionInfo missionInfo, AgvInfo agv)
         {
         {
             SetMissionOccupiedAgv(missionInfo.missionId, agv.Name);
             SetMissionOccupiedAgv(missionInfo.missionId, agv.Name);