一楼两料架在电梯不接问题

DeviceLibrary/Control.cs

@@ -16,7 +16,7 @@ namespace DeviceLibrary
 {
     public class Control
     {
-        private static log4net.ILog log = log4net.LogManager.GetLogger("Control");
+        private static log4net.ILog log = LogUtil.LOGGER;
         static Dictionary<string, RunInfo> runInfoMap = new Dictionary<string, RunInfo>();
 
         private System.Timers.Timer AgvCallTimer;
@@ -203,7 +203,7 @@ namespace DeviceLibrary
                         if (job != null)
                         {
                             agv.CurJob = job;
-                            LogUtil.info($"{agv.Name} 收到任务 {job?.JobParam?.GetMissionInfo()?.missionId??""}");
+                            LogUtil.info($"{agv.Name} 收到任务 {job?.JobParam?.GetMissionInfo()?.missionId??""} 【{JsonHelper.SerializeObject(job)}】");
                         }
                     }
                     else

DeviceLibrary/bean/Node.cs

@@ -17,12 +17,12 @@ namespace DeviceLibrary
         /// <summary>
         /// 节点名称
         /// </summary>
-        public string Name { get; set; }
+        public string Name { get; set; } = "";
         public NodeType Type { get; set; }
         /// <summary>
         /// 所属车间
         /// </summary>
-        public string Workshop { get; set; }
+        public string Workshop { get; set; } = "";
         /// <summary>
         /// 节点IP
         /// </summary>

DeviceLibrary/bean/job/LineToLiftJob.cs

 using Common;
 using DeviceLibrary.bean;
+using DeviceLibrary.bean.agv;
 using DeviceLibrary.bean.job;
 using DeviceLibrary.lift;
 using DeviceLibrary.manager;
@@ -40,7 +41,7 @@ namespace DeviceLibrary
             {
                 JobParam.CrossDoor.CurNode = agv.Place;
                 JobParam.CrossDoor.NextNode = JobParam.SrcNode;
-                if (NodeManager.NeedCrossDoor(agv,JobParam.CrossDoor.CurNode,JobParam.CrossDoor.NextNode, out bool isin, out bool isair))
+                if (NodeManager.NeedCrossDoor(agv, JobParam.CrossDoor.CurNode, JobParam.CrossDoor.NextNode, out bool isin, out bool isair))
                 {
                     JobParam.CrossDoor.IsIn = isin;
                     JobParam.CrossDoor.IsAir = isair;
@@ -50,6 +51,8 @@ namespace DeviceLibrary
                 else
                 {
                     JobRunStep.ToNextStep(RunStep.LineToLift_00_CrossDoor);
+                    runInfo = $"无需过门，准备去取料点";
+                    JobRunStep.Msg = runInfo;
                 }
 
 
@@ -88,7 +91,7 @@ namespace DeviceLibrary
                         $"取车"));
                     JobParam.CrossDoor.CurNode = JobParam.SrcNode;
                     JobParam.CrossDoor.NextNode = JobParam.CurTargetNode;
-                    if (NodeManager.NeedCrossDoor(agv, JobParam.CrossDoor.CurNode,JobParam.CrossDoor.NextNode, out bool isin, out bool isair))
+                    if (NodeManager.NeedCrossDoor(agv, JobParam.CrossDoor.CurNode, JobParam.CrossDoor.NextNode, out bool isin, out bool isair))
                     {
                         JobParam.CrossDoor.IsIn = isin;
                         JobParam.CrossDoor.IsAir = isair;
@@ -184,7 +187,13 @@ namespace DeviceLibrary
                 else if (lift.LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo().sourceFloor, agv))
                 {
                     ChargePileManager.StopCharge(agv);
-                    if (lift.LiftContext.HasShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out JobParam.LiftStatus))
+                    string liftClient = agv.Client;
+                    if (agv.Scope.Workshop.Equals(SettingString._4C) && SettingString.LIFT_D2.Equals(JobParam.CurTargetNode.Name))
+                    {
+                        //4C车使用4D的标识
+                        liftClient = $"{Common.AppConfigHelper.GetValue(SettingString.AppIdentity, "NEOTEL")}-{SettingString._4D}";
+                    }
+                    if (lift.LiftContext.HasShelfNeedLeave(JobParam.CurTargetNode.Name, liftClient, out JobParam.LiftStatus))
                     {
                         ChargePileManager.StopCharge(agv);
                         MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId ?? "");

DeviceLibrary/bean/jobType/LiftToLinesJobType.cs

@@ -33,7 +33,8 @@ 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);
+                    //问题：两电梯都有架子离开时，只能一个一个接
+                    service.model.MissionInfo missionInfo = manager.MissionManager.GetReceiveMission(agv, liftname);
                     //检查是否是空台车领用 3D->4C
                     if (missionInfo == null && agv.Scope.Workshop.Equals(SettingString._4D))
                     {
@@ -42,8 +43,6 @@ namespace DeviceLibrary
 
                     if (missionInfo != null)
                     {
-                        if (!liftname.Equals(missionInfo?.liftName))
-                            return null;
                         if (AgvAtPlace(agv, liftname))
                             return null;
                         if (service.model.MissionInfo.IsFinishedProdcut(missionInfo))

DeviceLibrary/bean/jobType/LineToLiftJobType.cs

@@ -48,7 +48,7 @@ namespace DeviceLibrary.bean.jobType
                 //}
                 JobParam jobParam = new JobParam(src, dest, null, missionInfo);
                 MissionManager.SetMissionOccupied(missionInfo, agv);
-                MissionManager.Log.Info($"执行任务[{agv.Name}][LineToLiftJobType]{JsonHelper.SerializeObject(missionInfo)}");
+                MissionManager.Log.Info($"[{agv.Name}]执行任务[LineToLiftJobType]【{JsonHelper.SerializeObject(missionInfo)}】");
                 //任务状态变更
                 MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.已分配, out string msg);
                 return new LineToLiftJob(jobParam);

DeviceLibrary/lift/LiftContext.cs

@@ -113,7 +113,7 @@ namespace DeviceLibrary.lift
             }
         }
         /// <summary>
-        /// 同车间的其他小车是否占用电梯
+        /// 同一层的其他小车是否占用电梯
         /// </summary>
         /// <param name="agv"></param>
         /// <param name="liftName"></param>
@@ -122,11 +122,16 @@ namespace DeviceLibrary.lift
         {
             try
             {
-                AgvInfo agvInfo = AGVManager.agvInfo.Find(s =>
-                s.Scope.Workshop.Equals(agv.Scope.Workshop) && !s.IP.Equals(agv.IP));
-                if (agvInfo != null)
+                var agvInfos = AGVManager.agvInfo.FindAll(s =>
+                s.Scope.Floor.Equals(agv.Scope.Floor) && !s.IP.Equals(agv.IP));
+                if (agvInfos != null)
                 {
-                    return lifts[liftName].Agvs.Contains(agvInfo.Name);
+                    //return lifts[liftName].Agvs.Contains(agvInfo.Name);
+                    foreach (var item in agvInfos)
+                    {
+                        if (lifts[liftName].Agvs.Contains(item.Name))
+                            return true;
+                    }                    
                 }
                 else
                     return false;
@@ -159,7 +164,7 @@ namespace DeviceLibrary.lift
             }
             catch (Exception ex)
             {
-                LogUtil.error($"OtherAGVIsInLift: {SettingString.LIFT_D2}", ex);
+                LogUtil.error($"F4AGVIsInD2Lift: {SettingString.LIFT_D2}", ex);
             }
             return false;
         }

DeviceLibrary/manager/MissionManager.cs

@@ -348,7 +348,7 @@ namespace DeviceLibrary.manager
         /// </summary>
         /// <param name="missionType"></param>
         /// <returns></returns>
-        public static MissionInfo GetReceiveMission(AgvInfo agv)
+        public static MissionInfo GetReceiveMission(AgvInfo agv,string liftId)
         {
             MissionInfo missionInfo = null;
             try
@@ -360,7 +360,7 @@ namespace DeviceLibrary.manager
                 && agv.Scope.Tasks.Contains(s.projectType.ToString())
                 && !s.projectType.Equals(ProjectType.移远成品入库)
                 && !s.projectType.Equals(ProjectType.钢网入库)
-                 && !s.projectType.Equals(ProjectType.钢网领用));
+                 && !s.projectType.Equals(ProjectType.钢网领用)&& s.liftName.Equals(liftId));
                 if (missionInfo != null && AgvCanGetMission(missionInfo))
                 {
                     return missionInfo;
@@ -933,6 +933,13 @@ namespace DeviceLibrary.manager
                                 liftname = SettingString.LIFT_D2;
                             }
                         }
+                        if (missionInfo.sourceWorkshop.Equals(SettingString._4D))
+                        {
+                            if (missionInfo.destinationWorkshop.StartsWith("1"))
+                            {
+                                liftname = SettingString.LIFT_D2;
+                            }
+                        }
                         break;
                     case ProjectType.空台车领用:
                         if (missionInfo.sourceWorkshop.Equals(SettingString._3D))

DeviceLibrary/manager/NodeManager.cs

@@ -223,24 +223,30 @@ namespace DeviceLibrary.manager
         {
             isIn = true;
             isAirDoor = false;
+            if (cur == null) cur = agv.Place;
+            if (next == null) next = agv.Place;
+            try
+            {
                 if (agv.Scope.Workshop.Equals("1F")) return false;
+                if (agv.Scope.Workshop.Equals("3C")) return false;
                 if (agv.Scope.Workshop.Equals("4C"))
                 {
-                if (cur.Workshop.Equals("4C") && next.Type.Equals(NodeType.Lift)&& next.Name.Equals(SettingString.LIFT_D2))
+                    if (cur.Workshop.Equals("4C") && next.Type.Equals(NodeType.Lift) && next.Name.Equals(SettingString.LIFT_D2))
                     {
                         isIn = false;
                         return true;
                     }
-                else if ((cur.Workshop.Equals("4D")||(cur.Type.Equals(NodeType.Lift) && cur.Name.Equals(SettingString.LIFT_D2))) && (next.Type.Equals(NodeType.Standby) || next.Type.Equals(NodeType.AutoCharge)))
+                    else if ((cur.Workshop.Equals("4D") || (cur.Type.Equals(NodeType.Lift)
+                        && cur.Name.Equals(SettingString.LIFT_D2))) &&
+                        (next.Type.Equals(NodeType.Standby) || next.Type.Equals(NodeType.AutoCharge)))
                     {
                         return true;
                     }
+                    else
+                        return false;
                 }
-            if (agv.Scope.Workshop.Equals("3C")) return false;
-            try
-            {
-                if (cur == null) cur = agv.Place;
-                if (next == null) next = agv.Place;
+
+                //4D/3D车间的AGV
                 if (cur.Workshop.Equals("4C") || next.Workshop.Equals("4C"))
                 {
                     if (next.Workshop.Equals("4C"))