移远成品在C1电梯交换料架后另一辆车接任务问题优化

DeviceLibrary/bean/agv/Agv_Info.cs

@@ -9,6 +9,7 @@ using System.Threading.Tasks;
 using System.Xml;
 using System.Xml;
 using Common;
 using Common;
 using DeviceLibrary.bean.agv;
 using DeviceLibrary.bean.agv;
+using DeviceLibrary.lift;
 using DeviceLibrary.manager;
 using DeviceLibrary.manager;
 using log4net.Util;
 using log4net.Util;
 using Newtonsoft.Json;
 using Newtonsoft.Json;
@@ -257,26 +258,6 @@ namespace DeviceLibrary
             return false;
             return false;
         }
         }
         /// <summary>
         /// <summary>
-        /// 是否有成品满料车在电梯中准备送出
-        /// </summary>
-        /// <param name="liftname"></param>
-        /// <returns></returns>
-        public bool HasFinishedShelfInLift(out string liftname, out lift.LiftStatus liftStatus)
-        {
-            liftname = "";
-            liftStatus = null;
-            string[] lifts = Scope.Remark.Split(',');
-            foreach (string item in lifts)
-            {
-                if (lift.LiftContext.HasFinishedShelfNeedLeave(item, Client, out liftStatus))
-                {
-                    liftname = item;
-                    return true;
-                }
-            }
-            return false;
-        }
-        /// <summary>
         /// 任务重发
         /// 任务重发
         /// </summary>
         /// </summary>
         public void Resend()
         public void Resend()

DeviceLibrary/bean/job/F1LiftD2ToLiftC1Job.cs

 using Common;
 using Common;
 using DeviceLibrary.lift;
 using DeviceLibrary.lift;
 using DeviceLibrary.manager;
 using DeviceLibrary.manager;
+using DeviceLibrary.service.model;
 using System.Reflection;
 using System.Reflection;
 
 
 namespace DeviceLibrary.bean.job
 namespace DeviceLibrary.bean.job
@@ -359,6 +360,12 @@ namespace DeviceLibrary.bean.job
                 if (agv.TaskRunState.CheckTaskFinished(agv))
                 if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_02_TakeShelfOff);
                     JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_02_TakeShelfOff);
+                    service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(JobParam.LiftStatus.missionId);
+                    if (missionInfo != null)
+                    {
+                        //任务状态变更
+                        MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.离开电梯, out string msg);
+                    }
                     runInfo = $"到达{JobParam.CurTargetNode.AliceName}临时点2的放料点，准备放下料车";
                     runInfo = $"到达{JobParam.CurTargetNode.AliceName}临时点2的放料点，准备放下料车";
                     JobRunStep.Msg = runInfo;
                     JobRunStep.Msg = runInfo;
                     AllocateTask(agv, $"{SettingString.TakeShelfOff}");
                     AllocateTask(agv, $"{SettingString.TakeShelfOff}");
@@ -448,6 +455,13 @@ namespace DeviceLibrary.bean.job
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯运行, out string msg);
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯运行, out string msg);
                     JobRunStep.Msg = runInfo;
                     JobRunStep.Msg = runInfo;
                     ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
                     ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
+                    service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(JobParam.LiftStatus.missionId);
+                    if (missionInfo != null)
+                    {
+                        //设置任务占用
+                        MissionManager.SetMissionOccupied(missionInfo, agv);
+                    }
+
                     ClearLiftNodeOccupied(agv);
                     ClearLiftNodeOccupied(agv);
                 }
                 }
 
 

DeviceLibrary/bean/jobType/F1LiftC1ToLiftD2JobType.cs

@@ -20,7 +20,7 @@ namespace DeviceLibrary.bean.jobType
             }
             }
             else
             else
             {
             {
-                if(agv.Scope.Floor.Equals(1) && agv.HasFinishedShelfInLift(out string liftname, out lift.LiftStatus lift))
+                if(agv.Scope.Floor.Equals(1))
                 {
                 {
                     service.model.MissionInfo missionInfo =  manager.MissionManager.GetF1SendFullFinishedC1ToD2Mission(agv);
                     service.model.MissionInfo missionInfo =  manager.MissionManager.GetF1SendFullFinishedC1ToD2Mission(agv);
                     if(missionInfo!=null)
                     if(missionInfo!=null)

DeviceLibrary/lift/LiftContext.cs

@@ -455,7 +455,7 @@ namespace DeviceLibrary.lift
         /// </summary>
         /// </summary>
         /// <param name="liftId"></param>
         /// <param name="liftId"></param>
         /// <returns></returns>
         /// <returns></returns>
-        static LiftStatus GetLiftStatus(string liftId)
+        public static LiftStatus GetLiftStatus(string liftId)
         {
         {
             if (lifts.ContainsKey(liftId))
             if (lifts.ContainsKey(liftId))
             {
             {