添加4楼在电梯口查询接口，在电梯口等待时电量充足时去待机点

DeviceLibrary/bean/job/LiftToLinesJob.cs

@@ -395,7 +395,11 @@ namespace DeviceLibrary
                             return job;
                             return job;
                         }
                         }
                     }
                     }
-
+                    else if(agv.Battery>50&& agv.IsInCharge)
+                    {
+                        ChargePileManager.StopCharge(agv);
+                        ToStandby(agv); return 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);

DeviceLibrary/bean/job/LineToLiftJob.cs

@@ -224,6 +224,11 @@ namespace DeviceLibrary
                             return job;
                             return job;
                         }
                         }
                     }
                     }
+                    else if (agv.Battery > 50 && agv.IsInCharge)
+                    {
+                        ChargePileManager.StopCharge(agv);
+                        ToStandby(agv); return job;
+                    }
                     JobRunStep.ToNextStep(RunStep.LineToLift_04_CheckLiftStatus);
                     JobRunStep.ToNextStep(RunStep.LineToLift_04_CheckLiftStatus);
                     //请求电梯
                     //请求电梯
                     lift.LiftContext.Request(JobParam.GetMissionInfo(), agv);
                     lift.LiftContext.Request(JobParam.GetMissionInfo(), agv);

DeviceLibrary/bean/job/SteelLiftToStorageJob.cs

@@ -378,6 +378,11 @@ namespace DeviceLibrary.bean.job
                             return job;
                             return job;
                         }
                         }
                     }
                     }
+                    else if (agv.Battery > 50 && agv.IsInCharge)
+                    {
+                        ChargePileManager.StopCharge(agv);
+                        ToStandby(agv); return job;
+                    }
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_21_WaitDoorOpen);
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_21_WaitDoorOpen);
                     //请求电梯
                     //请求电梯
                     lift.LiftContext.Request(JobParam.GetMissionInfo(), agv);
                     lift.LiftContext.Request(JobParam.GetMissionInfo(), agv);

DeviceLibrary/bean/job/SteelLineToLiftJob.cs

@@ -208,6 +208,11 @@ namespace DeviceLibrary
                             return job;
                             return job;
                         }
                         }
                     }
                     }
+                    else if (agv.Battery > 50 && agv.IsInCharge)
+                    {
+                        ChargePileManager.StopCharge(agv);
+                        ToStandby(agv); return job;
+                    }
                     JobRunStep.ToNextStep(RunStep.LineToLift_04_CheckLiftStatus);
                     JobRunStep.ToNextStep(RunStep.LineToLift_04_CheckLiftStatus);
                     //请求电梯
                     //请求电梯
                     lift.LiftContext.Request(JobParam.GetMissionInfo(), agv);
                     lift.LiftContext.Request(JobParam.GetMissionInfo(), agv);

DeviceLibrary/lift/LiftContext.cs

@@ -68,7 +68,7 @@ namespace DeviceLibrary.lift
                 foreach (var item in lifts)
                 foreach (var item in lifts)
                 {
                 {
                     sb.Append(item.Key + "：");
                     sb.Append(item.Key + "：");
-                    sb.AppendLine("[电梯占用：" + string.Join(";", item.Value.Agvs) +"]");
+                    sb.AppendLine("[电梯占用：" + string.Join(";", item.Value.Agvs) + "]");
                 }
                 }
                 return sb.ToString();
                 return sb.ToString();
             }
             }
@@ -94,7 +94,7 @@ namespace DeviceLibrary.lift
                         if (item.Agvs != null && item.Agvs.Contains(agv.Name))
                         if (item.Agvs != null && item.Agvs.Contains(agv.Name))
                         {
                         {
                             item.Agvs.Remove(agv.Name);
                             item.Agvs.Remove(agv.Name);
-                            LogUtil.info($"【{agv.Name}】清除电梯节点占用：{string.Join(",",item.Agvs)}");
+                            LogUtil.info($"【{agv.Name}】清除电梯节点占用：{string.Join(",", item.Agvs)}");
                         }
                         }
                     }
                     }
                 }
                 }
@@ -122,7 +122,7 @@ namespace DeviceLibrary.lift
         {
         {
             try
             try
             {
             {
-                AgvInfo agvInfo = AGVManager.agvInfo.Find(s => 
+                AgvInfo agvInfo = AGVManager.agvInfo.Find(s =>
                 s.Scope.Workshop.Equals(agv.Scope.Workshop) && !s.IP.Equals(agv.IP));
                 s.Scope.Workshop.Equals(agv.Scope.Workshop) && !s.IP.Equals(agv.IP));
                 if (agvInfo != null)
                 if (agvInfo != null)
                 {
                 {
@@ -131,9 +131,35 @@ namespace DeviceLibrary.lift
                 else
                 else
                     return false;
                     return false;
             }
             }
-            catch(Exception ex)
+            catch (Exception ex)
+            {
+                LogUtil.error($"OtherAGVIsInLift: {agv.Name},{liftName}", ex);
+            }
+            return false;
+        }
+        /// <summary>
+        /// 4楼AGV是否在D2电梯
+        /// </summary>
+        /// <param name="liftName"></param>
+        /// <returns></returns>
+        public static bool F4AGVIsInD2Lift()
+        {
+            try
+            {
+                var agvs = AGVManager.agvInfo.FindAll(s =>
+                s.Scope.Workshop.Equals(SettingString._4D));
+                foreach (var item in agvs)
+                {
+                    if(lifts.ContainsKey(SettingString.LIFT_D2) && lifts[SettingString.LIFT_D2].Agvs.Contains(item.Name))
+                    {
+                        return true;
+                    }
+                }
+                return false;
+            }
+            catch (Exception ex)
             {
             {
-                LogUtil.error($"OtherAGVIsInLift: {agv.Name},{liftName}",ex);
+                LogUtil.error($"OtherAGVIsInLift: {SettingString.LIFT_D2}", ex);
             }
             }
             return false;
             return false;
         }
         }
@@ -142,12 +168,12 @@ namespace DeviceLibrary.lift
         /// </summary>
         /// </summary>
         /// <param name="liftId"></param>
         /// <param name="liftId"></param>
         /// <returns></returns>
         /// <returns></returns>
-        public static bool IsDoorOpen(string liftId, int floor,AgvInfo agv)
+        public static bool IsDoorOpen(string liftId, int floor, AgvInfo agv)
         {
         {
             LiftStatus liftStatus = GetLiftStatus(liftId);
             LiftStatus liftStatus = GetLiftStatus(liftId);
             {
             {
                 LogUtil.debug($"检查电梯{liftId}门是否开开启");
                 LogUtil.debug($"检查电梯{liftId}门是否开开启");
-                if (liftStatus.door.Equals("opened") && liftStatus.floor.Equals(floor) && !OtherAGVIsInLift(agv,liftId))
+                if (liftStatus.door.Equals("opened") && liftStatus.floor.Equals(floor) && !OtherAGVIsInLift(agv, liftId))
                     return true;
                     return true;
             }
             }
             return false;
             return false;
@@ -245,7 +271,7 @@ namespace DeviceLibrary.lift
                     sourceFloor = missionInfo.destinationFloor,
                     sourceFloor = missionInfo.destinationFloor,
                     sourceClient = agvInfo.Client,
                     sourceClient = agvInfo.Client,
                     missionId = missionInfo.missionId,
                     missionId = missionInfo.missionId,
-                    updateInfo =true
+                    updateInfo = true
                 };
                 };
             }
             }
             else
             else

DeviceLibrary/service/IService.cs

@@ -35,7 +35,11 @@ namespace DeviceLibrary
         StealResult Storage(string Place);
         StealResult Storage(string Place);
         [OperationContract]
         [OperationContract]
         [WebInvoke(UriTemplate = "/StealAgv/sendNew?From={From}&Place={Place}", Method = "GET", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
         [WebInvoke(UriTemplate = "/StealAgv/sendNew?From={From}&Place={Place}", Method = "GET", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
-        StealResult SendNew(string From,string Place);
+        StealResult SendNew(string From, string Place);
+
+        [OperationContract]
+        [WebInvoke(UriTemplate = "/position/state?name={name}", Method = "GET", BodyStyle = WebMessageBodyStyle.Bare, RequestFormat = WebMessageFormat.Json, ResponseFormat = WebMessageFormat.Json)]
+        Result GetPositionState(string name);
     }
     }
 
 
     [DataContract]
     [DataContract]

DeviceLibrary/service/Service.cs

@@ -9,6 +9,7 @@ using DeviceLibrary.service.model;
 using DeviceLibrary.manager;
 using DeviceLibrary.manager;
 using System.Reflection;
 using System.Reflection;
 using System.Windows.Forms;
 using System.Windows.Forms;
+using DeviceLibrary.lift;
 
 
 namespace DeviceLibrary
 namespace DeviceLibrary
 {
 {
@@ -284,6 +285,18 @@ namespace DeviceLibrary
             Log.Info($"收到立库调用SendNew接口：【From={From}】【Place={Place}】【{JsonHelper.SerializeObject(stealResult)}】");
             Log.Info($"收到立库调用SendNew接口：【From={From}】【Place={Place}】【{JsonHelper.SerializeObject(stealResult)}】");
             return stealResult;
             return stealResult;
         }
         }
+
+        public Result GetPositionState(string name)
+        {
+            Result result = new Result();
+            bool rtn = LiftContext.F4AGVIsInD2Lift();
+            if (rtn)
+            {
+                result.code = -1;
+                result.msg = "agv in lift";
+            }
+            return result;
+        }
     }
     }
 
 
     public class Service
     public class Service