添加tray盘任务在4楼D线尾共享位置

DeviceLibrary/bean/job/Job.cs

@@ -68,13 +68,13 @@ namespace DeviceLibrary
 
 
         protected void AllocateTask(AgvInfo agv, string taskName)
         protected void AllocateTask(AgvInfo agv, string taskName)
         {
         {
-            Task = AgvTaskManager.GetTaskByName(taskName,agv);
+            Task = AgvTaskManager.GetTaskByName(taskName, agv);
             AgvTaskManager.AssignMission(agv, taskName);
             AgvTaskManager.AssignMission(agv, taskName);
         }
         }
-        protected void AllocateTask(AgvInfo agv,ChargePile chargePile)
+        protected void AllocateTask(AgvInfo agv, ChargePile chargePile)
         {
         {
-            Task = new AgvTask() { AliceName = chargePile.AliceName, Name = chargePile.Name, Guid=chargePile.Guid};
-            AgvTaskManager.AssignMission(agv, chargePile,Task);
+            Task = new AgvTask() { AliceName = chargePile.AliceName, Name = chargePile.Name, Guid = chargePile.Guid };
+            AgvTaskManager.AssignMission(agv, chargePile, Task);
         }
         }
         protected void AllocateStandbyTask(AgvInfo agv)
         protected void AllocateStandbyTask(AgvInfo agv)
         {
         {
@@ -160,16 +160,44 @@ namespace DeviceLibrary
         /// <returns></returns>
         /// <returns></returns>
         protected bool NeedConfirm()
         protected bool NeedConfirm()
         {
         {
-            if(JobParam.GetMissionInfo()!=null)
+            if (JobParam.GetMissionInfo() != null)
             {
             {
-                service.model.ProjectType type =  JobParam.GetMissionInfo().projectType;
-                if(type.Equals(service.model.ProjectType.空台车领用) || type.Equals(service.model.ProjectType.空台车归还))
+                service.model.ProjectType type = JobParam.GetMissionInfo().projectType;
+                if (type.Equals(service.model.ProjectType.空台车领用) || type.Equals(service.model.ProjectType.空台车归还))
                 {
                 {
                     return false;
                     return false;
                 }
                 }
             }
             }
             return true;
             return true;
         }
         }
+        protected string GetTargetName(Node node)
+        {
+            if (JobParam.GetMissionInfo() != null && JobParam.GetMissionInfo().projectType.Equals(ProjectType.Tray领用))
+            {
+                if (node.Name.Equals("D1Tail") || node.Name.Equals("D2Tail") || node.Name.Equals("D3Tail"))
+                {
+                    return "D1_D3_SHARED";
+                }
+                if (node.Name.Equals("D4Tail") || node.Name.Equals("D5Tail") || node.Name.Equals("D6Tail"))
+                {
+                    return "D4_D6_SHARED";
+                }
+                if (node.Name.Equals("D8Tail") || node.Name.Equals("D9Tail") || node.Name.Equals("D10Tail"))
+                {
+                    return "D8_D10_SHARED";
+                }
+                if (node.Name.Equals("D11Tail") || node.Name.Equals("D12Tail") || node.Name.Equals("D13Tail"))
+                {
+                    return "D11_D13_SHARED";
+                }
+                if (node.Name.Equals("D14Tail") || node.Name.Equals("D15Tail") || node.Name.Equals("D16Tail"))
+                {
+                    return "D14_D16_SHARED";
+                }
+            }
+
+            return node.Name;
+        }
         /// <summary>
         /// <summary>
         /// 清除AGV占用的任务
         /// 清除AGV占用的任务
         /// </summary>
         /// </summary>

DeviceLibrary/bean/job/LiftToLinesJob.cs

@@ -108,7 +108,7 @@ namespace DeviceLibrary.bean.job
                 runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}的放料点";
                 runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}的放料点";
                 //任务状态变更
                 //任务状态变更
                 MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
                 MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
-                AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
+                AllocateTask(agv, $"{GetTargetName(JobParam.CurTargetNode)}_{SettingString.TakeShelfOff}");
                 JobRunStep.Msg = runInfo;
                 JobRunStep.Msg = runInfo;
             }
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_07_ToLine))
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_07_ToLine))
@@ -173,7 +173,7 @@ namespace DeviceLibrary.bean.job
                     System.Threading.Thread.Sleep(1000);
                     System.Threading.Thread.Sleep(1000);
                     runInfo = $"去下一线体{JobParam.CurTargetNode.AliceName}的放料点";
                     runInfo = $"去下一线体{JobParam.CurTargetNode.AliceName}的放料点";
                     JobRunStep.Msg = runInfo;
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
+                    AllocateTask(agv, $"{GetTargetName(JobParam.CurTargetNode)}_{SettingString.TakeShelfOff}");
                 }
                 }
                 else
                 else
                 {
                 {
@@ -225,6 +225,12 @@ namespace DeviceLibrary.bean.job
                     //上报位置
                     //上报位置
                     System.Threading.Thread.Sleep(1000);
                     System.Threading.Thread.Sleep(1000);
                 }
                 }
+                else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
+                {
+                    JobRunStep.ToNextStep(RunStep.SD_LiftToLine_12_WaitDoorOpen);
+                    //请求电梯
+                    lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true);
+                }
             }
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_13_CheckLiftStatus))
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_13_CheckLiftStatus))
             {
             {