合并

AGVDispatch/FrmMain.Designer.cs

@@ -53,6 +53,7 @@
             this.txtShow = new System.Windows.Forms.TextBox();
             this.tableLayoutPanel4 = new System.Windows.Forms.TableLayoutPanel();
             this.flowLayoutPanel1 = new System.Windows.Forms.FlowLayoutPanel();
+            this.textBox1 = new System.Windows.Forms.TextBox();
             this.tableLayoutPanel3.SuspendLayout();
             this.tabControl1.SuspendLayout();
             this.tabPage2.SuspendLayout();
@@ -358,6 +359,7 @@
             // 
             // tabPage5
             // 
+            this.tabPage5.Controls.Add(this.textBox1);
             this.tabPage5.Controls.Add(this.txtShow);
             this.tabPage5.Location = new System.Drawing.Point(4, 25);
             this.tabPage5.Margin = new System.Windows.Forms.Padding(4);
@@ -369,12 +371,12 @@
             // 
             // txtShow
             // 
-            this.txtShow.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.txtShow.Dock = System.Windows.Forms.DockStyle.Top;
             this.txtShow.Location = new System.Drawing.Point(0, 0);
             this.txtShow.Margin = new System.Windows.Forms.Padding(4);
             this.txtShow.Multiline = true;
             this.txtShow.Name = "txtShow";
-            this.txtShow.Size = new System.Drawing.Size(1696, 356);
+            this.txtShow.Size = new System.Drawing.Size(1696, 199);
             this.txtShow.TabIndex = 0;
             // 
             // tableLayoutPanel4
@@ -402,6 +404,16 @@
             this.flowLayoutPanel1.Size = new System.Drawing.Size(1698, 506);
             this.flowLayoutPanel1.TabIndex = 0;
             // 
+            // textBox1
+            // 
+            this.textBox1.Dock = System.Windows.Forms.DockStyle.Top;
+            this.textBox1.Location = new System.Drawing.Point(0, 199);
+            this.textBox1.Margin = new System.Windows.Forms.Padding(4);
+            this.textBox1.Multiline = true;
+            this.textBox1.Name = "textBox1";
+            this.textBox1.Size = new System.Drawing.Size(1696, 151);
+            this.textBox1.TabIndex = 1;
+            // 
             // FrmMain
             // 
             this.AutoScaleDimensions = new System.Drawing.SizeF(8F, 15F);
@@ -463,6 +475,7 @@
         private System.Windows.Forms.TextBox txtShow;
         private System.Windows.Forms.CheckBox checkBox1;
         private System.Windows.Forms.Button button1;
+        private System.Windows.Forms.TextBox textBox1;
     }
 }
 

AGVDispatch/FrmMain.cs

@@ -12,6 +12,7 @@ using System.Threading.Tasks;
 using System.Windows.Forms;
 using Common;
 using DeviceLibrary;
+using DeviceLibrary.lift;
 using DeviceLibrary.manager;
 using DeviceLibrary.service.model;
 
@@ -157,6 +158,12 @@ namespace AGVControl
             Invoke(new Action(() =>
             {
                 txtShow.Text = DeviceLibrary.HttpManager.Agvtransinfo;
+                try
+                {
+                   
+                    textBox1.Text = LiftContext.GetLiftNodeOccupiedInfo();
+                }
+                catch { }
 
             }));
 
@@ -230,7 +237,7 @@ namespace AGVControl
 
         private void dgvInfos_DataError(object sender, DataGridViewDataErrorEventArgs e)
         {
-
+            LogUtil.error($"表格式异常:{e.RowIndex},{e.ColumnIndex},{e.Exception.Message}");
         }
 
         private void dgvInfos_CellContentClick(object sender, DataGridViewCellEventArgs e)

AGVDispatch/Manual.cs

@@ -94,6 +94,7 @@ namespace AGVControl
                 {
                     Agv.Auto = false;
                     LiftContext.ResetLiftOccupiedAgv(Agv);
+                    LiftContext.SetLiftNodeOccupied(Agv);
                     ChargePileManager.StopCharge(Agv);
                     LogUtil.info($"取消自动任务，当前运行信息是：{Agv.Msg}");
                     try

Common/SettingString.cs

@@ -31,6 +31,18 @@ namespace Common
         public const string LIFT_D2 = "LIFT_D2";
         public const string LIFT_C1 = "LIFT_C1";
         public const string storage = "storage";
+        public const string CrossDoor = "CrossDoor";
+        public const string CrossAirDoor = "CrossAirDoor";
+        public const string In = "In";
+        public const string Out = "Out";
+        public const string ToDoor = "ToDoor";
+        public const string OpenDoor = "OpenDoor";
+        public const string EnterDoor = "EnterDoor";
+        public const string CloseDoor = "CloseDoor";
+        public const string OpenOtherDoor = "OpenOtherDoor";
+        public const string LeaveDoor = "LeaveDoor";
+        public const string CloseOtherDoor = "CloseOtherDoor";
+
         //任务状态
         public const string Wait = "Wait";
         public const string Done = "Done";
@@ -70,6 +82,9 @@ namespace Common
         public const string Lift_Names = "Lift_Names";
         public const string IsDebug = "IsDebug";
         #endregion
+        #region 点位
+        public const string ShelfBuff = "ShelfBuff";
+        #endregion
     }
 
 }

Common/util/HttpHelper.cs

@@ -142,7 +142,7 @@ namespace Common
             }
             catch (Exception e)
             {
-               LogUtil.error("POST ERROR:" + url, e);
+               LogUtil.error($"POST ERROR：【{url}】【{paramData}】",e);
             }
             if (!result.Contains("null") && result.Length != 0)
             {
@@ -180,7 +180,7 @@ namespace Common
             }
             catch (Exception e)
             {
-                LogUtil.error("POST ERROR:" + e.ToString());
+                LogUtil.error($"POST ERROR：【{url}】【{paramData}】", e);
             }
             return result;
         }

DeviceLibrary/Control.cs

@@ -30,7 +30,7 @@ namespace DeviceLibrary
         {
             AgvCallTimer = new System.Timers.Timer
             {
-                Interval = 300,
+                Interval = 500,
                 AutoReset = true,
                 Enabled = false
             };
@@ -38,7 +38,7 @@ namespace DeviceLibrary
 
             AgvStateTimer = new System.Timers.Timer
             {
-                Interval = 5000,
+                Interval = 3000,
                 AutoReset = true,
                 Enabled = false
             };
@@ -181,7 +181,6 @@ namespace DeviceLibrary
                     return null;
                 if (job != null)
                 {
-                    //log.Debug(agv_Info.Name + " GetJob OK " + job.ToString());
                     return job;
                 }
             }
@@ -214,7 +213,6 @@ namespace DeviceLibrary
                     if (!AGVManager.agvInfo[i].StateID.Equals(eAGVState.Ready)
                         && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.Executing) && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.None))
                     {
-                        //log.Warn(string.Format("{0}不能调用 StateID={1}", AGVManager.agvInfo[i].Name, AGVManager.agvInfo[i].StateID.ToString()));
                         continue;
                     }
                     if (agv.TaskRunState.DeWaitTaskQueue(out AgvTask task))

DeviceLibrary/DeviceLibrary.csproj

@@ -87,6 +87,7 @@
     <Compile Include="bean\agv\Mir_Error.cs" />
     <Compile Include="bean\agv\Scope.cs" />
     <Compile Include="bean\ChargePiles.cs" />
+    <Compile Include="bean\jobType\ShelfBuffToLiftJobType.cs" />
     <Compile Include="bean\jobType\SteelLiftToLinesJobType.cs" />
     <Compile Include="bean\jobType\F1LiftC1ToLiftD2JobType.cs" />
     <Compile Include="bean\jobType\F1LiftD2ToLiftC1JobType.cs" />
@@ -97,6 +98,7 @@
     <Compile Include="bean\job\ChargeJob.cs" />
     <Compile Include="bean\job\F1LiftC1ToLiftD2Job.cs" />
     <Compile Include="bean\job\F1LiftD2ToLiftC1Job.cs" />
+    <Compile Include="bean\job\CrossDoorJob.cs" />
     <Compile Include="bean\job\SteelLiftToStorageJob.cs" />
     <Compile Include="bean\job\SteelLiftToLinesJob.cs" />
     <Compile Include="bean\job\LineOneToManyJob.cs" />
@@ -108,6 +110,7 @@
     <Compile Include="bean\JobParam.cs" />
     <Compile Include="bean\jobType\BackLiftToLineJobType.cs" />
     <Compile Include="bean\jobType\LineToLiftJobType.cs" />
+    <Compile Include="bean\job\SwitchShelfJob.cs" />
     <Compile Include="bean\TaskRunState.cs" />
     <Compile Include="bean\jobType\LiftToLinesJobType.cs" />
     <Compile Include="bean\job\StandyJob.cs" />

DeviceLibrary/bean/JobParam.cs

 using Common;
+using DeviceLibrary.lift;
 using System;
 using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.Threading.Tasks;
+using System.Web.UI.WebControls.WebParts;
 
 namespace DeviceLibrary.bean
 {
@@ -16,7 +18,10 @@ namespace DeviceLibrary.bean
         /// 初始地点
         /// </summary>
         public Node SrcNode { get; set; }
-
+        /// <summary>
+        /// 过门信息
+        /// </summary>
+        public CrossDoor CrossDoor { get; set; } = new CrossDoor();
         private service.model.MissionInfo missionInfo;
 
         /// <summary>
@@ -26,7 +31,10 @@ namespace DeviceLibrary.bean
         {
             return missionInfo;
         }
-
+        /// <summary>
+        /// 电梯内的料架信息
+        /// </summary>
+        public LiftStatus LiftStatus;
         /// <summary>
         /// 任务信息
         /// </summary>
@@ -51,6 +59,10 @@ namespace DeviceLibrary.bean
         /// </summary>
         public Shelf Shelf { get; set; }
         public OpType OpType { get; set; } = OpType.ComToLine;
+        /// <summary>
+        /// 回调Job
+        /// </summary>
+        public JobCallBack CallbackJob;
         public JobParam(Node srcplace, Node tarplace =null,Shelf shelf=null, service.model.MissionInfo MissionInfo =null)
         {
             SrcNode = srcplace;
@@ -58,6 +70,7 @@ namespace DeviceLibrary.bean
             Shelf = shelf;
             this.missionInfo = MissionInfo;
             TargetNodes = new List<Node>();
+            CrossDoor = new CrossDoor();
         }
     }
     /// <summary>
@@ -82,4 +95,35 @@ namespace DeviceLibrary.bean
         /// </summary>
         MaulAndAPI,
     }
+    public class JobCallBack
+    {
+        public Type Type { get; set; }
+        public Job Job { get; set; }
+        public RunStep RunStep { get; set; }
+        public JobCallBack(Type type, RunStep step)
+        {
+            this.Type = type;
+            this.RunStep = step;
+        }
+    }
+    public class CrossDoor
+    {
+        /// <summary>
+        /// 当前位置
+        /// </summary>
+        public Node CurNode { get; set; }
+        /// <summary>
+        /// 下一位置
+        /// </summary>
+        public Node NextNode { get; set; }
+        /// <summary>
+        /// 是否是进入方向
+        /// </summary>
+        public bool IsIn { get; set; } = true;
+        /// <summary>
+        /// 是否是风淋门
+        /// </summary>
+        public bool IsAir { get; set; } = false;
+    }
+
 }

DeviceLibrary/bean/RunStep.cs

@@ -34,6 +34,7 @@ namespace DeviceLibrary.bean
         #endregion
 
         #region 料架返回 电梯到线体
+        ShelfBack_LiftToStore_01_ToStandby,
         /// <summary>
         /// 去电梯口
         /// </summary>
@@ -58,6 +59,7 @@ namespace DeviceLibrary.bean
         /// 关闭电梯门
         /// </summary>
         ShelfBack_LiftToStore_05_CloseLiftDoor,
+        ShelfBack_LiftToStore_06_CrossDoor,
         /// <summary>
         /// 去库房
         /// </summary>
@@ -66,11 +68,14 @@ namespace DeviceLibrary.bean
         /// 放下料车
         /// </summary>
         ShelfBack_LiftToStore_07_TakeShelfOff,
+        ShelfBack_LiftToStore_07_CrossDoor,
         #endregion
 
         #region 线体到电梯
+        LineToLift_00_CrossDoor,
         LineToLift_01_ToLine,
         LineToLift_02_PutShelfOn,
+        LineToLift_02_CrossDoor,
         LineToLift_ToSteelSrc,
         LineToLift_PlaySound,
         LineToLift_WaitConfirm,
@@ -103,6 +108,8 @@ namespace DeviceLibrary.bean
         LineToLift_05_10_ToTemp1,
         LineToLift_05_11_PutTemp1ShelfOn,
         LineToLift_05_12_ToLift,
+        LineToLift_05_13_ToShelfPlace,
+        LineToLift_05_14_TakeShelfOff,
         #endregion
 
         #region 电梯内无料车
@@ -114,6 +121,7 @@ namespace DeviceLibrary.bean
         #endregion
 
         #region 电梯到线体 产品分发 最后空料料架返回
+        SD_LiftToLine_00_ToStandby,
         /// <summary>
         /// 去电梯口
         /// </summary>
@@ -142,6 +150,8 @@ namespace DeviceLibrary.bean
         /// 去线体
         /// </summary>
         SD_LiftToLine_07_ToLine,
+        SD_LiftToLine_07_CrossDoor,
+        SD_LiftToLine_07_CrossTwoDoor,
         /// <summary>
         /// 到达线体，上报位置
         /// </summary>
@@ -159,6 +169,8 @@ namespace DeviceLibrary.bean
         /// </summary>
         SD_LiftToLine_11_BackToLift,
         SD_LiftToLine_11_ToStandby,
+        SD_LiftToLine_11_CrossTwoDoor,
+        SD_LiftToLine_11_CrossTDoor,
         /// <summary>
         /// 等待电梯门开启
         /// </summary>
@@ -194,6 +206,8 @@ namespace DeviceLibrary.bean
         /// 料车无需返回，直接结束
         /// </summary>
         SD_LiftToLine_16_TakeShelfOff,
+        SD_LiftToLine_16_CrossTwoDoor,
+        SD_LiftToLine_16_CrossTDoor,
         SD_LiftToLine_17_Dock,
         SD_LiftToLine_18_CheckState,
         SD_LiftToLine_19_TakeOff,
@@ -363,6 +377,7 @@ namespace DeviceLibrary.bean
         #endregion
 
         #region 1F 成品空料架从D2到C1
+        S1F_LiftD2ToLiftC1_00_ToStandby,
         /// <summary>
         /// 去电梯口
         /// </summary>
@@ -387,6 +402,7 @@ namespace DeviceLibrary.bean
         /// 关闭电梯门
         /// </summary>
         S1F_LiftD2ToLiftC1_06_CloseLiftDoor,
+        S1F_LiftD2ToLiftC1_07_ToStandby,
         S1F_LiftD2ToLiftC1_07_ToLiftC1,
         S1F_LiftD2ToLiftC1_08_CheckC1Status,
 
@@ -412,6 +428,7 @@ namespace DeviceLibrary.bean
         S1F_LiftD2ToLiftC1_19_03_ToTemp1,
         S1F_LiftD2ToLiftC1_19_04_PutTemp1ShelfOn,
         S1F_LiftD2ToLiftC1_19_05_ToLift,
+        S1F_LiftD2ToLiftC1_19_05_ToStandby,
         #endregion
 
         #region 空成品料车
@@ -434,6 +451,10 @@ namespace DeviceLibrary.bean
 
         #endregion
         #region 1F 成品入库从C1到D2
+        S1F_LiftC1ToLiftD2_Buff,
+        S1F_LiftC1ToLiftD2_ToLine,
+        S1F_LiftC1ToLiftD2_PutShelf,
+        S1F_LiftC1ToLiftD2_00_ToStandby,
         /// <summary>
         /// 去电梯口
         /// </summary>
@@ -459,6 +480,7 @@ namespace DeviceLibrary.bean
         /// </summary>
         S1F_LiftC1ToLiftD2_06_CloseLiftDoor,
         S1F_LiftC1ToLiftD2_07_ToLiftD2,
+        S1F_LiftC1ToLiftD2_ToStandby,
         S1F_LiftC1ToLiftD2_08_CheckD2Status,
 
         #region 电梯内无料车
@@ -467,9 +489,9 @@ namespace DeviceLibrary.bean
         S1F_LiftC1ToLiftD2_11_LeaveLift,
         #endregion
         #region 电梯内有料车
-        S1F_LiftC1ToLiftD2_12_ToTemp1,
         S1F_LiftC1ToLiftD2_12_ToStandby,
-        S1F_LiftC1ToLiftD2_13_TakeShelfOffAtTemp1,
+        S1F_LiftC1ToLiftD2_13_ToShelfBuff,
+        S1F_LiftC1ToLiftD2_14_TakeShelfOff,
         S1F_LiftC1ToLiftD2_14_ToLift,
         S1F_LiftC1ToLiftD2_15_EnterLift,
         S1F_LiftC1ToLiftD2_16_PutShelfOn,
@@ -504,6 +526,96 @@ namespace DeviceLibrary.bean
 
 
         #endregion
+
+        #region 电梯口料架交换
+        /// <summary>
+        /// 料架交换：去临时点1
+        /// </summary>
+        Switch_01_ToTmp1,
+        /// <summary>
+        /// 料架交换：在临时点1卸下料架
+        /// </summary>
+        Switch_02_TakeShelfOffAtTmp1,
+        /// <summary>
+        /// 料架交换：去电梯
+        /// </summary>
+        Switch_03_ToLift,
+        /// <summary>
+        /// 料架交换：进入电梯
+        /// </summary>
+        Switch_04_EnterLift,
+        /// <summary>
+        /// 料架交换：拾取电梯内的料架
+        /// </summary>
+        Switch_05_PutLiftShelfOn,
+        /// <summary>
+        /// 料架交换：离开电梯
+        /// </summary>
+        Switch_06_LeaveLift,
+        /// <summary>
+        /// 料架交换：去临时点2
+        /// </summary>
+        Switch_07_ToTmp2,
+        /// <summary>
+        /// 料架交换：在临时点2卸下料车
+        /// </summary>
+        Switch_08_TakeShelfOffAtTpm2,
+        /// <summary>
+        /// 料架交换：去临时点1
+        /// </summary>
+        Switch_09_ReToTmp1,
+        /// <summary>
+        /// 料架交换：在临时点1拾取料架
+        /// </summary>
+        Switch_10_PutShelfOnAtTmp1,
+        /// <summary>
+        /// 料架交换：去电梯
+        /// </summary>
+        Switch_11_ToLift,
+        /// <summary>
+        /// 料架交换：进入电梯
+        /// </summary>
+        Switch_12_EnterLift,
+        /// <summary>
+        /// 料架交换：在电梯放下料车
+        /// </summary>
+        Switch_13_TakeLiftShelfOff,
+        /// <summary>
+        /// 料架交换：离开电梯
+        /// </summary>
+        Switch_14_LeaveLift,
+        /// <summary>
+        /// 料架交换：关门,并更新送料信息
+        /// </summary>
+        Switch_15_CloseDoor,
+        Switch_15_WaitDoorClose,
+        /// <summary>
+        /// 料架交换：去临时点2
+        /// </summary>
+        Switch_16_ReToTmp2,
+        /// <summary>
+        /// 料架交换：在临时点2拾取料架
+        /// </summary>
+        Switch_17_PutShelfOnAtTmp2,
+        /// <summary>
+        /// 根据当前状态送料
+        /// </summary>
+        Switch_18_SendShelf,
+        /// <summary>
+        /// 根据当前状态返还料架
+        /// </summary>
+        Switch_19_ReturnShelf,
+        #endregion
+        #region 过门任务
+        CrossDoor_01_ToCurDoor,
+        CrossDoor_02_OpenCurDoor,
+        CrossDoor_03_Enter,
+        CrossDoor_04_CloseCurDoor,
+        CrossDoor_05_OpenAntherDoor,
+        CrossDoor_06_LeaveDoor,
+        CrossDoor_07_CloseAntherDoor,
+        CrossDoor_08_Finish,
+        #endregion
         /// <summary>
         /// 结束
         /// </summary>

DeviceLibrary/bean/job/ChargeJob.cs

@@ -24,17 +24,17 @@ namespace DeviceLibrary
         /// <param name="agv"></param>
         public override Job Run(AgvInfo agv)
         {
-            agv.SetJobContext(new bean.agv.JobContext()
-            {
-                AgvTask = agv.TaskRunState.Task,
-                JobFullName = this.ToString(),
-                JobStep = JobRunStep.PreStep(),
-                Name = agv.Name,
-                JobParam = JobParam
-            }) ;
+            //agv.SetJobContext(new bean.agv.JobContext()
+            //{
+            //    AgvTask = agv.TaskRunState.Task,
+            //    JobFullName = this.ToString(),
+            //    JobStep = JobRunStep.PreStep(),
+            //    Name = agv.Name,
+            //    JobParam = JobParam
+            //}) ;
             if (JobRunStep.IsStep(RunStep.NONE))
             {
-
+                ClearLiftNodeOccupied(agv);
                 if (!ChargePileManager.HasEmpty(agv, out ChargePile charge))
                 {
                     runInfo = $"无空闲充电桩，从" + JobParam.SrcNode + "回到待机位";

DeviceLibrary/bean/job/CrossDoorJob.cs

+using Common;
+using DeviceLibrary.bean;
+using DeviceLibrary.manager;
+using System.Text;
+
+namespace DeviceLibrary
+{
+    /// <summary>
+    /// 过门任务
+    /// </summary>
+    public class CrossDoorJob : Job
+    {
+        /// <summary>
+        /// 待机任务
+        /// </summary>
+        /// <param name="agvPlae"></param>
+        public CrossDoorJob(JobParam jobParam) : base(jobParam)
+        {
+            JobName = "过门任务";
+        }
+        public CrossDoorJob() : base()
+        {
+            JobName = "过门任务";
+        }
+        /// <summary>
+        /// 过门任务
+        /// </summary>
+        /// <param name="agv"></param>
+        public override Job Run(AgvInfo agv)
+        {
+            Job job = this;
+            agv.SetJobContext(new bean.agv.JobContext()
+            {
+                AgvTask = agv.TaskRunState.Task,
+                JobFullName = this.ToString(),
+                JobStep = JobRunStep.PreStep(),
+                Name = agv.Name,
+                JobParam = JobParam
+            });
+            if (JobRunStep.IsStep(RunStep.NONE))
+            {
+                JobRunStep.ToNextStep(RunStep.CrossDoor_01_ToCurDoor);
+                runInfo = $"去{JobParam.CrossDoor.CurNode.AliceName}侧门前";
+                JobRunStep.Msg = runInfo;
+                tocurDoor(agv);
+            }
+            else if (JobRunStep.IsStep(RunStep.CrossDoor_01_ToCurDoor))
+            {
+                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                {
+                    JobRunStep.ToNextStep(RunStep.CrossDoor_02_OpenCurDoor);
+                    runInfo = $"到达{JobParam.CrossDoor.CurNode.AliceName}侧门前，开门";
+                    JobRunStep.Msg = runInfo;
+                    openCurDoor(agv);
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.CrossDoor_02_OpenCurDoor))
+            {
+                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                {
+                    JobRunStep.ToNextStep(RunStep.CrossDoor_03_Enter);
+                    runInfo = $"从{JobParam.CrossDoor.CurNode.AliceName}侧进门";
+                    JobRunStep.Msg = runInfo;
+                    enterDoor(agv);
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.CrossDoor_03_Enter))
+            {
+                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                {
+                    JobRunStep.ToNextStep(RunStep.CrossDoor_04_CloseCurDoor);
+                    runInfo = $"关闭{JobParam.CrossDoor.CurNode.AliceName}侧的门";
+                    JobRunStep.Msg = runInfo;
+                    closeCurDoor(agv);
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.CrossDoor_04_CloseCurDoor))
+            {
+                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                {
+                    JobRunStep.ToNextStep(RunStep.CrossDoor_05_OpenAntherDoor);
+                    runInfo = $"打开{JobParam.CrossDoor.NextNode.AliceName}侧门";
+                    JobRunStep.Msg = runInfo;
+                    openNextDoor(agv);
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.CrossDoor_05_OpenAntherDoor))
+            {
+                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                {
+                    JobRunStep.ToNextStep(RunStep.CrossDoor_06_LeaveDoor);
+                    runInfo = $"离开门，进入{JobParam.CrossDoor.NextNode.AliceName}侧";
+                    JobRunStep.Msg = runInfo;
+                    leaveDoor(agv);
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.CrossDoor_06_LeaveDoor))
+            {
+                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                {
+                    JobRunStep.ToNextStep(RunStep.CrossDoor_07_CloseAntherDoor);
+                    runInfo = $"关闭{JobParam.CrossDoor.NextNode.AliceName}侧门";
+                    JobRunStep.Msg = runInfo;
+                    closeNextDoor(agv);
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.CrossDoor_07_CloseAntherDoor))
+            {
+                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                {
+                    JobRunStep.ToNextStep(RunStep.CrossDoor_08_Finish);
+                    runInfo = $"到达{JobParam.CrossDoor.NextNode.AliceName}的车间";
+                    JobRunStep.Msg = runInfo;
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.CrossDoor_08_Finish))
+            {
+                job = GetCallBackJob();
+                job.JobRunStep.ToNextStep(GetCallBackStep());
+                JobRunStep.Msg = $"从{JobParam.CrossDoor.CurNode.AliceName}-》{JobParam.CrossDoor.NextNode.AliceName}完成";
+            }
+
+            return job;
+        }
+
+        //默认 4D->4C
+        //4C外-》4C风淋门内
+        //3D风淋门外-》3D风淋门内
+
+        /// <summary>
+        /// 获取任务名
+        /// </summary>
+        /// <returns></returns>
+        string getTaskName(string name)
+        {
+            StringBuilder sb = new StringBuilder();
+            if (JobParam.CrossDoor?.IsAir??false)
+                sb.Append(SettingString.CrossAirDoor);
+            else
+            {
+                sb.Append(SettingString.CrossDoor);
+            }
+            sb.Append("_");
+            if (JobParam.CrossDoor?.IsIn??true)
+                sb.Append(SettingString.In);
+            else
+                sb.Append(SettingString.Out);
+            sb.Append("_");
+            sb.Append(name);
+            return sb.ToString();
+        }
+        /// <summary>
+        /// 去当前车间门前
+        /// </summary>
+        void tocurDoor(AgvInfo agv)
+        {
+            AllocateTask(agv, getTaskName(SettingString.ToDoor));
+        }
+        /// <summary>
+        /// 开当前门
+        /// </summary>
+        void openCurDoor(AgvInfo agv)
+        {
+            AllocateTask(agv, getTaskName(SettingString.OpenDoor));
+        }
+        /// <summary>
+        /// 进入门里
+        /// </summary>
+        void enterDoor(AgvInfo agv)
+        {
+            AllocateTask(agv, getTaskName(SettingString.EnterDoor));
+        }
+        /// <summary>
+        /// 关闭当前门
+        /// </summary>
+        void closeCurDoor(AgvInfo agv)
+        {
+            AllocateTask(agv, getTaskName(SettingString.CloseDoor));
+        }
+        /// <summary>
+        /// 开另一个门
+        /// </summary>
+        void openNextDoor(AgvInfo agv)
+        {
+            AllocateTask(agv, getTaskName(SettingString.OpenOtherDoor));
+        }
+        /// <summary>
+        /// 离开门
+        /// </summary>
+        void leaveDoor(AgvInfo agv)
+        {
+            AllocateTask(agv, getTaskName(SettingString.LeaveDoor));
+        }
+        /// <summary>
+        /// 关闭另一个门
+        /// </summary>
+        void closeNextDoor(AgvInfo agv)
+        {
+            AllocateTask(agv, getTaskName(SettingString.CloseOtherDoor));
+        }
+    }
+
+}

DeviceLibrary/bean/job/F1LiftC1ToLiftD2Job.cs

 using Common;
 using DeviceLibrary.lift;
 using DeviceLibrary.manager;
+using DeviceLibrary.service.model;
+using System.Runtime.InteropServices;
 using System.Security.Cryptography.X509Certificates;
 using System.Threading;
 
@@ -21,24 +23,89 @@ namespace DeviceLibrary.bean.job
         {
 
         }
-        lift.LiftStatus liftStatus;
         public override Job Run(AgvInfo agv)
         {
-            agv.SetJobContext(new bean.agv.JobContext()
+            Job job = this;
+            agv.SetJobContext(new agv.JobContext()
             {
                 MissionId = JobParam.GetMissionInfo().missionId,
                 AgvTask = agv.TaskRunState.Task,
-                JobFullName = this.ToString(),
+                JobFullName = ToString(),
                 JobStep = JobRunStep.PreStep(),
                 Name = agv.Name,
                 JobParam = JobParam
             });
             if (JobRunStep.IsStep(RunStep.NONE))
             {
+                if(TargetIsOccupied(agv, JobParam.SrcNode.Name))
+                {
+                    JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_00_ToStandby);                   
+                    runInfo = $"已有小车在{JobParam.SrcNode.AliceName}，先去待机点";
+                    JobRunStep.Msg = runInfo;
+                    ToStandby(agv);
+                }
+                else
+                {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_01_ToLiftC1);
                     runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
                     JobRunStep.Msg = runInfo;
-                AllocateTask(agv, $"{JobParam.SrcNode.Name}");
+                    ToLift(agv, JobParam.SrcNode.Name);
+                }
+
+            }
+            else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_Buff))
+            {
+                JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_ToLine);
+                runInfo = $"去{JobParam.SrcNode.AliceName}的取料点";
+                ToPutShelfOn(agv, $"{JobParam.SrcNode.Name}");
+                JobRunStep.Msg = runInfo;
+            }           
+            else if(JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_ToLine))
+            {
+                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                {
+                    JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_PutShelf);
+                    runInfo = $"到达{JobParam.SrcNode.AliceName}的取料点，开始拾取料车";
+                    JobRunStep.Msg = runInfo;
+                    PutShelfOn(agv);
+                }
+
+            }
+            else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_PutShelf))
+            {
+                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                {
+                    if (TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
+                    {
+                        JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_ToStandby);
+                        runInfo = $"已有小车在{JobParam.CurTargetNode.AliceName}，先去待机点";
+                        JobRunStep.Msg = runInfo;
+                        ToStandby(agv);
+                    }
+                    else
+                    {
+                        JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_07_ToLiftD2);
+                        runInfo = $"在料架缓存点取料完成，去{JobParam.CurTargetNode.AliceName}";
+                        //任务状态变更
+                        MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
+                        //AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
+                        ToLift(agv, JobParam.CurTargetNode.Name);
+                        JobRunStep.Msg = runInfo;
+                    }
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_00_ToStandby))
+            {
+                if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
+                {
+                }
+                else
+                {
+                    JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_01_ToLiftC1);
+                    runInfo = $"已空闲，去{JobParam.SrcNode.AliceName}";
+                    JobRunStep.Msg = runInfo;
+                    ToLift(agv, JobParam.SrcNode.Name);
+                }
             }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_01_ToLiftC1))
             {
@@ -46,7 +113,7 @@ namespace DeviceLibrary.bean.job
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_02_WaitDoorOpen);
                     //上报状态
-                    manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
+                    UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                         service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
                         $"到达{JobParam.SrcNode.Name}"));
                     //lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, false, false);
@@ -56,20 +123,20 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_02_WaitDoorOpen))
             {
-                if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor))
+                if (LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor))
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_03_EnterLift);
                     runInfo = $"{JobParam.SrcNode.AliceName}门已开启，去取料点";
                     //任务状态变更
                     SetLiftOccupied(JobParam.SrcNode.Name, agv);
-                    AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
+                    ToPutShelfOn(agv, $"{JobParam.SrcNode.Name}");
                     JobRunStep.Msg = runInfo;
                 }
-                else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
+                else if (JobRunStep.IsTimeOut(20) && !LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_02_WaitDoorOpen);
                     //请求电梯
-                    lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true, true);
+                    LiftContext.Request(JobParam.GetMissionInfo(), agv, true, true);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_03_EnterLift))
@@ -90,12 +157,12 @@ namespace DeviceLibrary.bean.job
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_05_LeaveLift);
                     //上报状态
-                    manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
+                    UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                         service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
                         $"电梯取车"));
                     runInfo = $"在{JobParam.SrcNode.AliceName}取料车完成，准备离开";
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
+                    LeaveLift(agv, JobParam.SrcNode.Name);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_05_LeaveLift))
@@ -104,108 +171,108 @@ namespace DeviceLibrary.bean.job
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_06_CloseLiftDoor);
                     //关门
-                    bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv, false);
+                    bool rtn = LiftContext.AGVLeave(JobParam.SrcNode.Name, agv, false);
                     runInfo = $"离开{JobParam.SrcNode.AliceName}，关闭电梯门:{rtn}";
                     JobRunStep.Msg = runInfo;
+                    ClearLiftNodeOccupied(agv);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_06_CloseLiftDoor))
             {
+                if(TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
+                {
+                    JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_ToStandby);
+                    runInfo = $"已有小车在{JobParam.CurTargetNode.AliceName}，先去待机点";
+                    JobRunStep.Msg = runInfo;
+                    ToStandby(agv);
+                }
+                else
+                {
+                    JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_07_ToLiftD2);
+                    runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}";
+                    //任务状态变更
+                    MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
+                    //AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
+                    ToLift(agv, JobParam.CurTargetNode.Name);
+                    JobRunStep.Msg = runInfo;
+                }
+
+            }
+            else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_ToStandby))
+            {
+                if (TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
+                {
+                }
+                else
+                {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_07_ToLiftD2);
                     runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}";
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
-                AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
+                    //AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
+                    ToLift(agv, JobParam.CurTargetNode.Name);
                     JobRunStep.Msg = runInfo;
                 }
+            }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_07_ToLiftD2))
             {
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_08_CheckD2Status);
                     //上报状态
-                    manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
+                    UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                         service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
                         $"到达{JobParam.CurTargetNode.Name}"));
                     runInfo = $"到达{JobParam.CurTargetNode.AliceName}，请求电梯并等待开门";
                     JobRunStep.Msg = runInfo;
                     //开始请求电梯
-                    lift.LiftContext.FinishedRequest(JobParam.GetMissionInfo(), agv);
+                    LiftContext.FinishedRequest(JobParam.GetMissionInfo(), agv);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_08_CheckD2Status))
             {
-                if (LiftContext.CheckHasEmptyFinished(agv, JobParam.CurTargetNode.Name, out liftStatus))
-                {
-                    JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_12_ToTemp1);
-                    SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
-                    runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有成品料车，去临时点1的卸料点,准备卸下车上料车";//
-                    AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
-                    //service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
-                    //if (missionInfo != null)
-                    //{
-                    //    //任务状态变更
-                    //    MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.电梯到达, out string msg);
-                    //}
-                    JobRunStep.Msg = runInfo;
-                }
-                else if (lift.LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo().destinationFloor))
+                if (LiftContext.CheckHasEmptyFinished(agv, JobParam.CurTargetNode.Name, out JobParam.LiftStatus))
                 {
-                    //if (lift.LiftContext.HasFinishedShelfNeedLeave(SettingString.LIFT_C1, agv.Client, out liftStatus) && (liftStatus?.HasEmptyFinishedShelf ?? false))
-                    //{
-                    //    JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_12_ToTemp1);
-                    //    //SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
-                    //    runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有成品料车，去临时点1的卸料点";//准备卸下车上料车
-                    //    AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
-                    //    //service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
-                    //    //if (missionInfo != null)
-                    //    //{
-                    //    //    //任务状态变更
-                    //    //    MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.电梯到达, out string msg);
-                    //    //}
-                    //    JobRunStep.Msg = runInfo;
-                    //}
-                    //else 
-                    if (lift.LiftContext.HasShelfNeedLeaveFinished(JobParam.CurTargetNode.Name, agv.Client, out liftStatus))
-                    {
-                        service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
-                        if (IsBackShelf(missionInfo))
-                        {
-                            JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_12_ToTemp1);
-                            // SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
-                            runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有料车，去临时点1的卸料点,准备卸下车上料车";//
-                            AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
-
+                    MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId ?? "");
                     if (missionInfo != null)
                     {
-                                //任务状态变更
-                                MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回电梯到达, out string msg);
-                            }
+                        JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_13_ToShelfBuff);
+                        SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
+                        runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，内有成品空料车{JobParam?.LiftStatus?.missionId}，去料架缓存点";//
+                        ToTakeShelfOff(agv, SettingString.ShelfBuff);
                         JobRunStep.Msg = runInfo;
                     }
                     else
                     {
                         JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_12_ToStandby);
-                            // SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
-                            runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有送料的料车，去待机点等待电梯空闲";//
-                            AllocateStandbyTask(agv);
+                        //设置电梯占用
+                        //SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
+                        runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，内有成品空料车但无工单信息，去待机点,需要手动清空电梯缓存并关闭电梯门";//
+                        ToStandby(agv);
                         JobRunStep.Msg = runInfo;
                     }
                 }
+                else if (LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo().destinationFloor))
+                {
+                    if (LiftContext.HasShelfNeedLeaveFinished(JobParam.CurTargetNode.Name, agv.Client, out JobParam.LiftStatus))
+                    {
+                        MissionManager.SetMissionOccupied(JobParam.GetMissionInfo().missionId, agv);
+                        job = new SwitchShelfJob(JobParam);        
+                    }
                     else //if (!TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
                     {
                         JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_09_EnterLift);
                         SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
                         runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，到放料点";
                         JobRunStep.Msg = runInfo;
-                        AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
+                        ToTakeShelfOff(agv, $"{JobParam.CurTargetNode.Name}");
                     }
                 }
-                else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo()))
+                else if (JobRunStep.IsTimeOut(20) && !LiftContext.CheckIfRequestOk(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo()))
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_08_CheckD2Status);
                     //请求电梯
-                    lift.LiftContext.FinishedRequest(JobParam.GetMissionInfo(), agv);
+                    LiftContext.FinishedRequest(JobParam.GetMissionInfo(), agv);
                 }
             }
             #region 电梯内无料车
@@ -226,13 +293,12 @@ namespace DeviceLibrary.bean.job
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_11_LeaveLift);
                     //上报状态
-                    manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
+                    UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                         service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
                         $"电梯卸车"));
 
                     runInfo = $"料车在{JobParam.CurTargetNode.AliceName}卸下完成，准备离开";
-
-                    AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
+                    LeaveLift(agv, JobParam.CurTargetNode.Name);
                     JobRunStep.Msg = runInfo;
                 }
             }
@@ -242,162 +308,97 @@ namespace DeviceLibrary.bean.job
                 {
                     JobRunStep.ToNextStep(RunStep.END);
                     //发送该料是成品
-                    bool rtn1 = lift.LiftContext.FinishedProduct(JobParam.CurTargetNode.Name, agv);
+                    bool rtn1 = LiftContext.FinishedProduct(JobParam.CurTargetNode.Name, agv);
                     Thread.Sleep(5000);
                     //AGV离开
-                    bool rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, false);
+                    bool rtn = LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, false);
                     Thread.Sleep(2000);
-                    bool rtn2 = lift.LiftContext.CloseFinishedProduct(JobParam.CurTargetNode.Name, agv);
+                    bool rtn2 = LiftContext.CloseFinishedProduct(JobParam.CurTargetNode.Name, agv);
 
                     runInfo = $"任务结束：离开{JobParam.CurTargetNode.AliceName}完成并发送离开信号和送成品信号:{rtn}，{rtn1},{rtn2}";
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.等待成品回收, out string msg);
                     JobRunStep.Msg = runInfo;
+                    ClearLiftNodeOccupied(agv);
                 }
             }
             #endregion
-
-            #region 电梯内有料车
             else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_12_ToStandby))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+               // if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
-                    if (!LiftContext.CheckLiftOccupied(JobParam.CurTargetNode.Name) && !LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name))
+                    if (!TargetIsOccupied(agv,JobParam.CurTargetNode.Name) && !LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name))
                     {
-                        JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_08_CheckD2Status);
-                        runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点1请求电梯";
+                        JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_07_ToLiftD2);
+                        runInfo = $"{JobParam.CurTargetNode.AliceName}空闲，去目的地";
+                        //任务状态变更
+                        MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
+                        //AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
+                        ToLift(agv, JobParam.CurTargetNode.Name);
                         JobRunStep.Msg = runInfo;
-                        //请求电梯
-                        lift.LiftContext.FinishedRequest(JobParam.GetMissionInfo(), agv);
-                        System.Threading.Thread.Sleep(2000);
                     }
                 }
             }
-            else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_12_ToTemp1))
-            {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
-                {
-                    //if (!TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
-                    //{
-                    //    JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_08_CheckD2Status);
-                    //    runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点1请求电梯";
-                    //    JobRunStep.Msg = runInfo;
-                    //    //请求电梯
-                    //    lift.LiftContext.FinishedRequest(JobParam.GetMissionInfo(), agv);
-                    //    System.Threading.Thread.Sleep(2000);
-                    //}
-
+            #region 电梯内有料车
 
-                    JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_13_TakeShelfOffAtTemp1);
-                    runInfo = $"到达{JobParam.CurTargetNode.AliceName}的临时点1，将车上料车卸下";
-                    JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{SettingString.TakeShelfOff}");
-                }
-            }
-            else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_13_TakeShelfOffAtTemp1))
-            {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
-                {
-                    JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_14_ToLift);
-                    runInfo = $"在{JobParam.CurTargetNode.AliceName}将车上料车卸在临时点1完成，去电梯口";
-                    JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
-                }
-            }
-            else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_14_ToLift))
+            else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_13_ToShelfBuff))
             {
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
-                    JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_15_EnterLift);
-                    runInfo = $"到达{JobParam.CurTargetNode.AliceName}，去取料点";
+                    JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_14_TakeShelfOff);
+                    runInfo = $"到达料架缓存点，将车上料车卸下";
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.PutShelfOn}");
-                }
-            }
-            else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_15_EnterLift))
-            {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
-                {
-                    JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_16_PutShelfOn);
-                    runInfo = $"到达{JobParam.CurTargetNode.AliceName}的取料点，准备拾取料车";
-                    JobRunStep.Msg = runInfo;
-                    if (liftStatus.HasEmptyFinishedShelf)
-                    {
-                        PutYiYuanD2LiftShelfOn(agv, JobParam.CurTargetNode.Name);
-                    }
-                    else
-                        PutLiftShelfOn(agv, JobParam.CurTargetNode.Name);
-                    //AllocateTask(agv, $"{SettingString.PutShelfOn}_{JobParam.CurTargetNode.Name}");
+                    TakeShelfOff(agv);
                 }
             }
-            else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_16_PutShelfOn))
+            else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_14_TakeShelfOff))
             {
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
-                    JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_17_LeaveLift);
-                    runInfo = $"拾取{JobParam.CurTargetNode.AliceName}的料车完成，准备离开电梯";
-                    JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
-                }
-            }
-            else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_17_LeaveLift))
-            {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
-                {
-                    if (liftStatus.HasEmptyFinishedShelf)//电梯里的是成品回收料
+                    //设置任务状态为料架换缓存
+                    MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.料架缓存, out string msg);
+                    ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
+                    //执行取空成品任务
+                    Node src = manager.NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);
+                    Node dest = manager.NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift);
+                    MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId);
+                    if (missionInfo != null)
                     {
-                        JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_01_ToTemp2);
-                        runInfo = $"离开{JobParam.CurTargetNode.AliceName}完成,去临时点2的放料点";
-                        //service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(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);
-                        //}
-                        AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp2}_{SettingString.TakeShelfOff}");
-                        JobRunStep.Msg = runInfo;
+                        JobParam jobParam = new JobParam(src, dest, null, missionInfo);
+                        MissionManager.SetMissionOccupied(missionInfo, agv);
+                        job = new F1LiftD2ToLiftC1Job(jobParam);
                     }
                     else
                     {
-                        JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_18_CloseDoor);
-                        //AGV离开
-                        bool rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, false);
-                        runInfo = $"离开{JobParam.CurTargetNode.AliceName}完成，发送离开信号:{rtn}";
-                        service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
-                        if (missionInfo != null)
-                        {
-                            //任务状态变更
-                            MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回离开电梯, out string msg);
-                        }
+                        JobRunStep.ToNextStep(RunStep.END);
+                        runInfo = $"未搜索到电梯内的料车任务信息【{JobParam.LiftStatus?.missionId ?? ""}】，结束任务";
                         JobRunStep.Msg = runInfo;
                     }
-
                 }
             }         
-
             #region 送往库房的料车
             else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_18_CloseDoor))
             {
-                if (lift.LiftContext.CheckAgvLeaveSig(JobParam.CurTargetNode.Name))
+                if (LiftContext.CheckAgvLeaveSig(JobParam.CurTargetNode.Name))
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_19_01_ToStore);
-                    runInfo = $"{JobParam.CurTargetNode.AliceName}关门完成，将料车送到{liftStatus.destinationPoint}的放料点";
-                    service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
+                    runInfo = $"{JobParam.CurTargetNode.AliceName}关门完成，将料车送到{JobParam.LiftStatus.destinationPoint}的放料点";
+                    service.model.MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus.missionId);
                     if (missionInfo != null)
                     {
                         //任务状态变更
                         MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回起始地, out string msg);
                     }
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{liftStatus.destinationPoint}_{SettingString.TakeShelfOff}");
+                    ToTakeShelfOff(agv, $"{JobParam.LiftStatus.destinationPoint}");
                 }
                 else if (JobRunStep.IsTimeOut(0.5, out double val))
                 {
                     //AGV离开
-                    lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, false);
+                    LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, false);
                     runInfo = $"{JobParam.CurTargetNode.AliceName}离开信号超时重发";
                     JobRunStep.Msg = runInfo;
-                    System.Threading.Thread.Sleep(3000);
+                    Thread.Sleep(3000);
                 }
 
             }
@@ -407,9 +408,9 @@ namespace DeviceLibrary.bean.job
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_19_02_TakeShelfOff);
-                    runInfo = $"到达{liftStatus.destinationPoint}的放料点，准备卸下";
+                    runInfo = $"到达{JobParam.LiftStatus.destinationPoint}的放料点，准备卸下";
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{SettingString.TakeShelfOff}");
+                    TakeShelfOff(agv);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_19_02_TakeShelfOff))
@@ -417,15 +418,15 @@ namespace DeviceLibrary.bean.job
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_19_03_ToTemp1);
-                    runInfo = $"料车在{liftStatus.destinationPoint}卸下完成， 返回{JobParam.CurTargetNode.AliceName}的临时点1的取料点";
-                    service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
+                    runInfo = $"料车在{JobParam.LiftStatus.destinationPoint}卸下完成， 返回{JobParam.CurTargetNode.AliceName}的临时点1的取料点";
+                    service.model.MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus.missionId);
                     if (missionInfo != null)
                     {
                         //任务状态变更
                         MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.完成, out string msg);
                     }
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.PutShelfOn}");
+                    ToTmp1PutOn(agv, $"{JobParam.CurTargetNode.Name}");
                 }
             }
 
@@ -447,7 +448,8 @@ namespace DeviceLibrary.bean.job
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_19_05_ToLift);
                     runInfo = $"拾取料架完成，去{JobParam.CurTargetNode.AliceName}";
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
+                    //AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
+                    ToLift(agv, JobParam.CurTargetNode.Name);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_19_05_ToLift))
@@ -458,8 +460,8 @@ namespace DeviceLibrary.bean.job
                     runInfo = $"到达{JobParam.CurTargetNode.AliceName}，请求电梯";
                     JobRunStep.Msg = runInfo;
                     //请求电梯
-                    lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, false, true);
-                    System.Threading.Thread.Sleep(2000);
+                    LiftContext.Request(JobParam.GetMissionInfo(), agv, false, true);
+                    Thread.Sleep(2000);
                 }
             }
             #endregion
@@ -474,7 +476,7 @@ namespace DeviceLibrary.bean.job
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_02_TakeShelfOff);
                     runInfo = $"到达{JobParam.CurTargetNode.AliceName}临时点2的放料点，准备放下料车";
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{SettingString.TakeShelfOff}");
+                    TakeShelfOff(agv);
                 }
 
             }
@@ -482,10 +484,10 @@ namespace DeviceLibrary.bean.job
             {
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
-                    JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_03_ToTemp1);
+                    JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_03_ToTemp1);
                     runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点2放下料车完成，去临时点1的取料点";
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.PutShelfOn}");
+                    ToTmp1PutOn(agv, $"{JobParam.CurTargetNode.Name}");
                 }
 
             }
@@ -493,7 +495,7 @@ namespace DeviceLibrary.bean.job
             {
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
-                    JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_04_PutShelfOn);
+                    JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_04_PutShelfOn);
                     runInfo = $"到达{JobParam.CurTargetNode.AliceName}临时点1的取料点，准备取料";
                     JobRunStep.Msg = runInfo;
                     //AllocateTask(agv, $"{SettingString.PutShelfOn}");
@@ -508,7 +510,7 @@ namespace DeviceLibrary.bean.job
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_05_ToLiftC1);
                     runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点1取料完成，去电梯";
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
+                    ToLift(agv, $"{JobParam.CurTargetNode.Name}");
                 }
 
             }
@@ -519,7 +521,7 @@ namespace DeviceLibrary.bean.job
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_06_EnterLiftC1);
                     runInfo = $"进入{JobParam.CurTargetNode.AliceName}的放料点";
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
+                    ToTakeShelfOff(agv, $"{JobParam.CurTargetNode.Name}");
                 }
 
             }
@@ -531,7 +533,7 @@ namespace DeviceLibrary.bean.job
                     runInfo = $"到达{JobParam.CurTargetNode.AliceName}的放料点，准备放下料架";
                     JobRunStep.Msg = runInfo;
                     //AllocateTask(agv, $"{SettingString.TakeShelfOff}");
-                    TakeYiYuanLiftShelfOff(agv, SettingString.TakeShelfOff);
+                    TakeYiYuanLiftShelfOff(agv, JobParam.CurTargetNode.Name);
                 }
 
             }
@@ -542,7 +544,8 @@ namespace DeviceLibrary.bean.job
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_08_LeaveLiftC1);
                     runInfo = $"在{JobParam.CurTargetNode.AliceName}放下料架完成，准备离开";
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
+                    //AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
+                    LeaveLift(agv, JobParam.CurTargetNode.Name);
                 }
 
             }
@@ -551,39 +554,44 @@ namespace DeviceLibrary.bean.job
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_09_CloseDoor);
+                     LiftContext.FinishedProduct(JobParam.CurTargetNode.Name, agv);
+                    Thread.Sleep(2000);
                     //AGV离开
-                    bool rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, true);
+                    bool rtn = LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, true);
+                    Thread.Sleep(2000);
+                     LiftContext.CloseFinishedProduct(JobParam.CurTargetNode.Name, agv);
                     runInfo = $"离开{JobParam.CurTargetNode.AliceName}完成，发送离开信号:{rtn}";
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.等待成品回收, out string msg);
                     JobRunStep.Msg = runInfo;
                     ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
+                    ClearLiftNodeOccupied(agv);
                 }
 
             }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_20_09_CloseDoor))
             {
-                if (lift.LiftContext.CheckAgvLeaveSig(JobParam.CurTargetNode.Name))
+                if (LiftContext.CheckAgvLeaveSig(JobParam.CurTargetNode.Name))
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_10_ToTemp2);
                     runInfo = $"去{JobParam.CurTargetNode.AliceName}临时点2的取料点";
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp2}_{SettingString.PutShelfOn}");
-                }
-                else if (JobRunStep.IsTimeOut(0.5, out double val))
-                {
-                    //AGV离开
-                    lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, false);
-                    runInfo = $"{JobParam.CurTargetNode.AliceName}离开信号超时重发";
-                    JobRunStep.Msg = runInfo;
-                    System.Threading.Thread.Sleep(3000);
+                    ToTmp2PutOn(agv, $"{JobParam.CurTargetNode.Name}");
                 }
+                //else if (JobRunStep.IsTimeOut(0.5, out double val))
+                //{
+                //    //AGV离开
+                //    LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, false);
+                //    runInfo = $"{JobParam.CurTargetNode.AliceName}离开信号超时重发";
+                //    JobRunStep.Msg = runInfo;
+                //    Thread.Sleep(3000);
+                //}
             }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_20_10_ToTemp2))
             {
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
-                    JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_11_TakeShelfOn);
+                    JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_11_TakeShelfOn);
                     runInfo = $"到达{JobParam.CurTargetNode.AliceName}临时点2的取料点，准备取料架";
                     JobRunStep.Msg = runInfo;
                     // AllocateTask(agv, $"{SettingString.PutShelfOn}");
@@ -606,14 +614,14 @@ namespace DeviceLibrary.bean.job
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
                     //去C1
-                    Node src = manager.NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);
-                    Node dest = manager.NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift);
-                    JobParam jobParam = new JobParam(src, dest, null, MissionManager.GetMission(liftStatus.missionId));
+                    Node src = NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);
+                    Node dest = NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift);
+                    JobParam jobParam = new JobParam(src, dest, null, MissionManager.GetMission(JobParam.LiftStatus.missionId));
                     F1LiftD2ToLiftC1Job d2ToLiftC1Job = new F1LiftD2ToLiftC1Job(jobParam);
                     d2ToLiftC1Job.JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_07_ToLiftC1);
                     runInfo = $"准备去{SettingString.LIFT_C1}送空成品料车";
                     d2ToLiftC1Job.JobRunStep.Msg = runInfo;
-                    service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
+                    service.model.MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus.missionId);
                     if (missionInfo != null)
                     {
                         //任务状态变更
@@ -632,7 +640,7 @@ namespace DeviceLibrary.bean.job
                 JobRunStep.EndJob();
                 return null;
             }
-            return this;
+            return job;
         }
     }
 }

DeviceLibrary/bean/job/F1LiftD2ToLiftC1Job.cs

@@ -19,9 +19,9 @@ namespace DeviceLibrary.bean.job
         {
 
         }
-        lift.LiftStatus liftStatus;
         public override Job Run(AgvInfo agv)
         {
+            Job job = this;
             agv.SetJobContext(new bean.agv.JobContext()
             {
                 MissionId = JobParam.GetMissionInfo().missionId,
@@ -33,10 +33,34 @@ namespace DeviceLibrary.bean.job
             });
             if (JobRunStep.IsStep(RunStep.NONE))
             {
+                if(TargetIsOccupied(agv, JobParam.SrcNode.Name))
+                {
+                    JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_00_ToStandby);
+                    runInfo = $"在{JobParam.SrcNode.AliceName}小车，先去待机点";
+                    JobRunStep.Msg = runInfo;
+                    ToStandby(agv);
+                }
+                else
+                {
+                    JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_01_ToLiftD2);
+                    runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
+                    JobRunStep.Msg = runInfo;
+                    ToLift(agv, $"{JobParam.SrcNode.Name}");
+                }
+
+            }
+            else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_00_ToStandby))
+            {
+                if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
+                {
+                }
+                else
+                {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_01_ToLiftD2);
                     runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
                     JobRunStep.Msg = runInfo;
-                AllocateTask(agv, $"{JobParam.SrcNode.Name}");
+                    ToLift(agv, $"{JobParam.SrcNode.Name}");
+                }
             }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_01_ToLiftD2))
             {
@@ -92,7 +116,8 @@ namespace DeviceLibrary.bean.job
                         $"电梯取车"));
                     runInfo = $"在{JobParam.SrcNode.AliceName}取料车完成，准备离开";
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
+                    //AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
+                    LeaveLift(agv, JobParam.SrcNode.Name);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_05_LeaveLift))
@@ -104,17 +129,44 @@ namespace DeviceLibrary.bean.job
                     bool rtn = lift.LiftContext.EmptyFinishedAGVLeave(JobParam.SrcNode.Name, agv);//lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv, false);
                     runInfo = $"离开{JobParam.SrcNode.AliceName}，关闭电梯门:{rtn}";
                     JobRunStep.Msg = runInfo;
+                    ClearLiftNodeOccupied(agv);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_06_CloseLiftDoor))
             {
+                if(TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
+                {
+                    JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_07_ToStandby);
+                    runInfo = $"在{JobParam.CurTargetNode.AliceName}有小车，去待机点";
+                    ToStandby(agv);
+                    JobRunStep.Msg = runInfo;
+                }
+                else
+                {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_07_ToLiftC1);
                     runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}";
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
-                AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
+                    ToLift(agv, $"{JobParam.CurTargetNode.Name}");
                     JobRunStep.Msg = runInfo;
                 }
+
+            }
+            else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_07_ToStandby))
+            {
+                if (TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
+                {
+                }
+                else
+                {
+                    JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_07_ToLiftC1);
+                    runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}";
+                    //任务状态变更
+                    MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
+                    ToLift(agv, $"{JobParam.CurTargetNode.Name}");
+                    JobRunStep.Msg = runInfo;
+                }
+            }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_07_ToLiftC1))
             {
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
@@ -134,13 +186,13 @@ namespace DeviceLibrary.bean.job
             {
                 if (lift.LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo().destinationFloor))
                 {
-                    if (lift.LiftContext.HasFinishedShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out liftStatus))
+                    if (lift.LiftContext.HasFinishedShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out JobParam.LiftStatus))
                     {
                         JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_12_ToTemp1);
                         //SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
                         runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有成品料车，去临时点1的卸料点，准备卸下车上料车";//
                         AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
-                        service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
+                        service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(JobParam.LiftStatus.missionId);
                         if (missionInfo != null)
                         {
                             //任务状态变更
@@ -148,31 +200,33 @@ namespace DeviceLibrary.bean.job
                         }
                         JobRunStep.Msg = runInfo;
                     }
-                    else if (lift.LiftContext.HasShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out liftStatus))
-                    {
-                        service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
-                        if (IsBackShelf(missionInfo))
-                        {
-                            JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_12_ToTemp1);
-                            SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
-                            runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有料车，去临时点1的卸料点，准备卸下车上料车";//
-                            AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
-
-                            if (missionInfo != null)
-                            {
-                                //任务状态变更
-                                MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回电梯到达, out string msg);
-                            }
-                            JobRunStep.Msg = runInfo;
-                        }
-                        else
+                    else if (lift.LiftContext.HasShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out JobParam.LiftStatus))
                     {
-                            JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_12_ToStandby);
+                        MissionManager.SetMissionOccupied(JobParam.GetMissionInfo().missionId, agv);
+                        job = new SwitchShelfJob(JobParam);
+                        //service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
+                        //if (IsBackShelf(missionInfo))
+                        //{
+                        //    JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_12_ToTemp1);
                         //    SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
-                            runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有送料的料车，去待机点等待电梯空闲";//
-                            AllocateStandbyTask(agv);
-                            JobRunStep.Msg = runInfo;
-                        }
+                        //    runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有料车，去临时点1的卸料点，准备卸下车上料车";//
+                        //    AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
+
+                        //    if (missionInfo != null)
+                        //    {
+                        //        //任务状态变更
+                        //        MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回电梯到达, out string msg);
+                        //    }
+                        //    JobRunStep.Msg = runInfo;
+                        //}
+                        //else
+                        //{
+                        //    JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_12_ToStandby);
+                        //    // SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
+                        //    runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有送料的料车，去待机点等待电梯空闲";//
+                        //    AllocateStandbyTask(agv);
+                        //    JobRunStep.Msg = runInfo;
+                        //}
                     }
                    else //if (!TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
                     {
@@ -214,7 +268,8 @@ namespace DeviceLibrary.bean.job
                     ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回到达电梯内, out string msg);
-                    AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
+                   // AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
+                    LeaveLift(agv, JobParam.CurTargetNode.Name);
                     JobRunStep.Msg = runInfo;
                 }
             }
@@ -312,11 +367,11 @@ namespace DeviceLibrary.bean.job
             {
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
-                    if (service.model.MissionInfo.IsFinishedProdcut(MissionManager.GetMission(liftStatus.missionId)))//电梯里的是成品入库料
+                    if (service.model.MissionInfo.IsFinishedProdcut(MissionManager.GetMission(JobParam.LiftStatus.missionId)))//电梯里的是成品入库料
                     {
                         JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_01_ToTemp2);
                         runInfo = $"离开{JobParam.CurTargetNode.AliceName}完成,去临时点2的放料点";
-                        service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
+                        service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(JobParam.LiftStatus.missionId);
                         if (missionInfo != null)
                         {
                             //任务状态变更
@@ -328,10 +383,11 @@ namespace DeviceLibrary.bean.job
                     else
                     {
                         JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_18_CloseDoor);
+                        ClearLiftNodeOccupied(agv);
                         //AGV离开
                         bool rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, false);
                         runInfo = $"离开{JobParam.CurTargetNode.AliceName}完成，发送离开信号:{rtn}";
-                        service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
+                        service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(JobParam.LiftStatus.missionId);
                         if (missionInfo != null)
                         {
                             //任务状态变更
@@ -349,15 +405,15 @@ namespace DeviceLibrary.bean.job
                 if (lift.LiftContext.CheckAgvLeaveSig(JobParam.CurTargetNode.Name))
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_19_01_ToStore);
-                    runInfo = $"{JobParam.CurTargetNode.AliceName}关门完成，将料车送到{liftStatus.destinationPoint}的放料点";
-                    service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
+                    runInfo = $"{JobParam.CurTargetNode.AliceName}关门完成，将料车送到{JobParam.LiftStatus.destinationPoint}的放料点";
+                    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.返回起始地, out string msg);
                     }
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{liftStatus.destinationPoint}_{SettingString.TakeShelfOff}");
+                    AllocateTask(agv, $"{JobParam.LiftStatus.destinationPoint}_{SettingString.TakeShelfOff}");
                 }
                 else if (JobRunStep.IsTimeOut(0.5, out double val))
                 {
@@ -375,7 +431,7 @@ namespace DeviceLibrary.bean.job
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_19_02_TakeShelfOff);
-                    runInfo = $"到达{liftStatus.destinationPoint}的放料点，准备卸下";
+                    runInfo = $"到达{JobParam.LiftStatus.destinationPoint}的放料点，准备卸下";
                     JobRunStep.Msg = runInfo;
                     AllocateTask(agv, $"{SettingString.TakeShelfOff}");
                 }
@@ -385,8 +441,8 @@ namespace DeviceLibrary.bean.job
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_19_03_ToTemp1);
-                    runInfo = $"料车在{liftStatus.destinationPoint}卸下完成， 返回{JobParam.CurTargetNode.AliceName}的临时点1的取料点";
-                    service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
+                    runInfo = $"料车在{JobParam.LiftStatus.destinationPoint}卸下完成， 返回{JobParam.CurTargetNode.AliceName}的临时点1的取料点";
+                    service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(JobParam.LiftStatus.missionId);
                     if (missionInfo != null)
                     {
                         //任务状态变更
@@ -412,10 +468,35 @@ namespace DeviceLibrary.bean.job
             {
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
+                    if(TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
+                    {
+                        JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_19_05_ToStandby);
+                        runInfo = $"在{JobParam.CurTargetNode.AliceName}有小车，去待机点";
+                        JobRunStep.Msg = runInfo;
+                        MoveToNode(agv, $"{SettingString.Standby}");
+                    }
+                    else
+                    {
                         JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_19_05_ToLift);
                         runInfo = $"拾取料架完成，去{JobParam.CurTargetNode.AliceName}";
                         JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
+                        ToLift(agv, $"{JobParam.CurTargetNode.Name}");
+                    }
+
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_19_05_ToStandby))
+            {
+                if (TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
+                {
+
+                }
+                else
+                {
+                    JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_19_05_ToLift);
+                    runInfo = $"拾取料架完成，去{JobParam.CurTargetNode.AliceName}";
+                    JobRunStep.Msg = runInfo;
+                    ToLift(agv, $"{JobParam.CurTargetNode.Name}");
                 }
             }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_19_05_ToLift))
@@ -511,7 +592,8 @@ namespace DeviceLibrary.bean.job
                     JobRunStep.Msg = runInfo;
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回到达电梯内, out string msg);
-                    AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
+                    //AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
+                    LeaveLift(agv, JobParam.CurTargetNode.Name);
                 }
 
             }
@@ -526,6 +608,8 @@ namespace DeviceLibrary.bean.job
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯运行, out string msg);
                     JobRunStep.Msg = runInfo;
+                    ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
+                    ClearLiftNodeOccupied(agv);
                 }
 
             }
@@ -536,7 +620,8 @@ namespace DeviceLibrary.bean.job
                     JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_10_ToTemp2);
                     runInfo = $"去{JobParam.CurTargetNode.AliceName}临时点2的取料点";
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp2}_{SettingString.PutShelfOn}");
+                    ToTmp2PutOn(agv, JobParam.CurTargetNode.Name);
+                    //AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp2}_{SettingString.PutShelfOn}");
                 }
                 else if (JobRunStep.IsTimeOut(0.5, out double val))
                 {
@@ -576,12 +661,12 @@ namespace DeviceLibrary.bean.job
                     //去D2
                     Node src = manager.NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift);
                     Node dest = manager.NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);
-                    JobParam jobParam = new JobParam(src, dest, null, MissionManager.GetMission(liftStatus.missionId));
+                    JobParam jobParam = new JobParam(src, dest, null, MissionManager.GetMission(JobParam.LiftStatus.missionId));
                     F1LiftC1ToLiftD2Job c1ToLiftD2Job = new F1LiftC1ToLiftD2Job(jobParam);
                     c1ToLiftD2Job.JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_07_ToLiftD2);
                     runInfo = $"准备去{SettingString.LIFT_D2}送成品料车";
                     c1ToLiftD2Job.JobRunStep.Msg = runInfo;
-                    service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
+                    service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(JobParam.LiftStatus.missionId);
                     if (missionInfo != null)
                     {
                         //任务状态变更
@@ -599,7 +684,7 @@ namespace DeviceLibrary.bean.job
                 JobRunStep.EndJob();
                 return null;
             }
-            return this;
+            return job;
         }
     }
 }

DeviceLibrary/bean/job/Job.cs

 using Common;
 using DeviceLibrary.bean;
+using DeviceLibrary.lift;
 using DeviceLibrary.manager;
 using DeviceLibrary.service.model;
 using log4net.Util;
 using System;
+using System.Web.UI.WebControls.WebParts;
 using System.Windows.Forms;
 
 namespace DeviceLibrary
@@ -73,6 +75,163 @@ namespace DeviceLibrary
             Task = AgvTaskManager.GetTaskByName(taskName, agv);
             AgvTaskManager.AssignMission(agv, taskName);
         }
+        /// <summary>
+        /// 去电梯，并占用节点
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <param name="liftname"></param>
+        protected void ToLift(AgvInfo agv, string liftname)
+        {
+            LiftContext.SetLiftNodeOccupied(agv, liftname);
+            AllocateTask(agv, $"{liftname}");
+        }
+        /// <summary>
+        /// 离开电梯
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <param name="liftName"></param>
+        protected void LeaveLift(AgvInfo agv, string liftName)
+        {
+            AllocateTask(agv, $"{SettingString.Leave}_{liftName}");
+        }
+        /// <summary>
+        /// 清除agv占用的电梯点
+        /// </summary>
+        /// <param name="agv"></param>
+        protected void ClearLiftNodeOccupied(AgvInfo agv)
+        {
+            LiftContext.SetLiftNodeOccupied(agv);
+        }
+        /// <summary>
+        /// 去电梯临时电1放料点
+        /// </summary>
+        /// <param name="agvInfo"></param>
+        protected void ToTmp1TakeOff(AgvInfo agv, string liftName)
+        {
+            AllocateTask(agv, $"{liftName}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
+        }
+        /// <summary>
+        /// 去电梯临时点1取料点
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <param name="liftName"></param>
+        protected void ToTmp1PutOn(AgvInfo agv, string liftName)
+        {
+            AllocateTask(agv, $"{liftName}_{SettingString.Temp1}_{SettingString.PutShelfOn}");
+        }
+        /// <summary>
+        /// 去取料点
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <param name="nodeName"></param>
+        protected void ToPutShelfOn(AgvInfo agv, string nodeName)
+        {
+            AllocateTask(agv, $"{nodeName}_{SettingString.PutShelfOn}");
+        }
+        /// <summary>
+        /// 去放料点
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <param name="nodeName"></param>
+        protected void ToTakeShelfOff(AgvInfo agv, string nodeName)
+        {
+            AllocateTask(agv, $"{nodeName}_{SettingString.TakeShelfOff}");
+        }
+        /// <summary>
+        /// 去电梯临时电2放料点
+        /// </summary>
+        /// <param name="agvInfo"></param>
+        protected void ToTmp2TakeOff(AgvInfo agv, string liftName)
+        {
+            AllocateTask(agv, $"{liftName}_{SettingString.Temp2}_{SettingString.TakeShelfOff}");
+        }
+        /// <summary>
+        /// 去电梯临时点2取料点
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <param name="liftName"></param>
+        protected void ToTmp2PutOn(AgvInfo agv, string liftName)
+        {
+            AllocateTask(agv, $"{liftName}_{SettingString.Temp2}_{SettingString.PutShelfOn}");
+        }
+        /// <summary>
+        /// AGV任务是否运行完成
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <returns></returns>
+        protected bool AGVTaskIsFinished(AgvInfo agv)
+        {
+            return agv.TaskRunState.CheckTaskFinished(agv.Name);
+        }
+        /// <summary>
+        /// 卸下料架
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <param name="nodeName"></param>
+        protected void TakeShelfOff(AgvInfo agv, string nodeName = "")
+        {
+            if (string.IsNullOrEmpty(nodeName))
+            {
+                AllocateTask(agv, $"{SettingString.TakeShelfOff}");
+            }
+            else
+            {
+                AllocateTask(agv, $"{SettingString.TakeShelfOff}_{nodeName}");
+            }
+        }
+        /// <summary>
+        /// 在电梯内卸下料车
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <param name="liftName"></param>
+        protected void TakeShelfOffAtLift(AgvInfo agv, string liftName)
+        {
+            if (agv.Scope.Workshop.Equals("1F"))
+            {
+                if (SettingString.LIFT_D2.Equals(liftName))
+                {
+                    TakeYiYuanLiftShelfOff(agv, liftName);
+                }
+                else
+                {
+                    AllocateTask(agv, $"{SettingString.TakeShelfOff}_{liftName}");
+                }
+            }
+            else
+            {
+
+                AllocateTask(agv, $"{SettingString.TakeShelfOff}_{liftName}");
+
+            }
+        }
+        /// <summary>
+        /// 移动到节点
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <param name="nodeName"></param>
+        protected void MoveToNode(AgvInfo agv, string nodeName)
+        {
+            AllocateTask(agv, $"{nodeName}");
+        }
+        /// <summary>
+        /// 移动到节点的取料点
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <param name="nodeName"></param>
+        protected void MoveToNodePutShelf(AgvInfo agv, string nodeName)
+        {
+            AllocateTask(agv, $"{nodeName}_{SettingString.PutShelfOn}");
+        }
+        /// <summary>
+        /// 移动到节点的放料点
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <param name="nodeName"></param>
+        protected void MoveToNodeTakeOff(AgvInfo agv, string nodeName)
+        {
+            AllocateTask(agv, $"{nodeName}_{SettingString.TakeShelfOff}");
+        }
+
         public void PutLiftShelfOn(AgvInfo agv, string nodeName)
         {
             if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.空台车归还) ||
@@ -140,7 +299,7 @@ namespace DeviceLibrary
             {
                 AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}{SettingString._Steel}");
             }
-            else if(JobParam.GetMissionInfo().projectType.Equals(ProjectType.移远成品入库))
+            else if (missionInfo.projectType.Equals(ProjectType.移远成品入库))
             {
                 AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}{SettingString._Box}");
             }
@@ -171,6 +330,7 @@ namespace DeviceLibrary
                 AllocateTask(agv, $"{SettingString.PutShelfOn}");
             }
         }
+
         public void TakeYiYuanLiftShelfOff(AgvInfo agv, string nodeName)
         {
             if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.移远成品入库))
@@ -179,9 +339,13 @@ namespace DeviceLibrary
             }
             else
             {
-                AllocateTask(agv, $"{SettingString.PutShelfOn}_{nodeName}");
+                AllocateTask(agv, $"{SettingString.TakeShelfOff}_{nodeName}");
             }
         }
+        /// <summary>
+        /// 根据当前任务类型拾取料车，非电梯拾取任务
+        /// </summary>
+        /// <param name="agv"></param>
         public void PutShelfOn(AgvInfo agv)
         {
             if (JobParam.GetMissionInfo().projectType.Equals(ProjectType.空台车归还) ||
@@ -218,12 +382,52 @@ namespace DeviceLibrary
                 AllocateTask(agv, $"{SettingString.PutShelfOn}");
             }
         }
+        public void PutShelfOn(AgvInfo agv, MissionInfo missionInfo)
+        {
+            if (missionInfo != null)
+            {
+                if (missionInfo.projectType.Equals(ProjectType.空台车归还) ||
+                        missionInfo.projectType.Equals(ProjectType.空台车领用))
+                {
+                    AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Big}");
+                }
+                else if (missionInfo.projectType.Equals(ProjectType.半成品入库与领用)
+                    && !missionInfo.needBack)
+                {
+                    AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Big}");
+                }
+                else if (missionInfo.projectType.Equals(ProjectType.半成品入库)
+                 && !missionInfo.needBack)
+                {
+                    AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Big}");
+                }
+                else if (missionInfo.projectType.Equals(ProjectType.半成品领用)
+                && !missionInfo.needBack)
+                {
+                    AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Big}");
+                }
+                else if (missionInfo.projectType.Equals(ProjectType.钢网入库) ||
+                    missionInfo.projectType.Equals(ProjectType.钢网领用))
+                {
+                    AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Steel}");
+                }
+                else if (missionInfo.projectType.Equals(ProjectType.移远成品入库))
+                {
+                    AllocateTask(agv, $"{SettingString.PutShelfOn}{SettingString._Box}");
+                }
+                else
+                {
+                    AllocateTask(agv, $"{SettingString.PutShelfOn}");
+                }
+            }
+
+        }
         protected void AllocateTask(AgvInfo agv, ChargePile chargePile)
         {
             Task = new AgvTask() { AliceName = chargePile.AliceName, Name = chargePile.Name, Guid = chargePile.Guid };
             AgvTaskManager.AssignMission(agv, chargePile, Task);
         }
-        protected void AllocateStandbyTask(AgvInfo agv)
+        protected void ToStandby(AgvInfo agv)
         {
             Task = AgvTaskManager.GetTaskByName($"{SettingString.Standby}", agv);
             AgvTaskManager.AssignMission(agv, $"{SettingString.Standby}");
@@ -314,16 +518,16 @@ namespace DeviceLibrary
         /// <summary>
         /// 是否需要确认
         /// </summary>
-        /// <returns></returns>
+        /// <returns>false,不需要确认</returns>
         protected bool NeedConfirm()
         {
             if (JobParam.GetMissionInfo() != null)
             {
                 MissionInfo missionInfo = JobParam.GetMissionInfo();
                 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) ||
-                    (type.Equals(service.model.ProjectType.半成品入库) && !missionInfo.needBack)
-                    || type.Equals(service.model.ProjectType.半成品入库与领用))
+                if (type.Equals(service.model.ProjectType.空台车领用) ||
+                    type.Equals(service.model.ProjectType.空台车归还) ||
+                    (!missionInfo.needBack))
                 {
                     return false;
                 }
@@ -382,14 +586,15 @@ namespace DeviceLibrary
         {
             MissionManager.SetMissionOccupiedAgv(missionInfo.missionId, string.Empty);
         }
+        /// <summary>
+        /// 当前电梯正在使用电梯
+        /// </summary>
+        /// <param name="liftId"></param>
+        /// <param name="agv"></param>
         protected void SetLiftOccupied(string liftId, AgvInfo agv)
         {
             lift.LiftContext.SetLiftOccupiedAgv(liftId, agv.IP);
         }
-        protected void ResetLiftOccupied(string liftId)
-        {
-            lift.LiftContext.ResetLiftOccupiedAgv(liftId);
-        }
         /// <summary>
         /// 目的地是否有小车占用
         /// </summary>
@@ -398,24 +603,23 @@ namespace DeviceLibrary
         /// <returns></returns>
         protected bool TargetIsOccupied(AgvInfo agv, string targetName)
         {
-            try
+            if (LiftContext.OtherAGVIsInLift(agv, targetName))
+                return true;
+            else
             {
-                if (agv.Scope.Equals("1F"))
+                try
                 {
                     AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && !s.IP.Equals(agv.IP)
-                            && agv.Scope.Workshop.Equals(s.Scope.Workshop) && s.Scope.Equals("1F"));
+                            && agv.Scope.Workshop.Equals(s.Scope.Workshop));
                     if (agvInfo != null)
                     {
-                        //if (agvInfo?.Place.Name.Contains(targetName) ?? false)
-                        //    return true;
-                        if (agvInfo?.TaskRunState?.Task?.Name.Equals(targetName) ?? false)
+                        if (agvInfo?.TaskRunState?.Task?.Name.Contains(targetName) ?? false)
                         {
                             return true;
                         }
+                        //else if (agvInfo?.Place?.Name.Contains(targetName) ?? false)
+                        //    return true;
                     }
-                }
-                else
-                    return false;
                     return false;
                 }
                 catch (Exception ex)
@@ -425,6 +629,12 @@ namespace DeviceLibrary
                 }
             }
 
+        }
+        /// <summary>
+        /// 获取任务下一个状态
+        /// </summary>
+        /// <param name="missionState"></param>
+        /// <returns></returns>
         protected MissionState getNextState(MissionState missionState)
         {
             if (missionState == MissionState.电梯运行)
@@ -433,24 +643,95 @@ namespace DeviceLibrary
                 return MissionState.离开电梯;
             else if (missionState == MissionState.离开电梯)
                 return MissionState.送料;
-
+            else if (missionState == MissionState.前往电梯)
+                return MissionState.到达电梯;
+            else if (missionState == MissionState.到达电梯)
+                return MissionState.电梯运行;
             else if (missionState == MissionState.返回电梯运行)
                 return MissionState.返回电梯到达;
             else if (missionState == MissionState.返回电梯到达)
                 return MissionState.返回离开电梯;
             else if (missionState == MissionState.返回离开电梯)
                 return MissionState.返回起始地;
+            else if (missionState == MissionState.等待成品回收)
+                return MissionState.返回电梯;
+
+            int intType = ((int)missionState) + 1;
+            return (MissionState)intType;
+        }
 
-            return missionState++;
+        protected bool MissionIsBackState(MissionInfo missionInfo)
+        {
+            if (missionInfo == null) return false;
+            if (missionInfo.state >= MissionState.返回到达电梯内 && missionInfo.state <= MissionState.返回电梯运行)
+                return true;
+            if (missionInfo.state == MissionState.等待成品回收)
+                return true;
+            return false;
+        }
+        protected bool CheckMIssionInlift(MissionInfo missionInfo)
+        {
+            if (missionInfo.state >= MissionState.返回电梯到达 && missionInfo.state <= MissionState.返回离开电梯)
+                return true;
+            return false;
+        }
+        /// <summary>
+        /// 设置电梯内料架的任务状态
+        /// </summary>
+        /// <param name="missionState"></param>
+        /// <returns></returns>
+        protected bool setMissionState(MissionInfo missionInfo)
+        {
+            service.model.MissionInfo mission = manager.MissionManager.GetMission(missionInfo?.missionId ?? "");
+            if (mission != null)
+            {
+                MissionState missionState = getNextState(mission.state);
+                //任务状态变更
+                MissionManager.SetMissionState(mission.missionId, missionState, out string msg);
+                return true;
+            }
+            return false;
+        }
+        /// <summary>
+        /// 设置当前任务的状态
+        /// </summary>
+        /// <param name="missionState"></param>
+        protected void setMissionState(MissionState missionState)
+        {
+            //任务状态变更
+            MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, missionState, out string msg);
         }
         protected bool IsBackShelf(MissionInfo missionInfo)
         {
-            if(missionInfo?.state>= MissionState.返回电梯运行 && missionInfo?.state<= MissionState.返回电梯到达)
+            if (missionInfo?.state >= MissionState.返回电梯运行 && missionInfo?.state <= MissionState.返回电梯到达)
             {
                 return true;
             }
             return false;
         }
+        protected Job GetCallBackJob()
+        {
+            //Assembly assembly = Assembly.GetExecutingAssembly(); // 获取当前程序集
+            //return (Model.Job)assembly.CreateInstance(JobParam.CallbackJob.Type.FullName);
+            object[] parameters = new object[1];
+            parameters[0] = JobParam;
+            Job job = (Job)Activator.CreateInstance(JobParam.CallbackJob.Type, parameters);
+            return job;
+        }
+        protected RunStep GetCallBackStep()
+        {
+            return JobParam.CallbackJob.RunStep;
+        }
+        /// <summary>
+        /// 生成Job回调
+        /// </summary>
+        /// <param name="type"></param>
+        /// <param name="callbackStep"></param>
+        /// <returns></returns>
+        protected void GenJobCallBack(Type type, RunStep callbackStep, JobParam jobParam = null)
+        {
+            JobParam.CallbackJob = new JobCallBack(type, callbackStep);
+        }
     }
 }
 

DeviceLibrary/bean/job/LiftToLinesJob.cs

 using Common;
+using DeviceLibrary.bean;
+using DeviceLibrary.lift;
 using DeviceLibrary.manager;
+using System.Web.UI;
 
-namespace DeviceLibrary.bean.job
+namespace DeviceLibrary
 {
     /// <summary>
     /// 电梯到线体
@@ -18,9 +21,9 @@ namespace DeviceLibrary.bean.job
         {
 
         }
-        lift.LiftStatus liftStatus;
         public override Job Run(AgvInfo agv)
         {
+            Job job = this;
             agv.SetJobContext(new bean.agv.JobContext()
             {
                 MissionId = JobParam.GetMissionInfo().missionId,
@@ -32,10 +35,35 @@ namespace DeviceLibrary.bean.job
             });
             if (JobRunStep.IsStep(RunStep.NONE))
             {
+                if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
+                {
+                    JobRunStep.ToNextStep(RunStep.SD_LiftToLine_00_ToStandby);
+                    runInfo = $"在{JobParam.SrcNode.AliceName}有小车，去待机点";
+                    JobRunStep.Msg = runInfo;
+                    ToStandby(agv);
+                }
+                else
+                {
+                    JobRunStep.ToNextStep(RunStep.SD_LiftToLine_01_ToLift);
+                    runInfo = $"去{JobParam.SrcNode.AliceName}";
+                    JobRunStep.Msg = runInfo;
+                    ToLift(agv, JobParam.SrcNode.Name);
+                }
+
+            }
+            else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_00_ToStandby))
+            {
+                if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
+                {
+
+                }
+                else
+                {
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_01_ToLift);
                     runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
                     JobRunStep.Msg = runInfo;
-                AllocateTask(agv, JobParam.SrcNode.Name);
+                    ToLift(agv, JobParam.SrcNode.Name);
+                }
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_01_ToLift))
             {
@@ -58,7 +86,7 @@ namespace DeviceLibrary.bean.job
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_03_EnterLift);
                     SetLiftOccupied(JobParam.SrcNode.Name, agv);
                     runInfo = $"{JobParam.SrcNode.AliceName}门已开启，进电梯取料点";
-                    AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
+                    ToPutShelfOn(agv, JobParam.SrcNode.Name);
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.电梯到达, out string msg);
                     JobRunStep.Msg = runInfo;
@@ -72,7 +100,6 @@ namespace DeviceLibrary.bean.job
                     runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，准备拾取料车";
                     JobRunStep.Msg = runInfo;
                     PutLiftShelfOn(agv, JobParam.SrcNode.Name);
-                    //AllocateTask(agv, $"{SettingString.PutShelfOn}_{JobParam.SrcNode.Name}");
                 }
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_04_PutShelfOn))
@@ -87,7 +114,7 @@ namespace DeviceLibrary.bean.job
 
                     runInfo = $"在{JobParam.SrcNode.AliceName}拾取料车完成，准备离开";
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
+                    LeaveLift(agv, JobParam.SrcNode.Name);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_05_LeaveLift))
@@ -101,15 +128,54 @@ namespace DeviceLibrary.bean.job
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.离开电梯, out string msg);
                     JobRunStep.Msg = runInfo;
+                    ClearLiftNodeOccupied(agv);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_06_CloseLiftDoor))
             {
-                JobRunStep.ToNextStep(RunStep.SD_LiftToLine_07_ToLine);
-                runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}的放料点";
                 //任务状态变更
                 MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
-                AllocateTask(agv, $"{GetTargetName(JobParam.CurTargetNode)}_{SettingString.TakeShelfOff}");
+                //是否需要跨两个门
+                if (NodeManager.NeedCrossTwoDoor(agv, JobParam.SrcNode, JobParam.CurTargetNode))
+                {
+                    JobParam.CrossDoor.CurNode = JobParam.SrcNode;
+                    JobParam.CrossDoor.NextNode = JobParam.CurTargetNode;
+                    JobParam.CrossDoor.IsIn = true;
+                    JobParam.CrossDoor.IsAir = false;
+                    GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_07_CrossTwoDoor, JobParam);
+                    job = new CrossDoorJob(JobParam);
+                }
+                //是否需要跨门
+                else if (NodeManager.NeedCrossDoor(agv, JobParam.SrcNode,JobParam.CurTargetNode, out bool isin, out bool isair))
+                {
+                    JobParam.CrossDoor.CurNode = JobParam.SrcNode;
+                    JobParam.CrossDoor.NextNode = JobParam.CurTargetNode;
+                    JobParam.CrossDoor.IsIn = isin;
+                    JobParam.CrossDoor.IsAir = isair;
+                    GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_07_CrossDoor, JobParam);
+                    job = new CrossDoorJob(JobParam);
+                }
+                else
+                {
+                    JobRunStep.ToNextStep(RunStep.SD_LiftToLine_07_CrossDoor);
+                }
+
+            }
+
+            else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_07_CrossTwoDoor))
+            {
+                JobParam.CrossDoor.CurNode = JobParam.SrcNode;
+                JobParam.CrossDoor.NextNode = JobParam.CurTargetNode;
+                JobParam.CrossDoor.IsIn = true;
+                JobParam.CrossDoor.IsAir = true;
+                GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_07_CrossDoor, JobParam);
+                job = new CrossDoorJob(JobParam);
+            }
+            else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_07_CrossDoor))
+            {
+                JobRunStep.ToNextStep(RunStep.SD_LiftToLine_07_ToLine);
+                runInfo = $"去{JobParam.CurTargetNode.AliceName}的放料点";
+                ToTakeShelfOff(agv, GetTargetName(JobParam.CurTargetNode));
                 JobRunStep.Msg = runInfo;
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_07_ToLine))
@@ -170,24 +236,52 @@ namespace DeviceLibrary.bean.job
             {
                 if (JobParam.TargetNodes != null && JobParam.TargetNodes.Count > 0)
                 {
-                    JobRunStep.ToNextStep(RunStep.SD_LiftToLine_07_ToLine);
                     JobParam.CurTargetNode = JobParam.TargetNodes[0];
                     JobParam.TargetNodes.RemoveAt(0);
-                    System.Threading.Thread.Sleep(1000);
-                    runInfo = $"去下一线体{JobParam.CurTargetNode.AliceName}的放料点";
+                    if (NodeManager.NeedCrossDoor(agv, agv.Place,JobParam.CurTargetNode, out bool isin, out bool isair))
+                    {
+                        JobParam.CrossDoor.CurNode = agv.Place;
+                        JobParam.CrossDoor.NextNode = JobParam.CurTargetNode;
+                        JobParam.CrossDoor.IsIn = isin;
+                        JobParam.CrossDoor.IsAir = isair;
+                        GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_07_CrossDoor, JobParam);
+                        job = new CrossDoorJob(JobParam);
+                    }
+                    else
+                    {
+                        JobRunStep.ToNextStep(RunStep.SD_LiftToLine_07_CrossDoor);
+                        runInfo = $"去下一线体";
                         JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{GetTargetName(JobParam.CurTargetNode)}_{SettingString.TakeShelfOff}");
+                    }
                 }
                 else
                 {
                     if (JobParam.GetMissionInfo() != null && JobParam.GetMissionInfo().needBack)
                     {
-                        if (TargetIsOccupied(agv, JobParam.SrcNode.AliceName))
+                        if (NodeManager.NeedCrossTwoDoor(agv,agv.Place,JobParam.SrcNode))
+                        {
+                            JobParam.CrossDoor.CurNode = agv.Place;
+                            JobParam.CrossDoor.NextNode = JobParam.SrcNode;
+                            JobParam.CrossDoor.IsIn = false;
+                            JobParam.CrossDoor.IsAir = true;
+                            GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_11_CrossTwoDoor, JobParam);
+                            job = new CrossDoorJob(JobParam);
+                        }
+                        else if (NodeManager.NeedCrossDoor(agv, agv.Place,JobParam.SrcNode, out bool isin, out bool isair))
+                        {
+                            JobParam.CrossDoor.CurNode = agv.Place;
+                            JobParam.CrossDoor.NextNode = JobParam.SrcNode;
+                            JobParam.CrossDoor.IsIn = isin;
+                            JobParam.CrossDoor.IsAir = isair;
+                            GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_11_CrossTDoor, JobParam);
+                            job = new CrossDoorJob(JobParam);
+                        }
+                        else if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
                         {
                             JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_ToStandby);
                             runInfo = $"{JobParam.SrcNode.AliceName}有车，去停留点";
                             JobRunStep.Msg = runInfo;
-                            AllocateTask(agv, $"{SettingString.Standby}");
+                            ToStandby(agv);
                         }
                         else
                         {
@@ -196,29 +290,48 @@ namespace DeviceLibrary.bean.job
                             //任务状态变更
                             MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
 
-                            AllocateTask(agv, JobParam.SrcNode.Name);
+                            ToLift(agv, JobParam.SrcNode.Name);
                             JobRunStep.Msg = runInfo;
                         }
                     }
                     else if (JobParam.GetMissionInfo() != null && !JobParam.GetMissionInfo().needBack)
                     {
                         JobRunStep.ToNextStep(RunStep.SD_LiftToLine_16_TakeShelfOff);
-                        runInfo = $"{JobParam.CurTargetNode.AliceName}是最后一个线体，料车无需返回，准备卸车";
-                        AllocateTask(agv, SettingString.TakeShelfOff);
+                        runInfo = $"{JobParam.CurTargetNode.AliceName}是最后一个线体，料车无需返回，直接卸车";
+                        TakeShelfOff(agv);
                         JobRunStep.Msg = runInfo;
                     }
                 }
             }
+            else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_11_CrossTwoDoor))
+            {
+                JobParam.CrossDoor.CurNode = JobParam.CurTargetNode;
+                JobParam.CrossDoor.NextNode = JobParam.SrcNode;
+                JobParam.CrossDoor.IsIn = false;
+                JobParam.CrossDoor.IsAir = false;
+                GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_11_CrossTDoor, JobParam);
+                job = new CrossDoorJob(JobParam);
+            }
+            else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_11_CrossTDoor))
+            {
+                JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_BackToLift);
+                runInfo = $"过门完成，分发结束，料车需返回，去电梯口";
+                //任务状态变更
+                MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
+
+                ToLift(agv, JobParam.SrcNode.Name);
+                JobRunStep.Msg = runInfo;
+            }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_11_BackToLift))
             {
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
-                    if (TargetIsOccupied(agv, JobParam.SrcNode.AliceName))
+                    if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
                     {
                         JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_ToStandby);
                         runInfo = $"{JobParam.SrcNode.AliceName}有车，去停留点";
                         JobRunStep.Msg = runInfo;
-                        AllocateTask(agv, $"{SettingString.Standby}");
+                        ToStandby(agv);
                     }
                     else
                     {
@@ -238,7 +351,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_11_ToStandby))
             {
-                if (TargetIsOccupied(agv, JobParam.SrcNode.AliceName))
+                if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
                 {
                 }
                 else
@@ -248,13 +361,19 @@ namespace DeviceLibrary.bean.job
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
 
-                    AllocateTask(agv, JobParam.SrcNode.Name);
+                    ToLift(agv, JobParam.SrcNode.Name);
                     JobRunStep.Msg = runInfo;
                 }
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_12_WaitDoorOpen))
             {
-                if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor))
+                if (LiftContext.CheckHasEmptyFinished(agv, JobParam.SrcNode.Name, out JobParam.LiftStatus))
+                {
+                    JobParam.CurTargetNode = JobParam.SrcNode;
+                    MissionManager.SetMissionOccupied(JobParam.GetMissionInfo().missionId, agv);
+                    job = new SwitchShelfJob(JobParam);
+                }
+                else if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor))
                 {
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_13_CheckLiftStatus);
                     runInfo = $"{JobParam.SrcNode.AliceName}门已开，检查电梯内该层是否有料车";
@@ -275,14 +394,19 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_13_CheckLiftStatus))
             {
-                if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor))
+                if (LiftContext.CheckHasEmptyFinished(agv, JobParam.SrcNode.Name, out JobParam.LiftStatus))
                 {
-                    if (lift.LiftContext.HasShelfNeedLeave(JobParam.SrcNode.Name, agv.Client, out liftStatus))
+                    JobParam.CurTargetNode = JobParam.SrcNode;
+                    MissionManager.SetMissionOccupied(JobParam.GetMissionInfo().missionId, agv);
+                    job = new SwitchShelfJob(JobParam);
+                }
+                else if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor))
                 {
-                        JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_01_ToTemp1);
-                        runInfo = $"{JobParam.SrcNode.AliceName}内有料车，去临时点1放料点";
-                        AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
-                        JobRunStep.Msg = runInfo;
+                    if (lift.LiftContext.HasShelfNeedLeave(JobParam.SrcNode.Name, agv.Client, out JobParam.LiftStatus))
+                    {
+                        JobParam.CurTargetNode = JobParam.SrcNode;
+                        MissionManager.SetMissionOccupied(JobParam.GetMissionInfo().missionId, agv);
+                        job = new SwitchShelfJob(JobParam);
                     }
                     else
                     {
@@ -290,7 +414,7 @@ namespace DeviceLibrary.bean.job
                         lift.LiftContext.SetLiftOccupiedAgv(JobParam.SrcNode.Name, agv.IP);
                         runInfo = $"{JobParam.SrcNode.AliceName}无料车，去放料点";
                         JobRunStep.Msg = runInfo;
-                        AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.TakeShelfOff}");
+                        ToTakeShelfOff(agv, JobParam.SrcNode.Name);
                     }
                 }
                 else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
@@ -308,7 +432,7 @@ namespace DeviceLibrary.bean.job
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_02_TakeShelfOffAtLift);
                     runInfo = $"到达{JobParam.SrcNode.AliceName}放料点，准备卸下料车";
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{SettingString.TakeShelfOff}_{JobParam.SrcNode.Name}");
+                    TakeShelfOffAtLift(agv, JobParam.SrcNode.Name);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_02_TakeShelfOffAtLift))
@@ -319,7 +443,8 @@ namespace DeviceLibrary.bean.job
                     runInfo = $"在{JobParam.SrcNode.AliceName}卸下料车完成，准备离开";
                     JobRunStep.Msg = runInfo;
                     ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
-                    AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
+                    //AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
+                    LeaveLift(agv, JobParam.SrcNode.Name);
                     //上报位置
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                         service.model.TransportStatus.TypeStr.status, agv.Name, JobParam.SrcNode.Name, service.model.TransportStatus.ModeStr.auto,
@@ -336,12 +461,13 @@ namespace DeviceLibrary.bean.job
                     bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
                     runInfo = $"离开{JobParam.SrcNode.AliceName}，关门: {rtn}";
                     JobRunStep.Msg = runInfo;
-                    System.Threading.Thread.Sleep(1000);
+                    System.Threading.Thread.Sleep(5000);
+                    ClearLiftNodeOccupied(agv);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_04_CloseLiftDoor))
             {
-                if (!lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().sourceFloor))
+                //if (!lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().sourceFloor))
                 {
                     JobRunStep.ToNextStep(RunStep.END);
                     //任务状态变更
@@ -349,75 +475,73 @@ namespace DeviceLibrary.bean.job
                     runInfo = $"{JobName}结束：{JobParam.SrcNode.AliceName}已关门";
                     JobRunStep.Msg = runInfo;
                 }
-                else if (JobRunStep.IsTimeOut(0.5, out double time))
-                {
-                    lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
-                    System.Threading.Thread.Sleep(1000);
-                }
+                //else if (JobRunStep.IsTimeOut(0.5, out double time))
+                //{
+                //    lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
+                //    System.Threading.Thread.Sleep(1000);
+                //}
             }
             #endregion
 
-            #region 电梯内有料车
-            else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_01_ToTemp1))
+            else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_16_TakeShelfOff))
             {
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
-                    JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_02_WaitLiftIdle);
-                    runInfo = $"到达{JobParam.SrcNode.AliceName}的临时点1的放料点，等待电梯空闲";
+                    runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车完成";
                     JobRunStep.Msg = runInfo;
-                }
-            }
-            else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_02_WaitLiftIdle))
-            {
-                if (!lift.LiftContext.HasShelfNeedLeave(JobParam.SrcNode.Name, agv.Client, out liftStatus))
+                    //任务状态变更
+                    MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.完成, out string msg);
+                    //上报状态
+                    manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
+                        service.model.TransportStatus.TypeStr.status, agv.Name, JobParam.CurTargetNode.Name, service.model.TransportStatus.ModeStr.auto,
+                        $"卸货{JobParam.CurTargetNode.Name}"));
+
+                    if (NodeManager.NeedCrossTwoDoor(agv, agv.Place, JobParam.SrcNode))
                     {
-                    JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_03_RequestLift);
-                    runInfo = $"请求使用{JobParam.SrcNode.AliceName}";
-                    JobRunStep.Msg = runInfo;
-                    //请求电梯
-                    lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true);
+                        JobParam.CrossDoor.CurNode = agv.Place;
+                        JobParam.CrossDoor.NextNode = JobParam.SrcNode;
+                        JobParam.CrossDoor.IsIn = false;
+                        JobParam.CrossDoor.IsAir = true;
+                        GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_16_CrossTwoDoor, JobParam);
+                        job = new CrossDoorJob(JobParam);
                     }
-            }
-            else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_03_RequestLift))
-            {
-                if (!lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
+                    else if (NodeManager.NeedCrossDoor(agv, agv.Place, JobParam.SrcNode, out bool isin, out bool isair))
                     {
-                    JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_BackToLift);
-                    runInfo = $"请求使用{JobParam.SrcNode.AliceName}成功，去电梯口";
-                    JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, JobParam.SrcNode.Name);
+                        JobParam.CrossDoor.CurNode = agv.Place;
+                        JobParam.CrossDoor.NextNode = JobParam.SrcNode;
+                        JobParam.CrossDoor.IsIn = isin;
+                        JobParam.CrossDoor.IsAir = isair;
+                        GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_16_CrossTDoor, JobParam);
+                        job = new CrossDoorJob(JobParam);
                     }
-                else if (JobRunStep.IsTimeOut(20))
+                    else
                     {
-                    JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_03_RequestLift);
-                    //请求电梯
-                    lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true);
+                        JobRunStep.ToNextStep(RunStep.END);
                     }
+
+
                 }
-            #endregion
 
-            else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_16_TakeShelfOff))
+            }
+            else if(JobRunStep.IsStep(RunStep.SD_LiftToLine_16_CrossTwoDoor))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                JobParam.CrossDoor.CurNode = JobParam.CurTargetNode;
+                JobParam.CrossDoor.NextNode = JobParam.SrcNode;
+                JobParam.CrossDoor.IsIn = false;
+                JobParam.CrossDoor.IsAir = false;
+                GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_16_CrossTDoor, JobParam);
+                job = new CrossDoorJob(JobParam);
+            }
+            else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_16_CrossTDoor))
             {
                 JobRunStep.ToNextStep(RunStep.END);
-                    runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车完成";
-                    JobRunStep.Msg = runInfo;
-                    //任务状态变更
-                    MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.完成, out string msg);
-                    //上报状态
-                    manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
-                        service.model.TransportStatus.TypeStr.status, agv.Name, JobParam.CurTargetNode.Name, service.model.TransportStatus.ModeStr.auto,
-                        $"卸车"));
-                }
-
             }
             else if (JobRunStep.IsStep(RunStep.END))
             {
                 JobRunStep.EndJob();
                 return null;
             }
-            return this;
+            return job;
         }
     }
 }

DeviceLibrary/bean/job/LineToLiftJob.cs

 using Common;
 using DeviceLibrary.bean;
+using DeviceLibrary.bean.job;
 using DeviceLibrary.lift;
 using DeviceLibrary.manager;
+using DeviceLibrary.service.model;
 using System;
 using System.Threading;
 
 namespace DeviceLibrary
 {
     /// <summary>
-    /// 1F,线体到电梯
+    /// 线体取料车送到电梯任务
     /// </summary>
     public class LineToLiftJob : Job
     {
@@ -22,9 +24,9 @@ namespace DeviceLibrary
         {
 
         }
-        lift.LiftStatus liftStatus;
         public override Job Run(AgvInfo agv)
         {
+            Job job = this;
             agv.SetJobContext(new bean.agv.JobContext()
             {
                 MissionId = JobParam.GetMissionInfo().missionId,
@@ -36,11 +38,28 @@ namespace DeviceLibrary
             });
             if (JobRunStep.IsStep(RunStep.NONE))
             {
+                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))
+                {
+                    JobParam.CrossDoor.IsIn = isin;
+                    JobParam.CrossDoor.IsAir = isair;
+                    GenJobCallBack(this.GetType(), RunStep.LineToLift_00_CrossDoor, JobParam);
+                    job = new CrossDoorJob(JobParam);
+                }
+                else
+                {
+                    JobRunStep.ToNextStep(RunStep.LineToLift_00_CrossDoor);
+                }
+
+
+            }
+            else if (JobRunStep.IsStep(RunStep.LineToLift_00_CrossDoor))
+            {
                 JobRunStep.ToNextStep(RunStep.LineToLift_01_ToLine);
-                runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}的取料点";
-                AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
+                runInfo = $"去{JobParam.SrcNode.AliceName}的取料点";
+                ToPutShelfOn(agv, $"{JobParam.SrcNode.Name}");
                 JobRunStep.Msg = runInfo;
-
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_01_ToLine))
             {
@@ -57,7 +76,6 @@ namespace DeviceLibrary
                     runInfo = $"到达{JobParam.SrcNode.AliceName}的取料点，开始拾取料车";
                     JobRunStep.Msg = runInfo;
                     PutShelfOn(agv);
-                    //AllocateTask(agv, SettingString.PutShelfOn);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_02_PutShelfOn))
@@ -68,18 +86,34 @@ namespace DeviceLibrary
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                         service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
                         $"取车"));
-                    if (LiftContext.CheckHasEmptyFinished(agv, JobParam.CurTargetNode.Name, out liftStatus))
+                    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))
                     {
-                        JobRunStep.ToNextStep(RunStep.LineToLift_ToStandby);
-                        AllocateTask(agv, SettingString.Standby);
-                        runInfo = $"{JobParam.CurTargetNode.AliceName}有空成品料车，先去待机点";
-                        JobRunStep.Msg = runInfo;
+                        JobParam.CrossDoor.IsIn = isin;
+                        JobParam.CrossDoor.IsAir = isair;
+                        GenJobCallBack(this.GetType(), RunStep.LineToLift_02_CrossDoor, JobParam);
+                        job = new CrossDoorJob(JobParam);
+                    }
+                    else
+                    {
+                        JobRunStep.ToNextStep(RunStep.LineToLift_02_CrossDoor);
+                    }
+                }
             }
-                    else if (TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
+            else if (JobRunStep.IsStep(RunStep.LineToLift_02_CrossDoor))
+            {
+
+                if (TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
                 {
                     JobRunStep.ToNextStep(RunStep.LineToLift_ToStandby);
-                        AllocateTask(agv, SettingString.Standby);
+                    if (agv.Scope.Workshop.Equals("1F"))
+                    {
+                        ToStandby(agv);
                         runInfo = $"{JobParam.CurTargetNode.AliceName}有小车，先去待机点";
+                    }
+                    else
+                        runInfo = $"{JobParam.CurTargetNode.AliceName}有小车，等待空闲";
                     JobRunStep.Msg = runInfo;
                 }
                 else
@@ -88,23 +122,24 @@ namespace DeviceLibrary
                     runInfo = $"在{JobParam.SrcNode.AliceName}拾取料车完成，去{JobParam.CurTargetNode.AliceName}";
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.前往电梯, out string msg);
-                        AllocateTask(agv, JobParam.CurTargetNode.Name);
+                    ToLift(agv, JobParam.CurTargetNode.Name);
                     JobRunStep.Msg = runInfo;
                 }
-                }
+
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_ToStandby))
             {
-                if (!TargetIsOccupied(agv, JobParam.CurTargetNode.Name)
-                    && !LiftContext.CheckHasEmptyFinished(agv, JobParam.CurTargetNode.Name, out liftStatus))
+                if (!TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
                 {
                     JobRunStep.ToNextStep(RunStep.LineToLift_03_ToLift);
-                    runInfo = $"{JobParam.CurTargetNode.AliceName}已空闲";
+                    runInfo = $"{JobParam.CurTargetNode.AliceName}已空闲,前往目的地";
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.前往电梯, out string msg);
-                    AllocateTask(agv, JobParam.CurTargetNode.Name);
+                    //AllocateTask(agv, JobParam.CurTargetNode.Name);
+                    ToLift(agv, JobParam.CurTargetNode.Name);
                     JobRunStep.Msg = runInfo;
                 }
+
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_03_ToLift))
             {
@@ -125,42 +160,43 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_04_CheckLiftStatus))
             {
-                if (LiftContext.CheckHasEmptyFinished(agv, JobParam.CurTargetNode.Name, out liftStatus))
+                if (LiftContext.CheckHasEmptyFinished(agv, JobParam.CurTargetNode.Name, out JobParam.LiftStatus))
+                {
+                    MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId ?? "");
+                    if (missionInfo != null)
+                    {
+                        JobRunStep.ToNextStep(RunStep.LineToLift_05_13_ToShelfPlace);
+                        runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，内有成品空料车{missionInfo.missionId}，去料架缓存点";//
+                        ToTakeShelfOff(agv, SettingString.ShelfBuff);
+                        JobRunStep.Msg = runInfo;
+                    }
+                    else
                     {
                         JobRunStep.ToNextStep(RunStep.LineToLift_05_01_ToStandby);
                         //设置电梯占用
                         //SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
-                    runInfo = $"{JobParam.CurTargetNode.AliceName}内有成品空料车，去待机点等待电梯空闲";//
-                    AllocateStandbyTask(agv);
+                        runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，内有成品空料车但无工单信息，去待机点,需要手动清空电梯缓存并关闭电梯门";//
+                        ToStandby(agv);
                         JobRunStep.Msg = runInfo;
                     }
+                }
                 else if (lift.LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo().sourceFloor))
                 {
-                    if (lift.LiftContext.HasShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out liftStatus))
+                    if (lift.LiftContext.HasShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out JobParam.LiftStatus))
                     {
-                        service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
-                        if (IsBackShelf(missionInfo))
-                        {
-                            JobRunStep.ToNextStep(RunStep.LineToLift_05_01_ToTemp1);
-                            //设置电梯占用
-                            SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
-                            runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有料车，去临时点1的卸料点,准备卸下车上料车";//
-                            AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
-                            //service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
+                        MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId ?? "");
                         if (missionInfo != null)
                         {
-                                //任务状态变更
-                                MissionManager.SetMissionState(missionInfo.missionId, getNextState(missionInfo.state), out string msg);
-                            }
-                            JobRunStep.Msg = runInfo;
+                            MissionManager.SetMissionOccupied(missionInfo, agv);
+                            job = new SwitchShelfJob(JobParam);
                         }
                         else
                         {
                             JobRunStep.ToNextStep(RunStep.LineToLift_05_01_ToStandby);
                             //设置电梯占用
                             //SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
-                            runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有送料的料车，去待机点等待电梯空闲";//
-                            AllocateStandbyTask(agv);
+                            runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有送料的料车但无工单信息，去待机点，需要手动清空电梯缓存并关闭电梯门";//
+                            ToStandby(agv);
                             JobRunStep.Msg = runInfo;
                         }
                     }
@@ -171,7 +207,7 @@ namespace DeviceLibrary
                         SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
                         runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，到放料点";
                         JobRunStep.Msg = runInfo;
-                        AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
+                        ToTakeShelfOff(agv, JobParam.CurTargetNode.Name);
                     }
                 }
                 else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo()))
@@ -186,178 +222,53 @@ namespace DeviceLibrary
                 }
                 Thread.Sleep(2000);
             }
-            #region 电梯内有料车
             else if (JobRunStep.IsStep(RunStep.LineToLift_05_01_ToStandby))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
-                {
-                    if (!LiftContext.CheckHasEmptyFinished(agv, JobParam.GetMissionInfo().liftName, out liftStatus)
-                        && !LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name))
-                    {
-                        JobRunStep.ToNextStep(RunStep.LineToLift_04_CheckLiftStatus);
-                        runInfo = $"{JobParam.CurTargetNode.AliceName}无占用，请求电梯";
-                        JobRunStep.Msg = runInfo;
-                        //请求电梯
-                        lift.LiftContext.Request(JobParam.GetMissionInfo(), agv);
-                        System.Threading.Thread.Sleep(2000);
-                    }
-
-                }
-            }
-            else if (JobRunStep.IsStep(RunStep.LineToLift_05_01_ToTemp1))
-            {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
-                {
-                    JobRunStep.ToNextStep(RunStep.LineToLift_05_02_TakeShelfOffAtTemp1);
-                    runInfo = $"到达{JobParam.CurTargetNode.AliceName}的临时点1，将车上料车卸下";
-                    JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{SettingString.TakeShelfOff}");
-                }
-            }
-            else if (JobRunStep.IsStep(RunStep.LineToLift_05_02_TakeShelfOffAtTemp1))
-            {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
-                {
-                    JobRunStep.ToNextStep(RunStep.LineToLift_05_03_ToLift);
-                    runInfo = $"在{JobParam.CurTargetNode.AliceName}将车上料车卸在临时点1完成，去电梯口";
-                    JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
-                }
-            }
-            else if (JobRunStep.IsStep(RunStep.LineToLift_05_03_ToLift))
-            {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
-                {
-                    JobRunStep.ToNextStep(RunStep.LineToLift_05_04_EnterLift);
-                    runInfo = $"到达{JobParam.CurTargetNode.AliceName}，去取料点";
-                    JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.PutShelfOn}");
-                }
-            }
-            else if (JobRunStep.IsStep(RunStep.LineToLift_05_04_EnterLift))
-            {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (!TargetIsOccupied(agv, JobParam.CurTargetNode.Name) && !LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name))
                 {
-                    JobRunStep.ToNextStep(RunStep.LineToLift_05_05_PutShelfOn);
-                    runInfo = $"到达{JobParam.CurTargetNode.AliceName}的取料点，准备拾取料车";
+                    JobRunStep.ToNextStep(RunStep.LineToLift_03_ToLift);
+                    runInfo = $"{JobParam.CurTargetNode.AliceName}已空闲";
+                    ToLift(agv, JobParam.CurTargetNode.Name);
                     JobRunStep.Msg = runInfo;
-                    service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
-                    PutLiftShelfOn(agv, JobParam.CurTargetNode.Name, missionInfo);
-                    //AllocateTask(agv, $"{SettingString.PutShelfOn}_{JobParam.CurTargetNode.Name}");
                 }
             }
-            else if (JobRunStep.IsStep(RunStep.LineToLift_05_05_PutShelfOn))
+            #region 电梯内有空成品料车
+            else if (JobRunStep.IsStep(RunStep.LineToLift_05_13_ToShelfPlace))
             {
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
-                    JobRunStep.ToNextStep(RunStep.LineToLift_05_06_LeaveLift);
-                    runInfo = $"拾取{JobParam.CurTargetNode.AliceName}的料车完成，准备离开电梯";
+                    JobRunStep.ToNextStep(RunStep.LineToLift_05_14_TakeShelfOff);
+                    runInfo = $"到达料架缓存点，准备卸下料车";
+                    TakeShelfOff(agv);
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
                 }
             }
-            else if (JobRunStep.IsStep(RunStep.LineToLift_05_06_LeaveLift))
+            else if (JobRunStep.IsStep(RunStep.LineToLift_05_14_TakeShelfOff))
             {
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
-                    JobRunStep.ToNextStep(RunStep.LineToLift_05_15_CloseDoor);
-                    //AGV离开
-                    bool rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, false);
-                    runInfo = $"离开{JobParam.CurTargetNode.AliceName}完成，发送离开信号:{rtn}";
-                    service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
-                    if (missionInfo != null)
-                    {
-                        //任务状态变更
-                        MissionManager.SetMissionState(missionInfo.missionId, getNextState(missionInfo.state), out string msg);
-                    }
-                    JobRunStep.Msg = runInfo;
-                }
-            }
-            else if (JobRunStep.IsStep(RunStep.LineToLift_05_15_CloseDoor))
-            {
-                if (lift.LiftContext.CheckAgvLeaveSig(JobParam.CurTargetNode.Name))
-                {
-                    JobRunStep.ToNextStep(RunStep.LineToLift_05_18_ToStore);
-                    runInfo = $"{JobParam.CurTargetNode.AliceName}关门完成，将料车送到{liftStatus.destinationPoint}的放料点";
-                    service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
-                    if (missionInfo != null)
-                    {
-                        //任务状态变更
-                        MissionManager.SetMissionState(missionInfo.missionId, getNextState(missionInfo.state), out string msg);
-                    }
-                    JobRunStep.Msg = runInfo;
+                    //设置任务状态为料架换缓存
+                    MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.料架缓存, out string msg);
                     ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
-                    AllocateTask(agv, $"{liftStatus.destinationPoint}_{SettingString.TakeShelfOff}");
-                }
-                else if (JobRunStep.IsTimeOut(0.5, out double val))
-                {
-                    //AGV离开
-                    lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, false);
-                    runInfo = $"{JobParam.CurTargetNode.AliceName}离开信号超时重发";
-                    JobRunStep.Msg = runInfo;
-                    System.Threading.Thread.Sleep(3000);
-                }
-
-            }
-            else if (JobRunStep.IsStep(RunStep.LineToLift_05_18_ToStore))
-            {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
-                {
-                    JobRunStep.ToNextStep(RunStep.LineToLift_05_19_TakeShelfOff);
-                    runInfo = $"到达{liftStatus.destinationPoint}的放料点，准备卸下";
-                    JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{SettingString.TakeShelfOff}");
-                }
-            }
-            else if (JobRunStep.IsStep(RunStep.LineToLift_05_19_TakeShelfOff))
-            {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
-                {
-                    JobRunStep.ToNextStep(RunStep.LineToLift_05_10_ToTemp1);
-                    runInfo = $"料车在{liftStatus.destinationPoint}卸下完成， 返回{JobParam.CurTargetNode.AliceName}的临时点1的取料点";
-                    service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
+                    //执行取空成品任务
+                    Node src = manager.NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);
+                    Node dest = manager.NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift);
+                    MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId);
                     if (missionInfo != null)
                     {
-                        //任务状态变更
-                        MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.完成, out string msg);
+                        JobParam jobParam = new JobParam(src, dest, null, missionInfo);
+                        MissionManager.SetMissionOccupied(missionInfo, agv);
+                        job = new F1LiftD2ToLiftC1Job(jobParam);
                     }
-                    JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.PutShelfOn}");
-                }
-            }
-            else if (JobRunStep.IsStep(RunStep.LineToLift_05_10_ToTemp1))
-            {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                    else
                     {
-                    JobRunStep.ToNextStep(RunStep.LineToLift_05_11_PutTemp1ShelfOn);
-                    runInfo = $"到达{JobParam.CurTargetNode.AliceName}的临时点1的取料点，准备拾取料架";
+                        JobRunStep.ToNextStep(RunStep.END);
+                        runInfo = $"未搜索到电梯内的料车任务信息【{JobParam.LiftStatus?.missionId ?? ""}】，结束任务";
                         JobRunStep.Msg = runInfo;
-                    //AllocateTask(agv, $"{SettingString.PutShelfOn}");
-                    PutShelfOn(agv);
                     }
                 }
-            else if (JobRunStep.IsStep(RunStep.LineToLift_05_11_PutTemp1ShelfOn))
-            {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
-                {
-                    JobRunStep.ToNextStep(RunStep.LineToLift_05_12_ToLift);
-                    //runInfo = $"拾取料架完成，去{JobParam.CurTargetNode.AliceName}";
-                    //JobRunStep.Msg = runInfo;
-                    //AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
-                }
-            }
-            else if (JobRunStep.IsStep(RunStep.LineToLift_05_12_ToLift))
-            {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
-                {
-                    JobRunStep.ToNextStep(RunStep.LineToLift_04_CheckLiftStatus);
-                    runInfo = $"到达{JobParam.CurTargetNode.AliceName}，请求电梯";
-                    JobRunStep.Msg = runInfo;
-                    //请求电梯
-                    lift.LiftContext.Request(JobParam.GetMissionInfo(), agv);
-                    System.Threading.Thread.Sleep(2000);
-                }
             }
+
             #endregion
 
             #region 电梯内无料车
@@ -368,7 +279,7 @@ namespace DeviceLibrary
                     JobRunStep.ToNextStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift);
                     runInfo = $"到达{JobParam.CurTargetNode.AliceName}放料点，准备卸下料车";
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{SettingString.TakeShelfOff}_{JobParam.CurTargetNode.Name}");
+                    TakeShelfOffAtLift(agv, JobParam.CurTargetNode.Name);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift))
@@ -382,15 +293,10 @@ namespace DeviceLibrary
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                         service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
                         $"电梯卸车"));
-                    if (JobParam.GetMissionInfo().projectType.Equals(service.model.ProjectType.成品入库))
-                    {
-                        //设置该电梯内的产品是成品入库
-                        lift.LiftContext.SetFinishedState(JobParam.CurTargetNode.Name, true);
-                    }
                     runInfo = $"料车在{JobParam.CurTargetNode.AliceName}卸下完成，准备离开";
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.到达电梯, out string msg);
-                    AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
+                    LeaveLift(agv, JobParam.CurTargetNode.Name);
                     JobRunStep.Msg = runInfo;
                 }
             }
@@ -400,12 +306,6 @@ namespace DeviceLibrary
                 {
                     JobRunStep.ToNextStep(RunStep.END);
                     bool rtn = false;
-                    if (JobParam.GetMissionInfo().projectType.Equals(service.model.ProjectType.成品入库))
-                    {
-                        //AGV离开
-                        rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, false);
-                    }
-                    else
                     {
                         //AGV离开
                         rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv);
@@ -414,6 +314,7 @@ namespace DeviceLibrary
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.电梯运行, out string msg);
                     JobRunStep.Msg = runInfo;
+                    ClearLiftNodeOccupied(agv);
                 }
             }
             #endregion
@@ -422,7 +323,7 @@ namespace DeviceLibrary
                 JobRunStep.EndJob();
                 return null;
             }
-            return this;
+            return job;
         }
 
     }

DeviceLibrary/bean/job/ShelfBackLiftToStoreJob.cs

 using Common;
 using DeviceLibrary.manager;
+using System.Data.Entity.Infrastructure;
 
 namespace DeviceLibrary.bean.job
 {
@@ -20,6 +21,7 @@ namespace DeviceLibrary.bean.job
         }
         public override Job Run(AgvInfo agv)
         {
+            Job job = this;
             agv.SetJobContext(new bean.agv.JobContext()
             {
                 MissionId = JobParam.GetMissionInfo().missionId,
@@ -31,10 +33,35 @@ namespace DeviceLibrary.bean.job
             });
             if (JobRunStep.IsStep(RunStep.NONE))
             {
+                if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
+                {
+                    JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_01_ToStandby);
+                    runInfo = $"{JobParam.SrcNode.AliceName}有小车，去待机点";
+                    JobRunStep.Msg = runInfo;
+                    ToStandby(agv);
+                }
+                else
+                {
+                    JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_01_ToLift);
+                    runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
+                    JobRunStep.Msg = runInfo;
+                    ToLift(agv, $"{JobParam.SrcNode.Name}");
+                }
+            }
+
+            else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_01_ToStandby))
+            {
+                if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
+                {
+
+                }
+                else
+                {
                     JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_01_ToLift);
                     runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
                     JobRunStep.Msg = runInfo;
-                AllocateTask(agv, $"{JobParam.SrcNode.Name}");
+                    ToLift(agv, $"{JobParam.SrcNode.Name}");
+                }
             }
             else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_01_ToLift))
             {
@@ -44,7 +71,7 @@ namespace DeviceLibrary.bean.job
                     //上报状态
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                         service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
-                        $"到达{ JobParam.SrcNode.Name }"));
+                        $"到达{JobParam.SrcNode.Name}"));
                     runInfo = $"到达{JobParam.SrcNode.AliceName},等待门开启";
                     JobRunStep.Msg = runInfo;
                 }
@@ -56,9 +83,9 @@ namespace DeviceLibrary.bean.job
                     JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_02_02_EnterLift);
                     runInfo = $"{JobParam.SrcNode.AliceName}门已开启，去取料点";
                     //任务状态变更
-                   lift.LiftContext.SetLiftOccupiedAgv(JobParam.SrcNode.Name,agv.IP);
+                    lift.LiftContext.SetLiftOccupiedAgv(JobParam.SrcNode.Name, agv.IP);
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯到达, out string msg);
-                    AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
+                    ToPutShelfOn(agv, $"{JobParam.SrcNode.Name}");
                     JobRunStep.Msg = runInfo;
                 }
             }
@@ -84,7 +111,8 @@ namespace DeviceLibrary.bean.job
                         $"电梯取车"));
                     runInfo = $"在{JobParam.SrcNode.AliceName}取料车完成，准备离开";
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
+                    //AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
+                    LeaveLift(agv, JobParam.SrcNode.Name);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_04_LeaveLift))
@@ -93,20 +121,38 @@ namespace DeviceLibrary.bean.job
                 {
                     JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_05_CloseLiftDoor);
                     //关门
-                    bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv,false);
+                    bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv, false);
                     runInfo = $"离开{JobParam.SrcNode.AliceName}，关闭电梯门:{rtn}";
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回离开电梯, out string msg);
                     JobRunStep.Msg = runInfo;
+                    ClearLiftNodeOccupied(agv);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_05_CloseLiftDoor))
             {
+                if (NodeManager.NeedCrossDoor(agv, JobParam.SrcNode, JobParam.CurTargetNode, out bool isin, out bool isair))
+                {
+                    JobParam.CrossDoor.CurNode = JobParam.SrcNode;
+                    JobParam.CrossDoor.NextNode = JobParam.CurTargetNode;
+                    JobParam.CrossDoor.IsIn = isin;
+                    JobParam.CrossDoor.IsAir = isair;
+                    GenJobCallBack(this.GetType(), RunStep.ShelfBack_LiftToStore_06_CrossDoor, JobParam);
+                    job = new CrossDoorJob(JobParam);
+                }
+                else
+                {
+                    JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_06_CrossDoor);
+                }
+
+            }
+            else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_06_CrossDoor))
+            {
                 JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_06_ToStore);
-                runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}放料点";
+                runInfo = $"去{JobParam.CurTargetNode.AliceName}放料点";
                 //任务状态变更
                 MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回起始地, out string msg);
-                AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
+                ToTakeShelfOff(agv, $"{JobParam.CurTargetNode.Name}");
                 JobRunStep.Msg = runInfo;
             }
             else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_06_ToStore))
@@ -117,7 +163,7 @@ namespace DeviceLibrary.bean.job
                     //上报状态
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                         service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
-                        $"到达{ JobParam.CurTargetNode.Name }"));
+                        $"到达{JobParam.CurTargetNode.Name}"));
                     runInfo = $"到达{JobParam.CurTargetNode.AliceName}放料点，卸下料车";
                     JobRunStep.Msg = runInfo;
                     AllocateTask(agv, SettingString.TakeShelfOff);
@@ -127,23 +173,45 @@ namespace DeviceLibrary.bean.job
             {
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
-                    JobRunStep.ToNextStep(RunStep.END);
-                    runInfo = $"任务结束：在{JobParam.CurTargetNode.AliceName}卸下料车完成";
+                    runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车完成";
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.完成, out string msg);
                     JobRunStep.Msg = runInfo;
+                    if (IsProjectType(service.model.ProjectType.移远成品入库))
+                    {
+                        manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
+                            service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
+                            $"卸货{JobParam.CurTargetNode.Name}"));
+                    }
+                    else
                         //上报状态
                         manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                             service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
                             $"还车"));
+                    if (NodeManager.NeedCrossDoor(agv, JobParam.CurTargetNode, JobParam.SrcNode, out bool isin, out bool isair))
+                    {
+                        JobParam.CrossDoor.CurNode = JobParam.CurTargetNode;
+                        JobParam.CrossDoor.NextNode = JobParam.SrcNode;
+                        JobParam.CrossDoor.IsIn = isin;
+                        JobParam.CrossDoor.IsAir = isair;
+                        GenJobCallBack(this.GetType(), RunStep.ShelfBack_LiftToStore_07_CrossDoor, JobParam);
+                        job = new CrossDoorJob(JobParam);
+                    }
+                    else
+                    {
+                        JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_07_CrossDoor);
                     }
                 }
+            }
+            else if(JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_07_CrossDoor))
+            {
+                JobRunStep.ToNextStep(RunStep.END);
+            }
             else if (JobRunStep.IsStep(RunStep.END))
             {
-                JobRunStep.EndJob();
-                return null;
+                job = null;
             }
-            return this;
+            return job;
         }
     }
 }

DeviceLibrary/bean/job/StandyJob.cs

@@ -27,14 +27,14 @@ namespace DeviceLibrary
         /// <param name="agv"></param>
         public override Job Run(AgvInfo agv)
         {
-            agv.SetJobContext(new bean.agv.JobContext()
-            {
-                AgvTask = agv.TaskRunState.Task,
-                JobFullName = this.ToString(),
-                JobStep = JobRunStep.PreStep(),
-                Name = agv.Name,
-                JobParam=JobParam
-            });
+            //agv.SetJobContext(new bean.agv.JobContext()
+            //{
+            //    AgvTask = agv.TaskRunState.Task,
+            //    JobFullName = this.ToString(),
+            //    JobStep = JobRunStep.PreStep(),
+            //    Name = agv.Name,
+            //    JobParam=JobParam
+            //});
             if (JobRunStep.IsStep(RunStep.NONE))
             {
                 {
@@ -43,7 +43,7 @@ namespace DeviceLibrary
                         JobRunStep.ToNextStep(RunStep.STANDBY_WAIT_REACH_STANDBY);
                         runInfo = "从" + JobParam.SrcNode + "回到待机位";
                         JobRunStep.Msg = runInfo;
-                        AllocateStandbyTask(agv);
+                        ToStandby(agv);
                     }
                 }
 

DeviceLibrary/bean/job/SteelLiftToStorageJob.cs

@@ -294,7 +294,7 @@ namespace DeviceLibrary.bean.job
             {
                 if (agv.TaskRunState.CheckTaskFinished(agv.Name))
                 {
-                    if (TargetIsOccupied(agv, JobParam.SrcNode.AliceName))
+                    if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
                     {
                         JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_19_ToStandby);
                         runInfo = $"{JobParam.SrcNode.AliceName}有车，去停留点";
@@ -319,7 +319,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_19_ToStandby))
             {
-                if (TargetIsOccupied(agv, JobParam.SrcNode.AliceName))
+                if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
                 {
                 }
                 else

DeviceLibrary/bean/job/SteelLineToLiftJob.cs

@@ -36,7 +36,7 @@ namespace DeviceLibrary
             {
                 JobRunStep.ToNextStep(RunStep.LineToLift_01_ToLine);
                 runInfo = $"任务开始：去{JobParam.SteelShelfNode.AliceName}的取料点";
-                AllocateTask(agv, $"{JobParam.SteelShelfNode.Name}_{SettingString.PutShelfOn}");
+                ToPutShelfOn(agv, JobParam.SteelShelfNode.Name);
                 JobRunStep.Msg = runInfo;
 
             }
@@ -54,7 +54,7 @@ namespace DeviceLibrary
 
                     runInfo = $"到达{JobParam.SrcNode.AliceName}的取料点，开始拾取料车";
                     JobRunStep.Msg = runInfo;
-                    AllocateTask(agv, SettingString.PutShelfOn);
+                    PutShelfOn(agv);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_02_PutShelfOn))
@@ -67,7 +67,7 @@ namespace DeviceLibrary
                         service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
                         $"取车"));
                     runInfo = $"在{JobParam.SrcNode.AliceName}拾取料车完成，去{JobParam.SrcNode.AliceName}放料点";
-                    AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.TakeShelfOff}");
+                    ToTakeShelfOff(agv, JobParam.SrcNode.Name);
                     JobRunStep.Msg = runInfo;
                 }
             }
@@ -113,7 +113,7 @@ namespace DeviceLibrary
                 runInfo = $"在{JobParam.SrcNode.AliceName}确认完成，去{JobParam.CurTargetNode.AliceName}";
                 //任务状态变更
                 MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.前往电梯, out string msg);
-                AllocateTask(agv, JobParam.CurTargetNode.Name);
+                ToLift(agv, JobParam.CurTargetNode.Name);
                 JobRunStep.Msg = runInfo;
 
             }
@@ -143,7 +143,7 @@ namespace DeviceLibrary
                         JobRunStep.ToNextStep(RunStep.LineToLift_05_01_ToTemp1);
                         SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
                         runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有料车，去临时点1的卸料点，准备卸下车上料车";
-                        AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
+                        ToTmp1TakeOff(agv, JobParam.CurTargetNode.Name);
                         service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
                         if (missionInfo != null)
                         {
@@ -157,7 +157,7 @@ namespace DeviceLibrary
                         JobRunStep.ToNextStep(RunStep.LineToLift_06_01_EnterLift);
                         runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，到放料点";
                         JobRunStep.Msg = runInfo;
-                        AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
+                        ToTakeShelfOff(agv, JobParam.CurTargetNode.Name);
                     }
                 }
                 else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo()))

DeviceLibrary/bean/job/SwitchShelfJob.cs

+using Common;
+using DeviceLibrary.bean;
+using DeviceLibrary.bean.job;
+using DeviceLibrary.lift;
+using DeviceLibrary.manager;
+using DeviceLibrary.service.model;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading;
+using System.Threading.Tasks;
+using static System.Windows.Forms.AxHost;
+
+namespace DeviceLibrary
+{
+    public class SwitchShelfJob : Job
+    {
+        /// <summary>
+        /// 电梯交换料车任务
+        /// </summary>
+        /// <param name="agvPlae">小车当前位置</param>
+        public SwitchShelfJob(JobParam jobParam) : base(jobParam)
+        {
+            JobName = "电梯交换料车任务";
+            MissionInfo info= manager.MissionManager.GetMission(JobParam?.LiftStatus?.missionId ?? "");
+            liftMission = new MissionInfo() { 
+            missionId=info.missionId,
+             state= info.state,
+                liftName = info.liftName,
+                sourcePoint=info.sourcePoint,
+                destinationPoint=info.destinationPoint,
+                needBack=info.needBack
+            };
+
+        }
+        public SwitchShelfJob() : base() { JobName = "电梯交换料车任务"; }
+        /// <summary>
+        /// 电梯内料车的任务信息
+        /// </summary>
+        service.model.MissionInfo liftMission;
+
+        private string missionInfo()
+        {
+            try
+            {
+                return $"【当前任务：{JobParam?.GetMissionInfo()?.missionId ?? ""}," +
+                        $"{MissionManager.GetMission(JobParam?.GetMissionInfo()?.missionId ?? "")?.state.ToString() ?? ""}】" +
+                        $"【电梯内任务：{liftMission?.missionId ?? ""}," +
+                        $"{MissionManager.GetMission(liftMission?.missionId ?? "")?.state.ToString() ?? ""}】";
+            }
+            catch
+            {
+                return "";
+            }
+
+        }
+
+        public override Job Run(AgvInfo agv)
+        {
+            Job job = this;
+            agv.SetJobContext(new bean.agv.JobContext()
+            {
+                AgvTask = agv.TaskRunState.Task,
+                JobFullName = this.ToString(),
+                JobStep = JobRunStep.PreStep(),
+                Name = agv.Name,
+                JobParam = JobParam
+            });
+
+            if (JobRunStep.IsStep(RunStep.NONE))
+            {
+                JobRunStep.ToNextStep(RunStep.Switch_01_ToTmp1);
+                runInfo = $"去{JobParam.CurTargetNode.AliceName}临时点1,{missionInfo()}";
+                ToTmp1TakeOff(agv, JobParam.CurTargetNode.Name);
+                JobRunStep.Msg = runInfo;
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_01_ToTmp1))
+            {
+                if (AGVTaskIsFinished(agv))
+                {
+                    JobRunStep.ToNextStep(RunStep.Switch_02_TakeShelfOffAtTmp1);
+                    runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点1将待送料车卸下,,{missionInfo()}";
+                    TakeShelfOff(agv);
+                    JobRunStep.Msg = runInfo;
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_02_TakeShelfOffAtTmp1))
+            {
+                if (AGVTaskIsFinished(agv))
+                {
+                    JobRunStep.ToNextStep(RunStep.Switch_03_ToLift);
+                    runInfo = $"去{JobParam.CurTargetNode.AliceName},,{missionInfo()}";
+                    MoveToNode(agv, JobParam.CurTargetNode.Name);
+                    JobRunStep.Msg = runInfo;
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_03_ToLift))
+            {
+                if (AGVTaskIsFinished(agv))
+                {
+                    JobRunStep.ToNextStep(RunStep.Switch_04_EnterLift);
+                    if (setMissionState(liftMission))
+                    {
+                        runInfo = $"到{JobParam.CurTargetNode.AliceName}的取料点,并设置任务状态,,{missionInfo()}";
+                    }
+                    else
+                        runInfo = $"到{JobParam.CurTargetNode.AliceName}的取料点,未找到电梯内料架任务";
+                    MoveToNodePutShelf(agv, JobParam.CurTargetNode.Name);
+                    JobRunStep.Msg = runInfo;
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_04_EnterLift))
+            {
+                if (AGVTaskIsFinished(agv))
+                {
+                    JobRunStep.ToNextStep(RunStep.Switch_05_PutLiftShelfOn);
+                    runInfo = $"在{JobParam.CurTargetNode.AliceName}的取料点拾取电梯内的料车,,{missionInfo()}";
+                    PutLiftShelfOn(agv, JobParam.CurTargetNode.Name, liftMission);
+                    JobRunStep.Msg = runInfo;
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_05_PutLiftShelfOn))
+            {
+                if (AGVTaskIsFinished(agv))
+                {
+                    JobRunStep.ToNextStep(RunStep.Switch_06_LeaveLift);
+                    runInfo = $"拾取完成，离开{JobParam.CurTargetNode.AliceName},{missionInfo()}";
+                    LeaveLift(agv, JobParam.CurTargetNode.Name);
+                    JobRunStep.Msg = runInfo;
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_06_LeaveLift))
+            {
+                if (AGVTaskIsFinished(agv))
+                {
+                    JobRunStep.ToNextStep(RunStep.Switch_07_ToTmp2);
+                    if (setMissionState(liftMission))
+                    {
+                        runInfo = $"去{JobParam.CurTargetNode.AliceName}临时点2放料点,并设置任务状态,{missionInfo()}";
+                    }
+                    else
+                        runInfo = $"去{JobParam.CurTargetNode.AliceName}临时点2放料点,未找到电梯内的料架任务";
+                    ToTmp2TakeOff(agv, JobParam.CurTargetNode.Name);
+                    JobRunStep.Msg = runInfo;
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_07_ToTmp2))
+            {
+                if (AGVTaskIsFinished(agv))
+                {
+                    JobRunStep.ToNextStep(RunStep.Switch_08_TakeShelfOffAtTpm2);
+                    runInfo = $"将{JobParam.CurTargetNode.AliceName}内的料车卸在临时点2,{missionInfo()}";
+                    TakeShelfOff(agv);
+                    JobRunStep.Msg = runInfo;
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_08_TakeShelfOffAtTpm2))
+            {
+                if (AGVTaskIsFinished(agv))
+                {
+                    JobRunStep.ToNextStep(RunStep.Switch_09_ReToTmp1);
+                    runInfo = $"去{JobParam.CurTargetNode.AliceName}临时点1取料点,{missionInfo()}";
+                    ToTmp1PutOn(agv, JobParam.CurTargetNode.Name);
+                    JobRunStep.Msg = runInfo;
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_09_ReToTmp1))
+            {
+                if (AGVTaskIsFinished(agv))
+                {
+                    JobRunStep.ToNextStep(RunStep.Switch_10_PutShelfOnAtTmp1);
+                    runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点1拾取待送料车,{missionInfo()}";
+                    PutShelfOn(agv);
+                    JobRunStep.Msg = runInfo;
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_10_PutShelfOnAtTmp1))
+            {
+                if (AGVTaskIsFinished(agv))
+                {
+                    JobRunStep.ToNextStep(RunStep.Switch_11_ToLift);
+                    runInfo = $"去{JobParam.CurTargetNode.AliceName},{missionInfo()}";
+                    MoveToNode(agv, JobParam.CurTargetNode.Name);
+                    JobRunStep.Msg = runInfo;
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_11_ToLift))
+            {
+                if (AGVTaskIsFinished(agv))
+                {
+                    JobRunStep.ToNextStep(RunStep.Switch_12_EnterLift);
+                    runInfo = $"去{JobParam.CurTargetNode.AliceName}的放料点,{missionInfo()}";
+                    MoveToNodeTakeOff(agv, JobParam.CurTargetNode.Name);
+                    JobRunStep.Msg = runInfo;
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_12_EnterLift))
+            {
+                if (AGVTaskIsFinished(agv))
+                {
+                    JobRunStep.ToNextStep(RunStep.Switch_13_TakeLiftShelfOff);
+                    runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车,{missionInfo()}";
+                    TakeShelfOffAtLift(agv, JobParam.CurTargetNode.Name);
+                    JobRunStep.Msg = runInfo;
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_13_TakeLiftShelfOff))
+            {
+                if (AGVTaskIsFinished(agv))
+                {
+                    JobRunStep.ToNextStep(RunStep.Switch_14_LeaveLift);
+                    MissionInfo mission = MissionManager.GetMission(JobParam.GetMissionInfo().missionId);
+                    MissionState state = getNextState(mission.state);
+                    if (mission.projectType.Equals(ProjectType.移远成品入库) && SettingString.LIFT_D2.Equals(JobParam.CurTargetNode.Name))
+                    {
+                        state = MissionState.等待成品回收;
+                    }
+                    setMissionState(state);
+                    runInfo = $"离开{JobParam.CurTargetNode.AliceName},设置任务状态,并清空任务占用,{missionInfo()}";
+                    ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
+                    LeaveLift(agv, JobParam.CurTargetNode.Name);
+                    JobRunStep.Msg = runInfo;
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_14_LeaveLift))
+            {
+                if (AGVTaskIsFinished(agv))
+                {
+                    JobRunStep.ToNextStep(RunStep.Switch_15_CloseDoor);
+                    MissionInfo mission = MissionManager.GetMission(JobParam.GetMissionInfo().missionId);
+                    if (mission.projectType.Equals(ProjectType.移远成品入库) && SettingString.LIFT_D2.Equals(JobParam.CurTargetNode.Name))
+                    {
+                        runInfo = $"关闭{JobParam.CurTargetNode.AliceName}";
+                    }
+                    else
+                    {
+                        runInfo = $"关闭{JobParam.CurTargetNode.AliceName}，并更新电梯运行信息";
+                        LiftContext.UpdateRequestInfo(mission, agv, MissionIsBackState(mission));
+                    }
+
+                    JobRunStep.Msg = runInfo;
+                    Thread.Sleep(1000);
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_15_CloseDoor))
+            {
+                JobRunStep.ToNextStep(RunStep.Switch_15_WaitDoorClose);
+                MissionInfo mission = MissionManager.GetMission(JobParam.GetMissionInfo().missionId);
+                if (mission.projectType.Equals(ProjectType.移远成品入库) && SettingString.LIFT_D2.Equals(JobParam.CurTargetNode.Name))
+                {
+                    LiftContext.FinishedProduct(JobParam.CurTargetNode.Name, agv);
+                    Thread.Sleep(5000);
+                }
+                else
+                {
+                    MissionState state = getNextState(mission.state);
+                    setMissionState(state);
+                }
+                bool continueUse = false;
+                if ((mission.state >= MissionState.到达电梯 && mission.state <= MissionState.电梯运行)||
+                    (mission.state >= MissionState.返回到达电梯内 && mission.state <= MissionState.返回电梯运行))
+                    continueUse = true;
+                //关门
+                bool rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, continueUse);
+                Thread.Sleep(2000);
+                if (mission.projectType.Equals(ProjectType.移远成品入库) && SettingString.LIFT_D2.Equals(JobParam.CurTargetNode.Name))
+                {
+                    LiftContext.CloseFinishedProduct(JobParam.CurTargetNode.Name, agv);
+                }
+                ClearLiftNodeOccupied(agv);
+                runInfo = $"离开{JobParam.CurTargetNode.AliceName}，关闭门:{rtn}，continueUse={continueUse}";
+                JobRunStep.Msg = runInfo;
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_15_WaitDoorClose))
+            {
+                //if (!lift.LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name))
+                {
+                    JobRunStep.ToNextStep(RunStep.Switch_16_ReToTmp2);
+                    runInfo = $"去{JobParam.CurTargetNode.AliceName}临时点2取料点,{missionInfo()}";
+                    ToTmp2PutOn(agv, JobParam.CurTargetNode.Name);
+                    JobRunStep.Msg = runInfo;
+                }
+                //else if (JobRunStep.IsTimeOut(5))
+                //{
+                //    JobRunStep.ToNextStep(RunStep.Switch_15_WaitDoorClose);
+                //    bool rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv);
+                //    runInfo = $"重新发送关闭门{JobParam.CurTargetNode.AliceName}，{rtn}";
+                //}
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_16_ReToTmp2))
+            {
+                if (AGVTaskIsFinished(agv))
+                {
+                    JobRunStep.ToNextStep(RunStep.Switch_17_PutShelfOnAtTmp2);
+                    runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点2拾取电梯内的料车,{missionInfo()}";
+                    PutShelfOn(agv, liftMission);
+                    JobRunStep.Msg = runInfo;
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_17_PutShelfOnAtTmp2))
+            {
+                if (AGVTaskIsFinished(agv))
+                {
+                    if (CheckMIssionInlift(MissionManager.GetMission(liftMission.missionId)))
+                    {
+                        JobRunStep.ToNextStep(RunStep.Switch_19_ReturnShelf);
+                    }
+                    else
+                    {
+                        JobRunStep.ToNextStep(RunStep.Switch_18_SendShelf);
+                    }
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_18_SendShelf))
+            {
+                JobRunStep.ToNextStep(RunStep.END);
+                MissionInfo missionInfo = MissionManager.GetMission(liftMission.missionId);
+                //if(missionInfo ==null)
+                //{
+                //    job = null;
+                //    runInfo = $"未查询到任务信息，结束任务：{liftMission.missionId}";
+                //    JobRunStep.Msg = runInfo;
+                //}
+                //else 
+                if (service.model.MissionInfo.IsFinishedProdcut(missionInfo))
+                {
+                    if (JobParam.CurTargetNode.Name.Equals(SettingString.LIFT_D2))//电梯内的料架为移远成品空料车
+                    {
+                        Node src = manager.NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);
+                        Node dest = manager.NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift);
+                        JobParam jobParam = new JobParam(src, dest, null, missionInfo);
+                        MissionManager.SetMissionOccupied(missionInfo, agv);
+                        job = new F1LiftD2ToLiftC1Job(jobParam);
+                        job.JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_06_CloseLiftDoor);
+                        job.JobRunStep.Msg = $"从{JobParam.CurTargetNode.AliceName}取料完成,继续执行任务：{JsonHelper.SerializeObject(missionInfo)}";
+                    }
+                    else//电梯内的料架为移远成品满料车
+                    {
+                        Node src = manager.NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift);
+                        Node dest = manager.NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);
+                        JobParam jobParam = new JobParam(src, dest, null, missionInfo);
+                        MissionManager.SetMissionOccupied(missionInfo, agv);
+                        job = new F1LiftC1ToLiftD2Job(jobParam);
+                        job.JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_06_CloseLiftDoor);
+                        job.JobRunStep.Msg = $"从{JobParam.CurTargetNode.AliceName}取料完成,继续执行任务：{JsonHelper.SerializeObject(missionInfo)}";
+                    }
+                }
+                else
+                {
+                    Node src = manager.NodeManager.GetNode(missionInfo.liftName, NodeType.Lift);
+                    string[] destTmp = missionInfo.destinationPoint.Split(',');
+                    string[] dests = destTmp.Distinct().ToArray();
+                    Node dest = manager.NodeManager.GetNode(dests.Length > 1 ? dests[0] : missionInfo.destinationPoint, NodeType.Node);
+                    JobParam jobParam = new JobParam(src, dest, null, missionInfo);
+                    if (dests.Length > 1)
+                    {
+                        for (int i = 1; i < dests.Length; i++)
+                        {
+                            Node node = manager.NodeManager.GetNode(dests[i], NodeType.Node);
+                            if (node != null)
+                                jobParam.TargetNodes.Add(node);
+                            else
+                            {
+                                LogUtil.error($"无法生成任务，因不存在的节点：{dests[i]}");
+                                job = null;
+                            }
+
+                        }
+                    }
+                    job = new LiftToLinesJob(jobParam);
+                    job.JobRunStep.ToNextStep(RunStep.SD_LiftToLine_06_CloseLiftDoor);
+                    job.JobRunStep.Msg = $"从{JobParam.CurTargetNode.AliceName}取料完成,继续执行任务：{JsonHelper.SerializeObject(missionInfo)}";
+                }
+            }
+            else if (JobRunStep.IsStep(RunStep.Switch_19_ReturnShelf))
+            {
+                JobRunStep.ToNextStep(RunStep.END);
+                MissionInfo missionInfo = MissionManager.GetMission(liftMission.missionId);
+                Node src = manager.NodeManager.GetNode(missionInfo.liftName, NodeType.Lift);
+                Node dest = manager.NodeManager.GetNode(missionInfo.sourcePoint, NodeType.Node);
+                JobParam jobParam = new JobParam(src, dest, null, missionInfo);
+                MissionManager.SetMissionOccupied(missionInfo, agv);
+                job = new ShelfBackLiftToStoreJob(jobParam);
+                job.JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_05_CloseLiftDoor);
+                job.JobRunStep.Msg = $"从{JobParam.CurTargetNode.AliceName}取料完成,继续执行任务：{JsonHelper.SerializeObject(missionInfo)}";
+            }
+            else if (JobRunStep.IsStep(RunStep.END))
+            {
+            }
+            return job;
+        }
+    }
+}

DeviceLibrary/bean/jobType/BackLiftToLineJobType.cs

 using Common;
 using DeviceLibrary.bean.job;
+using DeviceLibrary.lift;
 using DeviceLibrary.manager;
+using System;
 
 namespace DeviceLibrary.bean.jobType
 {
@@ -15,19 +17,26 @@ namespace DeviceLibrary.bean.jobType
                 return null;
             else
             {
-                if(agv.HasEmptyShelfInLift(out string liftname, out lift.LiftStatus lift))//agv.Scope.Floor.Equals(1) &&
+                if (agv.HasEmptyShelfInLift(out string liftname, out lift.LiftStatus lift))//agv.Scope.Floor.Equals(1) &&
                 {
                     service.model.MissionInfo missionInfo = manager.MissionManager.ShelfBackMission(agv);
-                    if(missionInfo!=null)
+                    if (missionInfo != null)
                     {
                         if (!liftname.Equals(missionInfo?.liftName))
                             return null;
+                        if (CheckHasSameJob(agv,liftname))
+                        {
+                            return null;
+                        }
+                        if (AgvAtPlace(agv, liftname))
+                            return null;
                         //if (service.model.MissionInfo.IsFinishedProdcut(missionInfo))
                         //    return null;
                         Node src = manager.NodeManager.GetNode(liftname, NodeType.Lift);
                         string[] dests = lift.destinationPoint.Split(',');
                         Node dest = manager.NodeManager.GetNode(dests.Length > 1 ? dests[0] : lift.destinationPoint, NodeType.Node);
-                        JobParam jobParam = new JobParam(src, dest,null,missionInfo);
+                        JobParam jobParam = new JobParam(src, dest, null, missionInfo);
+                        LiftContext.SetLiftNodeOccupied(agv, liftname);
                         MissionManager.SetMissionOccupied(missionInfo, agv);
                         return new ShelfBackLiftToStoreJob(jobParam);
                     }
@@ -35,5 +44,22 @@ namespace DeviceLibrary.bean.jobType
             }
             return null;
         }
+        bool CheckHasSameJob(AgvInfo agv,string liftname)
+        {
+            return false;
+            try
+            {
+                AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && s.Scope.Workshop.Equals(agv.Scope.Workshop)
+                && s.CurJob != null && (s.CurJob is F1LiftC1ToLiftD2Job || 
+                s.CurJob is F1LiftD2ToLiftC1Job || (s.CurJob is LineToLiftJob && liftname.Equals(s?.CurJob?.JobParam?.CurTargetNode?.Name??""))));
+                if (agvInfo != null)
+                    return true;
+            }
+            catch
+            {
+                return false;
+            }
+            return false;
+        }
     }
 }

DeviceLibrary/bean/jobType/F1LiftC1ToLiftD2JobType.cs

@@ -21,13 +21,13 @@ namespace DeviceLibrary.bean.jobType
             {
                 if(agv.Scope.Floor.Equals(1) && agv.HasFinishedShelfInLift(out string liftname, out lift.LiftStatus lift))
                 {
-                    //if (CheckOtherRobotState(agv, SettingString.LIFT_C1) || CheckOtherRobotState(agv, SettingString.LIFT_D2))
-                    //{
-                    //    return null;
-                    //}
                     service.model.MissionInfo missionInfo =  manager.MissionManager.GetF1SendFullFinishedC1ToD2Mission(agv);
                     if(missionInfo!=null)
                     {
+                        if (TargetIsOccupied(agv, SettingString.LIFT_C1))//TargetIsOccupied(agv, SettingString.LIFT_D2) ||
+                        {
+                            return null;
+                        }
                         if (service.model.MissionInfo.IsFinishedProdcut(missionInfo))
                         {
                             Node src = manager.NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift);
@@ -43,10 +43,11 @@ namespace DeviceLibrary.bean.jobType
         }
         bool CheckHasSameJob(AgvInfo agv)
         {
+            return false;
             try
             {
                 AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && s.Scope.Workshop.Equals(agv.Scope.Workshop)
-                && s.CurJob != null && (s.CurJob is F1LiftC1ToLiftD2Job || s.CurJob is F1LiftD2ToLiftC1Job));
+                && !s.IP.Equals(agv.IP) && s.CurJob != null && (s.CurJob is F1LiftC1ToLiftD2Job || s.CurJob is F1LiftD2ToLiftC1Job ));//|| (s.CurJob is LineToLiftJob && SettingString.LIFT_C1.Equals(s.CurJob?.JobParam?.GetMissionInfo()?.liftName??"")
                 if (agvInfo != null)
                     return true;
             }

DeviceLibrary/bean/jobType/F1LiftD2ToLiftC1JobType.cs

@@ -19,10 +19,10 @@ namespace DeviceLibrary.bean.jobType
             {
                 if (agv.Scope.Floor.Equals(1) && agv.HasFinishedEmptyShelfInLift(out string liftname, out lift.LiftStatus lift))
                 {
-                    //if (CheckOtherRobotState(agv, SettingString.LIFT_C1) || CheckOtherRobotState(agv, SettingString.LIFT_D2))
-                    //{
-                    //    return null;
-                    //}
+                    if (TargetIsOccupied(agv, SettingString.LIFT_D2))
+                    {
+                        return null;
+                    }
                     service.model.MissionInfo missionInfo = manager.MissionManager.GetF1FinishedD2ToC1Mission(agv);
                     if (missionInfo != null)
                     {
@@ -38,10 +38,11 @@ namespace DeviceLibrary.bean.jobType
         }
         bool CheckHasSameJob(AgvInfo agv)
         {
+            return false;
             try
             {
                 AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && s.Scope.Workshop.Equals(agv.Scope.Workshop)
-                && s.CurJob != null && (s.CurJob is F1LiftD2ToLiftC1Job || s.CurJob is F1LiftC1ToLiftD2Job));
+                && !s.IP.Equals(agv.IP) && s.CurJob != null && (s.CurJob is F1LiftD2ToLiftC1Job || s.CurJob is F1LiftC1ToLiftD2Job || s.CurJob is LineToLiftJob));
                 if (agvInfo != null)
                     return true;
             }

DeviceLibrary/bean/jobType/JobType.cs

 using Common;
+using DeviceLibrary.lift;
 using System;
 using System.Collections.Generic;
 using System.Linq;
@@ -17,39 +18,57 @@ namespace DeviceLibrary
         {
             return null;
         }
-        //public bool HasRobotExecuteLiftTask(AgvInfo agvInfo,string liftName)
-        //{
-        //    AGVManager.agvInfo.Find(s=>s.Auto&& !s.IP.Equals(agvInfo.IP)&&(agvInfo?.CurJob?.JobParam?.))
-        //}
         /// <summary>
-        /// 检查其他机器人是否有电梯任务
+        /// 目标点是否有小车
         /// </summary>
-        /// <param name="agvInfo"></param>
-        /// <param name="liftname"></param>
-        /// <returns>true：有</returns>
-        protected bool CheckOtherRobotState(AgvInfo agvInfo, string liftname)
+        /// <param name="agv"></param>
+        /// <param name="targetName"></param>
+        /// <returns></returns>
+        protected bool TargetIsOccupied(AgvInfo agv, string targetName)
         {
-            var allAgv = AGVManager.agvInfo.FindAll(s => s.Auto && !agvInfo.IP.Equals(s.IP) &&
-                  agvInfo.Scope.Workshop.Equals(s.Scope.Workshop));
             try
             {
-                AgvInfo agvInfo1 = allAgv.Find(s => s.Place != null && s.Place.Name.Contains(liftname));
-                //AgvInfo agvInfo1 = allAgv.Find(s => s.CurJob != null && s.CurJob.JobParam != null &&
-                //                       ((s.CurJob.JobParam.SrcNode != null && s.CurJob.JobParam.SrcNode.Name.Contains(liftname)) &&
-                //                     (s.CurJob.JobParam.CurTargetNode != null && s.CurJob.JobParam.CurTargetNode.Name.Contains(liftname))));
-                if (agvInfo1 != null)
-                    return true;
-
+                return LiftContext.OtherAGVIsInLift(agv, targetName);
             }
             catch (Exception ex)
             {
-                foreach (var item in allAgv)
+                LogUtil.error($"TargetIsOccupied:{agv.Name},{JsonHelper.SerializeObject(AGVManager.agvInfo)}", ex);
+                return false;
+            }
+        }
+        /// <summary>
+        /// 只有去电梯取料料架使用
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <param name="targetName"></param>
+        /// <returns></returns>
+        protected bool AgvAtPlace(AgvInfo agv, string targetName)
+        {
+            try
             {
-                    LogUtil.error($"CheckOtherRobotState,{agvInfo.Name},{liftname}: {JsonHelper.SerializeObject(item)}", ex);
+                if (LiftContext.OtherAGVIsInLift(agv, targetName))
+                {
+                    return true;
                 }
+                else
+                {
+                    AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && !s.IP.Equals(agv.IP)
+                                && agv.Scope.Workshop.Equals(s.Scope.Workshop));
+                    if (agvInfo != null)
+                    {
+                        if (agvInfo?.TaskRunState?.Task?.Name.Contains(targetName) ?? false)
+                        {
                             return true;
                         }
+                    }
+                    return false;
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error($"AgvAtPlace:{agv.Name},{JsonHelper.SerializeObject(AGVManager.agvInfo)}", ex);
                 return false;
             }
         }
+    }
 }

DeviceLibrary/bean/jobType/LiftToLinesJobType.cs

@@ -6,6 +6,7 @@ using DeviceLibrary.manager;
 using DeviceLibrary.bean;
 using DeviceLibrary.bean.job;
 using System;
+using DeviceLibrary.lift;
 
 namespace DeviceLibrary
 {
@@ -26,6 +27,8 @@ namespace DeviceLibrary
                 return null;
             else if (CheckHasSameJob(agv))
                 return null;
+            else if (CheckHasSendJob(agv))
+                return null;
             else
             {
                 if (agv.HasEmptyShelfInLift(out string liftname, out lift.LiftStatus lift))//!agv.Scope.Floor.Equals(1) &&
@@ -35,7 +38,7 @@ namespace DeviceLibrary
                     {
                         if (!liftname.Equals(missionInfo?.liftName))
                             return null;
-                        if (TargetIsOccupied(agv, liftname))
+                        if (AgvAtPlace(agv, liftname))
                             return null;
                         if (service.model.MissionInfo.IsFinishedProdcut(missionInfo))
                             return null;
@@ -59,6 +62,9 @@ namespace DeviceLibrary
 
                             }
                         }
+                        LiftContext.SetLiftNodeOccupied(agv, liftname);
+                        MissionManager.SetMissionOccupied(missionInfo, agv);               
+                        MissionManager.Log.Info($"执行任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
                         return new LiftToLinesJob(jobParam);
                     }
                 }
@@ -68,12 +74,13 @@ namespace DeviceLibrary
 
         bool CheckHasSameJob(AgvInfo agv)
         {
+            return false;
             try
             {
                 if (agv.Scope.Workshop.Equals("1F"))
                 {
-                    AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && s.Scope.Workshop.Equals(agv.Scope.Workshop)
-                    && s.CurJob != null && (s.CurJob is LiftToLinesJob ) && s.Scope.Workshop.Equals("1F"));
+                    AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && !s.IP.Equals(agv.IP) && s.Scope.Workshop.Equals(agv.Scope.Workshop)
+                    && s.CurJob != null && (s.CurJob is LiftToLinesJob));
                     if (agvInfo != null)
                         return true;
                 }
@@ -88,34 +95,32 @@ namespace DeviceLibrary
             }
             return false;
         }
-
-         bool TargetIsOccupied(AgvInfo agv, string targetName)
+        bool CheckHasSendJob(AgvInfo agv)
         {
+            return false;
             try
             {
-                if (agv.Scope.Equals("1F"))
+                if (agv.Scope.Workshop.Equals("1F"))
                 {
-                    AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && !s.IP.Equals(agv.IP)
-                            && agv.Scope.Workshop.Equals(s.Scope.Workshop) && s.Scope.Equals("1F"));
+                    AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto &&  !s.IP.Equals(agv.IP)&&s.Scope.Workshop.Equals(agv.Scope.Workshop)
+                    && s.CurJob != null  && s.Scope.Workshop.Equals("1F") && (s.CurJob is LineToLiftJob || s.CurJob is F1LiftC1ToLiftD2Job
+                    || s.CurJob is F1LiftD2ToLiftC1Job));
                     if (agvInfo != null)
-                    {
-                        //if (agvInfo?.Place.Name.Contains(targetName) ?? false)
-                        //    return true;
-                        if (agvInfo?.TaskRunState?.Task?.Name.Equals(targetName) ?? false)
-                        {
                         return true;
                 }
-                    }
-                }
                 else
-                    return false;
-                return false;
+                {
+                    AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && !s.IP.Equals(agv.IP) && s.Scope.Workshop.Equals(agv.Scope.Workshop)
+                                        && s.CurJob != null && (s.CurJob is LineToLiftJob));
+                    if (agvInfo != null)
+                        return true;
+                }
             }
-            catch (Exception ex)
+            catch
             {
-                LogUtil.error($"TargetIsOccupied:{agv.Name},{JsonHelper.SerializeObject(AGVManager.agvInfo)}", ex);
                 return false;
             }
+            return false;
         }
     }
 }

DeviceLibrary/bean/jobType/LineToLiftJobType.cs

 using Common;
 using DeviceLibrary.bean.job;
+using DeviceLibrary.lift;
 using DeviceLibrary.manager;
 using System;
 using System.Collections.Generic;
@@ -18,6 +19,8 @@ namespace DeviceLibrary.bean.jobType
         {
             if (!agv.IsIdle())
                 return null;
+            if (LiftContext.CheckHasEmptyFinished(agv, SettingString.LIFT_D2, out LiftStatus liftStatus))
+                return null;
             service.model.MissionInfo missionInfo = manager.MissionManager.GetLineToLiftMission(agv, out string liftname);
             if (missionInfo != null)
             {
@@ -35,10 +38,10 @@ namespace DeviceLibrary.bean.jobType
                     Common.LogUtil.error($"无法生成任务，电梯不存在：{liftname}");
                     return null;
                 }
-                if (CheckOtherRobotState(agv, liftname))
-                {
-                    return null;
-                }
+                //if (TargetIsOccupied(agv, liftname))
+                //{
+                //    return null;
+                //}
                 JobParam jobParam = new JobParam(src, dest, null, missionInfo);
                 MissionManager.SetMissionOccupied(missionInfo, agv);
                 MissionManager.Log.Info($"执行任务[{agv.Name}][LineToLiftJobType]{JsonHelper.SerializeObject(missionInfo)}");
@@ -49,19 +52,19 @@ namespace DeviceLibrary.bean.jobType
             return null;
         }
 
-        bool CheckHasSameJob(AgvInfo agv,string liftname)
+        bool CheckHasSameJob(AgvInfo agv, string liftname)
         {
+            return false;
             try
             {
                 if (agv.Scope.Workshop.Equals("1F"))
                 {
                     AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && s.Scope.Workshop.Equals(agv.Scope.Workshop) &&
-                            s.Scope.Workshop.Equals("1F")
-                             && s.CurJob != null && (s.CurJob is LineToLiftJob || s.CurJob is F1LiftC1ToLiftD2Job 
-                             || s.CurJob is F1LiftD2ToLiftC1Job));
+                                         !s.IP.Equals(agv.IP)&&s.CurJob != null && ( s.CurJob is F1LiftC1ToLiftD2Job
+                             || s.CurJob is F1LiftD2ToLiftC1Job));//s.CurJob is LineToLiftJob ||
                     if (agvInfo != null)
                     {
-                        if(agvInfo?.CurJob?.JobParam?.GetMissionInfo()?.liftName?.Equals(liftname)??true)
+                        if (agvInfo?.CurJob?.JobParam?.GetMissionInfo()?.liftName?.Equals(liftname) ?? true)
                         {
                             return true;
                         }
@@ -71,11 +74,19 @@ namespace DeviceLibrary.bean.jobType
                     //    return true;
                 }
                 else
+                {
+                    AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && s.Scope.Workshop.Equals(agv.Scope.Workshop) &&
+                                                  !s.IP.Equals(agv.IP) && s.CurJob != null && (s.CurJob is LineToLiftJob));
+                    if (agvInfo != null)
+                    {
+                        return true;
+                    }
+                }
                 return false;
             }
-            catch(Exception ex)
+            catch (Exception ex)
             {
-                LogUtil.error("LineToLiftJobType CheckHasSameJob",ex);
+                LogUtil.error("LineToLiftJobType CheckHasSameJob", ex);
                 return true;
             }
             return false;

DeviceLibrary/bean/jobType/ShelfBuffToLiftJobType.cs

+using Common;
+using DeviceLibrary.bean.job;
+using DeviceLibrary.lift;
+using DeviceLibrary.manager;
+using DeviceLibrary.service.model;
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace DeviceLibrary.bean.jobType
+{
+    /// <summary>
+    /// 从缓存点取料并送入电梯内
+    /// </summary>
+    public class ShelfBuffToLiftJobType : JobType
+    {
+        public override Job GetNewJob(AgvInfo agv)
+        {
+            if (!agv.IsIdle())
+                return null;
+            if (LiftContext.CheckHasEmptyFinished(agv, SettingString.LIFT_D2, out LiftStatus liftStatus))
+                return null;
+            service.model.MissionInfo missionInfo = manager.MissionManager.BuffToLiftMission(agv);
+            if (missionInfo != null)
+            {
+                if (CheckHasSameJob(agv, missionInfo.liftName))
+                    return null;
+                Node src = manager.NodeManager.GetNode(SettingString.ShelfBuff, NodeType.Node);
+                Node dest = manager.NodeManager.GetNode(missionInfo.liftName, NodeType.Lift);
+                if (src == null)
+                {
+                    Common.LogUtil.error($"无法生成任务，起始点不存在：{missionInfo.sourcePoint}");
+                    return null;
+                }
+                if (dest == null)
+                {
+                    Common.LogUtil.error($"无法生成任务，电梯不存在：{missionInfo.liftName}");
+                    return null;
+                }
+                //if (TargetIsOccupied(agv, missionInfo.liftName))
+                //{
+                //    return null;
+                //}
+                JobParam jobParam = new JobParam(src, dest, null, missionInfo);
+                MissionManager.SetMissionOccupied(missionInfo, agv);
+                MissionManager.Log.Info($"执行任务[{agv.Name}][ShelfBuffToLiftJobType]{JsonHelper.SerializeObject(missionInfo)}");
+                if (missionInfo.projectType.Equals(ProjectType.移远成品入库))
+                {
+                    jobParam.CurTargetNode = manager.NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);
+                    F1LiftC1ToLiftD2Job job = new F1LiftC1ToLiftD2Job(jobParam);
+                    job.JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_Buff);
+                    return job;
+                }
+                else
+                    return new LineToLiftJob(jobParam);
+            }
+            return null;
+        }
+
+        bool CheckHasSameJob(AgvInfo agv, string liftname)
+        {
+            return false;
+            try
+            {
+                if (agv.Scope.Workshop.Equals("1F"))
+                {
+                    AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && s.Scope.Workshop.Equals(agv.Scope.Workshop) &&
+                            s.Scope.Workshop.Equals("1F")
+                             && s.CurJob != null && (s.CurJob is LineToLiftJob || s.CurJob is F1LiftC1ToLiftD2Job
+                             || s.CurJob is F1LiftD2ToLiftC1Job));
+                    if (agvInfo != null)
+                    {
+                        if (agvInfo?.CurJob?.JobParam?.GetMissionInfo()?.liftName?.Equals(liftname) ?? true)
+                        {
+                            return true;
+                        }
+                    }
+
+                    //if (agvInfo != null)
+                    //    return true;
+                }
+                else
+                    return false;
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("LineToLiftJobType CheckHasSameJob", ex);
+                return true;
+            }
+            return false;
+        }
+    }
+}

DeviceLibrary/lift/LiftContext.cs

@@ -5,6 +5,7 @@ using System.Linq;
 using System.Text;
 using System.Threading;
 using System.Threading.Tasks;
+using System.Web.Management;
 using static DeviceLibrary.OpManager;
 
 namespace DeviceLibrary.lift
@@ -41,11 +42,92 @@ namespace DeviceLibrary.lift
             {
                 if (liftStatus?.HasEmptyFinishedShelf ?? false)//D2电梯有成品空架子，不返回门状态
                 {
+                    //返回一个成品任务id
+                    liftStatus.missionId = manager.MissionManager.GetMissionIdByEmptyFinishedShelfInLift(SettingString.LIFT_C1);
                     return true;
                 }
             }
             return false;
         }
+
+        public static string GetLiftNodeOccupiedInfo()
+        {
+            try
+            {
+                StringBuilder sb = new StringBuilder();
+                sb.AppendLine("电梯位置占用信息");
+                foreach (var item in lifts)
+                {
+                    sb.Append(item.Key + "：");
+                    sb.AppendLine("[点位占用："+string.Join(";", item.Value.Agvs) +"][电梯使用："+item.Value.UsingAgv+"]");
+                }
+                return sb.ToString();
+            }
+            catch
+            {
+
+            }
+            return "";
+        }
+        /// <summary>
+        /// 设置电梯节点的占用
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <param name="liftName"></param>
+        public static void SetLiftNodeOccupied(AgvInfo agv, string liftName = "")
+        {
+            try
+            {
+                if (string.IsNullOrEmpty(liftName))
+                {
+                    foreach (var item in lifts.Values)
+                    {
+                        if (item.Agvs != null && item.Agvs.Contains(agv.IP))
+                        {
+                            item.Agvs.Remove(agv.IP);
+                            LogUtil.info($"【{agv.Name}】清除电梯节点占用：{string.Join(",",item.Agvs)}");
+                        }
+                    }
+                }
+                else
+                {
+                    if (!lifts[liftName].Agvs.Contains(agv.IP))
+                    {
+                        lifts[liftName].Agvs.Add(agv.IP);
+                        LogUtil.info($"【{agv.Name}】设置电梯【{liftName}】节点占用：{string.Join(",", lifts[liftName].Agvs)}");
+                    }
+                }
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error($"SetLiftOccupied: {agv.IP},{liftName}", ex);
+            }
+        }
+        /// <summary>
+        /// 同车间的其他小车是否在电梯处
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <param name="liftName"></param>
+        /// <returns></returns>
+        public static bool OtherAGVIsInLift(AgvInfo agv, string liftName)
+        {
+            try
+            {
+                AgvInfo agvInfo = AGVManager.agvInfo.Find(s => 
+                s.Scope.Workshop.Equals(agv.Scope.Workshop) && !s.IP.Equals(agv.IP)&&s.Auto);
+                if (agvInfo != null)
+                {
+                    return lifts[liftName].Agvs.Contains(agvInfo.IP);
+                }
+                else
+                    return false;
+            }
+            catch(Exception ex)
+            {
+                LogUtil.error($"OtherAGVIsInLift: {agv.IP},{liftName}",ex);
+            }
+            return false;
+        }
         /// <summary>
         /// 电梯是否开门
         /// </summary>
@@ -79,7 +161,7 @@ namespace DeviceLibrary.lift
         /// <returns>true：是</returns>
         public static bool IsOccupied(AgvInfo agv, string liftId)
         {
-            return lifts[liftId].OccupiedAgv.Equals(agv.IP);
+            return lifts[liftId].UsingAgv.Equals(agv.IP);
         }
         /// <summary>
         /// 请求使用电梯
@@ -135,6 +217,58 @@ namespace DeviceLibrary.lift
             return rtn;
         }
         /// <summary>
+        /// 更新请求信息
+        /// </summary>
+        /// <param name="missionInfo"></param>
+        /// <param name="agvInfo"></param>
+        /// <param name="isback"></param>
+        /// <returns></returns>
+        public static bool UpdateRequestInfo(service.model.MissionInfo missionInfo, AgvInfo agvInfo, bool isback = false)
+        {
+            service.model.SendInInfo info;
+            bool rtn = false;
+            if (isback)//返回
+            {
+                if (!AGVManager.GetsysClientBy(missionInfo.sourceFloor, missionInfo.liftName, out string destclient))
+                {
+                    Common.LogUtil.error($"请求电梯失败,因目的系统标识获取失败：floor={agvInfo.Scope.Floor},lift={missionInfo.liftName}");
+                    return false;
+                }
+                info = new service.model.SendInInfo()
+                {
+                    liftId = missionInfo.liftName,
+                    destinationFloor = missionInfo.sourceFloor,
+                    destinationPoint = missionInfo.sourcePoint,
+                    destinationClient = destclient,
+                    sourceFloor = missionInfo.destinationFloor,
+                    sourceClient = agvInfo.Client,
+                    updateInfo=true
+                };
+            }
+            else
+            {
+                if (!AGVManager.GetsysClientBy(missionInfo.destinationFloor, missionInfo.liftName, out string destclient))
+                {
+                    Common.LogUtil.error($"请求电梯失败,因目的系统标识获取失败：floor={agvInfo.Scope.Floor},lift={missionInfo.liftName}");
+                    return false;
+                }
+                info = new service.model.SendInInfo()
+                {
+                    liftId = missionInfo.liftName,
+                    sourceClient = agvInfo.Client,
+                    sourceFloor = missionInfo.sourceFloor,
+                    sourcePoint = missionInfo.sourcePoint,
+                    destinationClient = destclient,
+                    destinationFloor = missionInfo.destinationFloor,
+                    destinationPoint = missionInfo.destinationPoint,
+                    updateInfo = true
+                };
+            }
+            LogUtil.info($"更新电梯请求信息：{JsonHelper.SerializeObject(info)}");
+            rtn = HttpManager.RequestSendIn(info);
+            return rtn;
+        }
+        /// <summary>
         /// 成品呼叫
         /// </summary>
         /// <param name="missionInfo"></param>
@@ -314,19 +448,19 @@ namespace DeviceLibrary.lift
         /// <param name="agvIp"></param>
         public static void SetLiftOccupiedAgv(string liftId, string agvIp)
         {
-            lifts[liftId].OccupiedAgv = agvIp;
-            Common.LogUtil.info($"设置电梯占用:{liftId},{agvIp}【{JsonHelper.SerializeObject(lifts)}】");
+            lifts[liftId].UsingAgv = agvIp;
+            Common.LogUtil.info($"使用电梯:{liftId},{agvIp}【{JsonHelper.SerializeObject(lifts)}】");
         }
         public static void ResetLiftOccupiedAgv(string liftId)
         {
             try
             {
-                lifts[liftId].OccupiedAgv = "";
-                Common.LogUtil.info($"清除电梯占用:{liftId}【{JsonHelper.SerializeObject(lifts)}】");
+                lifts[liftId].UsingAgv = "";
+                Common.LogUtil.info($"清除使用电梯:{liftId}【{JsonHelper.SerializeObject(lifts)}】");
             }
             catch (Exception ex)
             {
-                Common.LogUtil.error($"清除电梯占用失败:{liftId}", ex);
+                Common.LogUtil.error($"清除使用电梯失败:{liftId}", ex);
             }
         }
         public static void ResetLiftOccupiedAgv(AgvInfo agv)
@@ -335,17 +469,17 @@ namespace DeviceLibrary.lift
             {
                 foreach (var item in lifts.Values)
                 {
-                    if (agv.IP.Equals(item.OccupiedAgv))
+                    if (agv.IP.Equals(item.UsingAgv))
                     {
-                        item.OccupiedAgv = "";
-                        Common.LogUtil.info($"{agv.Name}清除电梯占用:【{JsonHelper.SerializeObject(lifts)}】");
+                        item.UsingAgv = "";
+                        Common.LogUtil.info($"{agv.Name}清除使用电梯:【{JsonHelper.SerializeObject(lifts)}】");
                     }
                 }
 
             }
             catch (Exception ex)
             {
-                Common.LogUtil.error($"{agv.Name}清除电梯占用失败", ex);
+                Common.LogUtil.error($"{agv.Name}清除使用电梯失败", ex);
             }
         }
         /// <summary>
@@ -355,8 +489,8 @@ namespace DeviceLibrary.lift
         /// <returns>true:占用</returns>
         public static bool CheckLiftOccupied(string liftId)
         {
-            LogUtil.debug($"检查电梯{liftId}是否被占用：【{JsonHelper.SerializeObject(lifts)}】");
-            return !lifts[liftId].OccupiedAgv.Equals("");
+            LogUtil.debug($"检查电梯{liftId}是否被使用：【{JsonHelper.SerializeObject(lifts)}】");
+            return !lifts[liftId].UsingAgv.Equals("");
         }
         /// <summary>
         /// 获取电梯状态

DeviceLibrary/lift/LiftInfo.cs

@@ -9,7 +9,11 @@ namespace DeviceLibrary.lift
     public class LiftInfo
     {
         public LiftStatus LiftStatus { get; set; }
-        public string OccupiedAgv { get; set; } = "";
+        public string UsingAgv { get; set; } = "";
+        /// <summary>
+        /// 占用电梯的小车名
+        /// </summary>
+        public List<string> Agvs { get; set; } = new List<string>();
         public LiftInfo()
         {
             LiftStatus = new LiftStatus();

DeviceLibrary/manager/AGVManager.cs

@@ -66,6 +66,7 @@ namespace DeviceLibrary
             jobTypes.Add(new F1LiftD2ToLiftC1JobType());
             jobTypes.Add(new LiftToLinesJobType());
             jobTypes.Add(new BackLiftToLineJobType());
+            jobTypes.Add(new ShelfBuffToLiftJobType());
             jobTypes.Add(new LineToLiftJobType());
             jobTypes.Add(new LineOneToManyJobType());
             jobTypes.Add(new SteelLineToLiftJobType());

DeviceLibrary/manager/MissionManager.cs

@@ -255,6 +255,33 @@ namespace DeviceLibrary.manager
             }
             return null;
         }
+        /// <summary>
+        /// 获取料架缓存点的任务
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <returns></returns>
+        public static MissionInfo BuffToLiftMission(AgvInfo agv)
+        {
+            MissionInfo missionInfo = null;
+            try
+            {
+                if (!agv.Scope.Workshop.Equals("1F")) return null;
+                var missions = GetMissionInfos().Where(w => w.state != MissionState.中止
+                && w.state != MissionState.取消 && w.state != MissionState.完成).ToList();
+
+                missionInfo = missions.Find(s => (s.state.Equals(MissionState.料架缓存) &&
+                                agv.Scope.Tasks.Contains(s.projectType.ToString())
+                                ));
+                if (missionInfo != null && AgvCanGetMission(missionInfo))
+                    return missionInfo;               
+
+            }
+            catch (Exception e)
+            {
+                Log.Error("BuffToLiftMission", e);
+            }
+            return null;
+        }
         static bool AgvCanGetMission(MissionInfo missionInfo)
         {
             return string.IsNullOrEmpty(missionInfo.occupiedAgv);
@@ -276,8 +303,6 @@ namespace DeviceLibrary.manager
                 && agv.Scope.Tasks.Contains(s.projectType.ToString()) && !s.projectType.Equals(ProjectType.移远成品入库));
                 if (missionInfo != null && AgvCanGetMission(missionInfo))
                 {
-                    SetMissionOccupied(missionInfo, agv);
-                    Log.Info($"执行任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
                     return missionInfo;
                 }
             }
@@ -308,7 +333,6 @@ namespace DeviceLibrary.manager
                 && agv.Scope.Tasks.Contains(s.projectType.ToString())).FirstOrDefault();
                 if (missionInfo != null && AgvCanGetMission(missionInfo))
                 {
-                    Log.Info($"执行料架返回任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
                     return missionInfo;
                 }
             }
@@ -331,7 +355,6 @@ namespace DeviceLibrary.manager
                 && agv.Scope.Tasks.Contains(s.projectType.ToString())).FirstOrDefault();
                 if (missionInfo != null && AgvCanGetMission(missionInfo))
                 {
-                    Log.Info($"执行钢网分发线体任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
                     return missionInfo;
                 }
             }
@@ -354,8 +377,6 @@ namespace DeviceLibrary.manager
                 && agv.Scope.Tasks.Contains(s.projectType.ToString())).FirstOrDefault();
                 if (missionInfo != null && AgvCanGetMission(missionInfo))
                 {
-
-                    Log.Info($"执行钢网去立库任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
                     return missionInfo;
                 }
             }
@@ -382,7 +403,6 @@ namespace DeviceLibrary.manager
                 && s.projectType.Equals(ProjectType.移远成品入库)).FirstOrDefault();
                 if (missionInfo != null && AgvCanGetMission(missionInfo))
                 {
-                    Log.Info($"执行1F成品回收任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
                     return missionInfo;
                 }
             }
@@ -411,7 +431,6 @@ namespace DeviceLibrary.manager
                 && s.projectType.Equals(ProjectType.移远成品入库)).FirstOrDefault();
                 if (missionInfo != null && AgvCanGetMission(missionInfo) && missionInfo.missionId.StartsWith("P16"))
                 {
-                    Log.Info($"执行1F成品入库任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
                     return missionInfo;
                 }
             }
@@ -442,7 +461,6 @@ namespace DeviceLibrary.manager
                 if (missionInfo != null && AgvCanGetMission(missionInfo))
                 {
                     SetMissionOccupied(missionInfo, agv);
-                    Log.Info($"执行任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
                     return missionInfo;
                 }
             }
@@ -489,6 +507,11 @@ namespace DeviceLibrary.manager
             SetMissionOccupiedAgv(missionInfo.missionId, agv.Name);
             MissionChangedEvent?.Invoke();
         }
+        public static void SetMissionOccupied(string missionId, AgvInfo agv)
+        {
+            SetMissionOccupiedAgv(missionId, agv.Name);
+            MissionChangedEvent?.Invoke();
+        }
         /// <summary>
         /// 设置任务状态
         /// </summary>
@@ -581,7 +604,7 @@ namespace DeviceLibrary.manager
         public static void AddSteelTarNodes(string missionId, string nodes)
         {
             MissionInfo missionInfo = GetMission(missionId);
-            if(missionInfo!=null)
+            if (missionInfo != null)
             {
                 missionInfo.destinationPoint = nodes;
                 {

DeviceLibrary/manager/NodeManager.cs

@@ -8,6 +8,9 @@ using DeviceLibrary.manager;
 using System.Windows.Forms;
 using System.Drawing;
 using static DeviceLibrary.Node;
+using System.Runtime.CompilerServices;
+using static System.Net.Mime.MediaTypeNames;
+using System.Runtime.ConstrainedExecution;
 
 namespace DeviceLibrary.manager
 {
@@ -20,6 +23,7 @@ namespace DeviceLibrary.manager
 
         public static void InitNodesInfos()
         {
+            InitLinesInAirShower();
             nodeInfo = new List<Node>();
             XmlConfigOperation.LoadNodeInfos(nodeInfo);
             WriteAllNodeInfos();
@@ -32,7 +36,7 @@ namespace DeviceLibrary.manager
                 XmlConfigOperation.LoadNodeInfos(nodes);
                 nodeInfo = nodes;
             }
-            catch(Exception ex)
+            catch (Exception ex)
             {
                 MessageBox.Show("重载节点失败：" + ex.StackTrace, "提示");
             }
@@ -49,7 +53,8 @@ namespace DeviceLibrary.manager
             DgvNode.AutoGenerateColumns = false;
             DgvNode.AutoSize = true;
             DgvNode.DataSource = bindingSource;
-            DgvNode.RowPostPaint += delegate {
+            DgvNode.RowPostPaint += delegate
+            {
                 DgvNode.RowsDefaultCellStyle.BackColor = Color.White;
                 DgvNode.AlternatingRowsDefaultCellStyle.BackColor = Color.LightBlue;
             };
@@ -88,7 +93,7 @@ namespace DeviceLibrary.manager
             //}
         }
 
-        public static void UpdateDataSource(DataGridView dataGridView,int curRow=0,int curColum=0)
+        public static void UpdateDataSource(DataGridView dataGridView, int curRow = 0, int curColum = 0)
         {
             BindingSource bindingSource = new BindingSource();
             foreach (Node node in NodeManager.nodeInfo)
@@ -98,8 +103,8 @@ namespace DeviceLibrary.manager
                 bindingSource.Add(node);
             }
             dataGridView.DataSource = bindingSource;
-            if(dataGridView.Rows.Count>=curRow 
-                && dataGridView.Columns.Count>=curColum)
+            if (dataGridView.Rows.Count >= curRow
+                && dataGridView.Columns.Count >= curColum)
             {
                 dataGridView.CurrentCell = dataGridView.Rows[curRow].Cells[curColum]; ;
             }
@@ -129,7 +134,7 @@ namespace DeviceLibrary.manager
             else
                 return true;
         }
-        public static bool CheckNodes(string nodenames,out string names)
+        public static bool CheckNodes(string nodenames, out string names)
         {
             string[] nodes = nodenames.Split(',');
             names = "";
@@ -193,5 +198,110 @@ namespace DeviceLibrary.manager
             //    LogUtil.info(item.ToString());
             //}
         }
+        #region 跨门 跨风淋门
+        /// <summary>
+        /// 风淋门内的线体
+        /// key:车间名
+        /// val:线体名
+        /// </summary>
+        static Dictionary<string, List<string>> linesInAirShower = new Dictionary<string, List<string>>();
+        static void InitLinesInAirShower()
+        {
+            //添加3D的
+            linesInAirShower.Add("3D", new List<string>() { "S1Tail" });
+            //添加4C的
+            linesInAirShower.Add("4C", new List<string>() { "C14Tail", "C15Tail" });
+        }
+        /// <summary>
+        /// 检查是否需要跨门
+        /// </summary>
+        /// <param name="cur"></param>
+        /// <param name="next"></param>
+        /// <returns></returns>
+        public static bool NeedCrossDoor(AgvInfo agv, Node cur, Node next, out bool isIn, out bool isAirDoor)
+        {
+            isIn = true;
+            isAirDoor = false;
+            if (agv.Scope.Workshop.Equals("1F")) return false;
+            return false;
+            try
+            {
+                if (cur == null) cur = agv.Place;
+                if (next == null) next = agv.Place;
+                if (!cur.Workshop.Equals(next.Workshop))
+                {
+                    if (cur.Equals("4D") && next.Workshop.Equals("4C"))
+                    {
+                        return true;
+                    }
+                    else if (cur.Workshop.Equals("4C") && next.Workshop.Equals("4D"))
+                    {
+                        isIn = false;
+                        return true;
+                    }
+                }
+                else//在相同车间
+                {
+                    if (linesInAirShower.ContainsKey(cur.Workshop))//当前点在风淋门内
+                    {
+                        if (linesInAirShower.ContainsKey(next.Workshop))//目标点在风淋门内
+                        {
+                            return false;
+                        }
+                        else//目标点在风淋门外
+                        {
+                            isAirDoor = true;
+                            isIn = false;
+                            return true;
+                        }
+                    }
+                    else//当前点在风淋门外
+                    {
+                        if (linesInAirShower.ContainsKey(next.Workshop))//目标点在风淋门内
+                        {
+                            isAirDoor = true;
+                            return true;
+                        }
+                        else//目标点在风淋门外
+                        {
+                            return false;
+                        }
+                    }
+                }
+
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("NeedCrossDoor", ex);
+            }
+            return false;
+        }
+        /// <summary>
+        /// 是否需要跨两个门
+        /// </summary>
+        /// <param name="agv"></param>
+        /// <param name="node"></param>
+        /// <returns></returns>
+        public static bool NeedCrossTwoDoor(AgvInfo agv, Node src, Node dst)
+        {
+            if (agv.Scope.Workshop.Equals("1F")) return false;
+            return false;
+            try
+            {
+                if (src == null) src = agv.Place;
+                if (dst == null) dst = agv.Place;
+                if (!src.Workshop.Equals(dst.Workshop) && linesInAirShower.ContainsKey(dst.Workshop))
+                {
+                    return true;
+                }
+
+            }
+            catch (Exception ex)
+            {
+                LogUtil.error("NeedCrossDoor", ex);
+            }
+            return false;
+        }
+        #endregion
     }
 }

DeviceLibrary/service/Service.cs

@@ -7,6 +7,7 @@ using System.Runtime.Serialization;
 using Common;
 using DeviceLibrary.service.model;
 using DeviceLibrary.manager;
+using System.Reflection;
 
 namespace DeviceLibrary
 {
@@ -35,6 +36,13 @@ namespace DeviceLibrary
             }
             else
             {
+                int.TryParse(createMissionInfo.missionId.Substring(1, 2), out int projectType);
+                if (projectType > 16)
+                {
+                    result.code = -1;
+                    result.msg = $"创建任务失败，不存在的任务类型,请确认编号规则:{createMissionInfo.missionId}";
+                    Log.Error(result.msg);
+                }
                 if (!NodeManager.CheckNode(createMissionInfo.sourcePoint))
                 {
                     result.code = -1;

DeviceLibrary/service/model/MissionInfo.cs

@@ -144,6 +144,19 @@ namespace DeviceLibrary.service.model
                 return false;
             return missionInfo.projectType.Equals(ProjectType.移远成品入库);
         }
+        /// <summary>
+        /// 拷贝一个新的实例
+        /// </summary>
+        /// <returns></returns>
+        //public MissionInfo ToCopy()
+        //{
+        //    MissionInfo posInfo = new MissionInfo();
+        //    System.Reflection.PropertyInfo[] info1 = posInfo.GetType().GetProperties();
+        //    System.Reflection.PropertyInfo[] info2 = this.GetType().GetProperties();
+        //    for (int i = 0; i < info1.Length; i++)
+        //        info1[i].SetValue(posInfo, info2[i].GetValue(this));
+        //    return posInfo;
+        //}
     }
 
     public enum MissionState
@@ -203,7 +216,8 @@ namespace DeviceLibrary.service.model
         /// 完成
         /// </summary>
         完成,
-        等待成品回收
+        等待成品回收,
+        料架缓存
     }
     /// <summary>
     /// 项目类型

DeviceLibrary/service/model/SendInInfo.cs

@@ -39,5 +39,9 @@ namespace DeviceLibrary.service.model
         /// 目的地点位
         /// </summary>
         public string destinationPoint { get; set; }
+        /// <summary>
+        /// 更新电梯信息
+        /// </summary>
+        public bool updateInfo { get; set; } = false;
     }
 }