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Commit ac8b4725 由 张东亮
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修复2号车刚关门，7号车去电梯口占用电梯，导致楼下无法使用电梯

1 个父辈 fb5e3e86
内嵌 并排
正在显示 1 个修改的文件 包含 20 行增加 和 25 行删除
DeviceLibrary/bean/job/LiftToLinesJob.cs
...@@ -225,38 +225,33 @@ namespace DeviceLibrary.bean.job ...@@ -225,38 +225,33 @@ namespace DeviceLibrary.bean.job
//上报位置 //上报位置
System.Threading.Thread.Sleep(1000); System.Threading.Thread.Sleep(1000);
} }
else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_12_WaitDoorOpen);
//请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true);
}
} }
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_13_CheckLiftStatus)) else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_13_CheckLiftStatus))
{ {
if (lift.LiftContext.HasShelfNeedLeave(JobParam.SrcNode.Name, agv.Client, out liftStatus)) if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor))
{ {
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_01_ToTemp1); if (lift.LiftContext.HasShelfNeedLeave(JobParam.SrcNode.Name, agv.Client, out liftStatus))
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.ToNextStep(RunStep.SD_LiftToLine_14_01_ToTemp1);
//service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId); runInfo = $"{JobParam.SrcNode.AliceName}内有料车，去临时点1放料点";
//if (missionInfo != null) AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
//{ JobRunStep.Msg = runInfo;
// //任务状态变更 }
// MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.电梯到达, out string msg); else
//} {
JobRunStep.Msg = runInfo; JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_01_EnterLift);
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}");
}
} }
else else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
{ {
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_01_EnterLift); JobRunStep.ToNextStep(RunStep.SD_LiftToLine_12_WaitDoorOpen);
lift.LiftContext.SetLiftOccupiedAgv(JobParam.SrcNode.Name, agv.IP); //请求电梯
runInfo = $"{JobParam.SrcNode.AliceName}无料车，去放料点"; lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true);
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.TakeShelfOff}");
} }
} }
#region 电梯内无料车 #region 电梯内无料车
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_01_EnterLift)) else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_01_EnterLift))
......
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