钢网返回时未锁定电梯问题

AGVDispatch/Manual.cs

@@ -11,6 +11,7 @@ using DeviceLibrary;
 using Common;
 using Common;
 using DeviceLibrary.lift;
 using DeviceLibrary.lift;
 using static DeviceLibrary.OpManager;
 using static DeviceLibrary.OpManager;
+using DeviceLibrary.manager;
 
 
 namespace AGVControl
 namespace AGVControl
 {
 {
@@ -103,6 +104,8 @@ namespace AGVControl
                         {
                         {
                             if (MessageBox.Show($"是否删除该任务[{Agv.JobContext.MissionId}]？", "提示", MessageBoxButtons.YesNo).Equals(DialogResult.Yes))
                             if (MessageBox.Show($"是否删除该任务[{Agv.JobContext.MissionId}]？", "提示", MessageBoxButtons.YesNo).Equals(DialogResult.Yes))
                             {
                             {
+                                if(Agv.CurJob.JobParam.GetMissionInfo().missionId.StartsWith("P14"))
+                                DataBufferManager.ResetSteelInfo();
                                 DeviceLibrary.manager.MissionManager.SetMissionState(Agv.CurJob.JobParam.GetMissionInfo().missionId, DeviceLibrary.service.model.MissionState.中止, out string msg);
                                 DeviceLibrary.manager.MissionManager.SetMissionState(Agv.CurJob.JobParam.GetMissionInfo().missionId, DeviceLibrary.service.model.MissionState.中止, out string msg);
                                 LogUtil.info($"{Agv.Name}取消自动任务，并终止当前任务：{Common.JsonHelper.SerializeObject(Agv.CurJob.JobParam.GetMissionInfo())}");
                                 LogUtil.info($"{Agv.Name}取消自动任务，并终止当前任务：{Common.JsonHelper.SerializeObject(Agv.CurJob.JobParam.GetMissionInfo())}");
                                 LiftContext.SetLiftNodeOccupied(Agv);
                                 LiftContext.SetLiftNodeOccupied(Agv);

DeviceLibrary/bean/job/SteelLiftToStorageJob.cs

@@ -313,7 +313,8 @@ namespace DeviceLibrary.bean.job
                         runInfo += $",返回{JobParam.SrcNode.AliceName}";
                         runInfo += $",返回{JobParam.SrcNode.AliceName}";
                         MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
                         MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
                         JobParam.SetMissionInfo(MissionManager.GetMission(JobParam.GetMissionInfo().missionId));
                         JobParam.SetMissionInfo(MissionManager.GetMission(JobParam.GetMissionInfo().missionId));
-                        AllocateTask(agv, JobParam.SrcNode.Name);
+                        //AllocateTask(agv, JobParam.SrcNode.Name);
+                        ToLift(agv, JobParam.SrcNode.Name);
                     }
                     }
                     JobRunStep.Msg = runInfo;
                     JobRunStep.Msg = runInfo;
                 }
                 }
@@ -348,7 +349,8 @@ namespace DeviceLibrary.bean.job
                     runInfo = $"料车需返回，电梯口无料车，去电梯口";
                     runInfo = $"料车需返回，电梯口无料车，去电梯口";
                     //任务状态变更
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
-                    AllocateTask(agv, JobParam.SrcNode.Name);
+                    // AllocateTask(agv, JobParam.SrcNode.Name);
+                    ToLift(agv, JobParam.SrcNode.Name);
                     JobRunStep.Msg = runInfo;
                     JobRunStep.Msg = runInfo;
                 }
                 }
             }
             }

DeviceLibrary/manager/DataBufferManager.cs

-using DeviceLibrary.service.model;
+using Common;
+using DeviceLibrary.service.model;
 using System;
 using System;
 using System.Collections.Generic;
 using System.Collections.Generic;
 using System.Linq;
 using System.Linq;
@@ -41,6 +42,7 @@ namespace DeviceLibrary.manager
             DetachShelf = false;
             DetachShelf = false;
             SteelAgvInStorage = false;
             SteelAgvInStorage = false;
             SteelTarget = "";
             SteelTarget = "";
+            LogUtil.info("重置钢网信息");
         }
         }
     }
     }
 }
 }

DeviceLibrary/service/Service.cs

@@ -233,7 +233,7 @@ namespace DeviceLibrary
             if (!DataBufferManager.SteelAgvInStorage)
             if (!DataBufferManager.SteelAgvInStorage)
             {
             {
                 stealResult.Msg = $"NG,3D";
                 stealResult.Msg = $"NG,3D";
-                Log.Info($"收到立库调用Storage接口：【Place={Place}】【{JsonHelper.SerializeObject(stealResult)}】");
+                Log.Info($"收到立库调用Storage1接口：【Place={Place}】【{JsonHelper.SerializeObject(stealResult)}】");
                 return stealResult;
                 return stealResult;
             }
             }
             //DI_On/DI_Off 信号亮DI_On，没信号DI_Off
             //DI_On/DI_Off 信号亮DI_On，没信号DI_Off
@@ -261,7 +261,7 @@ namespace DeviceLibrary
             {
             {
                 stealResult.Msg = $"NG,3D,not found place={Place}";
                 stealResult.Msg = $"NG,3D,not found place={Place}";
             }
             }
-            Log.Info($"收到立库调用Storage接口：【Place={Place}】【{JsonHelper.SerializeObject(stealResult)}】");
+            Log.Info($"收到立库调用Storage2接口：【Place={Place}】【{JsonHelper.SerializeObject(stealResult)}】");
             return stealResult;
             return stealResult;
         }
         }