风林门内返回充电不开门

DeviceLibrary/bean/RunStep.cs

@@ -17,6 +17,7 @@ namespace DeviceLibrary.bean
         #endregion
         #endregion
 
 
         #region 充电任务
         #region 充电任务
+        CHARGE_OUTAIR,
         /// <summary>
         /// <summary>
         /// 等待AGV到达充电位
         /// 等待AGV到达充电位
         /// </summary>
         /// </summary>

DeviceLibrary/bean/job/ChargeJob.cs

 using Common;
 using Common;
 using DeviceLibrary.bean;
 using DeviceLibrary.bean;
+using DeviceLibrary.manager;
+using System.Runtime.ConstrainedExecution;
+
 namespace DeviceLibrary
 namespace DeviceLibrary
 {
 {
     /// <summary>
     /// <summary>
@@ -24,12 +27,25 @@ namespace DeviceLibrary
         /// <param name="agv"></param>
         /// <param name="agv"></param>
         public override Job Run(AgvInfo agv)
         public override Job Run(AgvInfo agv)
         {
         {
+            Job job = this;
             agv.SetJobContext(new bean.agv.JobContext()
             agv.SetJobContext(new bean.agv.JobContext()
             {
             {
             });
             });
             if (JobRunStep.IsStep(RunStep.NONE))
             if (JobRunStep.IsStep(RunStep.NONE))
             {
             {
                 ClearLiftNodeOccupied(agv);
                 ClearLiftNodeOccupied(agv);
+                if (NodeManager.linesInAirShower[agv.Scope.Workshop].Contains(JobParam.SrcNode.Name))
+                {
+                    JobParam.CrossDoor.CurNode = JobParam.SrcNode;
+                    JobParam.CrossDoor.NextNode = JobParam.CurTargetNode;
+                    JobParam.CrossDoor.IsIn = false;
+                    JobParam.CrossDoor.IsAir = true;
+                    GenJobCallBack(this.GetType(), RunStep.CHARGE_OUTAIR, JobParam);
+                    job = new CrossDoorJob(JobParam);
+                }
+            }
+            else if(JobRunStep.IsStep(RunStep.CHARGE_OUTAIR))
+            {
                 if (!ChargePileManager.HasEmpty(agv, out ChargePile charge))
                 if (!ChargePileManager.HasEmpty(agv, out ChargePile charge))
                 {
                 {
                     runInfo = $"无空闲充电桩，从" + JobParam.SrcNode + "回到待机位";
                     runInfo = $"无空闲充电桩，从" + JobParam.SrcNode + "回到待机位";
@@ -68,7 +84,7 @@ namespace DeviceLibrary
                     }
                     }
                     else if (agv.Battery >= BatteryMin)
                     else if (agv.Battery >= BatteryMin)
                     {
                     {
-                        Job job = AGVManager.control.GetJob(agv);
+                         job = AGVManager.control.GetJob(agv);
                         if (job != null && ((job is ChargeJob) || (job is StandyJob)))
                         if (job != null && ((job is ChargeJob) || (job is StandyJob)))
                         {
                         {
                         }
                         }
@@ -97,7 +113,7 @@ namespace DeviceLibrary
                     }
                     }
                     else if (agv.Battery >= ChargePileManager.GetChargePiles().BatteryMin)
                     else if (agv.Battery >= ChargePileManager.GetChargePiles().BatteryMin)
                     {
                     {
-                        Job job = AGVManager.control.GetJob(agv);
+                         job = AGVManager.control.GetJob(agv);
                         if (job != null && ((job is ChargeJob) || (job is StandyJob)))
                         if (job != null && ((job is ChargeJob) || (job is StandyJob)))
                         {
                         {
                         }
                         }
@@ -119,7 +135,7 @@ namespace DeviceLibrary
                 JobRunStep.EndJob();
                 JobRunStep.EndJob();
                 return null;
                 return null;
             }
             }
-            return this;
+            return job;
         }
         }
 
 
         /// <summary>
         /// <summary>

DeviceLibrary/manager/NodeManager.cs

@@ -205,7 +205,7 @@ namespace DeviceLibrary.manager
         /// key:车间名
         /// key:车间名
         /// val:线体名
         /// val:线体名
         /// </summary>
         /// </summary>
-        static Dictionary<string, List<string>> linesInAirShower = new Dictionary<string, List<string>>();
+       public static Dictionary<string, List<string>> linesInAirShower = new Dictionary<string, List<string>>();
         static void InitLinesInAirShower()
         static void InitLinesInAirShower()
         {
         {
             //添加3D的
             //添加3D的