1

AGVDispatch/Manual.cs

@@ -125,12 +125,12 @@ namespace AGVControl
                             Agv.Place = new Node();
                             Agv?.TaskRunState?.ResetInfo();
                             Agv.JobContext = new DeviceLibrary.bean.agv.JobContext();
-                            LogUtil.info($"切换到手动");
+                            LogUtil.info($"{Agv.Name} 切换到手动");
                         }
                     }
                     catch (Exception ex)
                     {
-                        LogUtil.error($"切换到手动异常", ex);
+                        LogUtil.error($"{Agv.Name} 切换到手动异常", ex);
                     }
                     manualTime = DateTime.Now;
                     //添加Init任务

DeviceLibrary/bean/job/ChargeJob.cs

@@ -33,16 +33,23 @@ namespace DeviceLibrary
             if (JobRunStep.IsStep(RunStep.NONE))
             {
                 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);
-                    return new CrossDoorJob(JobParam);
-                }
-                else
+                //if (NodeManager.linesInAirShower.ContainsKey(agv.Scope.Workshop))
+                //{
+                //    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);
+                //        return new CrossDoorJob(JobParam);
+                //    }
+                //    else
+                //    {
+                //        JobRunStep.ToNextStep(RunStep.CHARGE_OUTAIR);
+                //    }
+                //}
+                //else
                 {
                     JobRunStep.ToNextStep(RunStep.CHARGE_OUTAIR);
                 }

DeviceLibrary/bean/job/Job.cs

@@ -706,7 +706,14 @@ namespace DeviceLibrary
         {
             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)
+            {
+                if(missionInfo.projectType == ProjectType.钢网入库 || missionInfo.projectType == ProjectType.钢网领用)
+                {
+                    return false;
+                }
                 return true;
+            }
+
             if (missionInfo.state == MissionState.等待成品回收)
                 return true;
             return false;

DeviceLibrary/bean/job/SteelLiftToStorageJob.cs

@@ -369,7 +369,15 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_21_WaitDoorOpen))
             {
-                if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().sourceFloor, agv))
+                MissionInfo missionInfo = MissionManager.GetMission(JobParam.GetMissionInfo().missionId);
+                if (missionInfo == null)
+                {
+                    runInfo = $"到达{JobParam.SrcNode.AliceName}，未找到任务信息{JobParam.GetMissionInfo().missionId}，无法请求使用电梯";
+                    JobRunStep.Msg = runInfo;
+                    return job;
+                }
+
+                if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, missionInfo.sourceFloor, agv))
                 {
                     ChargePileManager.StopCharge(agv);
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_22_CheckLiftStatus);
@@ -378,7 +386,7 @@ namespace DeviceLibrary.bean.job
                     //上报位置
                     System.Threading.Thread.Sleep(1000);
                 }
-                else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
+                else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, missionInfo))
                 {
                     if (agv?.Battery <= 10 && !agv.IsInCharge)
                     {
@@ -396,7 +404,8 @@ namespace DeviceLibrary.bean.job
                     }
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_21_WaitDoorOpen);
                     //请求电梯
-                    lift.LiftContext.Request(JobParam.GetMissionInfo(), agv);
+                    lift.LiftContext.Request(missionInfo, agv);
+                    System.Threading.Thread.Sleep(1000);
                     //上报运输状态
                     //manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                     //    service.model.TransportStatus.TypeStr.error, agv.Name, JobParam.SrcNode.Name, service.model.TransportStatus.ModeStr.auto,
@@ -405,15 +414,23 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_22_CheckLiftStatus))
             {
-                if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().sourceFloor, agv))
+                MissionInfo missionInfo = MissionManager.GetMission(JobParam.GetMissionInfo().missionId);
+                if (missionInfo == null)
+                {
+                    runInfo = $"到达{JobParam.SrcNode.AliceName}，未找到任务信息{JobParam.GetMissionInfo().missionId}，无法请求使用电梯";
+                    JobRunStep.Msg = runInfo;
+                    return job;
+                }
+                if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, missionInfo.sourceFloor, agv))
                 {
                     ChargePileManager.StopCharge(agv);
                     if (lift.LiftContext.HasShelfNeedLeave(JobParam.SrcNode.Name, agv.Client, out JobParam.LiftStatus))
                     {
-                        MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId ?? "");
-                        if (missionInfo != null)
+                        MissionInfo missionInfo1 = MissionManager.GetMission(JobParam.LiftStatus?.missionId ?? "");
+                        if (missionInfo1 != null)
                         {
-                            MissionManager.SetMissionOccupied(missionInfo, agv);
+                            MissionManager.SetMissionOccupied(missionInfo1, agv);
+                            JobParam.SetMissionInfo(missionInfo);
                             JobParam.CurTargetNode = JobParam.SrcNode;
                             job = new SwitchShelfJob(JobParam);
                         }