点位占用问题

DeviceLibrary/bean/job/F1LiftC1ToLiftD2Job.cs

@@ -621,7 +621,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_20_12_Switch))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv))
+                if (agv.TaskRunState.CheckTaskFinished(agv)&& !TargetIsOccupied(agv, SettingString.LIFT_C1))
                 {
                     //去C1
                     Node src = NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);

DeviceLibrary/bean/job/F1LiftD2ToLiftC1Job.cs

@@ -34,7 +34,7 @@ namespace DeviceLibrary.bean.job
             });
             if (JobRunStep.IsStep(RunStep.NONE))
             {
-                if(TargetIsOccupied(agv, JobParam.SrcNode.Name))
+                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";
@@ -71,8 +71,8 @@ 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 }"));
-                   // lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, false, false);
+                        $"到达{JobParam.SrcNode.Name}"));
+                    // lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, false, false);
                     runInfo = $"到达{JobParam.SrcNode.AliceName},等待门开启";
                     JobRunStep.Msg = runInfo;
                 }
@@ -135,7 +135,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_06_CloseLiftDoor))
             {
-                if(TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
+                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";
@@ -206,7 +206,7 @@ namespace DeviceLibrary.bean.job
                         MissionManager.SetMissionOccupied(JobParam.GetMissionInfo().missionId, agv);
                         job = new SwitchShelfJob(JobParam);
                     }
-                   else //if (!TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
+                    else //if (!TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
                     {
                         JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_09_EnterLift);
                         runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，到放料点";
@@ -246,7 +246,7 @@ 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;
                 }
@@ -271,7 +271,7 @@ namespace DeviceLibrary.bean.job
             {
                 if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
-                    if (!LiftContext.OtherAGVIsInLift(agv,JobParam.CurTargetNode.Name) && !LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name))
+                    if (!LiftContext.OtherAGVIsInLift(agv, JobParam.CurTargetNode.Name) && !LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name))
                     {
                         JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_08_CheckC1Status);
                         runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点1请求电梯";
@@ -495,7 +495,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_20_12_Switch))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv))
+                if (agv.TaskRunState.CheckTaskFinished(agv) && !TargetIsOccupied(agv, SettingString.LIFT_D2))
                 {
                     //去D2
                     Node src = manager.NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift);