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张东亮 / Qisda-SO1037-AGVDispatch

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Commit e16c1872 由 张东亮
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点位占用问题

1 个父辈 aa5fa145
内嵌 并排
正在显示 2 个修改的文件 包含 9 行增加 和 9 行删除
DeviceLibrary/bean/job/F1LiftC1ToLiftD2Job.cs
...@@ -621,7 +621,7 @@ namespace DeviceLibrary.bean.job ...@@ -621,7 +621,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_20_12_Switch)) 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 //去C1
Node src = NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift); Node src = NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);
......
DeviceLibrary/bean/job/F1LiftD2ToLiftC1Job.cs
...@@ -34,7 +34,7 @@ namespace DeviceLibrary.bean.job ...@@ -34,7 +34,7 @@ namespace DeviceLibrary.bean.job
}); });
if (JobRunStep.IsStep(RunStep.NONE)) if (JobRunStep.IsStep(RunStep.NONE))
{ {
if(TargetIsOccupied(agv, JobParam.SrcNode.Name)) if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
{ {
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_00_ToStandby); JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_00_ToStandby);
runInfo = $"在{JobParam.SrcNode.AliceName}小车，先去待机点"; runInfo = $"在{JobParam.SrcNode.AliceName}小车，先去待机点";
...@@ -71,8 +71,8 @@ namespace DeviceLibrary.bean.job ...@@ -71,8 +71,8 @@ namespace DeviceLibrary.bean.job
//上报状态 //上报状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId, 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, service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{ JobParam.SrcNode.Name }")); $"到达{JobParam.SrcNode.Name}"));
// lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, false, false); // lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, false, false);
runInfo = $"到达{JobParam.SrcNode.AliceName},等待门开启"; runInfo = $"到达{JobParam.SrcNode.AliceName},等待门开启";
JobRunStep.Msg = runInfo; JobRunStep.Msg = runInfo;
} }
...@@ -135,7 +135,7 @@ namespace DeviceLibrary.bean.job ...@@ -135,7 +135,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_06_CloseLiftDoor)) 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); JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_07_ToStandby);
runInfo = $"在{JobParam.CurTargetNode.AliceName}有小车，去待机点"; runInfo = $"在{JobParam.CurTargetNode.AliceName}有小车，去待机点";
...@@ -206,7 +206,7 @@ namespace DeviceLibrary.bean.job ...@@ -206,7 +206,7 @@ namespace DeviceLibrary.bean.job
MissionManager.SetMissionOccupied(JobParam.GetMissionInfo().missionId, agv); MissionManager.SetMissionOccupied(JobParam.GetMissionInfo().missionId, agv);
job = new SwitchShelfJob(JobParam); 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); JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_09_EnterLift);
runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，到放料点"; runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，到放料点";
...@@ -246,7 +246,7 @@ namespace DeviceLibrary.bean.job ...@@ -246,7 +246,7 @@ namespace DeviceLibrary.bean.job
ResetMissionOccupiedAgv(JobParam.GetMissionInfo()); ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
//任务状态变更 //任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回到达电梯内, out string msg); 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); LeaveLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo; JobRunStep.Msg = runInfo;
} }
...@@ -271,7 +271,7 @@ namespace DeviceLibrary.bean.job ...@@ -271,7 +271,7 @@ namespace DeviceLibrary.bean.job
{ {
if (agv.TaskRunState.CheckTaskFinished(agv)) 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); JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_08_CheckC1Status);
runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点1请求电梯"; runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点1请求电梯";
...@@ -495,7 +495,7 @@ namespace DeviceLibrary.bean.job ...@@ -495,7 +495,7 @@ namespace DeviceLibrary.bean.job
} }
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_20_12_Switch)) 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 //去D2
Node src = manager.NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift); Node src = manager.NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift);
......
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