临时点不去充电桩问题

Source/AGVDispatch/bin/Debug/logs/AGVServer/AGVServer.log

-[2023-01-07 20:43:23,259][1]INFO  AGVServer 【12000】服务启动
-[2023-01-07 20:43:23,260][1]INFO   Server start listen : 12000
-[2023-01-07 20:43:23,269][1]INFO  本机IP:[ 192.168.0.106 192.168.64.1 192.168.153.1 172.30.48.1 172.25.240.1]
+[2023-01-08 11:09:55,595][1]INFO  AGVServer 【12000】服务启动
+[2023-01-08 11:09:55,597][1]INFO   Server start listen : 12000
+[2023-01-08 11:09:55,607][1]INFO  本机IP:[ 192.168.0.106 192.168.64.1 192.168.153.1 172.30.48.1 172.25.240.1]

Source/AGVDispatch/bin/Debug/logs/Robot/Robot.log

-[2023-01-07 20:43:33,080][4]ERROR 【1号车】Get_Status
+[2023-01-08 11:10:05,514][4]ERROR 【1号车】Get_Status
 System.Net.Http.HttpRequestException: Request aborted ---> System.Threading.Tasks.TaskCanceledException: 已取消一个任务。
    在 System.Runtime.CompilerServices.TaskAwaiter.ThrowForNonSuccess(Task task)
    在 System.Runtime.CompilerServices.TaskAwaiter.HandleNonSuccessAndDebuggerNotification(Task task)
@@ -18,7 +18,7 @@ System.Net.Http.HttpRequestException: Request aborted ---> System.Threading.Task
    在 Common.Communication.HttpClient.GetResponse(String resource, Dictionary`2 query) 位置 E:\Codes\Neotel\SO1131-AGVDispatch\Source\Common\Communication\HttpClient.cs:行号 40
    在 Common.Communication.HttpClient.Get(String resource, Dictionary`2 query) 位置 E:\Codes\Neotel\SO1131-AGVDispatch\Source\Common\Communication\HttpClient.cs:行号 26
    在 DeviceLib.Model.AGV.MiR.MiROperation.Get_Status(Status& Status) 位置 E:\Codes\Neotel\SO1131-AGVDispatch\Source\DeviceLib\model\agv\MiR\MiROperation.cs:行号 266
-[2023-01-07 20:43:33,083][5]ERROR 【2号车】Get_Status
+[2023-01-08 11:10:05,532][5]ERROR 【2号车】Get_Status
 System.Net.Http.HttpRequestException: Request aborted ---> System.Threading.Tasks.TaskCanceledException: 已取消一个任务。
    在 System.Runtime.CompilerServices.TaskAwaiter.ThrowForNonSuccess(Task task)
    在 System.Runtime.CompilerServices.TaskAwaiter.HandleNonSuccessAndDebuggerNotification(Task task)

Source/AGVDispatch/bin/ProCopyClient.exe.config

@@ -4,6 +4,6 @@
     <supportedRuntime version="v4.0" sku=".NETFramework,Version=v4.6.1" />
   </startup>
   <appSettings>
-    <add key="ProName" value="AGVDispatch-agv临时点改为充电桩-手动加密码" />
+    <add key="ProName" value="AGVDispatch-临时点不去充电桩问题" />
   </appSettings>
 </configuration>
\ No newline at end of file

Source/DeviceLib/bll/job/TmpPlaceJob.cs

@@ -14,6 +14,7 @@ namespace DeviceLib.BLL
         {
             JobName = "去临时点任务";
         }
+        NodeJobState chargePile;
         public override Job Run(Robot robot)
         {
             Job job = this;
@@ -27,16 +28,42 @@ namespace DeviceLib.BLL
                     }
                     else
                     {
-                        ToNextStep(RunStep.TmpPlace_01_Start, "充电桩作为临时点任务开始");
-                        StartCharge(robot);
+                         chargePile = ChargeStandJobType.getChargePile(robot);
+                        if(chargePile != null)
+                        {
+                            ToNextStep(RunStep.TmpPlace_01_Start, "充电桩作为临时点任务开始");
+                            StartCharge(robot);
+                        }
+                        else
+                        {
+                            ToNextStep(RunStep.TmpPlace_01_Start, "去临时点任务开始");
+                            MoveToNode(robot, NodeManager.GetTmpPlace(JobParam.LineNode));
+                        }
                     }
                     break;
                 case RunStep.TmpPlace_01_Start:
                     if (AppConfigSetting.GetBoolVal(Setting_Str.TmpPlaceIsCharge, true))
-                        ToNextStep(RunStep.TmpPlace_04_WaitDstIdle, "在充电桩等待目标点空闲");
+                    {
+                        if (chargePile != null)
+                        {
+                            ToNextStep(RunStep.TmpPlace_04_WaitDstIdle, "在充电桩等待目标点空闲");
+                            StartCharge(robot);
+                        }
+                        else
+                        {
+                            if (MissionIsOk())
+                                ToNextStep(RunStep.TmpPlace_04_WaitDstIdle, "检查目标点是否空闲");
+                        }
+                    }
                     if (MissionIsOk())
                         ToNextStep(RunStep.TmpPlace_04_WaitDstIdle, "检查目标点是否空闲");
                     break;
+                //case RunStep.TmpPlace_02_CheckIfTmpPlace:
+
+                //    break;
+                //case RunStep.TmpPlace_03_ToDst:
+
+                //    break;
                 case RunStep.TmpPlace_04_WaitDstIdle:
                     if (!NodeManager.CheckNodeIsOccupied(JobParam.LineNode))
                         ToNextStep(RunStep.TmpPlace_05_End, "目标点空闲，无需去临时点");