20210602, 调度流程 取车流程 搬运器

dispatch/carrier.cpp

@@ -376,14 +376,21 @@ Error_manager Carrier::update_actual_coordinates_id()
 	}
 	m_actual_coordinates_id = t_index_min;
 
-	//更新空间锁, 只是 覆盖写入加锁.
-	if ( m_actual_coordinates_id != 0 )
+	//3楼的搬运器不用加空间锁
+	if ( get_device_id() != 2 )
 	{
-		Dispatch_coordinates::get_instance_references().set_space_lock_for_carrier(m_actual_coordinates_id, m_device_id);
+		//更新空间锁, 只是 覆盖写入加锁.
+		if ( m_actual_coordinates_id != 0 )
+		{
+			m_actual_coordinates_rows = (m_actual_coordinates_id-1) / Dispatch_coordinates::get_instance_references().m_space_lock_columns;
+			m_actual_coordinates_columns = (m_actual_coordinates_id-1) % Dispatch_coordinates::get_instance_references().m_space_lock_columns;
+			Dispatch_coordinates::get_instance_references().set_space_lock_for_carrier(m_actual_coordinates_rows, m_actual_coordinates_columns, m_device_id);
+		}
 	}
 
 
 
+
 //	if ( get_device_id() == 2 )
 //	{
 //		for (auto iter = tp_dispatch_coordinates->m_carrier_coordinates.begin(); iter != tp_dispatch_coordinates->m_carrier_coordinates.end(); ++iter)

dispatch/catcher.cpp

@@ -367,10 +367,13 @@ Error_manager Catcher::update_actual_coordinates_id()
 	//更新空间锁, 只是 覆盖写入加锁.
 	if ( m_actual_coordinates_id != 0 )
 	{
+		m_actual_coordinates_rows = (m_actual_coordinates_id-1) / Dispatch_coordinates::get_instance_references().m_space_lock_columns;
+		m_actual_coordinates_columns = (m_actual_coordinates_id-1) % Dispatch_coordinates::get_instance_references().m_space_lock_columns;
 		Dispatch_coordinates::get_instance_references().set_space_lock_for_catcher(m_actual_coordinates_id, m_device_id);
+		//保留4楼的空间锁
+		Dispatch_coordinates::get_instance_references().catcher_4st_floor_space_lock(m_actual_coordinates_columns, m_device_id);
 	}
 
-
 //	for (auto iter = tp_dispatch_coordinates->m_catcher_coordinates.begin(); iter != tp_dispatch_coordinates->m_catcher_coordinates.end(); ++iter)
 //	{
 //		if ( Common_data::approximate_difference(m_actual_x, iter->second.x, 100) &&

dispatch/dispatch_coordinates.cpp

@@ -395,6 +395,156 @@ bool Dispatch_coordinates::is_able_redirect(int pickup_parkspace_id, int store_p
 	return true;
 }
 
+//搬运器尝试空间加锁
+Error_manager Dispatch_coordinates::carrier_try_space_lock(int row_min, int column_min, int row_max, int column_max, int carrier_id, int& avoid_catcher_id )
+{
+	std::unique_lock<std::mutex> t_lock(m_lock);
+	bool try_flag = true;
+	avoid_catcher_id = -1;
+	for (int i = row_min; i <= row_max; ++i)
+	{
+		for (int j = column_min; j <= column_max ; ++j)
+		{
+			if ( mpp_space_lock[i][j].m_carrier_id != -1 &&
+				 mpp_space_lock[i][j].m_carrier_id != carrier_id )
+			{
+				try_flag = false;
+				break;
+			}
+			else if ( mpp_space_lock[i][j].m_catcher_id != -1 )
+			{
+				try_flag = false;
+				avoid_catcher_id = mpp_space_lock[i][j].m_catcher_id;
+				break;
+			}
+		}
+	}
+	
+	if ( try_flag )
+	{
+		for (int i = row_min; i <= row_max; ++i)
+		{
+			for (int j = column_min; j <= column_max ; ++j)
+			{
+				if ( mpp_space_lock[i][j].m_carrier_id != -1 &&
+					 mpp_space_lock[i][j].m_carrier_id != carrier_id &&
+					 mpp_space_lock[i][j].m_catcher_id != -1)
+				{
+					mpp_space_lock[i][j].m_carrier_id = carrier_id;
+				}
+			}
+		}
+	    return Error_code::SUCCESS;
+	}
+	else
+	{
+	    return Error_manager(Error_code::DISPATCH_COORDINATES_CAN_NOT_LOCK, Error_level::MINOR_ERROR,
+	    					" Dispatch_coordinates::carrier_try_space_lock error ");
+	}
+}
+//抓取器尝试空间加锁
+Error_manager Dispatch_coordinates::catcher_try_space_lock(int row_min, int column_min, int row_max, int column_max, int catcher_id )
+{
+	std::unique_lock<std::mutex> t_lock(m_lock);
+	bool try_flag = true;
+	for (int i = row_min; i <= row_max; ++i)
+	{
+		for (int j = column_min; j <= column_max ; ++j)
+		{
+			if ( mpp_space_lock[i][j].m_catcher_id != -1 &&
+				 mpp_space_lock[i][j].m_catcher_id != catcher_id &&
+				 mpp_space_lock[i][j].m_carrier_id != -1)
+			{
+				try_flag = false;
+				break;
+			}
+		}
+	}
+
+	if ( try_flag )
+	{
+		for (int i = row_min; i <= row_max; ++i)
+		{
+			for (int j = column_min; j <= column_max ; ++j)
+			{
+				if ( mpp_space_lock[i][j].m_catcher_id != -1 &&
+					 mpp_space_lock[i][j].m_catcher_id != catcher_id &&
+					 mpp_space_lock[i][j].m_carrier_id != -1)
+				{
+					mpp_space_lock[i][j].m_catcher_id = catcher_id;
+				}
+			}
+		}
+		return Error_code::SUCCESS;
+	}
+	else
+	{
+		return Error_manager(Error_code::DISPATCH_COORDINATES_CAN_NOT_LOCK, Error_level::MINOR_ERROR,
+							 " Dispatch_coordinates::carrier_try_space_lock error ");
+	}
+}
+//搬运器解锁, 退回电梯井, 全部解锁
+Error_manager Dispatch_coordinates::carrier_space_unlock(int carrier_id)
+{
+	std::unique_lock<std::mutex> t_lock(m_lock);
+	for (int i = 0; i < m_space_lock_rows; ++i)
+	{
+		for (int j = 0; j < m_space_lock_columns ; ++j)
+		{
+			if ( mpp_space_lock[i][j].m_catcher_id == carrier_id )
+			{
+				mpp_space_lock[i][j].m_catcher_id = -1;
+			}
+		}
+	}
+	return Error_code::SUCCESS;
+}
+//抓取器解锁, 上升到最上层, 全部解锁, 保留4楼的空间锁
+Error_manager Dispatch_coordinates::catcher_space_unlock(int catcher_coordinates_id, int catcher_id)
+{
+	std::unique_lock<std::mutex> t_lock(m_lock);
+	for (int i = 0; i < m_space_lock_rows; ++i)
+	{
+		for (int j = 0; j < m_space_lock_columns ; ++j)
+		{
+			if ( mpp_space_lock[i][j].m_catcher_id == catcher_id )
+			{
+				mpp_space_lock[i][j].m_catcher_id = -1;
+			}
+		}
+	}
+	//保留4楼的空间锁
+	if ( catcher_coordinates_id >= 34 && catcher_coordinates_id <= 42 )
+	{
+		int t_coordinates_columns = catcher_coordinates_id -30;
+		catcher_4st_floor_space_lock(t_coordinates_columns, catcher_id);
+	}
+	else if ( catcher_coordinates_id >= 1401 && catcher_coordinates_id <= 1406 )
+	{
+		int t_coordinates_columns = catcher_coordinates_id - 1400;
+		int temp = (t_coordinates_columns-1)%2;
+		t_coordinates_columns = ((t_coordinates_columns-1)/2) + 4 + temp*2;
+		catcher_4st_floor_space_lock(t_coordinates_columns, catcher_id);
+	}
+	else
+	{
+		return Error_manager(Error_code::DISPATCH_COORDINATES_ID_ERROR, Error_level::MINOR_ERROR,
+							 " Dispatch_coordinates::catcher_space_unlock error ");
+	}
+	return Error_code::SUCCESS;
+}
+//抓取器 加锁4楼的5个车位
+Error_manager Dispatch_coordinates::catcher_4st_floor_space_lock(int catcher_4st_floor_coordinates_columns, int catcher_id)
+{
+	//周围5个车位 加锁
+	mpp_space_lock[2][catcher_4st_floor_coordinates_columns-2].m_catcher_id = catcher_id;
+	mpp_space_lock[2][catcher_4st_floor_coordinates_columns-1].m_catcher_id = catcher_id;
+	mpp_space_lock[2][catcher_4st_floor_coordinates_columns].m_catcher_id = catcher_id;
+	mpp_space_lock[2][catcher_4st_floor_coordinates_columns+1].m_catcher_id = catcher_id;
+	mpp_space_lock[2][catcher_4st_floor_coordinates_columns+2].m_catcher_id = catcher_id;
+	return Error_code::SUCCESS;
+}
+
 void Dispatch_coordinates::set_space_lock(int space_rows, int space_columns, int catcher_id, int carrier_id)
 {
 	std::unique_lock<std::mutex> t_lock(m_lock);

dispatch/dispatch_coordinates.h

@@ -81,6 +81,17 @@ public://API functions
 	Parkspace_path get_pickup_path(int dispatch_source, int dispatch_destination);
 	//检查停车位和取车位, 判断是否能改道
 	bool is_able_redirect(int pickup_parkspace_id, int store_parkspace_id);
+
+	//搬运器尝试空间加锁
+	Error_manager carrier_try_space_lock(int row_min, int column_min, int row_max, int column_max, int carrier_id, int & avoid_catcher_id );
+	//抓取器尝试空间加锁
+	Error_manager catcher_try_space_lock(int row_min, int column_min, int row_max, int column_max, int catcher_id );
+	//搬运器解锁, 退回电梯井, 全部解锁
+	Error_manager carrier_space_unlock(int carrier_id);
+	//抓取器解锁, 上升到最上层, 全部解锁, 保留4楼的空间锁
+	Error_manager catcher_space_unlock(int catcher_coordinates_id, int catcher_id);
+	//抓取器 加锁4楼的5个车位
+	Error_manager catcher_4st_floor_space_lock(int catcher_4st_floor_coordinates_columns, int catcher_id);
 public://get or set member variable
 
 	void set_space_lock(int space_rows, int space_columns, int catcher_id, int carrier_id);

dispatch/dispatch_process.cpp

@@ -475,12 +475,19 @@ Error_manager Dispatch_process::dispatch_control_motion_pickup()
 	Dispatch_coordinates * tp_dispatch_coordinates = Dispatch_coordinates::get_instance_pointer();
 
 	Error_manager t_carrier_error;
-	Carrier * tp_carrier = NULL;
-	Carrier_task * tp_carrier_task = NULL;
+	Carrier * tp_main_carrier = NULL;
+	Carrier_task * tp_main_carrier_task = NULL;
 	if ( m_dispatch_carrier_node.mp_main_carrier.get() != NULL && m_dispatch_carrier_node.mp_main_carrier_task.get() != NULL )
 	{
-		tp_carrier = (Carrier *)m_dispatch_carrier_node.mp_main_carrier.get();
-		tp_carrier_task = (Carrier_task *)m_dispatch_carrier_node.mp_main_carrier_task.get();
+		tp_main_carrier = (Carrier *)m_dispatch_carrier_node.mp_main_carrier.get();
+		tp_main_carrier_task = (Carrier_task *)m_dispatch_carrier_node.mp_main_carrier_task.get();
+	}
+	Catcher * tp_avoid_catcher = NULL;
+	Catcher_task * tp_avoid_catcher_task = NULL;
+	if ( m_dispatch_carrier_node.mp_avoid_catcher.get() != NULL && m_dispatch_carrier_node.mp_avoid_catcher_task.get() != NULL )
+	{
+		tp_avoid_catcher = (Catcher *)m_dispatch_carrier_node.mp_avoid_catcher.get();
+		tp_avoid_catcher_task = (Catcher_task *)m_dispatch_carrier_node.mp_avoid_catcher_task.get();
 	}
 
 	//搬运器的控制动作
@@ -504,12 +511,21 @@ Error_manager Dispatch_process::dispatch_control_motion_pickup()
 			//else 原地等待
 			break;
 		}
-		case DISPATCH_CARRIER_PICKUP_START:
+		case DISPATCH_CARRIER_PICKUP_START://连接搬运器, 创建新的任务单 与设备建立连接
 		{
-			m_dispatch_carrier_node.m_error = connect_dispatch_carrier(m_dispatch_carrier_node.mp_main_carrier, m_dispatch_carrier_node.mp_main_carrier_task, Dispatch_device_base::Dispatch_task_level::DISPATCH_TASK_ONE_LEVEL);
+			//连接搬运器, 创建新的任务单 与设备建立连接, 只能成功, 失败就要进入故障处理
+			m_dispatch_carrier_node.m_error = m_dispatch_carrier_node.mp_main_carrier->check_task_level(Dispatch_device_base::Dispatch_task_level::DISPATCH_TASK_ONE_LEVEL);
 			if ( m_dispatch_carrier_node.m_error == Error_code::SUCCESS )
 			{
-				m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+				m_dispatch_carrier_node.m_error = connect_dispatch_carrier(m_dispatch_carrier_node.mp_main_carrier, m_dispatch_carrier_node.mp_main_carrier_task, Dispatch_device_base::Dispatch_task_level::DISPATCH_TASK_ONE_LEVEL);
+				if ( m_dispatch_carrier_node.m_error == Error_code::SUCCESS )
+				{
+					m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+				}
+				else
+				{
+					m_dispatch_carrier_node.m_dispatch_control_status = Dispatch_process::Dispatch_control_status::DISPATCH_CONTROL_FAULT;
+				}
 			}
 			else
 			{
@@ -519,32 +535,471 @@ Error_manager Dispatch_process::dispatch_control_motion_pickup()
 		}
 		case DISPATCH_CARRIER_PICKUP_1:
 		{
-			check_task(m_dispatch_carrier_node.mp_main_carrier_task, m_dispatch_carrier_node.m_dispatch_control_status);
+			check_task_status(m_dispatch_carrier_node.mp_main_carrier_task, m_dispatch_carrier_node.m_dispatch_control_status);
 			break;
 		}
-		case DISPATCH_CARRIER_PICKUP_2:
+		case DISPATCH_CARRIER_PICKUP_2://搬运器 准备开始, 需要同步任务单和设备真实数据
 		{
-			//检查姿态
-			if ( tp_carrier->m_actual_load_status == Dispatch_device_base::Load_status::NO_CAR )
+			//搬运器 准备开始, 需要同步任务单和设备真实数据.//注意了:连接设备只是预约, 设备不一定立刻执行.所以需要在连接成功之后进行数据同步
+			carrier_ready_to_start(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_main_carrier, tp_main_carrier_task, tp_dispatch_coordinates);
+			m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_3:
+		{
+			check_task_status(m_dispatch_carrier_node.mp_main_carrier_task, m_dispatch_carrier_node.m_dispatch_control_status);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_4://检查姿态 //搬运器调整到 正常待机的姿态(调节夹杆和轴距)
+		{
+			if ( tp_main_carrier->m_actual_load_status == Dispatch_device_base::Load_status::NO_CAR )
 			{
-				if ( tp_carrier_task->m_request_clamp_motion == Carrier_task::Clamp_motion::E_CLAMP_LOOSE &&
-					 Common_data::approximate_difference(m_wheel_base, tp_carrier->m_actual_y1-tp_carrier->m_actual_y2, DISPATCH_DEFAULT_DIFFERENCE))
+				if ( tp_main_carrier_task->m_request_clamp_motion == Carrier_task::Clamp_motion::E_CLAMP_LOOSE &&
+					 Common_data::approximate_difference(m_wheel_base, tp_main_carrier->m_actual_y1-tp_main_carrier->m_actual_y2, DISPATCH_DEFAULT_DIFFERENCE))
 				{
-					tp_carrier_task->m_step +=2;
+					m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+2);
 				}
 				else
 				{
-					carrier_adjust_to_ready(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_carrier, tp_carrier_task, tp_dispatch_coordinates);
-					tp_carrier_task->m_step++;
+					//搬运器调整到 正常待机的姿态(调节夹杆和轴距)
+					carrier_adjust_to_ready(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_main_carrier, tp_main_carrier_task, tp_dispatch_coordinates);
+					m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
 				}
 			}
 			else
 			{
-				return Error_manager(Error_code::CARRIER_POSE_ERROR, Error_level::MINOR_ERROR,
+				m_dispatch_carrier_node.m_dispatch_control_status = Dispatch_process::Dispatch_control_status::DISPATCH_CONTROL_FAULT;
+				m_dispatch_carrier_node.m_error =  Error_manager(Error_code::CARRIER_POSE_ERROR, Error_level::MINOR_ERROR,
 									 "tp_carrier->m_actual_load_status != Dispatch_device_base::Load_status::NO_CAR fun error ");
 			}
 			break;
 		}
+		case DISPATCH_CARRIER_PICKUP_5:
+		{
+			check_task_status(m_dispatch_carrier_node.mp_main_carrier_task, m_dispatch_carrier_node.m_dispatch_control_status);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_6://让小跑车回到中跑车上, y轴移动
+		{
+			if ( Common_data::approximate_difference(tp_main_carrier->m_actual_y, tp_dispatch_coordinates->m_carrier_default_y_back, DISPATCH_DEFAULT_DIFFERENCE) )
+			{
+				m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+2);
+			}
+			else
+			{
+				carrier_move_y(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_main_carrier, tp_main_carrier_task, tp_dispatch_coordinates, tp_dispatch_coordinates->m_carrier_default_y_back);
+				m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+			}
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_7:
+		{
+			check_task_status(m_dispatch_carrier_node.mp_main_carrier_task, m_dispatch_carrier_node.m_dispatch_control_status);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_8://让中跑车回到电梯井, 进行x轴路径检查
+		{
+			float t_z = tp_dispatch_coordinates->m_carrier_coordinates[m_parkspace_information_optimal.parkingspace_index_id].z;
+			if ( Common_data::approximate_difference(tp_main_carrier->m_actual_z, t_z, DISPATCH_DEFAULT_DIFFERENCE) )
+			{
+				//直接到 20步 , 准备同层移动到车位
+				m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status::DISPATCH_CARRIER_PICKUP_20);
+			}
+			else
+			{
+				//如果是3楼, 直接报错, 因为3楼搬运器只能在3楼移动, z轴真实值和目标值 一定是相同的
+				if ( tp_main_carrier->get_device_id() !=0 && tp_main_carrier->get_device_id() !=1 )
+				{
+					m_dispatch_carrier_node.m_dispatch_control_status = Dispatch_process::Dispatch_control_status::DISPATCH_CONTROL_FAULT;
+					m_dispatch_carrier_node.m_error =  Error_manager(Error_code::CARRIER_CONRTOL_PARAMETER_ERROR, Error_level::MINOR_ERROR,
+																	 " tp_main_carrier->get_device_id()    PARAMRTER ERROR ");
+				}
+				else
+				{
+					int t_avoid_catcher_id = -1;	//需要避让的机器人
+					//空间锁判断, 是否需要机器人避让
+					if ( tp_main_carrier->get_device_id() == 0 )
+					{
+						m_dispatch_carrier_node.m_error = tp_dispatch_coordinates->carrier_try_space_lock(tp_main_carrier->m_actual_coordinates_rows, 0,
+																										  tp_main_carrier->m_actual_coordinates_rows, tp_main_carrier->m_actual_coordinates_columns,
+																										  tp_main_carrier->get_device_id(), t_avoid_catcher_id);
+					}
+					else if ( tp_main_carrier->get_device_id() == 1 )
+					{
+						m_dispatch_carrier_node.m_error = tp_dispatch_coordinates->carrier_try_space_lock(tp_main_carrier->m_actual_coordinates_rows, tp_main_carrier->m_actual_coordinates_columns,
+																										  tp_main_carrier->m_actual_coordinates_rows, tp_dispatch_coordinates->m_space_lock_columns,
+																										  tp_main_carrier->get_device_id(), t_avoid_catcher_id);
+					}
+					//判断结果
+					if ( m_dispatch_carrier_node.m_error == Error_code::SUCCESS )
+					{
+						//成功则直接跳转到 13步, 不用避让, 直接控制搬运器直到电梯井
+						m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status::DISPATCH_CARRIER_PICKUP_13);
+					}
+					else if(t_avoid_catcher_id != -1)
+					{
+					    //连接避让设备 使得避让机器人进行避让
+						m_dispatch_carrier_node.m_error = m_dispatch_carrier_node.mp_avoid_catcher->check_task_level(Dispatch_device_base::Dispatch_task_level::DISPATCH_TASK_TWO_LEVEL);
+						if ( m_dispatch_catcher_node.m_error == Error_code::SUCCESS )
+						{
+							m_dispatch_catcher_node.m_error = connect_dispatch_catcher(m_dispatch_carrier_node.mp_avoid_catcher, m_dispatch_carrier_node.mp_avoid_catcher_task, Dispatch_device_base::Dispatch_task_level::DISPATCH_TASK_TWO_LEVEL);
+							if ( m_dispatch_catcher_node.m_error == Error_code::SUCCESS )
+							{
+								m_dispatch_catcher_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_catcher_node.m_dispatch_control_status+1);
+							}
+						}
+						//else 抓取器的资源自由争抢, 如果没有抢到, 那么重复连接
+					}
+					else
+					{
+						m_dispatch_carrier_node.m_dispatch_control_status = Dispatch_process::Dispatch_control_status::DISPATCH_CONTROL_FAULT;
+						m_dispatch_carrier_node.m_error =  Error_manager(Error_code::CARRIER_CONRTOL_PARAMETER_ERROR, Error_level::MINOR_ERROR,
+																		 " carrier_try_space_lock    fun  ERROR ");
+					}
+				}
+			}
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_9:
+		{
+			check_task_status(m_dispatch_carrier_node.mp_avoid_catcher_task, m_dispatch_carrier_node.m_dispatch_control_status);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_10://机器人避让到最高点, 机器人上升不需要判断空间锁
+		{
+			catcher_move_z(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_avoid_catcher, tp_avoid_catcher_task, tp_dispatch_coordinates, tp_dispatch_coordinates->m_catcher_4th_floor_z);
+			m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_11://机器人释放 空间锁
+		{
+			m_dispatch_catcher_node.m_error = check_task_status(m_dispatch_carrier_node.mp_avoid_catcher_task, m_dispatch_carrier_node.m_dispatch_control_status);
+			if ( m_dispatch_catcher_node.m_error == Error_code::SUCCESS )
+			{
+				tp_dispatch_coordinates->catcher_space_unlock(tp_avoid_catcher->m_actual_coordinates_id, tp_avoid_catcher->get_device_id());
+			}
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_12://空间锁判断, 必须成功
+		{
+			int t_avoid_catcher_id = -1;	//需要避让的机器人
+			if ( tp_main_carrier->get_device_id() == 0 )
+			{
+				m_dispatch_carrier_node.m_error = tp_dispatch_coordinates->carrier_try_space_lock(tp_main_carrier->m_actual_coordinates_rows, 0,
+																								  tp_main_carrier->m_actual_coordinates_rows, tp_main_carrier->m_actual_coordinates_columns,
+																								  tp_main_carrier->get_device_id(), t_avoid_catcher_id);
+			}
+			else if ( tp_main_carrier->get_device_id() == 1 )
+			{
+				m_dispatch_carrier_node.m_error = tp_dispatch_coordinates->carrier_try_space_lock(tp_main_carrier->m_actual_coordinates_rows, tp_main_carrier->m_actual_coordinates_columns,
+																								  tp_main_carrier->m_actual_coordinates_rows, tp_dispatch_coordinates->m_space_lock_columns,
+																								  tp_main_carrier->get_device_id(), t_avoid_catcher_id);
+			}
+			//判断结果
+			if ( m_dispatch_carrier_node.m_error == Error_code::SUCCESS )
+			{
+				m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+			}
+			else
+			{
+				m_dispatch_carrier_node.m_dispatch_control_status = Dispatch_process::Dispatch_control_status::DISPATCH_CONTROL_FAULT;
+			}
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_13://让中跑车回到电梯井, x轴移动
+		{
+			if ( tp_main_carrier->get_device_id() == 0 )
+			{
+				carrier_move_x(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_main_carrier, tp_main_carrier_task, tp_dispatch_coordinates, tp_dispatch_coordinates->m_carrier_default_x_left);
+				m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+			}
+			else if ( tp_main_carrier->get_device_id() == 1 )
+			{
+				carrier_move_x(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_main_carrier, tp_main_carrier_task, tp_dispatch_coordinates, tp_dispatch_coordinates->m_carrier_default_x_right);
+				m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+			}
+			else
+			{
+				m_dispatch_carrier_node.m_dispatch_control_status = Dispatch_process::Dispatch_control_status::DISPATCH_CONTROL_FAULT;
+				m_dispatch_carrier_node.m_error = Error_manager(Error_code::CARRIER_CONRTOL_PARAMETER_ERROR, Error_level::MINOR_ERROR,
+																" tp_main_carrier->get_device_id() PARAMRTER ERROR ");
+			}
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_14://搬运器 释放空间锁
+		{
+			check_task_status(m_dispatch_carrier_node.mp_main_carrier_task, m_dispatch_carrier_node.m_dispatch_control_status);
+			if ( m_dispatch_catcher_node.m_error == Error_code::SUCCESS )
+			{
+				m_dispatch_carrier_node.m_error = tp_dispatch_coordinates->carrier_space_unlock(tp_main_carrier->get_device_id());
+			}
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_15://避让机器人 断连
+		{
+			if ( m_dispatch_carrier_node.mp_avoid_catcher.get() != NULL && m_dispatch_carrier_node.mp_avoid_catcher_task.get() != NULL )
+			{
+				disconnect_dispatch_device(m_dispatch_carrier_node.mp_avoid_catcher, m_dispatch_carrier_node.mp_avoid_catcher_task);
+			}
+			m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_16://收回对接，之后中跑车固定在电梯上不能X轴移动，电梯可以Z轴移动
+		{
+			carrier_joint_x(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_main_carrier, tp_main_carrier_task, tp_dispatch_coordinates, Carrier_task::Joint_motion::E_JOINT_TAKE_BACK);
+			m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_17:
+		{
+			check_task_status(m_dispatch_carrier_node.mp_main_carrier_task, m_dispatch_carrier_node.m_dispatch_control_status);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_18: //电梯移动到对应的楼层, 搬运器在电梯里面z轴移动, 不需要判断空间锁
+		{
+			float t_z = tp_dispatch_coordinates->m_carrier_coordinates[m_parkspace_information_optimal.parkingspace_index_id].z;
+			carrier_move_z(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_main_carrier, tp_main_carrier_task, tp_dispatch_coordinates, t_z);
+			m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_19:
+		{
+			check_task_status(m_dispatch_carrier_node.mp_main_carrier_task, m_dispatch_carrier_node.m_dispatch_control_status);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_20://伸出对接，之后中跑车可以x轴移动，电梯不能Z轴移动
+		{
+			if ( tp_main_carrier->m_actual_joint_motion_x1 == Dispatch_device_base::Joint_motion::E_JOINT_TAKE_BACK )
+			{
+				carrier_joint_x(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_main_carrier, tp_main_carrier_task, tp_dispatch_coordinates, Carrier_task::Joint_motion::E_JOINT_HOLD_OUT);
+				m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+			}
+			else
+			{
+				m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+2);
+			}
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_21:
+		{
+			check_task_status(m_dispatch_carrier_node.mp_main_carrier_task, m_dispatch_carrier_node.m_dispatch_control_status);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_22://中跑车 x轴移动, 进行x轴路径检查
+		{
+			float t_x = tp_dispatch_coordinates->m_carrier_coordinates[m_parkspace_information_optimal.parkingspace_index_id].x;
+			float t_column = (m_parkspace_information_optimal.parkingspace_index_id-1) % tp_dispatch_coordinates->m_space_lock_columns;
+			if ( Common_data::approximate_difference(tp_main_carrier->m_actual_x, t_x, DISPATCH_DEFAULT_DIFFERENCE) )
+			{
+				//搬运器不用x轴运动, 直接到29步, 去车位取车
+				m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status::DISPATCH_CARRIER_PICKUP_29);
+			}
+			else
+			{
+				int t_avoid_catcher_id = -1;	//需要避让的机器人
+				if ( tp_main_carrier->get_device_id() == 0 && t_column <13-1)
+				{
+					m_dispatch_carrier_node.m_error = tp_dispatch_coordinates->carrier_try_space_lock(tp_main_carrier->m_actual_coordinates_rows, tp_main_carrier->m_actual_coordinates_columns,
+																									  tp_main_carrier->m_actual_coordinates_rows, t_column+1,
+																									  tp_main_carrier->get_device_id(), t_avoid_catcher_id);
+				}
+				else if ( tp_main_carrier->get_device_id() == 1 && t_column >3-1)
+				{
+					m_dispatch_carrier_node.m_error = tp_dispatch_coordinates->carrier_try_space_lock(tp_main_carrier->m_actual_coordinates_rows, t_column-1,
+																									  tp_main_carrier->m_actual_coordinates_rows, tp_main_carrier->m_actual_coordinates_columns,
+																									  tp_main_carrier->get_device_id(), t_avoid_catcher_id);
+				}
+				else if ( tp_main_carrier->get_device_id() == 2 )
+				{
+				    //3楼搬运器不用加锁, 直接x轴移动
+					m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status::DISPATCH_CARRIER_PICKUP_27);
+					break;//切换流程
+				}
+				else
+				{
+					m_dispatch_carrier_node.m_dispatch_control_status = Dispatch_process::Dispatch_control_status::DISPATCH_CONTROL_FAULT;
+					m_dispatch_carrier_node.m_error = Error_manager(Error_code::CARRIER_CONRTOL_PARAMETER_ERROR, Error_level::MINOR_ERROR,
+																	" tp_main_carrier->get_device_id() and m_parkspace_information_optimal.parkingspace_index_id PARAMRTER ERROR ");
+					break;//切换流程
+				}
+
+				//判断结果
+				if ( m_dispatch_carrier_node.m_error == Error_code::SUCCESS )
+				{
+					//左右搬运器加锁成功, 直接x轴移动
+					m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status::DISPATCH_CARRIER_PICKUP_27);
+				}
+				else if(t_avoid_catcher_id != -1 && tp_main_carrier->m_actual_coordinates_rows == 2)//4楼取车, 机器人进行避让
+				{
+					//连接避让设备 使得避让机器人进行避让
+					m_dispatch_carrier_node.m_error = m_dispatch_carrier_node.mp_avoid_catcher->check_task_level(Dispatch_device_base::Dispatch_task_level::DISPATCH_TASK_TWO_LEVEL);
+					if ( m_dispatch_catcher_node.m_error == Error_code::SUCCESS )
+					{
+						m_dispatch_catcher_node.m_error = connect_dispatch_catcher(m_dispatch_carrier_node.mp_avoid_catcher, m_dispatch_carrier_node.mp_avoid_catcher_task, Dispatch_device_base::Dispatch_task_level::DISPATCH_TASK_TWO_LEVEL);
+						if ( m_dispatch_catcher_node.m_error == Error_code::SUCCESS )
+						{
+							m_dispatch_catcher_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_catcher_node.m_dispatch_control_status+1);
+						}
+					}
+					//else 抓取器的资源自由争抢, 如果没有抢到, 那么重复连接
+				}
+				//else 无限等待
+			}
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_23:
+		{
+			check_task_status(m_dispatch_carrier_node.mp_avoid_catcher_task, m_dispatch_carrier_node.m_dispatch_control_status);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_24://让4楼机器人进行避让, 先加锁, 在避让
+		{
+			if ( tp_main_carrier->get_device_id() == 0 )
+			{
+				m_dispatch_carrier_node.m_error = tp_dispatch_coordinates->catcher_try_space_lock(tp_main_carrier->m_actual_coordinates_rows, tp_avoid_catcher->m_actual_coordinates_columns,
+																								  tp_main_carrier->m_actual_coordinates_rows, 14-1,
+																								  tp_avoid_catcher->get_device_id());
+				//判断结果
+				if ( m_dispatch_carrier_node.m_error == Error_code::SUCCESS )
+				{
+					float t_x = tp_dispatch_coordinates->m_carrier_coordinates[42].x;
+					catcher_move_x(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_avoid_catcher, tp_avoid_catcher_task, tp_dispatch_coordinates, tp_dispatch_coordinates->m_catcher_4th_floor_z);
+					m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+				}
+				//else 无限等待
+			}
+			else if ( tp_main_carrier->get_device_id() == 1 )
+			{
+				m_dispatch_carrier_node.m_error = tp_dispatch_coordinates->catcher_try_space_lock(tp_main_carrier->m_actual_coordinates_rows, 2-1,
+																								  tp_main_carrier->m_actual_coordinates_rows, tp_avoid_catcher->m_actual_coordinates_columns,
+																								  tp_avoid_catcher->get_device_id());
+				//判断结果
+				if ( m_dispatch_carrier_node.m_error == Error_code::SUCCESS )
+				{
+					float t_x = tp_dispatch_coordinates->m_carrier_coordinates[34].x;
+					catcher_move_x(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_avoid_catcher, tp_avoid_catcher_task, tp_dispatch_coordinates, tp_dispatch_coordinates->m_catcher_4th_floor_z);
+					m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+				}
+				//else 无限等待
+			}
+
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_25://机器人释放 空间锁
+		{
+			check_task_status(m_dispatch_carrier_node.mp_avoid_catcher_task, m_dispatch_carrier_node.m_dispatch_control_status);
+			if ( m_dispatch_catcher_node.m_error == Error_code::SUCCESS )
+			{
+				tp_dispatch_coordinates->catcher_space_unlock(tp_avoid_catcher->m_actual_coordinates_id, tp_avoid_catcher->get_device_id());
+			}
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_26://空间锁判断, 必须成功
+		{
+			float t_column = (m_parkspace_information_optimal.parkingspace_index_id-1) % tp_dispatch_coordinates->m_space_lock_columns;
+			int t_avoid_catcher_id = -1;	//需要避让的机器人
+			if ( tp_main_carrier->get_device_id() == 0 && t_column <13-1)
+			{
+				m_dispatch_carrier_node.m_error = tp_dispatch_coordinates->carrier_try_space_lock(tp_main_carrier->m_actual_coordinates_rows, tp_main_carrier->m_actual_coordinates_columns,
+																								  tp_main_carrier->m_actual_coordinates_rows, t_column+1,
+																								  tp_main_carrier->get_device_id(), t_avoid_catcher_id);
+			}
+			else if ( tp_main_carrier->get_device_id() == 1 && t_column >3-1)
+			{
+				m_dispatch_carrier_node.m_error = tp_dispatch_coordinates->carrier_try_space_lock(tp_main_carrier->m_actual_coordinates_rows, t_column-1,
+																								  tp_main_carrier->m_actual_coordinates_rows, tp_main_carrier->m_actual_coordinates_columns,
+																								  tp_main_carrier->get_device_id(), t_avoid_catcher_id);
+			}
+
+			//判断结果
+			if ( m_dispatch_carrier_node.m_error == Error_code::SUCCESS )
+			{
+				m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+			}
+			else
+			{
+				m_dispatch_carrier_node.m_dispatch_control_status = Dispatch_process::Dispatch_control_status::DISPATCH_CONTROL_FAULT;
+			}
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_27://搬运器x轴移动到车位
+		{
+			float t_x = tp_dispatch_coordinates->m_carrier_coordinates[m_parkspace_information_optimal.parkingspace_index_id].x;
+			carrier_move_x(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_main_carrier, tp_main_carrier_task, tp_dispatch_coordinates, t_x);
+			m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_28:
+		{
+			check_task_status(m_dispatch_carrier_node.mp_main_carrier_task, m_dispatch_carrier_node.m_dispatch_control_status);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_29://小跑车 进入车位
+		{
+			carrier_move_y(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_main_carrier, tp_main_carrier_task, tp_dispatch_coordinates, tp_dispatch_coordinates->m_carrier_default_y_leave);
+			m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_30:
+		{
+			check_task_status(m_dispatch_carrier_node.mp_main_carrier_task, m_dispatch_carrier_node.m_dispatch_control_status);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_31://小跑车 夹车
+		{
+			carrier_move_c(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_main_carrier, tp_main_carrier_task, tp_dispatch_coordinates, Carrier_task::Clamp_motion::E_CLAMP_TIGHT);
+			m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_32:
+		{
+			check_task_status(m_dispatch_carrier_node.mp_main_carrier_task, m_dispatch_carrier_node.m_dispatch_control_status);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_33://小跑车 回到中跑车
+		{
+			carrier_move_y(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_main_carrier, tp_main_carrier_task, tp_dispatch_coordinates, tp_dispatch_coordinates->m_carrier_default_y_back);
+			m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_34:
+		{
+			check_task_status(m_dispatch_carrier_node.mp_main_carrier_task, m_dispatch_carrier_node.m_dispatch_control_status);
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_35://让中跑车回到电梯井
+		{
+			//如果不在2楼, 那么就要退回电梯井
+			if ( tp_main_carrier->get_device_id() == 0  && tp_main_carrier->m_actual_coordinates_rows != 0)
+			{
+				carrier_move_x(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_main_carrier, tp_main_carrier_task, tp_dispatch_coordinates, tp_dispatch_coordinates->m_carrier_default_x_left);
+				m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+			}
+			else if ( tp_main_carrier->get_device_id() == 1 && tp_main_carrier->m_actual_coordinates_rows != 0 )
+			{
+				carrier_move_x(get_dispatch_control_command_key(m_dispatch_carrier_node), tp_main_carrier, tp_main_carrier_task, tp_dispatch_coordinates, tp_dispatch_coordinates->m_carrier_default_x_right);
+				m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+1);
+			}
+			else
+			{
+				m_dispatch_carrier_node.m_dispatch_control_status = (Dispatch_process::Dispatch_control_status)(m_dispatch_carrier_node.m_dispatch_control_status+999);
+			}
+			break;
+		}
+		case DISPATCH_CARRIER_PICKUP_36://搬运器 释放空间锁
+		{
+			check_task_status(m_dispatch_carrier_node.mp_main_carrier_task, m_dispatch_carrier_node.m_dispatch_control_status);
+			if ( m_dispatch_catcher_node.m_error == Error_code::SUCCESS )
+			{
+				m_dispatch_carrier_node.m_error = tp_dispatch_coordinates->carrier_space_unlock(tp_main_carrier->get_device_id());
+			}
+			break;
+		}
+
+
+
+
+
 		default:
 		{
 
@@ -553,12 +1008,12 @@ Error_manager Dispatch_process::dispatch_control_motion_pickup()
 	}
 
 	Error_manager t_catcher_error;
-	Carrier * tp_catcher = NULL;
-	Carrier_task * tp_catcher_task = NULL;
+	Catcher * tp_main_catcher = NULL;
+	Catcher_task * tp_main_catcher_task = NULL;
 	if ( m_dispatch_catcher_node.mp_main_catcher.get() != NULL && m_dispatch_catcher_node.mp_main_catcher_task.get() != NULL )
 	{
-		tp_catcher = (Carrier *)m_dispatch_catcher_node.mp_main_catcher.get();
-		tp_catcher_task = (Carrier_task *)m_dispatch_catcher_node.mp_main_catcher_task.get();
+		tp_main_catcher = (Catcher *)m_dispatch_catcher_node.mp_main_catcher.get();
+		tp_main_catcher_task = (Catcher_task *)m_dispatch_catcher_node.mp_main_catcher_task.get();
 	}
 
 	//抓取器的控制动作
@@ -776,7 +1231,22 @@ Error_manager Dispatch_process::connect_dispatch_catcher(std::shared_ptr<Dispatc
 	return t_error;
 }
 
-
+//断开调度设备, 收回任务单, 释放任务单 与设备解除连接
+Error_manager Dispatch_process::disconnect_dispatch_device(std::shared_ptr<Dispatch_device_base> & p_device, std::shared_ptr<Task_Base> & p_device_task)
+{
+	if ( p_device.get() != NULL && p_device_task.get() != NULL )
+	{
+		p_device_task->set_task_statu(Task_Base::Task_statu::TASK_WITHDRAW);
+		p_device.reset();
+		p_device_task.reset();
+		return Error_code::SUCCESS;
+	}
+	else
+	{
+		return Error_manager(Error_code::POINTER_IS_NULL, Error_level::MINOR_ERROR,
+							 "  POINTER IS NULL ");
+	}
+}
 
 
 
@@ -2000,7 +2470,7 @@ Error_manager Dispatch_process::excute_carrier_receive_car_from_robot(Dispatch_c
 	}
 	if ( tp_carrier_task->m_step == 11 )//伸出对接，之后中跑车可以x轴移动，电梯不能Z轴移动
 	{
-		if ( tp_carrier->m_actual_joint_motion_x1 == Dispatch_device_base::Joint_motion::E_JOINT_TAKE_BACK )
+		if ( tp_carrier->m_actual_joint_motion_x1 == Dispatch_device_base::Joint_motion::E_JOINT_TAKE_BACK && tp_carrier->get_device_id() !=2)
 		{
 			carrier_joint_x(dispatch_control_node, tp_carrier, tp_carrier_task, tp_dispatch_coordinates, Carrier_task::Joint_motion::E_JOINT_HOLD_OUT);
 			tp_carrier_task->m_step++;
@@ -2173,7 +2643,7 @@ Error_manager Dispatch_process::excute_carrier_store_car_to_parkingspace(Dispatc
 	}
 	if ( tp_carrier_task->m_step == 13 )//伸出对接，之后中跑车可以x轴移动，电梯不能Z轴移动
 	{
-		if ( tp_carrier->m_actual_joint_motion_x1 == Dispatch_device_base::Joint_motion::E_JOINT_TAKE_BACK )
+		if ( tp_carrier->m_actual_joint_motion_x1 == Dispatch_device_base::Joint_motion::E_JOINT_TAKE_BACK && tp_carrier->get_device_id() !=2)
 		{
 			carrier_joint_x(dispatch_control_node, tp_carrier, tp_carrier_task, tp_dispatch_coordinates, Carrier_task::Joint_motion::E_JOINT_HOLD_OUT);
 			tp_carrier_task->m_step++;
@@ -2404,7 +2874,7 @@ Error_manager Dispatch_process::excute_carrier_store_car_to_parkingspace_ex(Disp
 	}
 	if ( tp_carrier_task->m_step == 13 )//伸出对接，之后中跑车可以x轴移动，电梯不能Z轴移动
 	{
-		if ( tp_carrier->m_actual_joint_motion_x1 == Dispatch_device_base::Joint_motion::E_JOINT_TAKE_BACK )
+		if ( tp_carrier->m_actual_joint_motion_x1 == Dispatch_device_base::Joint_motion::E_JOINT_TAKE_BACK && tp_carrier->get_device_id() !=2)
 		{
 			carrier_joint_x(dispatch_control_node, tp_carrier, tp_carrier_task, tp_dispatch_coordinates, Carrier_task::Joint_motion::E_JOINT_HOLD_OUT);
 			tp_carrier_task->m_step++;
@@ -2596,7 +3066,7 @@ Error_manager Dispatch_process::excute_carrier_pickup_car_from_parkingspace(Disp
 	}
 	if ( tp_carrier_task->m_step == 11 )//伸出对接，之后中跑车可以x轴移动，电梯不能Z轴移动
 	{
-		if ( tp_carrier->m_actual_joint_motion_x1 == Dispatch_device_base::Joint_motion::E_JOINT_TAKE_BACK )
+		if ( tp_carrier->m_actual_joint_motion_x1 == Dispatch_device_base::Joint_motion::E_JOINT_TAKE_BACK && tp_carrier->get_device_id() != 2)
 		{
 			carrier_joint_x(dispatch_control_node, tp_carrier, tp_carrier_task, tp_dispatch_coordinates, Carrier_task::Joint_motion::E_JOINT_HOLD_OUT);
 			tp_carrier_task->m_step++;
@@ -2677,8 +3147,16 @@ Error_manager Dispatch_process::excute_carrier_pickup_car_from_parkingspace(Disp
 	}
 	if ( tp_carrier_task->m_step == 23 )//收回对接，之后中跑车固定在电梯上不能X轴移动，电梯可以Z轴移动
 	{
-		carrier_joint_x(dispatch_control_node, tp_carrier, tp_carrier_task, tp_dispatch_coordinates, Carrier_task::Joint_motion::E_JOINT_TAKE_BACK);
-		tp_carrier_task->m_step++;
+		if ( tp_carrier->get_device_id() != 2 )
+		{
+			carrier_joint_x(dispatch_control_node, tp_carrier, tp_carrier_task, tp_dispatch_coordinates, Carrier_task::Joint_motion::E_JOINT_TAKE_BACK);
+			tp_carrier_task->m_step++;
+		}
+		else
+		{
+			tp_carrier_task->m_step +=2;
+		}
+
 	}
 	if ( tp_carrier_task->m_step == 24 )
 	{
@@ -2819,7 +3297,7 @@ Error_manager Dispatch_process::excute_carrier_pickup_car_from_parkingspace_ex(D
 	}
 	if ( tp_carrier_task->m_step == 11 )//伸出对接，之后中跑车可以x轴移动，电梯不能Z轴移动
 	{
-		if ( tp_carrier->m_actual_joint_motion_x1 == Dispatch_device_base::Joint_motion::E_JOINT_TAKE_BACK )
+		if ( tp_carrier->m_actual_joint_motion_x1 == Dispatch_device_base::Joint_motion::E_JOINT_TAKE_BACK && tp_carrier->get_device_id() != 2)
 		{
 			carrier_joint_x(dispatch_control_node, tp_carrier, tp_carrier_task, tp_dispatch_coordinates, Carrier_task::Joint_motion::E_JOINT_HOLD_OUT);
 			tp_carrier_task->m_step++;
@@ -3004,7 +3482,7 @@ Error_manager Dispatch_process::excute_carrier_deliver_car_to_robot(Dispatch_con
 	}
 	if ( tp_carrier_task->m_step == 11 )//伸出对接，之后中跑车可以x轴移动，电梯不能Z轴移动
 	{
-		if ( tp_carrier->m_actual_joint_motion_x1 == Dispatch_device_base::Joint_motion::E_JOINT_TAKE_BACK )
+		if ( tp_carrier->m_actual_joint_motion_x1 == Dispatch_device_base::Joint_motion::E_JOINT_TAKE_BACK && tp_carrier->get_device_id() !=2)
 		{
 			carrier_joint_x(dispatch_control_node, tp_carrier, tp_carrier_task, tp_dispatch_coordinates, Carrier_task::Joint_motion::E_JOINT_HOLD_OUT);
 			tp_carrier_task->m_step++;
@@ -3152,7 +3630,7 @@ Error_manager Dispatch_process::excute_carrier_move(Dispatch_control_node & disp
 	}
 	if ( tp_carrier_task->m_step == 9 )//伸出对接，之后中跑车可以x轴移动，电梯不能Z轴移动
 	{
-		if ( tp_carrier->m_actual_joint_motion_x1 == Dispatch_device_base::Joint_motion::E_JOINT_TAKE_BACK )
+		if ( tp_carrier->m_actual_joint_motion_x1 == Dispatch_device_base::Joint_motion::E_JOINT_TAKE_BACK && tp_carrier->get_device_id() !=2)
 		{
 			carrier_joint_x(dispatch_control_node, tp_carrier, tp_carrier_task, tp_dispatch_coordinates, Carrier_task::Joint_motion::E_JOINT_HOLD_OUT);
 			tp_carrier_task->m_step++;
@@ -3198,7 +3676,7 @@ Error_manager Dispatch_process::excute_passageway_motion(Dispatch_control_node &
 
 
 //检查 任务单 是否完成任务, 里面会调整短步骤
-Error_manager Dispatch_process::check_task(std::shared_ptr<Task_Base> p_task, Dispatch_control_status & dispatch_control_status)
+Error_manager Dispatch_process::check_task_status(std::shared_ptr<Task_Base> p_task, Dispatch_control_status & dispatch_control_status)
 {
 	if ( p_task.get() == NULL )
 	{
@@ -3210,7 +3688,9 @@ Error_manager Dispatch_process::check_task(std::shared_ptr<Task_Base> p_task, Di
 		if ( p_task->get_task_statu() == Task_Base::Task_statu::TASK_OVER )
 		{
 			dispatch_control_status = (Dispatch_control_status)(dispatch_control_status+1);
-			return Error_code::NODATA;	//这里返回nodata 表示任务继续下一步
+//			return Error_code::NODATA;	//这里返回nodata 表示任务继续下一步
+			//注意了, 这里返回成功, 用作动作完成判断
+			return Error_code::SUCCESS;	//这里返回nodata 表示任务继续下一步
 		}
 		else if ( p_task->get_task_statu() == Task_Base::Task_statu::TASK_ERROR )
 		{
@@ -3737,8 +4217,42 @@ Error_manager Dispatch_process::catcher_adjust_to_ready(std::string dispatch_con
 	return Error_code::SUCCESS;
 }
 
+//机器手 移动x
+Error_manager Dispatch_process::catcher_move_x(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_x)
+{
+
+	std::unique_lock<std::mutex> t_lock2(tp_catcher_task->m_lock);
+	tp_catcher_task->m_request_key = dispatch_control_command_key;
+	tp_catcher_task->set_task_statu(Task_Base::TASK_CREATED);
+
+	//机器手 移动x
+	tp_catcher_task->m_request_x = target_x;
+
+	std::cout << " huli test :::: " << " catcher_move_x = " << tp_catcher_task->m_request_key << std::endl;
+	std::cout << " huli test :::: " << " catcher_move_x = " << tp_catcher_task->m_respons_key << std::endl;
+	std::cout << " huli test :::: " << " tp_catcher_task->m_request_x = " << tp_catcher_task->m_request_x << std::endl;
+
+	return Error_code::SUCCESS;
+}
+//机器手 移动y
+Error_manager Dispatch_process::catcher_move_y(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_y)
+{
+
+	std::unique_lock<std::mutex> t_lock2(tp_catcher_task->m_lock);
+	tp_catcher_task->m_request_key = dispatch_control_command_key;
+	tp_catcher_task->set_task_statu(Task_Base::TASK_CREATED);
+
+	//机器手 移动y
+	tp_catcher_task->m_request_y = target_y;
+
+	std::cout << " huli test :::: " << " catcher_move_y = " << tp_catcher_task->m_request_key << std::endl;
+	std::cout << " huli test :::: " << " catcher_move_y = " << tp_catcher_task->m_respons_key << std::endl;
+	std::cout << " huli test :::: " << " tp_catcher_task->m_request_y = " << tp_catcher_task->m_request_y << std::endl;
+
+	return Error_code::SUCCESS;
+}
 //机器手 移动z
-Error_manager Dispatch_process::catcher_move_z(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target)
+Error_manager Dispatch_process::catcher_move_z(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_z)
 {
 
 	std::unique_lock<std::mutex> t_lock2(tp_catcher_task->m_lock);
@@ -3746,7 +4260,7 @@ Error_manager Dispatch_process::catcher_move_z(std::string dispatch_control_comm
 	tp_catcher_task->set_task_statu(Task_Base::TASK_CREATED);
 
 	//机器手 移动z
-	tp_catcher_task->m_request_z = target;
+	tp_catcher_task->m_request_z = target_z;
 
 	std::cout << " huli test :::: " << " catcher_move_z = " << tp_catcher_task->m_request_key << std::endl;
 	std::cout << " huli test :::: " << " catcher_move_z = " << tp_catcher_task->m_respons_key << std::endl;
@@ -3970,7 +4484,27 @@ Error_manager Dispatch_process::catcher_adjust_from_carrier(std::string dispatch
 	return Error_code::SUCCESS;
 }
 
+//搬运器 准备开始, 需要同步任务单和设备真实数据.
+Error_manager Dispatch_process::carrier_ready_to_start(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates)
+{
+	std::unique_lock<std::mutex> t_lock2(tp_carrier_task->m_lock);
+	tp_carrier_task->m_request_key = dispatch_control_command_key;
+	tp_carrier_task->set_task_statu(Task_Base::TASK_CREATED);
+
+	tp_carrier_task->m_request_x = tp_carrier->m_actual_x;
+	tp_carrier_task->m_request_y = tp_carrier->m_actual_y;
+	tp_carrier_task->m_request_z = tp_carrier->m_actual_z;
+	tp_carrier_task->m_request_y1 = tp_carrier->m_actual_y1;
+	tp_carrier_task->m_request_y2 = tp_carrier->m_actual_y2;
+	tp_carrier_task->m_request_clamp_motion = (Carrier_task::Clamp_motion)tp_carrier->m_actual_clamp_motion1;
+	tp_carrier_task->m_request_joint_motion_x = (Carrier_task::Joint_motion)tp_carrier->m_actual_joint_motion_x1;
+	tp_carrier_task->m_request_joint_motion_y = Carrier_task::Joint_motion::E_JOINT_NO_ACTION;
+	tp_carrier_task->m_request_space_id = 0;
+	tp_carrier_task->m_request_floor_id = 0;
+	tp_carrier_task->m_request_wheelbase = Dispatch_coordinates::get_instance_references().m_default_wheelbase;
 
+	return Error_code::SUCCESS;
+}
 //搬运器调整到 正常待机的姿态(调节夹杆和轴距)
 Error_manager Dispatch_process::carrier_adjust_to_ready(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates)
 {
@@ -3995,14 +4529,14 @@ Error_manager Dispatch_process::carrier_adjust_to_ready(std::string dispatch_con
 }
 
 //搬运器 移动x
-Error_manager Dispatch_process::carrier_move_x(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target)
+Error_manager Dispatch_process::carrier_move_x(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_x)
 {
 
 	std::unique_lock<std::mutex> t_lock2(tp_carrier_task->m_lock);
 	tp_carrier_task->m_request_key = dispatch_control_command_key;
 	tp_carrier_task->set_task_statu(Task_Base::TASK_CREATED);
 
-	tp_carrier_task->m_request_x = target;
+	tp_carrier_task->m_request_x = target_x;
 
 	std::cout << " huli test :::: " << " carrier_move_x = " << tp_carrier_task->m_request_key << std::endl;
 	std::cout << " huli test :::: " << " carrier_move_x = " << tp_carrier_task->m_respons_key << std::endl;
@@ -4012,14 +4546,14 @@ Error_manager Dispatch_process::carrier_move_x(std::string dispatch_control_comm
 }
 
 //搬运器 移动y
-Error_manager Dispatch_process::carrier_move_y(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target)
+Error_manager Dispatch_process::carrier_move_y(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_y)
 {
 
 	std::unique_lock<std::mutex> t_lock2(tp_carrier_task->m_lock);
 	tp_carrier_task->m_request_key = dispatch_control_command_key;
 	tp_carrier_task->set_task_statu(Task_Base::TASK_CREATED);
 
-	tp_carrier_task->m_request_y = target;
+	tp_carrier_task->m_request_y = target_y;
 	tp_carrier_task->m_request_wheelbase = m_wheel_base;
 	tp_carrier_task->m_request_y1 = tp_carrier_task->m_request_y + tp_dispatch_coordinates->m_carrier_y_y1_distance;
 	tp_carrier_task->m_request_y2 = tp_carrier_task->m_request_y1 - tp_carrier_task->m_request_wheelbase;
@@ -4035,14 +4569,14 @@ Error_manager Dispatch_process::carrier_move_y(std::string dispatch_control_comm
 }
 
 //搬运器 移动z
-Error_manager Dispatch_process::carrier_move_z(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target)
+Error_manager Dispatch_process::carrier_move_z(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_z)
 {
 
 	std::unique_lock<std::mutex> t_lock2(tp_carrier_task->m_lock);
 	tp_carrier_task->m_request_key = dispatch_control_command_key;
 	tp_carrier_task->set_task_statu(Task_Base::TASK_CREATED);
 
-	tp_carrier_task->m_request_z = target;
+	tp_carrier_task->m_request_z = target_z;
 
 	std::cout << " huli test :::: " << " carrier_move_z = " << tp_carrier_task->m_request_key << std::endl;
 	std::cout << " huli test :::: " << " carrier_move_z = " << tp_carrier_task->m_respons_key << std::endl;

dispatch/dispatch_process.h

@@ -112,6 +112,46 @@ public:
 		DISPATCH_CARRIER_PICKUP_7				= 207,
 		DISPATCH_CARRIER_PICKUP_8				= 208,
 		DISPATCH_CARRIER_PICKUP_9				= 209,
+		DISPATCH_CARRIER_PICKUP_10				= 210,
+		DISPATCH_CARRIER_PICKUP_11				= 211,
+		DISPATCH_CARRIER_PICKUP_12				= 212,
+		DISPATCH_CARRIER_PICKUP_13				= 213,
+		DISPATCH_CARRIER_PICKUP_14				= 214,
+		DISPATCH_CARRIER_PICKUP_15				= 215,
+		DISPATCH_CARRIER_PICKUP_16				= 216,
+		DISPATCH_CARRIER_PICKUP_17				= 217,
+		DISPATCH_CARRIER_PICKUP_18				= 218,
+		DISPATCH_CARRIER_PICKUP_19				= 219,
+		DISPATCH_CARRIER_PICKUP_20				= 220,
+		DISPATCH_CARRIER_PICKUP_21				= 221,
+		DISPATCH_CARRIER_PICKUP_22				= 222,
+		DISPATCH_CARRIER_PICKUP_23				= 223,
+		DISPATCH_CARRIER_PICKUP_24				= 224,
+		DISPATCH_CARRIER_PICKUP_25				= 225,
+		DISPATCH_CARRIER_PICKUP_26				= 226,
+		DISPATCH_CARRIER_PICKUP_27				= 227,
+		DISPATCH_CARRIER_PICKUP_28				= 228,
+		DISPATCH_CARRIER_PICKUP_29				= 229,
+		DISPATCH_CARRIER_PICKUP_30				= 230,
+		DISPATCH_CARRIER_PICKUP_31				= 231,
+		DISPATCH_CARRIER_PICKUP_32				= 232,
+		DISPATCH_CARRIER_PICKUP_33				= 233,
+		DISPATCH_CARRIER_PICKUP_34				= 234,
+		DISPATCH_CARRIER_PICKUP_35				= 235,
+		DISPATCH_CARRIER_PICKUP_36				= 236,
+		DISPATCH_CARRIER_PICKUP_37				= 237,
+		DISPATCH_CARRIER_PICKUP_38				= 238,
+		DISPATCH_CARRIER_PICKUP_39				= 239,
+		DISPATCH_CARRIER_PICKUP_40				= 240,
+		DISPATCH_CARRIER_PICKUP_41				= 241,
+		DISPATCH_CARRIER_PICKUP_42				= 242,
+		DISPATCH_CARRIER_PICKUP_43				= 243,
+		DISPATCH_CARRIER_PICKUP_44				= 244,
+		DISPATCH_CARRIER_PICKUP_45				= 245,
+		DISPATCH_CARRIER_PICKUP_46				= 246,
+		DISPATCH_CARRIER_PICKUP_47				= 247,
+		DISPATCH_CARRIER_PICKUP_48				= 248,
+		DISPATCH_CARRIER_PICKUP_49				= 249,
 
 		DISPATCH_CATCHER_PICKUP_START			= 300, 	//取车流程 开始
 		DISPATCH_CATCHER_PICKUP_1				= 301,
@@ -258,7 +298,8 @@ protected://主流程
 	Error_manager connect_dispatch_carrier(std::shared_ptr<Dispatch_device_base> & p_carrier, std::shared_ptr<Task_Base> & p_carrier_task, Dispatch_device_base::Dispatch_task_level dispatch_task_level);
 	//连接抓取器, 创建新的任务单 与设备建立连接, 可以失败, 失败就重新执行
 	Error_manager connect_dispatch_catcher(std::shared_ptr<Dispatch_device_base> & p_catcher, std::shared_ptr<Task_Base> & p_catcher_task, Dispatch_device_base::Dispatch_task_level dispatch_task_level);
-
+	//断开调度设备, 收回任务单, 释放任务单 与设备解除连接
+	Error_manager disconnect_dispatch_device(std::shared_ptr<Dispatch_device_base> & p_device, std::shared_ptr<Task_Base> & p_device_task);
 
 
 
@@ -322,7 +363,7 @@ protected://长流程
 
 protected://短流程
 	//检查 任务单 是否完成任务, 里面会调整短步骤
-	Error_manager check_task(std::shared_ptr<Task_Base> p_task, Dispatch_control_status & dispatch_control_status);
+	Error_manager check_task_status(std::shared_ptr<Task_Base> p_task, Dispatch_control_status & dispatch_control_status);
 	//检查 任务单 是否完成任务, 里面会调整短步骤
 	Error_manager check_task_ex(std::shared_ptr<Task_Base> p_task, int& step);
 
@@ -361,8 +402,12 @@ protected://短流程
 
 	//机器手调整到 正常待机的姿态(调节夹杆和轴距)
 	Error_manager catcher_adjust_to_ready(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates);
+	//机器手 移动x
+	Error_manager catcher_move_x(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_x);
+	//机器手 移动y
+	Error_manager catcher_move_y(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_y);
 	//机器手 移动z
-	Error_manager catcher_move_z(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target);
+	Error_manager catcher_move_z(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_z);
 	//机器手调整到 准备从地面抓车前的姿态
 	Error_manager catcher_adjust_from_ground(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates);
 	//机器手 修正轴距, 如果轴距大于3000mm, 那么就要修正轴距.
@@ -376,14 +421,16 @@ protected://短流程
 	//机器手调整到 对接搬运器的姿态
 	Error_manager catcher_adjust_from_carrier(std::string dispatch_control_command_key, Catcher * tp_catcher, Catcher_task * tp_catcher_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_x);
 
+	//搬运器 准备开始, 需要同步任务单和设备真实数据.
+	Error_manager carrier_ready_to_start(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates);
 	//搬运器调整到 正常待机的姿态(调节夹杆和轴距)
 	Error_manager carrier_adjust_to_ready(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates);
 	//搬运器 移动x
-	Error_manager carrier_move_x(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target);
+	Error_manager carrier_move_x(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_x);
 	//搬运器 移动y
-	Error_manager carrier_move_y(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target);
+	Error_manager carrier_move_y(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_y);
 	//搬运器 移动z
-	Error_manager carrier_move_z(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target);
+	Error_manager carrier_move_z(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, float target_z);
 	//搬运器 移动c轴 夹车杆
 	Error_manager carrier_move_c(std::string dispatch_control_command_key, Carrier * tp_carrier, Carrier_task * tp_carrier_task, Dispatch_coordinates * tp_dispatch_coordinates, Carrier_task::Clamp_motion target);
 	//搬运器调整 水平的交接

error_code/error_code.h

@@ -411,7 +411,7 @@ enum Error_code
 	DISPATCH_COORDINATES_READ_PROTOBUF_ERROR,				//调度坐标模块，读取参数错误
 	DISPATCH_COORDINATES_ID_ERROR,							//调度坐标模块，坐标id错误
 	DISPATCH_COORDINATES_PATH_ERROR,						//调度坐标模块，路径方向错误
-
+	DISPATCH_COORDINATES_CAN_NOT_LOCK,						//调度坐标模块，不能加锁
 
 	//snap7 通信模块 错误码
 	SNAP7_ERROR_BASE								= 0x1401000,