update transporter safe move interlock

CyberX8_RT/Modules/Transporter/TransporterEntity.cs

@@ -709,7 +709,6 @@ namespace CyberX8_RT.Modules.Transporter
             RState ret = _moveToRoutine.Monitor();
             if (ret == RState.Failed || ret == RState.Timeout)
             {
-                _targetCell = "";
                 _currentRoutine = null;
                 if (Singleton<RouteManager>.Instance.IsAutoRunning)
                 {
@@ -754,6 +753,7 @@ namespace CyberX8_RT.Modules.Transporter
             }
             else
             {
+                _targetCell = "";
                 if (Singleton<RouteManager>.Instance.IsAutoRunning)
                 {
                     AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), TransporterState.MovingTo.ToString());
@@ -822,10 +822,7 @@ namespace CyberX8_RT.Modules.Transporter
             {
                 _currentRoutine = null;
                 _targetCell = "";
-                if (!string.IsNullOrEmpty(_sourceCell))
-                {
-                    _sourceCell = "";
-                }
+                _sourceCell = "";
                 AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), TransporterState.Placing.ToString());
             }
             return result;
@@ -1041,8 +1038,6 @@ namespace CyberX8_RT.Modules.Transporter
             RState ret = _transferRoutine.Monitor();
             if (ret == RState.Failed || ret == RState.Timeout)
             {
-                _targetCell = "";
-                _sourceCell = "";
                 _currentRoutine = null;
                 if (Singleton<RouteManager>.Instance.IsAutoRunning)
                 {
@@ -1085,6 +1080,8 @@ namespace CyberX8_RT.Modules.Transporter
             }
             else
             {
+                _targetCell = "";
+                _sourceCell = "";
                 if (Singleton<RouteManager>.Instance.IsAutoRunning)
                 {
                     AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), TransporterState.Transfering.ToString());
@@ -1200,11 +1197,11 @@ namespace CyberX8_RT.Modules.Transporter
             double otherPosition = otherGantryAxis.MotionData.MotorPosition;
             if (!string.IsNullOrEmpty(otherEntity.TargetCell))
             {
-                return CheckOtherModuleCellConflict(otherModule, otherEntity.TargetCell,otherPosition, positive, targetPosition);
+                return CheckOtherModuleCellConflict(otherModule, otherEntity.TargetCell,otherPosition, positive, targetPosition, motorPosition);
             }
             if(!string.IsNullOrEmpty(otherEntity.SourceCell))
             {
-                bool conflict= CheckOtherModuleCellConflict(otherModule, otherEntity.SourceCell,otherPosition, positive, targetPosition);
+                bool conflict= CheckOtherModuleCellConflict(otherModule, otherEntity.SourceCell,otherPosition, positive, targetPosition, motorPosition);
                 if (conflict)
                 {
                     //另一个Entity已经到达了目标位置
@@ -1248,7 +1245,7 @@ namespace CyberX8_RT.Modules.Transporter
         /// <param name="motorPosition"></param>
         /// <param name="targetPosition"></param>
         /// <returns></returns>
-        private bool CheckOtherModuleCellConflict(string otherModule, string cell,double otherPosition, bool positive,double targetPosition)
+        private bool CheckOtherModuleCellConflict(string otherModule, string cell,double otherPosition, bool positive,double targetPosition, double motorPosition)
         {
             int transporterMinimumDistance = SC.GetValue<int>("Transporter.TransporterMinimumDistance");
 
@@ -1261,15 +1258,19 @@ namespace CyberX8_RT.Modules.Transporter
             {
                 if (positive)
                 {
-                //    if (result.targetPosition - transporterMinimumDistance <= motorPosition)
-                //    {
-                //        return true;
-                //    }
+                    //    if (result.targetPosition - transporterMinimumDistance <= motorPosition)
+                    //    {
+                    //        return true;
+                    //    }
                     if (result.targetPosition - transporterMinimumDistance <= targetPosition)
                     {
                         return true;
                     }
-                    if(otherPosition - transporterMinimumDistance <= targetPosition)
+                    if (otherPosition - transporterMinimumDistance <= targetPosition)
+                    {
+                        return true;
+                    }
+                    if (result.targetPosition - transporterMinimumDistance <= motorPosition)
                     {
                         return true;
                     }
@@ -1285,7 +1286,11 @@ namespace CyberX8_RT.Modules.Transporter
                     {
                         return true;
                     }
-                    if(otherPosition + transporterMinimumDistance >= targetPosition)
+                    if (otherPosition + transporterMinimumDistance >= targetPosition)
+                    {
+                        return true;
+                    }
+                    if (result.targetPosition + transporterMinimumDistance >= motorPosition)
                     {
                         return true;
                     }
@@ -1360,8 +1365,6 @@ namespace CyberX8_RT.Modules.Transporter
             RState ret = _pickUpMoveToRoutine.Monitor();
             if (ret == RState.Failed || ret == RState.Timeout)
             {
-                _targetCell = "";
-                _sourceCell = "";
                 _currentRoutine = null;
                 if (Singleton<RouteManager>.Instance.IsAutoRunning)
                 {
@@ -1404,6 +1407,8 @@ namespace CyberX8_RT.Modules.Transporter
             }
             else
             {
+                _sourceCell = "";
+                _targetCell = "";
                 if (Singleton<RouteManager>.Instance.IsAutoRunning)
                 {
                     AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), TransporterState.PickUpMoveToing.ToString());
@@ -1466,7 +1471,6 @@ namespace CyberX8_RT.Modules.Transporter
             RState ret = _pickUpValidateRoutine.Monitor();
             if (ret == RState.Failed || ret == RState.Timeout)
             {
-                _sourceCell = "";
                 _currentRoutine = null;
                 if (Singleton<RouteManager>.Instance.IsAutoRunning)
                 {
@@ -1513,6 +1517,7 @@ namespace CyberX8_RT.Modules.Transporter
             }
             else
             {
+                _sourceCell = "";
                 if (Singleton<RouteManager>.Instance.IsAutoRunning)
                 {
                     AlarmListManager.Instance.CheckModuleAlamAndRemove(Module.ToString(), TransporterState.PickUpValidating.ToString());