agv交互时未收到脱离信号不关门，手动关门时自动结束agv流程

DeviceLibrary/theMachine/MainMachine_AGV.cs

@@ -271,7 +271,7 @@ namespace DeviceLibrary
                     break;
                     break;
                 case MoveStep.AGV_Out04:
                 case MoveStep.AGV_Out04:
                     AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out05);
                     AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out05);
-                    Line.LineRun("n", true, 2);
+                    Line.LineRun("n", true, 10);
                     AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，允许出料");
                     AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，允许出料");
                     break;
                     break;
                 case MoveStep.AGV_Out05:
                 case MoveStep.AGV_Out05:
@@ -303,7 +303,7 @@ namespace DeviceLibrary
                         AGVMoveInfo.NextMoveStep(MoveStep.AGV_In03);
                         AGVMoveInfo.NextMoveStep(MoveStep.AGV_In03);
                         RobotManage.mainMachine.SetStatus(NodeStatus.MayEnter);
                         RobotManage.mainMachine.SetStatus(NodeStatus.MayEnter);
                         CylinderMove(AGVMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
                         CylinderMove(AGVMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
-                        Line.LineRun("n", false, 2);
+                        Line.LineRun("n", false, 10);
                         AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestEnter}信号，无料串，允许进料");
                         AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestEnter}信号，无料串，允许进料");
                     }
                     }
                     else if (curnode.status == NodeStatus.RequestLeave)
                     else if (curnode.status == NodeStatus.RequestLeave)
@@ -311,12 +311,12 @@ namespace DeviceLibrary
                         AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out03);
                         AGVMoveInfo.NextMoveStep(MoveStep.AGV_Out03);
                         RobotManage.mainMachine.SetStatus(NodeStatus.MayLeave);
                         RobotManage.mainMachine.SetStatus(NodeStatus.MayLeave);
                         CylinderMove(AGVMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
                         CylinderMove(AGVMoveInfo, IO_Type.StringFix_Bottom, IO_Type.StringFix_Top, IO_VALUE.LOW);
-                        Line.LineRun("n", true, 2);
+                        Line.LineRun("n", true, 10);
                         AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，有料串，允许出料");
                         AGVMoveInfo.log($"收到AGV的{NodeStatus.RequestLeave}信号，有料串，允许出料");
                     }
                     }
                     else if (curnode.status.Equals(NodeStatus.RequsetDock))
                     else if (curnode.status.Equals(NodeStatus.RequsetDock))
                     {
                     {
-                        if(IOValue(IO_Type.StringDoor_Open).Equals(IO_VALUE.HIGH))
+                        if (IOValue(IO_Type.StringDoor_Open).Equals(IO_VALUE.HIGH))
                         {
                         {
                             RobotManage.mainMachine.SetStatus(NodeStatus.MayDock);
                             RobotManage.mainMachine.SetStatus(NodeStatus.MayDock);
                         }
                         }
@@ -331,9 +331,13 @@ namespace DeviceLibrary
                     }
                     }
                     else if (AGVMoveInfo.IsTimeOut())
                     else if (AGVMoveInfo.IsTimeOut())
                     {
                     {
-                        AGVMoveInfo.NextMoveStep(MoveStep.AGV_CloseDoor);
-                        CloseDoor(AGVMoveInfo);
-                        AGVMoveInfo.log($"收到脱离脱离信号超时，关闭折叠门");
+                        if (StringDoor.isAtBOTTOM)
+                        {
+                            AGVMoveInfo.NextMoveStep(MoveStep.AGV_CloseDoor);
+                            CloseDoor(AGVMoveInfo);
+                            AGVMoveInfo.log($"收到脱离脱离信号超时，关闭折叠门");
+                        }
+
                     }
                     }
                     break;
                     break;
                 case MoveStep.AGV_CloseDoor:
                 case MoveStep.AGV_CloseDoor: