1

AGV_UI/Status.cs

@@ -87,6 +87,7 @@ namespace AGV_UI
         /// <param name="state"></param>
         public void SetConnectState(bool state = false)
         {
+            if (!this.IsHandleCreated) return;
             Image image = Manager.SetConnState(state);
             this.Invoke(new Action(() =>
             {

DeviceLibrary/Control.cs

@@ -232,7 +232,7 @@ namespace DeviceLibrary
                 {
                     Agv_Info agv = AGVManager.agvInfo[i];
                     if (!agv.IsCon) continue;   //AGV网络连接
-                    if (!AGVManager.agvInfo[i].IsUse) continue;   //AGV是否可用
+                    if (!agv.IsUse) continue;   //AGV是否可用
 
                     //Ready,Pause,Executing，Error
                     if (!AGVManager.agvInfo[i].StateID.Equals(eAGVState.Ready) && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.Pause)

DeviceLibrary/bean/job/EmptyShelfBackJob.cs

@@ -19,7 +19,7 @@ namespace DeviceLibrary
         /// 载空料架返回任务
         /// </summary>
         /// <param name="lineName">产线的节点名称</param>
-        public EmptyShelfBackJob(string emptyShelfPlace, eShelfType shelfType,string emptyShelfTargetPlace)
+        public EmptyShelfBackJob(string emptyShelfPlace, eShelfType shelfType, string emptyShelfTargetPlace)
         {
             EmptyShelfPlace = emptyShelfPlace;
             this.shelfType = shelfType;
@@ -61,22 +61,21 @@ namespace DeviceLibrary
             if (jobStep.IsStep(EMPTY_SHELF_BACK_STEP.NONE))
             {
 
-                //if (AGVManager.CheckBoxNeedShelfState(agv, out string nodeName))
-                //{
-                //    EmptyShelfTargetPlace = nodeName;
-                //    jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_Target);
-                //    runInfo = "从线体 [" + EmptyShelfPlace + "]送往" + EmptyShelfTargetPlace;
-                //    msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
-                //    jobStep.Msg = msg;
-                //    if (!EmptyShelfTargetPlace.Equals(""))
-                //    {
-                //        MissionSys.AssignMission(agv, EmptyShelfTargetPlace);
-                //        UpdateJobTaskInfo(agv);
-                //    }
+                if (EmptyShelfPlace.Equals(SettingString.A1) && AGVManager.CheckBoxNeedShelfState(agv, out string nodeName))
+                {
+                    EmptyShelfTargetPlace = nodeName;
+                    jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_Target);
+                    runInfo = "从线体 [" + EmptyShelfPlace + "]送往" + EmptyShelfTargetPlace;
+                    msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
+                    jobStep.Msg = msg;
+                    if (!EmptyShelfTargetPlace.Equals(""))
+                    {
+                        MissionSys.AssignMission(agv, EmptyShelfTargetPlace);
+                        UpdateJobTaskInfo(agv);
+                    }
 
-                //}
-                //else 
-                if (AGVManager.CheckShelfStorageInState(agv))
+                }
+                else if (AGVManager.CheckShelfStorageInState(agv))
                 {
                     jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_Target);
                     EmptyShelfTargetPlace = SettingString.A2;
@@ -104,7 +103,7 @@ namespace DeviceLibrary
                 {
                     EmptyShelfTargetPlace = nodeName;
                     jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_Target);
-                    runInfo = "待机位检测到"+ EmptyShelfTargetPlace + "需要料架,送往 " + EmptyShelfTargetPlace;
+                    runInfo = "待机位检测到" + EmptyShelfTargetPlace + "需要料架,送往 " + EmptyShelfTargetPlace;
                     msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
                     jobStep.Msg = msg;
                     MissionSys.AssignMission(agv, EmptyShelfTargetPlace);

DeviceLibrary/manager/AGVManager.cs

@@ -250,8 +250,8 @@ namespace DeviceLibrary
         /// <returns></returns>
         public static bool CheckNeedEmptyShelf(Agv_Info agv, out string nodeName)
         {
-
-            if (!CheckBoxNeedShelfState(agv, out nodeName))
+            nodeName = "";
+            //if (!CheckBoxNeedShelfState(agv, out nodeName))
             {
                 if (CheckShelfStorageInState(agv))
                 {

SO827-AGV/Manual.cs

@@ -146,8 +146,10 @@ namespace AGVControl
                     if (taskName.Equals(SettingString.Enter) || taskName.Equals(SettingString.Leave))
                         if (MessageBox.Show("确定对小车发送进/出任务？", Agv.Name, MessageBoxButtons.YesNo) == DialogResult.No)
                             return;
-                    MissionSys.AssignMission(Agv, taskName);
-                    LogUtil.info(string.Format("{0} 手动发任务 [{1}]", Agv.Name, cmbBxMission.SelectedItem.ToString()));
+                    Task.Factory.StartNew(delegate {
+                        MissionSys.AssignMission(Agv, taskName);
+                        LogUtil.info(string.Format("{0} 手动发任务 [{1}]", Agv.Name, taskName));
+                    });
                 }
             }
             catch (Exception ex)