自动模式切换逻辑更改

AGV_3D_SMD/Manual.cs

@@ -37,31 +37,41 @@ namespace AGVControl
             if (!isInit) return;
             if (!isInit) return;
             this.Invoke(new Action(() =>
             this.Invoke(new Action(() =>
             {
             {
-                
+
                 btnReSendTask.Enabled = chkBxAuto.Checked;
                 btnReSendTask.Enabled = chkBxAuto.Checked;
                 btnAssignTask.Enabled = !chkBxAuto.Checked;
                 btnAssignTask.Enabled = !chkBxAuto.Checked;
-                if (!chkBxAuto.Checked)
+                if (!chkBxAuto.Checked)//自动-》手动
                 {
                 {
-                    Agv.CurJob = null;
+                    MiR_API.Del_Mission(Agv);
                     CommonVar.Standby.DelOccupyInfo(Agv.Name);
                     CommonVar.Standby.DelOccupyInfo(Agv.Name);
                     CommonVar.Charge.DelOccupyInfo(Agv.Name);
                     CommonVar.Charge.DelOccupyInfo(Agv.Name);
                     //添加Init任务
                     //添加Init任务
                     MiR_API.Add_Mission_Fleet(Agv, CommonVar.agvMission[SettingString.Init]);
                     MiR_API.Add_Mission_Fleet(Agv, CommonVar.agvMission[SettingString.Init]);
                     MiR_API.State_Ready(Agv);
                     MiR_API.State_Ready(Agv);
-                    if (Agv.Place.Equals(SettingString.Standby) || Agv.Place.Equals(SettingString.AutoCharge))
-                        Agv.Place = "";
                 }
                 }
                 else
                 else
                 {
                 {
+                    if (!Agv.IsCon)
+                        return;
                     if (Agv.IsExistShelf)
                     if (Agv.IsExistShelf)
                     {
                     {
                         LogUtil.error(string.Format("{0} 车上有负载，无法开启自动模式，请先清空小车负载！", Agv.Name));
                         LogUtil.error(string.Format("{0} 车上有负载，无法开启自动模式，请先清空小车负载！", Agv.Name));
                         return;
                         return;
                     }
                     }
-                    Agv.CurJob = null;
-                    MiR_API.Del_Mission_Fleet(Agv, Agv.CurTaskID.ToString());
-                    MiR_API.Del_Mission(Agv);
-                    Agv.RFID = "";
+                    if (MessageBox.Show("是否继续上一次的任务?\r\n" + Agv.Msg, "提示", MessageBoxButtons.YesNo).Equals(DialogResult.No))
+                    {
+                        Agv.CurJob = null;
+                        if (Agv.Place.Equals(SettingString.Standby) || Agv.Place.Equals(SettingString.AutoCharge))
+                            Agv.Place = "";
+                        MiR_API.Del_Mission(Agv);
+                        Agv.RFID = "";
+                    }
+                    else
+                    {
+                        Agv.Resend();
+
+                    }
+
                 }
                 }
                 Agv.IsUse = chkBxAuto.Checked;
                 Agv.IsUse = chkBxAuto.Checked;
 
 

DeviceLibrary/Control.cs

@@ -83,7 +83,7 @@ namespace DeviceLibrary
             {
             {
                 try
                 try
                 {
                 {
-                    CheckOnline(i);
+                    if (!CheckOnline(i)) continue;
                     bool change = false;
                     bool change = false;
                     MiR_API.Get_Task_State(CommonVar.agvInfo[i].CurTaskID, out string stateStr);
                     MiR_API.Get_Task_State(CommonVar.agvInfo[i].CurTaskID, out string stateStr);
                     Thread.Sleep(50);
                     Thread.Sleep(50);

DeviceLibrary/bean/Agv_Info.cs

@@ -311,18 +311,18 @@ namespace DeviceLibrary
                 if (offlineTimeOut)
                 if (offlineTimeOut)
                 {
                 {
                     isAlarm = true;
                     isAlarm = true;
-                    displayBoard.Add(Name, "Agv." + Name + ".OfflineTimeOut", "在" + PlaceAliceName + "离线" + (DateTime.Now - offlineStartTime).TotalSeconds.ToString("f2") + "秒");
+                    displayBoard.Add(Name, "Agv." + Name + ".Msg", "在" + PlaceAliceName + "离线" + (DateTime.Now - offlineStartTime).TotalSeconds.ToString("f2") + "秒");
                 }
                 }
                 if (standTimeOut)
                 if (standTimeOut)
                 {
                 {
                     isAlarm = true;
                     isAlarm = true;
-                    displayBoard.Add(Name, "Agv." + Name + ".StandTimeOut", "在" + PlaceAliceName + "停留超时" + (DateTime.Now - standStartTime).TotalMinutes.ToString("f2") + "分钟");
+                    displayBoard.Add(Name, "Agv." + Name + ".Msg", "在" + PlaceAliceName + "停留超时" + (DateTime.Now - standStartTime).TotalMinutes.ToString("f2") + "分钟");
                 }
                 }
 
 
                 if (StateID.Equals(eAGVState.Error) || StateID.Equals(eAGVState.EmergencyStop) || StateID.Equals(eAGVState.Pause))
                 if (StateID.Equals(eAGVState.Error) || StateID.Equals(eAGVState.EmergencyStop) || StateID.Equals(eAGVState.Pause))
                 {
                 {
                     isAlarm = true;
                     isAlarm = true;
-                    displayBoard.Add(Name, "Agv." + Name + ".Error.EmergencyStop", "agv状态:" + StateID.ToString());
+                    displayBoard.Add(Name, "Agv." + Name + ".Msg", "agv状态:" + StateID.ToString());
                 }
                 }
                 if (!isAlarm)
                 if (!isAlarm)
                 {
                 {