重启充电任务是-1问题

AGV_UI/Status.cs

@@ -151,13 +151,18 @@ namespace AGV_UI
         {
             if (!IsHandleCreated)
                 return;
-            object[] objs = Manager.SetAGVState(curState);
-            this.Invoke(new Action(() =>
+            try
             {
-                lblAGVState.Text = objs[0] as string;
-                lblAGVState.Image = objs[1] as Image;
+                object[] objs = Manager.SetAGVState(curState);
+                this.Invoke(new Action(() =>
+                {
+                    lblAGVState.Text = objs[0] as string;
+                    lblAGVState.Image = objs[1] as Image;
+                }
+                ));
             }
-            ));
+            catch { }
+
         }
 
     }

DeviceLibrary/Config/XmlConfigOperation.cs

@@ -62,7 +62,6 @@ namespace DeviceLibrary.manager
                     iOInfo.IOID = item.InnerText;
                     agv_Info.IOStatus.Add(iOInfo);
                 }
-                agv_Info.StartTimer();
                 agv_Infos.Add(agv_Info);
             }
             xmlReader.Close();

DeviceLibrary/Control.cs

@@ -157,7 +157,7 @@ namespace DeviceLibrary
                 try
                 {
                     AgvInfo agv = AGVManager.agvInfo[i];
-                    //if (!agv.IsCon) continue;   //AGV网络连接
+                    if (!agv.IsCon) continue;   //AGV网络连接
                     if (!AGVManager.agvInfo[i].Auto) continue;   //AGV是否可用
                     if (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Error))
                     {

DeviceLibrary/bean/agv/Agv_Info.cs

@@ -363,8 +363,11 @@ namespace DeviceLibrary
                     {
                         if (!MiR_API.Get_MissionByDescrp(this))
                         {
-                            LogUtil.info($"{Name}：Task=-1处理,Fleet无任务,重发任务:{TaskRunState.Task.Name}");
-                            CurJob.ResendTask(this);
+                            if(AgvTaskManager.IsExistTask(TaskRunState.Task.Name, this))
+                            {
+                                LogUtil.info($"{Name}：Task=-1处理,Fleet无任务,重发任务:{TaskRunState.Task.Name},{TaskRunState.Task.Guid}");
+                                CurJob?.ResendTask(this);
+                            }
                         }
                         else
                         {

DeviceLibrary/bean/job/Job.cs

@@ -464,10 +464,10 @@ namespace DeviceLibrary
             }
 
         }
-        protected void AllocateTask(AgvInfo agv, ChargePile chargePile)
+        protected bool AllocateTask(AgvInfo agv, ChargePile chargePile)
         {
             Task = new AgvTask() { AliceName = chargePile.AliceName, Name = chargePile.Name, Guid = chargePile.Guid };
-            AgvTaskManager.AssignMission(agv, chargePile, Task);
+            return AgvTaskManager.AssignMission(agv, chargePile, Task);
         }
         protected void ToStandby(AgvInfo agv)
         {

DeviceLibrary/manager/AGVManager.cs

@@ -105,6 +105,7 @@ namespace DeviceLibrary
             {
                 if (!sysClients.Contains(item.Client))
                     sysClients.Add(item.Client);
+                item.StartTimer();
             }
         }
         /// <summary>

DeviceLibrary/manager/AgvTaskManager.cs

@@ -86,6 +86,13 @@ namespace DeviceLibrary
                 LogUtil.error($"{agv.Name}任务名{name}不存在，请检查配置文件！");
             return new AgvTask();
         }
+        public static bool IsExistTask(string name,AgvInfo agv)
+        {
+            AgvTask task = AgvTasks.Find(s => s.Name.Equals(name) && agv.FleetIP.Equals(s.TypeId));
+            if (task != null)
+                return true;
+            return false;
+        }
         public static AgvTask GetTaskByAliceName(string aliceName)
         {
             AgvTask mission = AgvTasks.Find(s => s.AliceName.Equals(aliceName));
@@ -135,7 +142,7 @@ namespace DeviceLibrary
                 if (!agv.IsCon)
                 {
                     agv.TaskRunState.ResetInfo();
-                    if (agv.TaskRunState.CheckTaskExist(task))
+                    if (!agv.TaskRunState.CheckTaskExist(task))
                     {
                         agv.TaskRunState.EnWaitTaskQueue(task);
                         LogUtil.info(string.Format("{0} 离线，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));
@@ -171,7 +178,7 @@ namespace DeviceLibrary
                 agv.StateKanban.SetCurTask(agv.TaskRunState.ToTaskShowInfo());
                 if (!rtn)
                 {
-                    if (agv.TaskRunState.CheckTaskExist(task))
+                    if (!agv.TaskRunState.CheckTaskExist(task))
                     {
                         agv.TaskRunState.EnWaitTaskQueue(task);
                         LogUtil.info(string.Format("{0} 发送失败，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));
@@ -192,7 +199,7 @@ namespace DeviceLibrary
                 if (!agv.IsCon)
                 {
                     agv.TaskRunState.ResetInfo();
-                    if (agv.TaskRunState.CheckTaskExist(task))
+                    if (!agv.TaskRunState.CheckTaskExist(task))
                     {
                         agv.TaskRunState.EnWaitTaskQueue(task);
                         LogUtil.info(string.Format("{0} 离线，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));
@@ -228,7 +235,7 @@ namespace DeviceLibrary
                 agv.StateKanban.SetCurTask(agv.TaskRunState.ToTaskShowInfo());
                 if (!rtn)
                 {
-                    if (agv.TaskRunState.CheckTaskExist(task))
+                    if (!agv.TaskRunState.CheckTaskExist(task))
                     {
                         agv.TaskRunState.EnWaitTaskQueue(task);
                         LogUtil.info(string.Format("{0} 发送失败，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));