1

Common/util/HttpHelper.cs

@@ -180,7 +180,7 @@ namespace Common
             }
             catch (Exception e)
             {
-                LogUtil.error($"POST ERROR：【{url}】【{paramData}】", e);
+                LogUtil.debug($"POST ERROR：【{url}】【{paramData}】");
             }
             return result;
         }
@@ -194,7 +194,7 @@ namespace Common
             try
             {
                 LogUtil.debug("HTTP GET FROM: " + url);
-                var wc = new WebClient { Encoding = encoding };
+                var wc = new WebClient { Encoding = encoding};
                 var readStream = wc.OpenRead(url);
                 using (var sr = new StreamReader(readStream, encoding))
                 {
@@ -205,7 +205,7 @@ namespace Common
             }
             catch (Exception e)
             {
-               LogUtil.error("HTTP GET ERROR:[" +url+ "]"+e.Message);
+               LogUtil.error("HTTP GET ERROR:[" +url+ "]",e);
             }
             return "";
         }

DeviceLibrary/Control.cs

@@ -5,6 +5,8 @@ using System.Runtime.InteropServices;
 using System.Threading;
 using System.Threading.Tasks;
 using System.Web.Script.Serialization;
+using System.Windows.Forms;
+using System.Xml.Linq;
 using Common;
 using DeviceLibrary.manager;
 using log4net.Util;
@@ -171,6 +173,19 @@ namespace DeviceLibrary
                     //{
                     //    continue;
                     //}
+                    //if (!agv.TaskRunState.IsAllocatingTask && agv.Auto && agv.CurJob != null && agv.TaskRunState.TaskID.Equals(-1)
+                    //        && agv.TaskRunState.Task != null && !string.IsNullOrEmpty(agv.TaskRunState.Task.Guid))
+                    //{
+                    //    if (!MiR_API.Get_MissionByDescrp(agv))
+                    //    {
+                    //        LogUtil.info($"{agv.Name}：Task=-1处理,Fleet无任务,重发任务:{agv.TaskRunState.Task.Name}");
+                    //        agv.CurJob.ResendTask(agv);
+                    //    }
+                    //    else
+                    //    {
+                    //        LogUtil.info($"{agv.Name}：Task=-1处理,Fleet有任务，自动赋值FleetTaskID={agv.TaskRunState.TaskID}");
+                    //    }
+                    //}
                     if (agv.TaskRunState.DeWaitTaskQueue(out AgvTask task))
                     {
                         if (agv.CurJob != null)

DeviceLibrary/bean/MiR_API.cs

@@ -475,7 +475,7 @@ namespace DeviceLibrary
             {
                 MiR_API.Del_Mission(agv);
             }
-            LogUtil.info(string.Format("{0} DelMission[{1}]OK", agv.Name, agv.TaskRunState.ToTaskInfo()));
+            LogUtil.info(string.Format("{0} Del Pre Mission OK", agv.Name));
 
         }
         /// <summary>

DeviceLibrary/bean/TaskRunState.cs

@@ -61,12 +61,12 @@ namespace DeviceLibrary
             return !TaskID.Equals(-1) && !TaskState.Equals(SettingString.Wait);
         }
         string preTaskState = "";
-        public bool CheckTaskFinished(string name = "")
+        public bool CheckTaskFinished(AgvInfo agv)
         {
             if (!TaskState.Equals(preTaskState))
             {
                 preTaskState = new string(TaskState.ToArray());
-                LogUtil.info($"{Task?.Name ?? ""},{TaskID},{TaskState}");
+                LogUtil.info($"Mission State {agv.Name} {Task?.Name ?? ""},{TaskID},{TaskState}");
             }
 
             if (TaskState.Equals(SettingString.Done))

DeviceLibrary/bean/agv/Agv_Info.cs

@@ -354,12 +354,17 @@ namespace DeviceLibrary
                 {
                     SetKanban();
                     if (!Control.CheckOnline(this)) return;
-                    if (!TaskRunState.IsAllocatingTask && Auto && CurJob != null && TaskRunState.TaskID.Equals(-1))
+                    //获取AGV状态
+                    MiR_API.Get_State(this, out eAGVState stateID, out string stateText, out int battery, out string mission_text, out AgvInfo.MirPosition position, out List<Mir_Error> errors);
+                    Thread.Sleep(50);
+                    SetState(stateID, battery, mission_text, position, errors);
+                    if (!TaskRunState.IsAllocatingTask && Auto && CurJob != null && TaskRunState.TaskID.Equals(-1)
+                            && TaskRunState.Task != null && !string.IsNullOrEmpty(TaskRunState.Task.Guid))
                     {
                         if (!MiR_API.Get_MissionByDescrp(this))
                         {
-                            CurJob.ResendTask(this);
                             LogUtil.info($"{Name}：Task=-1处理,Fleet无任务,重发任务:{TaskRunState.Task.Name}");
+                            CurJob.ResendTask(this);
                         }
                         else
                         {
@@ -373,10 +378,6 @@ namespace DeviceLibrary
                         Thread.Sleep(50);
                         MiR_API.Get_IO_Status(this);
                     }
-                    //获取AGV状态
-                    MiR_API.Get_State(this, out eAGVState stateID, out string stateText, out int battery, out string mission_text, out AgvInfo.MirPosition position, out List<Mir_Error> errors);
-                    Thread.Sleep(50);
-                    SetState(stateID, battery, mission_text, position, errors);
 
                 }
                 catch (Exception ex)

DeviceLibrary/bean/job/CrossDoorJob.cs

@@ -46,7 +46,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.CrossDoor_01_ToCurDoor))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.CrossDoor_02_OpenCurDoor);
                     runInfo = $"到达{JobParam.CrossDoor.CurNode.AliceName}侧门前，开门";
@@ -56,7 +56,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.CrossDoor_02_OpenCurDoor))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.CrossDoor_03_Enter);
                     runInfo = $"从{JobParam.CrossDoor.CurNode.AliceName}侧进门";
@@ -66,7 +66,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.CrossDoor_03_Enter))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.CrossDoor_04_CloseCurDoor);
                     runInfo = $"关闭{JobParam.CrossDoor.CurNode.AliceName}侧的门";
@@ -76,7 +76,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.CrossDoor_04_CloseCurDoor))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.CrossDoor_05_OpenAntherDoor);
                     runInfo = $"打开{JobParam.CrossDoor.NextNode.AliceName}侧门";
@@ -86,7 +86,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.CrossDoor_05_OpenAntherDoor))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.CrossDoor_06_LeaveDoor);
                     runInfo = $"离开门，进入{JobParam.CrossDoor.NextNode.AliceName}侧";
@@ -96,7 +96,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.CrossDoor_06_LeaveDoor))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.CrossDoor_07_CloseAntherDoor);
                     runInfo = $"关闭{JobParam.CrossDoor.NextNode.AliceName}侧门";
@@ -106,7 +106,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.CrossDoor_07_CloseAntherDoor))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.CrossDoor_08_Finish);
                     runInfo = $"到达{JobParam.CrossDoor.NextNode.AliceName}的车间";

DeviceLibrary/bean/job/Job.cs

@@ -161,7 +161,7 @@ namespace DeviceLibrary
         /// <returns></returns>
         protected bool AGVTaskIsFinished(AgvInfo agv)
         {
-            return agv.TaskRunState.CheckTaskFinished(agv.Name);
+            return agv.TaskRunState.CheckTaskFinished(agv);
         }
         /// <summary>
         /// 卸下料架

DeviceLibrary/bean/job/LiftToLinesJob.cs

@@ -69,7 +69,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_01_ToLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_02_WaitLiftDoorOpen);
                     //上报运输状态
@@ -96,7 +96,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_03_EnterLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_04_PutShelfOn);
                     runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，准备拾取料车";
@@ -106,7 +106,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_04_PutShelfOn))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_05_LeaveLift);
                     //上报运输状态
@@ -121,7 +121,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_05_LeaveLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_06_CloseLiftDoor);
                     //关门
@@ -182,7 +182,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_07_ToLine))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     //确认按钮生效
                     JobParam.CurTargetNode.ExtendEquip.AllowConfirm();
@@ -326,7 +326,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_11_BackToLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
                     {
@@ -443,7 +443,7 @@ namespace DeviceLibrary
             #region 电梯内无料车
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_01_EnterLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_02_TakeShelfOffAtLift);
                     runInfo = $"到达{JobParam.SrcNode.AliceName}放料点，准备卸下料车";
@@ -453,7 +453,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_02_TakeShelfOffAtLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_03_LeaveLift);
                     runInfo = $"在{JobParam.SrcNode.AliceName}卸下料车完成，准备离开";
@@ -471,7 +471,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_03_LeaveLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_04_CloseLiftDoor);
                     bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
@@ -500,7 +500,7 @@ namespace DeviceLibrary
 
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_16_TakeShelfOff))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车完成";
                     JobRunStep.Msg = runInfo;
@@ -569,7 +569,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_23_ToShelfPlace))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_24_TakeShelfOff);
                     runInfo = $"到达料架缓存点，准备卸下料车";
@@ -579,7 +579,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_24_TakeShelfOff))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     //设置任务状态为料架换缓存
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.料架缓存_返回, out string msg);

DeviceLibrary/bean/job/LineOneToManyJob.cs

@@ -32,7 +32,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_01_ToPickUpPosition))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.SD_Line_OneToMany_02_PutShelfOn);
                     //任务状态变更
@@ -49,7 +49,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_02_PutShelfOn))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.SD_Line_OneToMany_03_ToLine);
                     //上报运输状态
@@ -65,7 +65,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_03_ToLine))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     //确认按钮生效
                     JobParam.CurTargetNode.ExtendEquip.AllowConfirm();
@@ -122,7 +122,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_06_CheckNextLine))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     if (JobParam.TargetNodes != null && JobParam.TargetNodes.Count > 0)
                     {
@@ -162,7 +162,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.SD_Line_OneToMany_07_BackToPickUpPosition))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.SD_Line_OnToMany_08_TakeShelfOff);
                     //上报运输状态
@@ -176,7 +176,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.SD_Line_OnToMany_08_TakeShelfOff))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.END);
                     if (JobParam.GetMissionInfo() != null && JobParam.GetMissionInfo().needBack)

DeviceLibrary/bean/job/LineToLiftJob.cs

@@ -63,7 +63,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_01_ToLine))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.LineToLift_02_PutShelfOn);
                     //任务状态变更
@@ -80,7 +80,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_02_PutShelfOn))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     //上报状态
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
@@ -143,7 +143,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_03_ToLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.LineToLift_04_CheckLiftStatus);
                     //上报状态
@@ -235,7 +235,7 @@ namespace DeviceLibrary
             #region 电梯内有空成品料车
             else if (JobRunStep.IsStep(RunStep.LineToLift_05_13_ToShelfPlace))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.LineToLift_05_14_TakeShelfOff);
                     runInfo = $"到达料架缓存点，准备卸下料车";
@@ -245,7 +245,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_05_14_TakeShelfOff))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     //设置任务状态为料架换缓存
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.料架缓存, out string msg);
@@ -274,7 +274,7 @@ namespace DeviceLibrary
             #region 电梯内无料车
             else if (JobRunStep.IsStep(RunStep.LineToLift_06_01_EnterLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift);
                     runInfo = $"到达{JobParam.CurTargetNode.AliceName}放料点，准备卸下料车";
@@ -284,7 +284,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     //清除任务占用
                     ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
@@ -302,7 +302,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_06_03_LeaveLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.END);
                     bool rtn = false;

DeviceLibrary/bean/job/LineToLineJob.cs

@@ -32,7 +32,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.SD_LineToLine_01_ToPickUpPosition))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.SD_LineToLine_02_PutShelfOn);
                     //任务状态变更
@@ -50,7 +50,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.SD_LineToLine_02_PutShelfOn))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.SD_LineToLine_03_ToLine);
                     //上报位置
@@ -67,7 +67,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.SD_LineToLine_03_ToLine))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     if(NeedConfirm())
                     {
@@ -97,7 +97,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.SD_LineToLine_04_PlaySound))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     if (OpManager.WaitConfirm.Line(JobParam.CurTargetNode))
                     {
@@ -117,7 +117,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.SD_LineToLine_04_WaitConfirm))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
                     service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
@@ -149,7 +149,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.SD_LineToLine_05_BackToSrcLine))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.SD_LineToLine_06_TakeShelfOff);
                     //上报运输状态
@@ -163,7 +163,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.SD_LineToLine_06_TakeShelfOff))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.END);
                     if (JobParam.GetMissionInfo() != null && JobParam.GetMissionInfo().needBack)

DeviceLibrary/bean/job/ShelfBackLiftToStoreJob.cs

@@ -65,7 +65,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_01_ToLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_02_01_WaitLiftDoorOpen);
                     //上报状态
@@ -91,7 +91,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_02_02_EnterLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_03_PutShelfOn);
                     runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，开始取料车";
@@ -102,7 +102,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_03_PutShelfOn))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_04_LeaveLift);
                     //上报状态
@@ -117,7 +117,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_04_LeaveLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_05_CloseLiftDoor);
                     //关门
@@ -157,7 +157,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_06_ToStore))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_07_TakeShelfOff);
                     //上报状态
@@ -171,7 +171,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_07_TakeShelfOff))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车完成";
                     //任务状态变更

DeviceLibrary/bean/job/StandyJob.cs

@@ -45,7 +45,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.STANDBY_WAIT_REACH_STANDBY))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.END);
                     // runInfo = "到达待机位";

DeviceLibrary/bean/job/SteelLiftToLinesJob.cs

@@ -40,7 +40,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_01_ToLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_02_WaitLiftDoorOpen);
                     //上报运输状态
@@ -67,7 +67,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_03_EnterLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_04_PutShelfOn);
                     runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，准备拾取料车";
@@ -77,7 +77,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_04_PutShelfOn))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_05_LeaveLift);
                     //上报运输状态
@@ -92,7 +92,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_05_LeaveLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_06_CloseLiftDoor);
                     //关门
@@ -127,7 +127,7 @@ namespace DeviceLibrary.bean.job
             #region 钢网出库
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_07_ToLine))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     //确认按钮生效
                     JobParam.CurTargetNode.ExtendEquip.AllowConfirm();
@@ -202,7 +202,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_11_ToShelfPlace))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_12_TakeShelfOff);
                     runInfo = $"到达{JobParam.SteelShelfNode.AliceName}，准备卸车";
@@ -216,7 +216,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_12_TakeShelfOff))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.END);
                     runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车完成";

DeviceLibrary/bean/job/SteelLiftToStorageJob.cs

@@ -42,7 +42,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_01_ToLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_02_WaitLiftDoorOpen);
                     //上报运输状态
@@ -69,7 +69,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_03_EnterLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_04_PutShelfOn);
                     runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，准备拾取料车";
@@ -80,7 +80,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_04_PutShelfOn))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_05_LeaveLift);
                     //上报运输状态
@@ -95,7 +95,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_05_LeaveLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_06_CloseLiftDoor);
                     //关门
@@ -121,7 +121,7 @@ namespace DeviceLibrary.bean.job
             #region 未使用
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_07_ToLine))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     //确认按钮生效
                     JobParam.CurTargetNode.ExtendEquip.AllowConfirm();
@@ -196,7 +196,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_11_ToShelfPlace))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_12_TakeShelfOff);
                     runInfo = $"到达{JobParam.SteelShelfNode.AliceName}，准备卸车";
@@ -210,7 +210,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_12_TakeShelfOff))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.END);
                     runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车完成";
@@ -229,7 +229,7 @@ namespace DeviceLibrary.bean.job
             #region 钢网入库
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_13_ToLiku))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_14_Dock);
                     runInfo = $"到达{JobParam.CurTargetNode.AliceName}的放料点";//，开始停靠
@@ -239,7 +239,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_14_Dock))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_15_CheckState);
                     runInfo = "等待立库停靠完成信号";
@@ -258,7 +258,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_16_TakeOff))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     manager.DataBufferManager.DetachShelf = true;
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_17_WaitShelfLeave);
@@ -285,7 +285,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_18_PutOn))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_19_BackToLift);
                     MissionManager.ChangeSteelSrcNodes(JobParam.GetMissionInfo().missionId, "storage");
@@ -319,7 +319,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_19_BackToLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
 
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_20_Request);
@@ -408,7 +408,7 @@ namespace DeviceLibrary.bean.job
             #region 电梯内无料车
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_24_01_EnterLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_24_02_TakeShelfOffAtLift);
                     runInfo = $"到达{JobParam.SrcNode.AliceName}放料点，准备卸下料车";
@@ -418,7 +418,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_24_02_TakeShelfOffAtLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_24_03_LeaveLift);
                     runInfo = $"在{JobParam.SrcNode.AliceName}卸下料车完成，准备离开";
@@ -435,7 +435,7 @@ namespace DeviceLibrary.bean.job
             }
             else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_24_03_LeaveLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_24_04_CloseLiftDoor);
                     bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);

DeviceLibrary/bean/job/SteelLineToLiftJob.cs

@@ -44,7 +44,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_01_ToLine))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.LineToLift_02_PutShelfOn);
                     //任务状态变更
@@ -61,7 +61,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_02_PutShelfOn))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     //if(JobParam.GetMissionInfo().projectType.Equals(ProjectType.钢网入库))
                     //{
@@ -84,7 +84,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_ToSteelSrc))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.LineToLift_PlaySound);
                     //确认按钮生效
@@ -153,7 +153,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_03_ToLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.LineToLift_04_CheckLiftStatus);
                     //上报状态
@@ -221,7 +221,7 @@ namespace DeviceLibrary
             #region 电梯内无料车
             else if (JobRunStep.IsStep(RunStep.LineToLift_06_01_EnterLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift);
                     runInfo = $"到达{JobParam.CurTargetNode.AliceName}放料点，准备卸下料车";
@@ -231,7 +231,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.LineToLift_06_03_LeaveLift);
                     //上报状态
@@ -253,7 +253,7 @@ namespace DeviceLibrary
             }
             else if (JobRunStep.IsStep(RunStep.LineToLift_06_03_LeaveLift))
             {
-                if (agv.TaskRunState.CheckTaskFinished(agv.Name))
+                if (agv.TaskRunState.CheckTaskFinished(agv))
                 {
                     JobRunStep.ToNextStep(RunStep.END);
                     bool rtn = false;

DeviceLibrary/bean/jobType/F1LiftD2ToLiftC1JobType.cs

 using Common;
 using DeviceLibrary.bean.job;
+using DeviceLibrary.lift;
 using DeviceLibrary.manager;
 
 namespace DeviceLibrary.bean.jobType
@@ -29,6 +30,8 @@ namespace DeviceLibrary.bean.jobType
                         Node src = manager.NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);
                         Node dest = manager.NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift);
                         JobParam jobParam = new JobParam(src, dest, null, missionInfo);
+                        //设置电梯占用
+                        LiftContext.SetLiftNodeOccupied(agv, liftname);
                         MissionManager.SetMissionOccupied(missionInfo, agv);
                         return new F1LiftD2ToLiftC1Job(jobParam);
                     }

DeviceLibrary/manager/AgvTaskManager.cs

@@ -123,7 +123,7 @@ namespace DeviceLibrary
                 }                
             }
 
-            if (task != null)
+            if (task != null&& !string.IsNullOrEmpty(task.Guid))
             {
                 agv.TaskRunState.Task = task;
                 if (node != null)
@@ -148,11 +148,11 @@ namespace DeviceLibrary
                     MiR_API.State_Ready(agv);
                     if (rtn)
                     {
-                        LogUtil.info(string.Format("{0} Add_Mission_Fleet[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
+                        LogUtil.info(string.Format("{0} Add Mission Fleet[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
                     }
                     else
                     {
-                        LogUtil.info(string.Format("{0} Add_Mission_Fleet[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
+                        LogUtil.info(string.Format("{0} Add Mission Fleet[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
                     }
                 }
                 else
@@ -161,11 +161,11 @@ namespace DeviceLibrary
                     MiR_API.State_Ready(agv);
                     if (rtn)
                     {
-                        LogUtil.info(string.Format("{0} Add_Mission[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
-                    }
+                        LogUtil.info(string.Format("{0} Add Mission[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
+                    } 
                     else
                     {
-                        LogUtil.info(string.Format("{0} Add_Mission[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
+                        LogUtil.info(string.Format("{0} AddMission[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
                     }
                 }
                 agv.StateKanban.SetCurTask(agv.TaskRunState.ToTaskShowInfo());
@@ -205,11 +205,11 @@ namespace DeviceLibrary
                     MiR_API.State_Ready(agv);
                     if (rtn)
                     {
-                        LogUtil.info(string.Format("{0} Add_Mission_Fleet[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
+                        LogUtil.info(string.Format("{0} Add Mission Fleet[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
                     }
                     else
                     {
-                        LogUtil.info(string.Format("{0} Add_Mission_Fleet[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
+                        LogUtil.info(string.Format("{0} Add Mission Fleet[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
                     }
                 }
                 else
@@ -218,11 +218,11 @@ namespace DeviceLibrary
                     MiR_API.State_Ready(agv);
                     if (rtn)
                     {
-                        LogUtil.info(string.Format("{0} Add_Mission[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
+                        LogUtil.info(string.Format("{0} Add Mission[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
                     }
                     else
                     {
-                        LogUtil.info(string.Format("{0} Add_Mission[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
+                        LogUtil.info(string.Format("{0} Add Mission[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
                     }
                 }
                 agv.StateKanban.SetCurTask(agv.TaskRunState.ToTaskShowInfo());

DeviceLibrary/manager/HttpManager.cs

@@ -2,6 +2,8 @@
 using System;
 using System.Collections.Generic;
 using System.Runtime.CompilerServices;
+using System.Threading;
+using System.Threading.Tasks;
 using static DeviceLibrary.HttpManager;
 
 namespace DeviceLibrary
@@ -481,21 +483,27 @@ namespace DeviceLibrary
             try
             {
                 //string resultStr = HttpHelper.Post(agvreporttask, txt);
-                Dictionary<string, string> param = new Dictionary<string, string>();
-                param.Add("info", txt);
-                string addr = GetItsAddr("/UpdateAGVtranstask", param);
-                string resultStr = HttpHelper.Get(addr);
-                itsData data = JsonHelper.DeserializeJsonToObject<itsData>(resultStr);
-                //fbackkinfo":"no agvinfo","fbacktime":"20215306105317"}
-                if (data == null)
-                {
-                    log.Error($"AGV反馈任务执行信息 fail:[{txt}][{resultStr}]");
-                }
-                else
+
+                Task.Factory.StartNew(() =>
                 {
-                    log.Info($"AGV反馈任务执行信息 info:[{txt}][{resultStr}]");
+                    Dictionary<string, string> param = new Dictionary<string, string>();
+                    param.Add("info", txt);
+                    string addr = GetItsAddr("/UpdateAGVtranstask", param);
+                    while (true)
+                    {
+                        string resultStr = HttpHelper.Get(addr);
+                        itsData data = JsonHelper.DeserializeJsonToObject<itsData>(resultStr);
+                        //fbackkinfo":"no agvinfo","fbacktime":"20215306105317"}
+                        if (data != null)
+                        {
+                            log.Info($"AGV反馈任务执行信息 info:[{txt}][{resultStr}]");
+                            break;
+                        }
+                        Thread.Sleep(1000);
+                    }
+
+                });
 
-                }
             }
             catch (Exception e)
             {