1

AGVDispatch/Manual.cs

@@ -78,6 +78,7 @@ namespace AGVControl
                 catch { }
             }));
         }
+        DateTime manualTime = DateTime.Now;
         private void chkBxAuto_CheckedChanged(object sender, EventArgs e)
         {
             if (!isIni) return;
@@ -128,11 +129,15 @@ namespace AGVControl
                     {
                         LogUtil.error($"切换到手动异常", ex);
                     }
-
+                    manualTime = DateTime.Now;
                     //添加Init任务
                     AgvTaskManager.AssignMission(Agv, $"{SettingString.Init}");
 
                 }
+                else if ((DateTime.Now - manualTime).TotalSeconds < 5)
+                {
+                    chkBxAuto.Checked=false;
+                }
                 else
                 {
                     if (Agv.IsExistShelf && Agv.CurJob == null)

DeviceLibrary/DeviceLibrary.csproj

@@ -95,6 +95,7 @@
     <Compile Include="bean\jobType\LineToLineJobType.cs" />
     <Compile Include="bean\jobType\RecoveryJobType.cs" />
     <Compile Include="bean\jobType\LineOneToManyJobType.cs" />
+    <Compile Include="bean\jobType\ToLiftGetShelfJobType.cs" />
     <Compile Include="bean\job\ChargeJob.cs" />
     <Compile Include="bean\job\F1LiftC1ToLiftD2Job.cs" />
     <Compile Include="bean\job\F1LiftD2ToLiftC1Job.cs" />

DeviceLibrary/bean/jobType/ToLiftGetShelfJobType.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace DeviceLibrary.bean.jobType
+{
+    /// <summary>
+    /// 目标车间小车执行接料架任务
+    /// </summary>
+    internal class ToLiftGetShelfJobType:JobType
+    {
+        public override Job GetNewJob(AgvInfo agv)
+        {
+
+            return null;
+        }
+
+        bool OtherAgvEexcuteTheJob(string liftname)
+        {
+            return false;
+        }
+    }
+}

DeviceLibrary/manager/AGVManager.cs

@@ -213,6 +213,16 @@ namespace DeviceLibrary
                         agv.CurJob = recoveryJobType.GetNewJob(agv);
                         if (agv.CurJob != null && (agv.CurJob is StandyJob || agv.CurJob is ChargeJob))
                         {
+                            try
+                            {
+                                agv.Auto = false;
+                                agv.CurJob = null;
+                                agv.Place = new Node();
+                                agv?.TaskRunState?.ResetInfo();
+                                agv.JobContext = new DeviceLibrary.bean.agv.JobContext();
+                            }
+                            finally { }
+
                             continue;
                         }
                         LogUtil.info($"读取并使用{agv.Name}上下文信息:{JsonHelper.SerializeObject(info)}");

DeviceLibrary/manager/AgvTaskManager.cs

@@ -86,7 +86,7 @@ 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)
+        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)
@@ -127,10 +127,10 @@ namespace DeviceLibrary
                         if (node != null)
                             break;
                     }
-                }                
+                }
             }
 
-            if (task != null&& !string.IsNullOrEmpty(task.Guid))
+            if (task != null && !string.IsNullOrEmpty(task.Guid))
             {
                 agv.TaskRunState.Task = task;
                 if (node != null)
@@ -144,8 +144,12 @@ namespace DeviceLibrary
                     agv.TaskRunState.ResetInfo();
                     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));
+                        if(agv.Auto)
+                        {
+                            agv.TaskRunState.EnWaitTaskQueue(task);
+                            LogUtil.info(string.Format("{0} 离线，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));
+                        }
+
                     }
                     return false;
                 }
@@ -169,7 +173,7 @@ namespace DeviceLibrary
                     if (rtn)
                     {
                         LogUtil.info(string.Format("{0} Add Mission[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
-                    } 
+                    }
                     else
                     {
                         LogUtil.info(string.Format("{0} AddMission[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
@@ -180,8 +184,12 @@ namespace DeviceLibrary
                 {
                     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));
+                        if(agv.Auto)
+                        {
+                            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));
+                        }
+
                     }
                 }
             }
@@ -201,8 +209,12 @@ namespace DeviceLibrary
                     agv.TaskRunState.ResetInfo();
                     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));
+                        if(agv.Auto)
+                        {
+                            agv.TaskRunState.EnWaitTaskQueue(task);
+                            LogUtil.info(string.Format("{0} 离线，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));
+                        }
+
                     }
                     return false;
                 }
@@ -237,8 +249,12 @@ namespace DeviceLibrary
                 {
                     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));
+                        if (agv.Auto)
+                        {
+                            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));
+                        }
+
                     }
                 }
             }