2号车出现在T5线未确认就走的的情况修复

AGVDispatch/FrmMain.Designer.cs

@@ -47,10 +47,12 @@
             this.label12 = new System.Windows.Forms.Label();
             this.groupBox2 = new System.Windows.Forms.GroupBox();
             this.tabControlManual = new System.Windows.Forms.TabControl();
-            this.tableLayoutPanel4 = new System.Windows.Forms.TableLayoutPanel();
-            this.flowLayoutPanel1 = new System.Windows.Forms.FlowLayoutPanel();
             this.tabPage5 = new System.Windows.Forms.TabPage();
             this.txtShow = new System.Windows.Forms.TextBox();
+            this.tableLayoutPanel4 = new System.Windows.Forms.TableLayoutPanel();
+            this.flowLayoutPanel1 = new System.Windows.Forms.FlowLayoutPanel();
+            this.textBox1 = new System.Windows.Forms.TextBox();
+            this.button1 = new System.Windows.Forms.Button();
             this.tableLayoutPanel3.SuspendLayout();
             this.tabControl1.SuspendLayout();
             this.tabPage2.SuspendLayout();
@@ -66,8 +68,8 @@
             ((System.ComponentModel.ISupportInitialize)(this.dgvInfos)).BeginInit();
             this.tabPage3.SuspendLayout();
             this.groupBox2.SuspendLayout();
-            this.tableLayoutPanel4.SuspendLayout();
             this.tabPage5.SuspendLayout();
+            this.tableLayoutPanel4.SuspendLayout();
             this.SuspendLayout();
             // 
             // tableLayoutPanel3
@@ -267,6 +269,8 @@
             // 
             // tabPage3
             // 
+            this.tabPage3.Controls.Add(this.button1);
+            this.tabPage3.Controls.Add(this.textBox1);
             this.tabPage3.Controls.Add(this.label12);
             this.tabPage3.Controls.Add(this.groupBox2);
             this.tabPage3.Location = new System.Drawing.Point(4, 22);
@@ -312,6 +316,25 @@
             this.tabControlManual.Size = new System.Drawing.Size(425, 258);
             this.tabControlManual.TabIndex = 0;
             // 
+            // tabPage5
+            // 
+            this.tabPage5.Controls.Add(this.txtShow);
+            this.tabPage5.Location = new System.Drawing.Point(4, 22);
+            this.tabPage5.Name = "tabPage5";
+            this.tabPage5.Size = new System.Drawing.Size(1270, 282);
+            this.tabPage5.TabIndex = 5;
+            this.tabPage5.Text = "AGV定时上报内容";
+            this.tabPage5.UseVisualStyleBackColor = true;
+            // 
+            // txtShow
+            // 
+            this.txtShow.Dock = System.Windows.Forms.DockStyle.Fill;
+            this.txtShow.Location = new System.Drawing.Point(0, 0);
+            this.txtShow.Multiline = true;
+            this.txtShow.Name = "txtShow";
+            this.txtShow.Size = new System.Drawing.Size(1270, 282);
+            this.txtShow.TabIndex = 0;
+            // 
             // tableLayoutPanel4
             // 
             this.tableLayoutPanel4.ColumnCount = 1;
@@ -336,24 +359,22 @@
             this.flowLayoutPanel1.Size = new System.Drawing.Size(1274, 405);
             this.flowLayoutPanel1.TabIndex = 0;
             // 
-            // tabPage5
+            // textBox1
             // 
-            this.tabPage5.Controls.Add(this.txtShow);
-            this.tabPage5.Location = new System.Drawing.Point(4, 22);
-            this.tabPage5.Name = "tabPage5";
-            this.tabPage5.Size = new System.Drawing.Size(1270, 282);
-            this.tabPage5.TabIndex = 5;
-            this.tabPage5.Text = "AGV定时上报内容";
-            this.tabPage5.UseVisualStyleBackColor = true;
+            this.textBox1.Location = new System.Drawing.Point(319, 32);
+            this.textBox1.Name = "textBox1";
+            this.textBox1.Size = new System.Drawing.Size(218, 21);
+            this.textBox1.TabIndex = 47;
             // 
-            // txtShow
+            // button1
             // 
-            this.txtShow.Dock = System.Windows.Forms.DockStyle.Fill;
-            this.txtShow.Location = new System.Drawing.Point(0, 0);
-            this.txtShow.Multiline = true;
-            this.txtShow.Name = "txtShow";
-            this.txtShow.Size = new System.Drawing.Size(1270, 282);
-            this.txtShow.TabIndex = 0;
+            this.button1.Location = new System.Drawing.Point(339, 73);
+            this.button1.Name = "button1";
+            this.button1.Size = new System.Drawing.Size(163, 41);
+            this.button1.TabIndex = 48;
+            this.button1.Text = "根据任务编号删除任务";
+            this.button1.UseVisualStyleBackColor = true;
+            this.button1.Click += new System.EventHandler(this.button1_Click);
             // 
             // FrmMain
             // 
@@ -381,10 +402,11 @@
             this.tblLayoutUnlock.ResumeLayout(false);
             ((System.ComponentModel.ISupportInitialize)(this.dgvInfos)).EndInit();
             this.tabPage3.ResumeLayout(false);
+            this.tabPage3.PerformLayout();
             this.groupBox2.ResumeLayout(false);
-            this.tableLayoutPanel4.ResumeLayout(false);
             this.tabPage5.ResumeLayout(false);
             this.tabPage5.PerformLayout();
+            this.tableLayoutPanel4.ResumeLayout(false);
             this.ResumeLayout(false);
 
         }
@@ -412,6 +434,8 @@
         private System.Windows.Forms.DataGridView dgvInfos;
         private System.Windows.Forms.TabPage tabPage5;
         private System.Windows.Forms.TextBox txtShow;
+        private System.Windows.Forms.Button button1;
+        private System.Windows.Forms.TextBox textBox1;
     }
 }
 

AGVDispatch/FrmMain.cs

@@ -13,6 +13,7 @@ using System.Windows.Forms;
 using Common;
 using DeviceLibrary;
 using DeviceLibrary.manager;
+using DeviceLibrary.service.model;
 
 namespace AGVControl
 {
@@ -190,6 +191,21 @@ namespace AGVControl
                 LogUtil.logBox = this.richTextBox1;
             }
         }
+
+        private void button1_Click(object sender, EventArgs e)
+        {
+            try
+            {
+                string missionId = textBox1.Text.Trim();
+                MissionInfo missionInfo = MissionManager.GetMission(missionId);
+                if(missionInfo != null)
+                {
+                    MissionManager.DeleteById(missionId);
+                }
+            }
+            catch { }
+        }
+
         private void dgvInfos_CellContentClick(object sender, DataGridViewCellEventArgs e)
         {
             if (e.RowIndex == -1)

DeviceLibrary/Config/XmlConfigOperation.cs

@@ -89,7 +89,7 @@ namespace DeviceLibrary.manager
             string strPath = string.Format("/agvs/agv[@ip=\"{0}\"]", agv.IP);
             XmlElement selectXe = (XmlElement)xe.SelectSingleNode(strPath);  //selectSingleNode 根据XPath表达式,获得符合条件的第一个节点.
                                                                              //selectXe.SetAttribute("Type", dgvBookInfo.CurrentRow.Cells[0].Value.ToString());//也可以通过SetAttribute来增加一个属性
-            selectXe.GetElementsByTagName("IsDebug").Item(0).InnerText = agv.Auto.ToString();
+            selectXe.GetElementsByTagName("IsDebug").Item(0).InnerText = agv.IsDebug.ToString();
             xmlDoc.Save(File_AgvInfo);
         }
         public static void LoadNodeInfos(List<Node> nodes)

DeviceLibrary/bean/Node.cs

@@ -250,7 +250,6 @@ namespace DeviceLibrary
     public class ExtendEquip
     {
         public string IP { get; set; }
-        private bool buttonConfirmSig = false;
         /// <summary>
         /// 确认按钮
         /// </summary>
@@ -264,13 +263,7 @@ namespace DeviceLibrary
                         return false;
                     else
                     {
-                        if (buttonConfirmSig)
-                            return true;
-                        else
-                        {
-                            buttonConfirmSig = GetIO();
-                            return buttonConfirmSig;
-                        }
+                        return GetIO();
                     }
 
                 }
@@ -288,7 +281,7 @@ namespace DeviceLibrary
             {
                 Common.LogUtil.info($"线体按钮确认[{IP}]");
                 System.Threading.Tasks.Task.Factory.StartNew(delegate
-                {                   
+                {
                     IOManager.WriteDO(IP, 0, 1);
                     System.Threading.Thread.Sleep(5000);
                     IOManager.WriteDO(IP, 0, 0);
@@ -337,9 +330,8 @@ namespace DeviceLibrary
         public void Reset()
         {
             apiconfirmSig = false;
-            buttonConfirmSig = false;
             IOManager.WriteDO(IP, 0, 0);
-            Common.LogUtil.info($"线体按钮状态重置[{IP}]");
+            Common.LogUtil.info($"线体确认状态重置[{IP}]：apiconfirmSig={apiconfirmSig}");
         }
     }
     /// <summary>

DeviceLibrary/bean/job/F1StoreToLiftJob.cs

@@ -96,7 +96,7 @@ namespace DeviceLibrary
             {
                 if (lift.LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo().sourceFloor))
                 {
-                    if (lift.LiftContext.HasShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out lift.LiftStatus liftStatus))
+                    if (lift.LiftContext.HasShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out liftStatus))
                     {
                         JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_01_ToTemp1);
                         runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有料车，去临时点1的卸料点，准备卸下车上料车";
@@ -117,7 +117,7 @@ namespace DeviceLibrary
                         AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
                     }
                 }
-                else if (JobRunStep.IsTimeOut(5) && !lift.LiftContext.CheckIfRequestOk(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo()))
+                else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo()))
                 {
                     JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_04_CheckLiftStatus);
                     //请求电梯
@@ -299,6 +299,7 @@ namespace DeviceLibrary
                         $"电梯卸车"));
 
                     runInfo = $"料车在{JobParam.CurTargetNode.AliceName}卸下完成，准备离开";
+                    ResetOccupiedAgv(JobParam.GetMissionInfo());
                     //任务状态变更
                     MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.到达电梯, out string msg);
                     AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");

DeviceLibrary/bean/job/Job.cs

 using Common;
 using DeviceLibrary.bean;
 using DeviceLibrary.manager;
+using DeviceLibrary.service.model;
 using System;
 
 namespace DeviceLibrary
@@ -169,6 +170,14 @@ namespace DeviceLibrary
             }
             return true;
         }
+        /// <summary>
+        /// 清除AGV占用的任务
+        /// </summary>
+        /// <param name="missionInfo"></param>
+        protected void ResetOccupiedAgv(MissionInfo missionInfo)
+        {
+            missionInfo.ResetOccupied();
+        }
     }
 }
 

DeviceLibrary/bean/job/LiftToLinesJob.cs

@@ -224,8 +224,9 @@ namespace DeviceLibrary.bean.job
                     //上报位置
                     System.Threading.Thread.Sleep(1000);
                 }
-                else if (JobRunStep.IsTimeOut(5) && !lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
+                else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
                 {
+                    JobRunStep.ToNextStep(RunStep.SD_LiftToLine_12_WaitDoorOpen);
                     //请求电梯
                     lift.LiftContext.Request(JobParam.GetMissionInfo(), agv,true);
                 }
@@ -273,6 +274,7 @@ namespace DeviceLibrary.bean.job
                     JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_03_LeaveLift);
                     runInfo = $"在{JobParam.SrcNode.AliceName}卸下料车完成，准备离开";
                     JobRunStep.Msg = runInfo;
+                    ResetOccupiedAgv(JobParam.GetMissionInfo());
                     AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
                     //上报位置
                     manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
@@ -338,11 +340,11 @@ namespace DeviceLibrary.bean.job
                     JobRunStep.Msg = runInfo;
                     AllocateTask(agv, JobParam.SrcNode.Name);
                 }
-                else if (JobRunStep.IsTimeOut(1, out double timeval))
+                else if (JobRunStep.IsTimeOut(20))
                 {
+                    JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_03_RequestLift);
                     //请求电梯
                     lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true);
-                    System.Threading.Thread.Sleep(3000);
                 }
             }
             #endregion

DeviceLibrary/lift/LiftContext.cs

@@ -148,7 +148,10 @@ namespace DeviceLibrary.lift
         {
             liftStatus = GetLiftStatus(liftId);
             if (liftStatus.destinationClient.Equals(client))
+            {
+                liftStatus.missionId = manager.MissionManager.GetMissionIdByShelfInLift(liftId);
                 return true;
+            }
             return false;
         }
         /// <summary>

DeviceLibrary/manager/MissionManager.cs

@@ -101,6 +101,14 @@ namespace DeviceLibrary.manager
                 return MissionInfos[id];
             return null;
         }
+        public static string GetMissionIdByShelfInLift(string liftId)
+        {
+            int id = MissionInfos.FindIndex(s=> liftId.Equals(s.liftName) &&
+            (s.State==MissionState.电梯运行 || s.State == MissionState.返回电梯运行));
+            if (id > -1)
+                return MissionInfos[id].missionId;
+            return "";
+        }
         public static void Add(MissionInfo mission)
         {
             try
@@ -159,16 +167,19 @@ namespace DeviceLibrary.manager
             {
                 if (Monitor.TryEnter(lockObj, 1000))
                 {
-                    missionInfo = MissionInfos.Find(s => s.sourceWorkshop.Equals(agv.Scope.Workshop) && s.State.Equals(MissionState.创建) &&
+                    missionInfo = MissionInfos.Find(s => s.sourceWorkshop.Equals(agv.Scope.Workshop) &&
+                    s.State.Equals(MissionState.创建) &&
                     agv.Scope.Tasks.Contains(s.projectType.ToString()));
-                    if (missionInfo != null)
+                    if (missionInfo != null && AgvCanGetMission(missionInfo))
                     {
                         liftname = GetLiftName(missionInfo);
                         if (liftname.Equals(""))
                         {
                             return null;
                         }
+                        SetMissionOccupied(missionInfo, agv);
                         Log.Info($"执行任务[{agv.Name}][起始地] {JsonHelper.SerializeObject(missionInfo)}");
+                        return missionInfo;
                     }
                 }
             }
@@ -180,11 +191,15 @@ namespace DeviceLibrary.manager
             {
                 Monitor.Exit(lockObj);
             }
-            return missionInfo;
+            return null;
         }
 
+        static bool AgvCanGetMission(MissionInfo missionInfo)
+        {
+            return string.IsNullOrEmpty(missionInfo.OccupiedAgv);
+        }
         /// <summary>
-        /// 获取接收料任务，以准备执行
+        /// 获取接收料任务，以准备执行 LiftToLinesJobType
         /// </summary>
         /// <param name="missionType"></param>
         /// <returns></returns>
@@ -197,9 +212,11 @@ namespace DeviceLibrary.manager
                 {
                     missionInfo = MissionInfos.Find(s => s.destinationWorkshop.Equals(agv.Scope.Workshop) &&
                     (s.State >= MissionState.到达电梯 && s.State <= MissionState.电梯到达) && agv.Scope.Tasks.Contains(s.projectType.ToString()));
-                    if (missionInfo != null)
+                    if (missionInfo != null && AgvCanGetMission(missionInfo))
                     {
+                        SetMissionOccupied(missionInfo, agv);
                         Log.Info($"执行任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
+                        return missionInfo;
                     }
                 }
             }
@@ -211,10 +228,10 @@ namespace DeviceLibrary.manager
             {
                 Monitor.Exit(lockObj);
             }
-            return missionInfo;
+            return null;
         }
         /// <summary>
-        /// 获取1楼接收料任务，以准备执行
+        /// 获取1楼接收料任务，以准备执行 F1LiftToStoreJobType
         /// </summary>
         /// <param name="agv"></param>
         /// <returns></returns>
@@ -227,9 +244,11 @@ namespace DeviceLibrary.manager
                 {
                     missionInfo = MissionInfos.Find(s => s.sourceWorkshop.Equals(agv.Scope.Workshop) &&
                     (s.State >= MissionState.返回到达电梯内 && s.State <= MissionState.返回电梯到达) && agv.Scope.Tasks.Contains(s.projectType.ToString()));
-                    if (missionInfo != null)
+                    if (missionInfo != null && AgvCanGetMission(missionInfo))
                     {
+                        SetMissionOccupied(missionInfo, agv);
                         Log.Info($"执行任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
+                        return missionInfo;
                     }
                 }
             }
@@ -241,7 +260,7 @@ namespace DeviceLibrary.manager
             {
                 Monitor.Exit(lockObj);
             }
-            return missionInfo;
+            return null;
         }
 
         /// <summary>
@@ -259,9 +278,11 @@ namespace DeviceLibrary.manager
                     missionInfo = MissionInfos.Find(s => s.destinationWorkshop.Equals(agv.Scope.Workshop) &&
                     s.sourceWorkshop.Equals(agv.Scope.Workshop) && s.projectType.Equals(ProjectType.半成品领用) &&
                     (s.State == MissionState.创建) && agv.Scope.Tasks.Contains(s.projectType.ToString()));
-                    if (missionInfo != null)
+                    if (missionInfo != null && AgvCanGetMission(missionInfo))
                     {
+                        SetMissionOccupied(missionInfo, agv);
                         Log.Info($"执行任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
+                        return missionInfo;
                     }
                 }
             }
@@ -273,7 +294,7 @@ namespace DeviceLibrary.manager
             {
                 Monitor.Exit(lockObj);
             }
-            return missionInfo;
+            return null;
         }
 
         /// <summary>
@@ -293,9 +314,11 @@ namespace DeviceLibrary.manager
                     (s.projectType.Equals(ProjectType.PCB领用) || s.projectType.Equals(ProjectType.包材领用))
                     &&
                     (s.State >= MissionState.创建) && agv.Scope.Tasks.Contains(s.projectType.ToString()));
-                    if (missionInfo != null)
+                    if (missionInfo != null && AgvCanGetMission(missionInfo))
                     {
+                        SetMissionOccupied(missionInfo,agv);
                         Log.Info($"执行任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
+                        return missionInfo;
                     }
                 }
             }
@@ -307,38 +330,12 @@ namespace DeviceLibrary.manager
             {
                 Monitor.Exit(lockObj);
             }
-            return missionInfo;
+            return null;
         }
-
-        /// <summary>
-        /// 获取电梯内的任务信息
-        /// </summary>
-        /// <param name="missionType"></param>
-        /// <returns></returns>
-        public static MissionInfo GetMissionInLift(AgvInfo agv)
+        static  void SetMissionOccupied(MissionInfo missionInfo,AgvInfo agv)
         {
-            MissionInfo missionInfo = null;
-            try
-            {
-                if (Monitor.TryEnter(lockObj, 1000))
-                {
-                    missionInfo = MissionInfos.Find(s => s.destinationWorkshop.Equals(agv.Scope.Workshop) &&
-                    (s.State >= MissionState.电梯运行 && s.State <= MissionState.电梯到达) && agv.Scope.Tasks.Contains(s.projectType.ToString()));
-                    if (missionInfo != null)
-                    {
-                        Log.Info($"执行任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
-                    }
-                }
-            }
-            catch (Exception e)
-            {
-                Log.Error("操作 fixMissionInfos 超时", e);
-            }
-            finally
-            {
-                Monitor.Exit(lockObj);
-            }
-            return missionInfo;
+            missionInfo.SetAgvOccupied(agv.Name);
+            MissionChangedEvent?.Invoke();
         }
         /// <summary>
         /// 设置任务状态
@@ -381,7 +378,7 @@ namespace DeviceLibrary.manager
             MissionChangedEvent?.Invoke();
         }
 
-         static void SetMissionState(MissionInfo missionInfo,MissionState missionState)
+        static void SetMissionState(MissionInfo missionInfo, MissionState missionState)
         {
             missionInfo.SetState(missionState);
             Log.Info($"设置任务[{missionInfo.missionId}] 状态为[{missionState}]成功");
@@ -451,7 +448,7 @@ namespace DeviceLibrary.manager
                                 liftname = SettingString.LIFT_D2;
                             }
                         }
-                        else if(missionInfo.sourceWorkshop.Equals(SettingString._3C))
+                        else if (missionInfo.sourceWorkshop.Equals(SettingString._3C))
                         {
                             if (missionInfo.destinationWorkshop.Equals(SettingString._4C))
                             {
@@ -462,7 +459,7 @@ namespace DeviceLibrary.manager
                     case ProjectType.包材领用:
                         if (missionInfo.sourceWorkshop.StartsWith("-1"))
                         {
-                            if (missionInfo.destinationWorkshop.Equals(SettingString._4D)||
+                            if (missionInfo.destinationWorkshop.Equals(SettingString._4D) ||
                                missionInfo.destinationWorkshop.Equals(SettingString._3D))
                             {
                                 liftname = SettingString.LIFT_D8;
@@ -492,11 +489,11 @@ namespace DeviceLibrary.manager
                                 liftname = SettingString.LIFT_C1;
                             }
                         }
-                            break;
+                        break;
                     case ProjectType.空台车领用:
                         if (missionInfo.sourceWorkshop.StartsWith("1"))
                         {
-                            if (missionInfo.destinationWorkshop.Equals(SettingString._4D)||
+                            if (missionInfo.destinationWorkshop.Equals(SettingString._4D) ||
                                 missionInfo.destinationWorkshop.Equals(SettingString._3D))
                             {
                                 liftname = SettingString.LIFT_D2;

DeviceLibrary/manager/UploadManager.cs

@@ -41,7 +41,9 @@ namespace DeviceLibrary.manager
                         }
                         else if (item.Auto)
                         {
-                            if (item.CurJob != null && item.CurJob is StandyJob)
+                            if (item.IsDebug)
+                                agvState.state = "调试中";
+                            else if (item.CurJob != null && item.CurJob is StandyJob)
                             {
                                 agvState.state = "归位中";
                             }
@@ -55,8 +57,6 @@ namespace DeviceLibrary.manager
                                 agvState.missionId = item.CurJob.JobParam.GetMissionInfo().missionId;
                                 agvState.remark = item.CurJob.JobParam.GetMissionInfo().Remark;
                             }
-                            else if (item.IsDebug)
-                                agvState.state = "调试中";
                             else
                                 agvState.state = "自动";
                         }

DeviceLibrary/service/model/MissionInfo.cs

@@ -16,22 +16,22 @@ namespace DeviceLibrary.service.model
         /// </summary>
         public string missionId { get; set; }
         /// <summary>
-        /// 使用的电梯名称
+        /// 任务状态
         /// </summary>
-        public string liftName { get; set; }
+        public MissionState State { get; set; }
         /// <summary>
-        /// 优先级。3最高，1最低
+        /// 使用的电梯名称
         /// </summary>
-        //public int Priority { get; set; } = 1;
-
+        public string liftName { get; set; }
         /// <summary>
-        /// 是否可合并
+        /// 占用的AGV名称
         /// </summary>
-        public bool canMerge { get; set; }
+        public string OccupiedAgv { get; set; } = string.Empty;
+        public string JobName { get { return string.Format("[{0}->{1} {2}任务]", sourceWorkshop, destinationWorkshop, projectType.ToString()); } }
         /// <summary>
-        /// 任务状态
+        /// 取车的位置
         /// </summary>
-        public MissionState State { get; set; }
+        public string sourcePoint { get; set; }
         /// <summary>
         /// 取车的车间
         /// </summary>
@@ -62,24 +62,10 @@ namespace DeviceLibrary.service.model
                 }
             }
         }
-        public int destinationFloor
-        {
-            get
-            {
-                try
-                {
-                    return int.Parse(destinationWorkshop.Substring(0, 1));
-                }
-                catch
-                {
-                    return -1;
-                }
-            }
-        }
         /// <summary>
-        /// 取车的位置
+        /// 目标点位，多个点位使用逗号分割
         /// </summary>
-        public string sourcePoint { get; set; }
+        public string destinationPoint { get; set; }
         /// <summary>
         /// 目标车间
         /// </summary>
@@ -96,15 +82,30 @@ namespace DeviceLibrary.service.model
                 return "";
             }
         }
-        /// <summary>
-        /// 目标点位，多个点位使用逗号分割
-        /// </summary>
-        public string destinationPoint { get; set; }
+        public int destinationFloor
+        {
+            get
+            {
+                try
+                {
+                    return int.Parse(destinationWorkshop.Substring(0, 1));
+                }
+                catch
+                {
+                    return -1;
+                }
+            }
+        }
+
         /// <summary>
         /// 空架子是否需要返回
         /// </summary>
         public bool needBack { get; set; }
         /// <summary>
+        /// 是否可合并
+        /// </summary>
+        public bool canMerge { get; set; }
+        /// <summary>
         /// 产品类型
         /// </summary>
         public ProjectType projectType
@@ -129,7 +130,14 @@ namespace DeviceLibrary.service.model
         }
 
         public string Remark { get; set; }
-        public string JobName { get { return string.Format("[{0}->{1} {2}任务]", sourceWorkshop, destinationWorkshop, projectType.ToString()); } }
+        public void SetAgvOccupied(string agvname)
+        {
+            OccupiedAgv = agvname;
+        }
+        public void ResetOccupied()
+        {
+            OccupiedAgv = string.Empty;
+        }
     }
 
     public enum MissionState