删除不必要的延时

DeviceLibrary/Control.cs

@@ -199,22 +199,20 @@ namespace DeviceLibrary
                     AgvInfo agv = AGVManager.agvInfo[i];
                     if (!agv.IsCon) continue;   //AGV网络连接
                     if (!AGVManager.agvInfo[i].Auto) continue;   //AGV是否可用
-                    //Ready,Pause,Executing，Error
-                    if (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Pause))
-                    {
-                        MiR_API.State_Ready(AGVManager.agvInfo[i]);
-                        continue;
-                    }
                     if (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Error))
                     {
                         MiR_API.Clear_Error(AGVManager.agvInfo[i]);
                         continue;
                     }
-                    if (!AGVManager.agvInfo[i].StateID.Equals(eAGVState.Ready)
-                        && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.Executing) && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.None))
+                    if (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Pause))
                     {
-                        continue;
+                        MiR_API.State_Ready(AGVManager.agvInfo[i]);
                     }
+                    //if (!AGVManager.agvInfo[i].StateID.Equals(eAGVState.Ready)
+                    //    && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.Executing) && !AGVManager.agvInfo[i].StateID.Equals(eAGVState.None))
+                    //{
+                    //    continue;
+                    //}
                     if (agv.TaskRunState.DeWaitTaskQueue(out AgvTask task))
                     {
                         if (agv.CurJob != null)
@@ -234,12 +232,18 @@ namespace DeviceLibrary
                             agv.CurJob = job;
                         }
                     }
-
-                    if (agv.CurJob != null)
+                    else
                     {
                         agv.CurJob = agv.CurJob.Execute(agv);
                     }
 
+                    if(
+                       (agv.CurJob!=null && !(agv.CurJob is ChargeJob || agv.CurJob is StandyJob))&& (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Executing)))
+                    {
+                        MiR_API.Get_Task_State(agv);
+                        Thread.Sleep(50);
+                        MiR_API.Get_IO_Status(agv);
+                    }
                 }
                 catch (Exception ex)
                 {

DeviceLibrary/bean/job/ChargeJob.cs

@@ -24,14 +24,9 @@ namespace DeviceLibrary
         /// <param name="agv"></param>
         public override Job Run(AgvInfo agv)
         {
-            //agv.SetJobContext(new bean.agv.JobContext()
-            //{
-            //    AgvTask = agv.TaskRunState.Task,
-            //    JobFullName = this.ToString(),
-            //    JobStep = JobRunStep.PreStep(),
-            //    Name = agv.Name,
-            //    JobParam = JobParam
-            //}) ;
+            agv.SetJobContext(new bean.agv.JobContext()
+            {
+            });
             if (JobRunStep.IsStep(RunStep.NONE))
             {
                 ClearLiftNodeOccupied(agv);

DeviceLibrary/bean/job/LiftToLinesJob.cs

@@ -379,7 +379,7 @@ namespace DeviceLibrary
                     runInfo = $"{JobParam.SrcNode.AliceName}门已开，检查电梯内该层是否有料车";
                     JobRunStep.Msg = runInfo;
                     //上报位置
-                    System.Threading.Thread.Sleep(1000);
+                    //System.Threading.Thread.Sleep(1000);
                 }
                 else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
                 {
@@ -461,7 +461,6 @@ namespace DeviceLibrary
                     bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
                     runInfo = $"离开{JobParam.SrcNode.AliceName}，关门: {rtn}";
                     JobRunStep.Msg = runInfo;
-                    System.Threading.Thread.Sleep(5000);
                     ClearLiftNodeOccupied(agv);
                 }
             }

DeviceLibrary/bean/job/StandyJob.cs

@@ -27,14 +27,9 @@ namespace DeviceLibrary
         /// <param name="agv"></param>
         public override Job Run(AgvInfo agv)
         {
-            //agv.SetJobContext(new bean.agv.JobContext()
-            //{
-            //    AgvTask = agv.TaskRunState.Task,
-            //    JobFullName = this.ToString(),
-            //    JobStep = JobRunStep.PreStep(),
-            //    Name = agv.Name,
-            //    JobParam=JobParam
-            //});
+            agv.SetJobContext(new bean.agv.JobContext()
+            {
+            });
             if (JobRunStep.IsStep(RunStep.NONE))
             {
                 {

DeviceLibrary/bean/job/SwitchShelfJob.cs

@@ -240,7 +240,6 @@ namespace DeviceLibrary
                     }
 
                     JobRunStep.Msg = runInfo;
-                    Thread.Sleep(1000);
                 }
             }
             else if (JobRunStep.IsStep(RunStep.Switch_15_CloseDoor))
@@ -263,7 +262,6 @@ namespace DeviceLibrary
                     continueUse = true;
                 //关门
                 bool rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, continueUse);
-                Thread.Sleep(2000);
                 if (mission.projectType.Equals(ProjectType.移远成品入库) && SettingString.LIFT_D2.Equals(JobParam.CurTargetNode.Name))
                 {
                     LiftContext.CloseFinishedProduct(JobParam.CurTargetNode.Name, agv);