1

DeviceLibrary/bean/agv/Agv_Info.cs

@@ -355,15 +355,16 @@ namespace DeviceLibrary
                     SetKanban();
                     SetKanban();
                     if (!Control.CheckOnline(this)) return;
                     if (!Control.CheckOnline(this)) return;
                     //获取AGV状态
                     //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);
+                    bool rtn = 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);
+                    bool rtn1 = MiR_API.Get_Task_State(this);
+                    if (rtn && rtn1)
+                        SetState(stateID, battery, mission_text, position, errors);
                     if (!TaskRunState.IsAllocatingTask && Auto && CurJob != null && TaskRunState.TaskID.Equals(-1)
                     if (!TaskRunState.IsAllocatingTask && Auto && CurJob != null && TaskRunState.TaskID.Equals(-1)
                             && TaskRunState.Task != null && !string.IsNullOrEmpty(TaskRunState.Task.Guid))
                             && TaskRunState.Task != null && !string.IsNullOrEmpty(TaskRunState.Task.Guid))
                     {
                     {
                         if (!MiR_API.Get_MissionByDescrp(this))
                         if (!MiR_API.Get_MissionByDescrp(this))
                         {
                         {
-                            if(AgvTaskManager.IsExistTask(TaskRunState.Task.Name, this))
+                            if (AgvTaskManager.IsExistTask(TaskRunState.Task.Name, this))
                             {
                             {
                                 LogUtil.info($"{Name}：Task=-1处理,Fleet无任务,重发任务:{TaskRunState.Task.Name},{TaskRunState.Task.Guid}");
                                 LogUtil.info($"{Name}：Task=-1处理,Fleet无任务,重发任务:{TaskRunState.Task.Name},{TaskRunState.Task.Guid}");
                                 CurJob?.ResendTask(this);
                                 CurJob?.ResendTask(this);
@@ -377,7 +378,6 @@ namespace DeviceLibrary
                     //if ((agv.CurJob != null && !(agv.CurJob is ChargeJob || agv.CurJob is StandyJob)) 
                     //if ((agv.CurJob != null && !(agv.CurJob is ChargeJob || agv.CurJob is StandyJob)) 
                     //    && (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Executing)))
                     //    && (AGVManager.agvInfo[i].StateID.Equals(eAGVState.Executing)))
                     {
                     {
-                        MiR_API.Get_Task_State(this);
                         Thread.Sleep(50);
                         Thread.Sleep(50);
                         MiR_API.Get_IO_Status(this);
                         MiR_API.Get_IO_Status(this);
                     }
                     }
@@ -398,7 +398,7 @@ namespace DeviceLibrary
         public List<string> RunInfos;
         public List<string> RunInfos;
         DateTime IoStartTime = DateTime.MaxValue;
         DateTime IoStartTime = DateTime.MaxValue;
         int IoLastTime = 5000;
         int IoLastTime = 5000;
-        int StandLastTimeMinute = AppConfigHelper.GetIntValue(SettingString.StandTimeout,6);
+        int StandLastTimeMinute = AppConfigHelper.GetIntValue(SettingString.StandTimeout, 6);
         public DateTime StandStartTime = DateTime.MaxValue;
         public DateTime StandStartTime = DateTime.MaxValue;
         public bool SetState(eAGVState stateID, int battery, string missionText, MirPosition position, List<Mir_Error> mir_Errors)
         public bool SetState(eAGVState stateID, int battery, string missionText, MirPosition position, List<Mir_Error> mir_Errors)
         {
         {
@@ -688,7 +688,7 @@ namespace DeviceLibrary
                         Common.LogUtil.error(Name + "上报小车运行步骤失败" + ex.Message + ex.StackTrace);
                         Common.LogUtil.error(Name + "上报小车运行步骤失败" + ex.Message + ex.StackTrace);
                     }
                     }
                 }
                 }
-                HttpManager.updateDeviceAlarmMsg(Httpserver,msglist);
+                HttpManager.updateDeviceAlarmMsg(Httpserver, msglist);
             }
             }
             catch (Exception ex)
             catch (Exception ex)
             {
             {