diff --git a/CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/Cls_A17168.cs b/CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/Cls_A17168.cs
index 3821e00..9c4684c 100644
--- a/CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/Cls_A17168.cs	
+++ b/CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/Cls_A17168.cs	
@@ -185,6 +185,7 @@ namespace AGVSystem
                                         temp.Read_dt = DateTime.Now;
                                         UPDateDBList.upDbList.Add(new Location_Log(DateTime.Now, temp.Agv_ID, temp.Location_Display, location_value, 0, 0, 0));
                                     }
+                                    WriteTxt.SaveLog1("=========》（11）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
                                     #region 路口放行判断
                                     if (temp.Cross_Location_Go != location_temp && location_value > 0 && location_value < 2000)
                                     {
@@ -361,10 +362,12 @@ namespace AGVSystem
                                         #region 海康交管
                                         else if (Frm_A17168.businessCtrl.apiModel.waitRfidList.Split(',').Contains(location_temp.ToString()))
                                         {
+                                            WriteTxt.SaveLog1("=========》（12）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
                                             if (Frm_A17168.businessCtrl == null) Frm_A17168.businessCtrl = new BusinessManage();
                                             if (Frm_A17168.leavedDic == null) Frm_A17168.leavedDic = new Dictionary<int, int>();
                                             if (!Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID)) Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
                                             bool flg = false;
+                                            WriteTxt.SaveLog1(location_temp.ToString() + "开始请求放行", "放行日志" + (temp.Agv_ID), "插件日志");
                                             //2秒请求一次
                                             if (Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0)
                                             {
@@ -375,16 +378,15 @@ namespace AGVSystem
                                             //放行
                                             if (flg)
                                             {
-                                                // if (Link_To_PLC.WriteGo(temp.Agv_ID) == 0)
-                                                // {
-                                                //    Frm_A17168.leavedDic[temp.Agv_ID] = 0;
-                                                //   WriteTxt.SaveLog1(location_temp.ToString() + "路口已放行", "放行日志" + (temp.Agv_ID), "插件日志");
-                                                //   t_temp = 0;
-                                                //    temp.Cross_Location_Go = location_temp;
-                                                // }
-
-
-
+                                                WriteTxt.SaveLog1("=========》（13）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
+                                                //登记第三方交管路口占用
+                                                TrafficModel trafficModel = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
+                                                if (trafficModel != null)
+                                                {
+                                                    trafficModel.agvId = temp.Agv_ID;
+                                                    trafficModel.InArea = DateTime.Now;
+                                                }
+                                                WriteTxt.SaveLog1(location_temp.ToString() + "路口添加" + trafficModel?.areaCode + "(" + trafficModel.agvId + ")", "放行日志" + (temp.Agv_ID), "插件日志");
                                                 if (Link_To_PC.WriteInfo(1, 0, 0) == 0)
                                                 {
                                                     Frm_A17168.leavedDic[temp.Agv_ID] = 0;
@@ -402,23 +404,31 @@ namespace AGVSystem
                                         //{
                                         else if (Frm_A17168.businessCtrl.apiModel.leavedRfidList.Split(',').Contains(location_temp.ToString()))
                                         {
+                                            WriteTxt.SaveLog1("=========》（14）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
                                             if (Frm_A17168.businessCtrl == null) Frm_A17168.businessCtrl = new BusinessManage();
                                             if (Frm_A17168.leavedDic == null) Frm_A17168.leavedDic = new Dictionary<int, int>();
                                             if (!Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID)) Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
                                             bool flg = false;
-
+                                            WriteTxt.SaveLog1(location_temp.ToString() + "开始请求释放", "放行日志" + (temp.Agv_ID), "插件日志");
 
                                             if (Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0)
                                             {
-                                                flg = Frm_A17168.businessCtrl.ByLeaved(temp.Agv_ID.ToString(), location_temp.ToString(), lockCode.ToString());
+                                                flg = Frm_A17168.businessCtrl.ByLeaved(temp.Agv_ID.ToString(), location_temp.ToString(), (location_temp - 1).ToString());
                                                 WriteTxt.SaveLog1(location_temp.ToString() + "离开释放返回的值" + flg, "放行日志" + (temp.Agv_ID), "插件日志");
                                             }
                                             //归还
                                             if (flg)
                                             {
+                                                WriteTxt.SaveLog1("=========》（15）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
                                                 Frm_A17168.leavedDic[temp.Agv_ID] = 0;
                                                 temp.Cross_Location_Go = location_temp;
                                                 lockCode = location_temp;
+                                                //清除第三方交管路口占用
+                                                TrafficModel trafficModel2 = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
+                                                if (trafficModel2 != null)
+                                                {
+                                                    trafficModel2.agvId = 0;
+                                                }
                                                 WriteTxt.SaveLog1(location_temp.ToString() + "路口已归还", "放行日志" + (temp.Agv_ID), "插件日志");
                                             }
                                             Frm_A17168.leavedDic[temp.Agv_ID]++;
@@ -467,8 +477,11 @@ namespace AGVSystem
                                                     Convert.ToString(param_info[6], 2).PadLeft(8, '0') +
                                                     Convert.ToString(param_info[5], 2).PadLeft(8, '0') +
                                                     Convert.ToString(param_info[4], 2).PadLeft(8, '0');
-                                    Thread.Sleep(100);
-                                    Warn_Deal(temp, sWarn);
+                                    ThreadPool.QueueUserWorkItem(delegate
+                                    {
+                                        Thread.Sleep(100);
+                                        Warn_Deal(temp, sWarn);
+                                    });
                                     #endregion
                                 }
                             }
@@ -608,8 +621,6 @@ namespace AGVSystem
                                         WriteTxt.SaveLog1("AGV经过地标：" + location_temp, temp.Agv_ID + "#Agv", "地标日志");
                                         //地标信息
                                         temp.Location_Display = location_temp;
-                                        //记录充电
-                                        Func.Change_Rec(temp.Agv_ID, location_temp, temp.Location_Display, temp.Read_dt);
 
                                         temp.Read_dt = DateTime.Now;
                                         //Func.db_conn.Command("INSERT INTO [Location_Log] ([Dt] ,[Agv_ID] ,[Loc_ID] ,[Value] ,[Loc_ID2]  ,[Value2],[Value3])  VALUES ('" +
@@ -617,13 +628,13 @@ namespace AGVSystem
                                         string strsql = "INSERT INTO [Location_Log] ([Dt] ,[Agv_ID] ,[Loc_ID] ,[Value] ,[Loc_ID2]  ,[Value2],[Value3])  VALUES ('" +
                                             DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff") + "'," + temp.Agv_ID + "," + location_temp + "," + location_value + "," + 0 + "," + 0 + "," + 0 + ")";
 
-                                        bBllBase.ExecuteNonQuery(strsql);
+                                        UPDateDBList.sqlList.Add(strsql);
 
                                     }
 
                                     if (Math.Abs(errorcount) > 0) errorcount = 0;
 
-
+                                    WriteTxt.SaveLog1("=========》（21）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
 
                                     #region 路口放行判断
                                     if (temp.Cross_Location_Go != location_temp && location_value > 0 && location_value < 2000)
@@ -799,10 +810,12 @@ namespace AGVSystem
                                         #region 海康交管
                                         else if (Frm_A17168.businessCtrl.apiModel.waitRfidList.Split(',').Contains(location_temp.ToString()))
                                         {
+                                            WriteTxt.SaveLog1("=========》（22）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
                                             if (Frm_A17168.businessCtrl == null) Frm_A17168.businessCtrl = new BusinessManage();
                                             if (Frm_A17168.leavedDic == null) Frm_A17168.leavedDic = new Dictionary<int, int>();
                                             if (!Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID)) Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
                                             bool flg = false;
+                                            WriteTxt.SaveLog1(location_temp.ToString() + "开始请求放行", "放行日志" + (temp.Agv_ID), "插件日志");
                                             //2秒请求一次
                                             if (Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0)
                                             {
@@ -821,8 +834,15 @@ namespace AGVSystem
                                                 //    temp.Cross_Location_Go = location_temp;
                                                 // }
 
-
-
+                                                WriteTxt.SaveLog1("=========》（23）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
+                                                //登记第三方交管路口占用
+                                                TrafficModel trafficModel = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
+                                                if (trafficModel != null)
+                                                {
+                                                    trafficModel.agvId = temp.Agv_ID;
+                                                    trafficModel.InArea = DateTime.Now;
+                                                }
+                                                WriteTxt.SaveLog1(location_temp.ToString() + "路口添加" + trafficModel?.areaCode + "(" + trafficModel.agvId + ")", "放行日志" + (temp.Agv_ID), "插件日志");
                                                 if (Link_To_PLC.WriteVW(2, 116, temp.Location_Display) == 0)
                                                 {
                                                     Frm_A17168.leavedDic[temp.Agv_ID] = 0;
@@ -840,23 +860,31 @@ namespace AGVSystem
                                         //{
                                         else if (Frm_A17168.businessCtrl.apiModel.leavedRfidList.Split(',').Contains(location_temp.ToString()))
                                         {
+                                            WriteTxt.SaveLog1("=========》（24）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
                                             if (Frm_A17168.businessCtrl == null) Frm_A17168.businessCtrl = new BusinessManage();
                                             if (Frm_A17168.leavedDic == null) Frm_A17168.leavedDic = new Dictionary<int, int>();
                                             if (!Frm_A17168.leavedDic.ContainsKey(temp.Agv_ID)) Frm_A17168.leavedDic.Add(temp.Agv_ID, 0);
                                             bool flg = false;
-
+                                            WriteTxt.SaveLog1(location_temp.ToString() + "开始请求释放", "放行日志" + (temp.Agv_ID), "插件日志");
 
                                             if (Frm_A17168.leavedDic[temp.Agv_ID] % Frm_A17168.businessCtrl.apiModel.requestSecond == 0)
                                             {
-                                                flg = Frm_A17168.businessCtrl.ByLeaved(temp.Agv_ID.ToString(), location_temp.ToString(), lockCode.ToString());
+                                                flg = Frm_A17168.businessCtrl.ByLeaved(temp.Agv_ID.ToString(), location_temp.ToString(), (location_temp - 1).ToString());
                                                 WriteTxt.SaveLog1(location_temp.ToString() + "离开释放返回的值" + flg, "放行日志" + (temp.Agv_ID), "插件日志");
                                             }
                                             //归还
                                             if (flg)
                                             {
+                                                WriteTxt.SaveLog1("=========》（25）：" + location_temp, temp.Agv_ID + "#Agv", "调试日志");
                                                 Frm_A17168.leavedDic[temp.Agv_ID] = 0;
                                                 temp.Cross_Location_Go = location_temp;
                                                 lockCode = location_temp;
+                                                //清除第三方交管路口占用
+                                                TrafficModel trafficModel2 = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
+                                                if (trafficModel2 != null)
+                                                {
+                                                    trafficModel2.agvId = 0;
+                                                }
                                                 WriteTxt.SaveLog1(location_temp.ToString() + "路口已归还", "放行日志" + (temp.Agv_ID), "插件日志");
                                             }
                                             Frm_A17168.leavedDic[temp.Agv_ID]++;
@@ -902,8 +930,11 @@ namespace AGVSystem
 
                                     string sWarn = (Convert.ToString(WarnRead[0], 2).PadLeft(8, '0') + Convert.ToString(WarnRead[1], 2).PadLeft(8, '0')).PadLeft(64, '0');
 
-                                    Thread.Sleep(100);
-                                    Warn_Deal_Plc(temp, sWarn);
+                                    ThreadPool.QueueUserWorkItem(delegate
+                                    {
+                                        Thread.Sleep(100);
+                                        Warn_Deal_Plc(temp, sWarn);
+                                    });
                                     #endregion
                                 }
                             }
diff --git a/CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/Frm_A17168.cs b/CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/Frm_A17168.cs
index 5d8f8f6..b416448 100644
--- a/CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/Frm_A17168.cs	
+++ b/CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/Frm_A17168.cs	
@@ -31,6 +31,14 @@ namespace AGVSystem
         public static ClsDBConn_sql db_station = new ClsDBConn_sql();
         public static ClsDBConn_sql db_Agv_Info = new ClsDBConn_sql();
         public static BusinessManage businessCtrl;
+        /// <summary>
+        /// 第三方交管自动归还秒数
+        /// </summary>
+        public static int TraffAutoTimet = 0;
+        /// <summary>
+        /// 第三方交管路口占用列表
+        /// </summary>
+        public static List<TrafficModel> autoLeavedDic = new List<TrafficModel>();
         public static Dictionary<int, int> leavedDic = new Dictionary<int, int>();
         /// <summary>
         /// Array_Station_Info [17,12]
@@ -111,6 +119,22 @@ namespace AGVSystem
             mainfrm.Map2 = panel2;
             mainfrm.Map3 = panel1;
             businessCtrl = new BusinessManage();
+            //初始化第三方交管路口占用列表
+            if (businessCtrl != null && businessCtrl.apiModel != null)
+            {
+                TraffAutoTimet = businessCtrl.apiModel.AutoTime;
+                if (!string.IsNullOrEmpty(businessCtrl.apiModel.waitRfidList))
+                {
+                    autoLeavedDic = new List<TrafficModel>();
+                    foreach (string areaCode in businessCtrl.apiModel.waitRfidList.Split(','))
+                    {
+                        autoLeavedDic.Add(new TrafficModel
+                        {
+                            areaCode = areaCode
+                        });
+                    }
+                }
+            }
             this.ControlBox = false;
             this.Width = mainfrm.newmainfrm.ClientSize.Width - 5;
             this.Height = mainfrm.newmainfrm.ClientSize.Height - 29 - 74 - 22 - 5;
@@ -304,6 +328,10 @@ namespace AGVSystem
             Thread dbThread = new Thread(UPDateDBList.UpDateDb);
             dbThread.IsBackground = true;
             dbThread.Start();
+            //第三方交管自动归还监听线程
+            Thread trafficThread = new Thread(TrafficCtrl.Listen);
+            trafficThread.IsBackground = true;
+            trafficThread.Start();
             //初始化小车控制线程
             Cls.Param.th_GetData = new Thread[Cls.Param.AGV_Qty];
 
diff --git a/CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/TrafficCtrl.cs b/CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/TrafficCtrl.cs
new file mode 100644
index 0000000..69b1347
--- /dev/null
+++ b/CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/TrafficCtrl.cs	
@@ -0,0 +1,65 @@
+using System;
+using System.Threading;
+
+namespace AGVSystem.A17168
+{
+    /// <summary>
+    /// 第三方交管自动归还路权监听
+    /// </summary>
+    public class TrafficCtrl
+    {
+        /// <summary>
+        /// 获取AGV当前地标
+        /// </summary>
+        private static int Agv_Land(int agvid)
+        {
+            for (byte b = 0; b < Func.AgvInfo.Length; b++)
+            {
+                if (Func.AgvInfo[b].Agv_ID == agvid)
+                {
+                    return Func.AgvInfo[b].Location_Display;
+                }
+            }
+            return 0;
+        }
+
+        /// <summary>
+        /// 监听线程：占用超过AutoTime秒的路口自动归还路权
+        /// </summary>
+        public static void Listen()
+        {
+            while (true)
+            {
+                try
+                {
+                    if (Frm_A17168.businessCtrl?.apiModel == null)
+                        continue;
+                    int autoTime = Frm_A17168.businessCtrl.apiModel.AutoTime;
+                    if (autoTime == 0 || string.IsNullOrEmpty(Frm_A17168.businessCtrl.apiModel.waitRfidList) || Frm_A17168.autoLeavedDic == null || Frm_A17168.autoLeavedDic.Count <= 0)
+                        continue;
+                    foreach (TrafficModel item in Frm_A17168.autoLeavedDic)
+                    {
+                        if (item.agvId == 0)
+                            continue;
+                        if ((DateTime.Now - item.InArea).TotalSeconds > autoTime)
+                        {
+                            bool flag = Frm_A17168.businessCtrl.ByLeaved(item.agvId.ToString(), Agv_Land(item.agvId).ToString(), item.areaCode.ToString());
+                            WriteTxt.SaveLog1(item.areaCode.ToString() + "自动释放，返回的值" + flag, "放行日志" + item.agvId, "插件日志");
+                            if (flag)
+                            {
+                                Frm_A17168.leavedDic[item.agvId] = 0;
+                                item.agvId = 0;
+                                WriteTxt.SaveLog1(item.areaCode.ToString() + "路口已自动归还", "放行日志" + item.agvId, "插件日志");
+                            }
+                        }
+                    }
+                }
+                catch (Exception ex)
+                {
+                    WriteTxt.SaveLog1("第三方交管监听线程异常！" + ex.ToString(), "异常日志", "插件日志");
+                }
+                Thread.Sleep(1000);
+            }
+        }
+    }
+}
diff --git a/CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/TrafficModel.cs b/CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/TrafficModel.cs
new file mode 100644
index 0000000..00a92b6
--- /dev/null
+++ b/CODE/20230901/SA17168/AGVSystem Ver2.0/A17168/TrafficModel.cs	
@@ -0,0 +1,23 @@
+using System;
+
+namespace AGVSystem.A17168
+{
+    /// <summary>
+    /// 第三方交管路口占用模型
+    /// </summary>
+    public class TrafficModel
+    {
+        /// <summary>
+        /// 路口（交汇区）地标编号
+        /// </summary>
+        public string areaCode { get; set; }
+        /// <summary>
+        /// 当前占用该路口的AGV编号，0=空闲
+        /// </summary>
+        public int agvId { get; set; }
+        /// <summary>
+        /// 进入路口时间
+        /// </summary>
+        public DateTime InArea { get; set; }
+    }
+}
diff --git a/CODE/20230901/SA17168/AGVSystem Ver2.0/AGVSystem.csproj b/CODE/20230901/SA17168/AGVSystem Ver2.0/AGVSystem.csproj
index b270ded..ddd2426 100644
--- a/CODE/20230901/SA17168/AGVSystem Ver2.0/AGVSystem.csproj	
+++ b/CODE/20230901/SA17168/AGVSystem Ver2.0/AGVSystem.csproj	
@@ -184,6 +184,8 @@
     <Compile Include="A17168\Frm_A17168.Designer.cs">
       <DependentUpon>Frm_A17168.cs</DependentUpon>
     </Compile>
+    <Compile Include="A17168\TrafficCtrl.cs" />
+    <Compile Include="A17168\TrafficModel.cs" />
     <Compile Include="A17168\UPDateDBList.cs" />
     <Compile Include="AboutBox1.cs">
       <SubType>Form</SubType>
diff --git a/CODE/20230901/SA17168/AGVSystem Ver2.0/Cls/Func.cs b/CODE/20230901/SA17168/AGVSystem Ver2.0/Cls/Func.cs
index 24c3e04..d39a499 100644
--- a/CODE/20230901/SA17168/AGVSystem Ver2.0/Cls/Func.cs	
+++ b/CODE/20230901/SA17168/AGVSystem Ver2.0/Cls/Func.cs	
@@ -67,6 +67,9 @@ namespace AGVSystem
                 lab.Tag = Assembly_ID + "-" + id;
                 lab.DoubleClick += new System.EventHandler(Cls.Path_Reset.label12_DoubleClick);
                 lab.MouseClick += new MouseEventHandler(label_MouseClick);
+                lab.MouseUp += new MouseEventHandler(label_UpClick);
+                lab.MouseDown += new MouseEventHandler(label_DownClick);
+                lab.MouseMove += new MouseEventHandler(label_MoveClick);
             }
             else if (Cls.Param.Display_CrossID == false)
             {
@@ -117,6 +120,85 @@ namespace AGVSystem
             }
         }
 
+        private static bool moveFlag = false;
+        private static int xPos;
+        private static int yPos;
+        /// <summary>
+        /// 松开鼠标：按住Ctrl且已登录管理员时，确认后更新地标坐标
+        /// </summary>
+        private static void label_UpClick(object sender, MouseEventArgs e)
+        {
+            moveFlag = false;
+            try
+            {
+                if ((Control.ModifierKeys & Keys.Control) != Keys.Control)
+                {
+                    return;
+                }
+                if (Cls.Param.UserName_temp == "")
+                {
+                    MessageBox.Show("请登录管理员权限！", "AGV调度管理系统", MessageBoxButtons.OK, MessageBoxIcon.Asterisk);
+                    return;
+                }
+                Label label = (Label)sender;
+                int num = Convert.ToInt16(label.Text);
+                if (MessageBox.Show($"是否移动该{num}地标？", "消息", MessageBoxButtons.YesNo, MessageBoxIcon.Asterisk) != DialogResult.No && label.Parent.GetType() == typeof(Panel))
+                {
+                    Panel panel = label.Parent as Panel;
+                    int y = panel.Top + Cls.Param.Icon_Size / 2;
+                    int left = panel.Left;
+                    Console.WriteLine(num + "up === X:" + left + "Y:" + y);
+                    UpLocation(num, left, y);
+                }
+            }
+            catch (Exception)
+            {
+            }
+        }
+
+        private static void label_DownClick(object sender, MouseEventArgs e)
+        {
+            moveFlag = true;
+            xPos = e.X;
+            yPos = e.Y;
+        }
+
+        /// <summary>
+        /// 拖动地标所在Panel
+        /// </summary>
+        private static void label_MoveClick(object sender, MouseEventArgs e)
+        {
+            if (moveFlag)
+            {
+                Label label = (Label)sender;
+                int num = Convert.ToInt16(label.Text);
+                if (label.Parent.GetType() == typeof(Panel))
+                {
+                    Panel panel = label.Parent as Panel;
+                    panel.Top += e.Y - yPos;
+                    panel.Left += e.X - xPos;
+                }
+            }
+        }
+
+        /// <summary>
+        /// 更新地标坐标到数据库
+        /// </summary>
+        private static void UpLocation(int rfid, int x, int y)
+        {
+            try
+            {
+                string text = db_conn.Command($"UPDATE [LandMarkInfo]   SET [Loc_X] = {x},[Loc_Y] = {y} WHERE  [Loc_ID] = {rfid}");
+                if (text == "1")
+                {
+                    Console.WriteLine($"{rfid} 更新成功！x:{x},y:{y} ");
+                }
+            }
+            catch (Exception)
+            {
+            }
+        }
+
 
         private static object obj_dgvupdate = new object();
         public static void DgvUpdate(DataGridView dgv, int row, string columnname, bool value)
diff --git a/CODE/20230901/SA17168/AGVSystem Ver2.0/Cls/Path_Reset.cs b/CODE/20230901/SA17168/AGVSystem Ver2.0/Cls/Path_Reset.cs
index 1767e41..7ccc461 100644
--- a/CODE/20230901/SA17168/AGVSystem Ver2.0/Cls/Path_Reset.cs	
+++ b/CODE/20230901/SA17168/AGVSystem Ver2.0/Cls/Path_Reset.cs	
@@ -3,6 +3,7 @@ using System.Collections.Generic;
 using System.Linq;
 using System.Text;
 using System.Windows.Forms;
+using AGVSystem.A17168;
 
 namespace AGVSystem.Cls
 {
@@ -16,6 +17,7 @@ namespace AGVSystem.Cls
             int[] num = new int[2];
             num[0] = Convert.ToInt16(((System.Windows.Forms.Label)sender).Tag.ToString().Split('-')[0]);
             num[1] = Convert.ToInt16(((System.Windows.Forms.Label)sender).Tag.ToString().Split('-')[1]);
+            ClearOtherLand(num[1]);
             for (int i = 0; i < mainfrm.ds_CrossInfo.Tables[0].Rows.Count; i++)
             {
                 string s = mainfrm.ds_CrossInfo.Tables[0].Rows[i]["当前地标编号"].ToString();
@@ -29,5 +31,37 @@ namespace AGVSystem.Cls
                 }
             }
         }
+
+        /// <summary>
+        /// 复位路口时向第三方交管手动归还路权
+        /// </summary>
+        private static void ClearOtherLand(int land)
+        {
+            try
+            {
+                foreach (TrafficModel item in Frm_A17168.autoLeavedDic)
+                {
+                    if (item.agvId == 0)
+                    {
+                        continue;
+                    }
+                    if (item.areaCode != land.ToString())
+                    {
+                        continue;
+                    }
+                    bool flag = Frm_A17168.businessCtrl.ByLeaved(item.agvId.ToString(), land.ToString(), item.areaCode.ToString());
+                    WriteTxt.SaveLog1(item.areaCode.ToString() + "手动释放，返回的值" + flag, "放行日志" + item.agvId, "插件日志");
+                    if (flag)
+                    {
+                        Frm_A17168.leavedDic[item.agvId] = 0;
+                        item.agvId = 0;
+                        WriteTxt.SaveLog1(item.areaCode.ToString() + "路口已手动归还", "放行日志" + item.agvId, "插件日志");
+                    }
+                }
+            }
+            catch (Exception)
+            {
+            }
+        }
     }
 }
diff --git a/CODE/20230901/SA17168/AGVSystem Ver2.0/Properties/Resources.Designer.cs b/CODE/20230901/SA17168/AGVSystem Ver2.0/Properties/Resources.Designer.cs
index cb6eaaf..1d64037 100644
--- a/CODE/20230901/SA17168/AGVSystem Ver2.0/Properties/Resources.Designer.cs	
+++ b/CODE/20230901/SA17168/AGVSystem Ver2.0/Properties/Resources.Designer.cs	
@@ -19,7 +19,7 @@ namespace AGVSystem.Properties {
     // 类通过类似于 ResGen 或 Visual Studio 的工具自动生成的。
     // 若要添加或移除成员，请编辑 .ResX 文件，然后重新运行 ResGen
     // (以 /str 作为命令选项)，或重新生成 VS 项目。
-    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "16.0.0.0")]
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("System.Resources.Tools.StronglyTypedResourceBuilder", "17.0.0.0")]
     [global::System.Diagnostics.DebuggerNonUserCodeAttribute()]
     [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
     internal class Resources {
diff --git a/CODE/20230901/SA17168/AGVSystem Ver2.0/Properties/Settings.Designer.cs b/CODE/20230901/SA17168/AGVSystem Ver2.0/Properties/Settings.Designer.cs
index 0709f34..25b782b 100644
--- a/CODE/20230901/SA17168/AGVSystem Ver2.0/Properties/Settings.Designer.cs	
+++ b/CODE/20230901/SA17168/AGVSystem Ver2.0/Properties/Settings.Designer.cs	
@@ -12,7 +12,7 @@ namespace AGVSystem.Properties {
     
     
     [global::System.Runtime.CompilerServices.CompilerGeneratedAttribute()]
-    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "16.10.0.0")]
+    [global::System.CodeDom.Compiler.GeneratedCodeAttribute("Microsoft.VisualStudio.Editors.SettingsDesigner.SettingsSingleFileGenerator", "17.6.0.0")]
     internal sealed partial class Settings : global::System.Configuration.ApplicationSettingsBase {
         
         private static Settings defaultInstance = ((Settings)(global::System.Configuration.ApplicationSettingsBase.Synchronized(new Settings())));
diff --git a/CODE/20230901/SA17168/AGVSystem Ver2.0/bin/Debug/BllSql.dll b/CODE/20230901/SA17168/AGVSystem Ver2.0/bin/Debug/BllSql.dll
index 5c3da5f..91a9b72 100644
Binary files a/CODE/20230901/SA17168/AGVSystem Ver2.0/bin/Debug/BllSql.dll and b/CODE/20230901/SA17168/AGVSystem Ver2.0/bin/Debug/BllSql.dll differ
diff --git a/CODE/20230901/SA17168/AGVSystem Ver2.0/bin/Debug/HxBusiness.dll b/CODE/20230901/SA17168/AGVSystem Ver2.0/bin/Debug/HxBusiness.dll
index ce5e6c1..752c4cb 100644
Binary files a/CODE/20230901/SA17168/AGVSystem Ver2.0/bin/Debug/HxBusiness.dll and b/CODE/20230901/SA17168/AGVSystem Ver2.0/bin/Debug/HxBusiness.dll differ
diff --git a/CODE/20230901/SA17168/AGVSystem Ver2.0/bin/Debug/华晓AGV管理系统.exe b/CODE/20230901/SA17168/AGVSystem Ver2.0/bin/Debug/华晓AGV管理系统.exe
index f18062b..76622f2 100644
Binary files a/CODE/20230901/SA17168/AGVSystem Ver2.0/bin/Debug/华晓AGV管理系统.exe and b/CODE/20230901/SA17168/AGVSystem Ver2.0/bin/Debug/华晓AGV管理系统.exe differ
diff --git a/CODE/20230901/SA17168/AGVSystem Ver2.0/obj/x86/Debug/AGVSystem.csproj.FileListAbsolute.txt b/CODE/20230901/SA17168/AGVSystem Ver2.0/obj/x86/Debug/AGVSystem.csproj.FileListAbsolute.txt
index 0148b6c..1373b4b 100644
--- a/CODE/20230901/SA17168/AGVSystem Ver2.0/obj/x86/Debug/AGVSystem.csproj.FileListAbsolute.txt	
+++ b/CODE/20230901/SA17168/AGVSystem Ver2.0/obj/x86/Debug/AGVSystem.csproj.FileListAbsolute.txt	
@@ -632,3 +632,45 @@ D:\Item\项目资料\05FG2608061\hx备份\CODE\20230901\SA17168\AGVSystem Ver2.0
 D:\Item\项目资料\05FG2608061\hx备份\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.mainfrm.resources
 D:\Item\项目资料\05FG2608061\hx备份\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.csproj.CoreCompileInputs.cache
 D:\Item\项目资料\05FG2608061\hx备份\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.csproj.Up2Date
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\bin\Debug\华晓AGV管理系统.exe.config
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\bin\Debug\华晓AGV管理系统.exe
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\bin\Debug\华晓AGV管理系统.pdb
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\bin\Debug\BllSql.dll
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\bin\Debug\HxBusiness.dll
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\bin\Debug\Nancy.dll
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\bin\Debug\Newtonsoft.Json.dll
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\bin\Debug\BllSql.pdb
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\bin\Debug\HxBusiness.pdb
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\bin\Debug\Nancy.xml
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\bin\Debug\Newtonsoft.Json.xml
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.csproj.AssemblyReference.cache
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.Frm_A17168.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.AboutBox1.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.AGVManage.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.Agv_Status.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.APInfo.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.APTest.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.Control_Point.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.DatabaseSet.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.frmfind.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.frm_card.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.Frm_Path_Status.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.InputSet.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.Linemanage.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.Location_Set.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.logon.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.mainfrm.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.OutputSet.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.Point_loc_Set.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.Properties.Resources.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.SetControl.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.SysSet.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.warnlist.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.frmwarnfind.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.frmchangefind.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.frmnetfind.resources
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.csproj.GenerateResource.cache
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.csproj.CoreCompileInputs.cache
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\AGVSystem.csproj.Up2Date
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\华晓AGV管理系统.exe
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\AGVSystem Ver2.0\obj\x86\Debug\华晓AGV管理系统.pdb
diff --git a/CODE/20230901/SA17168/AGVSystem Ver2.0/obj/x86/Debug/华晓AGV管理系统.exe b/CODE/20230901/SA17168/AGVSystem Ver2.0/obj/x86/Debug/华晓AGV管理系统.exe
index f18062b..76622f2 100644
Binary files a/CODE/20230901/SA17168/AGVSystem Ver2.0/obj/x86/Debug/华晓AGV管理系统.exe and b/CODE/20230901/SA17168/AGVSystem Ver2.0/obj/x86/Debug/华晓AGV管理系统.exe differ
diff --git a/CODE/20230901/SA17168/BllSql/bin/Debug/BllSql.dll b/CODE/20230901/SA17168/BllSql/bin/Debug/BllSql.dll
index 5c3da5f..91a9b72 100644
Binary files a/CODE/20230901/SA17168/BllSql/bin/Debug/BllSql.dll and b/CODE/20230901/SA17168/BllSql/bin/Debug/BllSql.dll differ
diff --git a/CODE/20230901/SA17168/BllSql/obj/Debug/BllSql.csproj.FileListAbsolute.txt b/CODE/20230901/SA17168/BllSql/obj/Debug/BllSql.csproj.FileListAbsolute.txt
index 3fab258..ace33c3 100644
--- a/CODE/20230901/SA17168/BllSql/obj/Debug/BllSql.csproj.FileListAbsolute.txt
+++ b/CODE/20230901/SA17168/BllSql/obj/Debug/BllSql.csproj.FileListAbsolute.txt
@@ -89,3 +89,9 @@ D:\Item\项目资料\05FG2608061\hx备份\CODE\20230901\SA17168\BllSql\obj\Debug
 D:\Item\项目资料\05FG2608061\hx备份\CODE\20230901\SA17168\BllSql\obj\Debug\BllSql.csproj.CoreCompileInputs.cache
 D:\Item\项目资料\05FG2608061\hx备份\CODE\20230901\SA17168\BllSql\obj\Debug\BllSql.dll
 D:\Item\项目资料\05FG2608061\hx备份\CODE\20230901\SA17168\BllSql\obj\Debug\BllSql.pdb
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\BllSql\bin\Debug\BllSql.dll
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\BllSql\bin\Debug\BllSql.pdb
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\BllSql\obj\Debug\BllSql.csproj.AssemblyReference.cache
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\BllSql\obj\Debug\BllSql.csproj.CoreCompileInputs.cache
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\BllSql\obj\Debug\BllSql.dll
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\BllSql\obj\Debug\BllSql.pdb
diff --git a/CODE/20230901/SA17168/BllSql/obj/Debug/BllSql.dll b/CODE/20230901/SA17168/BllSql/obj/Debug/BllSql.dll
index 5c3da5f..91a9b72 100644
Binary files a/CODE/20230901/SA17168/BllSql/obj/Debug/BllSql.dll and b/CODE/20230901/SA17168/BllSql/obj/Debug/BllSql.dll differ
diff --git a/CODE/20230901/SA17168/HxBusiness/BusinessManage.cs b/CODE/20230901/SA17168/HxBusiness/BusinessManage.cs
index fca89da..6eb1748 100644
--- a/CODE/20230901/SA17168/HxBusiness/BusinessManage.cs
+++ b/CODE/20230901/SA17168/HxBusiness/BusinessManage.cs
@@ -155,7 +155,7 @@ namespace HxBusiness
                     WriteTxt.SaveLog1("离开时请求时配置为空！", "异常日志");
                     return false;
                 }
-                if (string.IsNullOrEmpty(agvid) || string.IsNullOrEmpty(rfid))
+                if (string.IsNullOrEmpty(agvid))
                 {
                     WriteTxt.SaveLog1("离开时请求时请求参数为空！", "异常日志");
                     return false;
diff --git a/CODE/20230901/SA17168/HxBusiness/Model/ApiModel.cs b/CODE/20230901/SA17168/HxBusiness/Model/ApiModel.cs
index c97ed56..a9b2abd 100644
--- a/CODE/20230901/SA17168/HxBusiness/Model/ApiModel.cs
+++ b/CODE/20230901/SA17168/HxBusiness/Model/ApiModel.cs
@@ -31,5 +31,9 @@ namespace HxBusiness
         /// 离开归还地标列表
         /// </summary>
         public string leavedRfidList { get; set; }
+        /// <summary>
+        /// 自动归还路权秒数，0=手动归还
+        /// </summary>
+        public int AutoTime { get; set; }
     }
 }
diff --git a/CODE/20230901/SA17168/HxBusiness/bin/Debug/HxBusiness.dll b/CODE/20230901/SA17168/HxBusiness/bin/Debug/HxBusiness.dll
index ce5e6c1..752c4cb 100644
Binary files a/CODE/20230901/SA17168/HxBusiness/bin/Debug/HxBusiness.dll and b/CODE/20230901/SA17168/HxBusiness/bin/Debug/HxBusiness.dll differ
diff --git a/CODE/20230901/SA17168/HxBusiness/obj/Debug/HxBusiness.csproj.FileListAbsolute.txt b/CODE/20230901/SA17168/HxBusiness/obj/Debug/HxBusiness.csproj.FileListAbsolute.txt
index 6b5700e..b269953 100644
--- a/CODE/20230901/SA17168/HxBusiness/obj/Debug/HxBusiness.csproj.FileListAbsolute.txt
+++ b/CODE/20230901/SA17168/HxBusiness/obj/Debug/HxBusiness.csproj.FileListAbsolute.txt
@@ -128,3 +128,16 @@ D:\Item\项目资料\05FG2608061\hx备份\CODE\20230901\SA17168\HxBusiness\obj\D
 D:\Item\项目资料\05FG2608061\hx备份\CODE\20230901\SA17168\HxBusiness\obj\Debug\HxBusiness.csproj.Up2Date
 D:\Item\项目资料\05FG2608061\hx备份\CODE\20230901\SA17168\HxBusiness\obj\Debug\HxBusiness.dll
 D:\Item\项目资料\05FG2608061\hx备份\CODE\20230901\SA17168\HxBusiness\obj\Debug\HxBusiness.pdb
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\HxBusiness\bin\Debug\HxBusiness.dll
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\HxBusiness\bin\Debug\HxBusiness.pdb
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\HxBusiness\bin\Debug\Nancy.dll
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\HxBusiness\bin\Debug\Nancy.Hosting.Self.dll
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\HxBusiness\bin\Debug\Newtonsoft.Json.dll
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\HxBusiness\bin\Debug\Nancy.xml
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\HxBusiness\bin\Debug\Nancy.Hosting.Self.xml
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\HxBusiness\bin\Debug\Newtonsoft.Json.xml
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\HxBusiness\obj\Debug\HxBusiness.csproj.AssemblyReference.cache
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\HxBusiness\obj\Debug\HxBusiness.csproj.CoreCompileInputs.cache
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\HxBusiness\obj\Debug\HxBusiness.csproj.Up2Date
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\HxBusiness\obj\Debug\HxBusiness.dll
+D:\Item\项目资料\05FG2608061\FG2608061\CODE\20230901\SA17168\HxBusiness\obj\Debug\HxBusiness.pdb
diff --git a/CODE/20230901/SA17168/HxBusiness/obj/Debug/HxBusiness.csproj.Up2Date b/CODE/20230901/SA17168/HxBusiness/obj/Debug/HxBusiness.csproj.Up2Date
new file mode 100644
index 0000000..e69de29
diff --git a/CODE/20230901/SA17168/HxBusiness/obj/Debug/HxBusiness.dll b/CODE/20230901/SA17168/HxBusiness/obj/Debug/HxBusiness.dll
index ce5e6c1..752c4cb 100644
Binary files a/CODE/20230901/SA17168/HxBusiness/obj/Debug/HxBusiness.dll and b/CODE/20230901/SA17168/HxBusiness/obj/Debug/HxBusiness.dll differ
diff --git a/差异文档.md b/差异文档.md
new file mode 100644
index 0000000..2af1a74
--- /dev/null
+++ b/差异文档.md
@@ -0,0 +1,150 @@
+# 华晓AGV管理系统 源码与现场应用差异报告
+
+> 生成日期：2026-08-19
+> 比对方法：将「现场运行的二进制」与「CODE 源码重编译产物」用同一版本 ILSpy（ilspycmd 11.0.0.9375）、同一参数分别反编译为 C#，再逐类逐行 diff。两侧均带 PDB，局部变量名可还原，diff 结果即真实源码差异。
+> 结论先行：**差异全部集中在主程序 exe 和 HxBusiness.dll，BllSql.dll 零差异**。所有差异均属于同一主题——「第三方交管（路权申请/归还）功能的完善」+「地标拖动调整坐标的小工具」+「日志增强」。
+
+---
+
+## 1. 比对对象与基线
+
+| 项 | 现场（基准） | CODE 源码 |
+|---|---|---|
+| 华晓AGV管理系统.exe | 2023-09-18 编译，2,212,352 字节 | 快照 20230901，重编译 2,201,088 字节 |
+| BllSql.dll | 2023-09-02 编译 | 同期 |
+| HxBusiness.dll | 2023-09-15 编译 | 快照 20230901 |
+| 其余 20 个第三方 DLL | 2015–2019 | **MD5 全部一致，无需处理** |
+
+- 现场目录自带的 `华晓AGV管理系统.zip` 内是 2023-09-02 的旧 exe 备份，用它与源码重编译产物做了方法校准：仅 2 个文件 10 行差异（源码略新于 9/2 备份），证明比对方法可靠。
+- 现场 exe 为 **Debug|x86 / .NET Framework 4.5.2** 构建，与 CODE 工程配置一致。
+- 现场是用 **VS2022 (17.x)** 工具链构建的（Designer 生成代码版本号为 17.x，资源序列化格式与新工具链一致）。
+
+## 2. 程序集级差异总览
+
+| 程序集 | 差异 | 说明 |
+|---|---|---|
+| BllSql.dll | **无** | 反编译逐行一致，源码无需任何改动 |
+| HxBusiness.dll | 2 处 | `ApiModel` 新增属性；`ByLeaved` 参数校验放宽 |
+| 华晓AGV管理系统.exe | 新增 2 类 + 修改 4 文件 + 2 处生成器版本号 | 详见下文 |
+
+## 3. HxBusiness.dll 差异明细
+
+### 3.1 `Model\ApiModel.cs` — 新增属性
+```csharp
+public int AutoTime { get; set; }   // 自动归还路权秒数，0=手动归还
+```
+与现场 `Config\ApiModel.json` 中新增的 `"AutoTime": 30` 对应。
+
+### 3.2 `BusinessManage.cs` — `ByLeaved` 校验放宽
+```csharp
+// 旧（源码）：
+if (string.IsNullOrEmpty(agvid) || string.IsNullOrEmpty(rfid))
+// 新（现场）：
+if (string.IsNullOrEmpty(agvid))
+```
+原因：交管自动/手动归还场景下 rfid 可能为空（TrafficCtrl 中 Agv_Land 可能返回 0），不应拒绝请求。
+
+## 4. 华晓AGV管理系统.exe 差异明细
+
+### 4.1 新增类 `A17168\TrafficModel.cs`
+```csharp
+public class TrafficModel
+{
+    public string areaCode { get; set; }   // 路口（交汇区）地标编号
+    public int agvId { get; set; }         // 当前占用该路口的AGV，0=空闲
+    public DateTime InArea { get; set; }   // 进入路口时间
+}
+```
+
+### 4.2 新增类 `A17168\TrafficCtrl.cs` — 第三方交管自动归还监听线程
+- `Listen()`：死循环（1s 周期）。当 `apiModel.AutoTime > 0` 且 `waitRfidList` 非空时，遍历 `Frm_A17168.autoLeavedDic`，对占用超过 `AutoTime` 秒的路口调用 `businessCtrl.ByLeaved(agvId, 当前地标, areaCode)` 自动归还路权，成功后清零 `leavedDic[agvId]` 与 `trafficModel.agvId`，写"放行日志X"（插件日志目录）。
+- `Agv_Land(agvid)`：私有辅助，从 `Func.AgvInfo` 取该 AGV 当前地标。
+- 异常写"异常日志"（插件日志），日志文案：`第三方交管监听线程异常！`。
+
+### 4.3 `A17168\Frm_A17168.cs` — 3 处
+1. 新增静态字段：
+```csharp
+public static int TraffAutoTimet = 0;
+public static List<TrafficModel> autoLeavedDic = new List<TrafficModel>();
+```
+2. 构造函数中 `businessCtrl = new BusinessManage();` 之后新增初始化：按 `apiModel.waitRfidList` 逗号拆分，为每个路口建一个 `TrafficModel` 放入 `autoLeavedDic`，并读取 `TraffAutoTimet = apiModel.AutoTime`。
+3. `Frm_A17168_Load` 中启动 `UPDateDBList.UpDateDb` 线程之后，新增启动交管监听线程：
+```csharp
+Thread thread2 = new Thread(TrafficCtrl.Listen);
+thread2.IsBackground = true;
+thread2.Start();
+```
+
+### 4.4 `A17168\Cls_A17168.cs` — 两个数据线程方法（AGV_Data 网口型 / AGV_Data2 S7-200型）同步修改
+> 注：diff 中大量 `agvInfo→temp`、`num→location_temp` 为现场源码的**变量改名**（PDB 还原的真实命名），无语义影响，但为达成"反编译零差异"验收，回灌时同步改名。
+
+真实语义差异（两个方法对称出现，编号 1x 为 AGV_Data，2x 为 AGV_Data2）：
+1. **调试日志埋点**：读到地标后写 `"=========》（11/21）：" + 地标` 到"调试日志"；进入 waitRfid 分支写（12/22）；请求放行成功写（13/23）；进入 leavedRfid 分支写（14/24）；释放成功写（15/25）。
+2. **放行前日志**：`地标 + "开始请求放行"` / `"开始请求释放"` 写入"放行日志{AgvID}"（插件日志）。
+3. **放行成功后登记交管占用**（原来 `if (flag && WriteInfo(...)==0)` 拆为嵌套）：
+```csharp
+if (flag)
+{
+    TrafficModel m = Frm_A17168.autoLeavedDic.Find(_ => _.areaCode.Equals(location_temp.ToString()));
+    if (m != null) { m.agvId = temp.Agv_ID; m.InArea = DateTime.Now; }
+    WriteTxt.SaveLog1(location_temp + "路口添加" + m?.areaCode + "(" + m.agvId + ")", "放行日志" + temp.Agv_ID, "插件日志");
+    if (WriteInfo/WriteVW(...) == 0) { /* 原放行逻辑 */ }
+}
+```
+4. **归还接口第 3 参改变**：`ByLeaved(agvid, 当前地标, num3(上次放行地标))` → `ByLeaved(agvid, 当前地标, (当前地标-1))`（离开地标 = 进入地标+1 的约定）。
+5. **归还成功后清除交管占用**：`autoLeavedDic` 中对应 `TrafficModel.agvId = 0`。
+6. **报警处理异步化**：`Thread.Sleep(100); Warn_Deal(_Plc)(...)` 改为 `ThreadPool.QueueUserWorkItem(delegate { Thread.Sleep(100); Warn_Deal(_Plc)(temp, sWarn); });`，避免阻塞采集循环。
+7. **仅 AGV_Data2**：地标变化时删除了 `Func.Change_Rec(...)` 调用；`Location_Log` 插入由同步 `bBllBase.ExecuteNonQuery(sql)` 改为 `UPDateDBList.sqlList.Add(item)` 异步批量入库。
+8. 变量声明顺序/命名调整（`temp`、`location_temp`，`num2~num5` 重排）——纯改名，随语义项一并同步。
+
+### 4.5 `Cls\Func.cs` — 新增"Ctrl+拖动地标改坐标"小工具
+1. 新增静态字段：`moveFlag`、`xPos`、`yPos`。
+2. `CreateLandMark`（路口地标创建分支）为 label 增挂 3 个事件：`MouseUp += label_UpClick; MouseDown += label_DownClick; MouseMove += label_MoveClick;`。
+3. 新增 4 个私有静态方法：
+   - `label_DownClick`：按下记录起点，`moveFlag=true`；
+   - `label_MoveClick`：拖动时移动地标所在 Panel；
+   - `label_UpClick`：松开时若按住 Ctrl 且已登录管理员，弹窗确认后调用 `UpLocation`；
+   - `UpLocation(rfid,x,y)`：`UPDATE [LandMarkInfo] SET [Loc_X]=x,[Loc_Y]=y WHERE [Loc_ID]=rfid`。
+
+### 4.6 `Cls\Path_Reset.cs` — 双击复位路口时手动归还路权
+1. `label12_DoubleClick` 开头新增 `ClearOtherLand(array[1]);`。
+2. 新增 `ClearOtherLand(int land)`：在 `autoLeavedDic` 中找到该路口且被占用（agvId≠0）的记录，调用 `businessCtrl.ByLeaved(agvId, land, areaCode)` 手动归还，成功后清零，写"手动释放/路口已手动归还"日志（插件日志）。
+3. 文件头新增 `using AGVSystem.A17168;`。
+
+### 4.7 生成器版本号（纯装饰，为达成零差异同步）
+- `Properties\Resources.Designer.cs`：`StronglyTypedResourceBuilder` 版本 `16.0.0.0` → `17.0.0.0`
+- `Properties\Settings.Designer.cs`：`SettingsSingleFileGenerator` 版本 `16.10.0.0` → `17.6.0.0`
+
+## 5. 配置文件差异（不随 bin 替换，仅记录）
+
+| 文件 | 差异 | 处理 |
+|---|---|---|
+| `Config\ApiModel.json` | 现场版（2024-03-04）`waitRfidList`/`leavedRfidList` 由 9 个路口扩到 25 个，新增 `"AutoTime": 30`（行尾带 `//` 注释，Json.NET 可解析） | **现场为准，替换 bin 时严禁覆盖**；建议将 CODE bin 内该文件同步为现场版便于本机调试 |
+| `华晓AGV管理系统.exe.config`、`info.ini`、`agvinfo.ini`、`item.ini` | 无差异 | 不动 |
+| `Nancy.Hosting.Self.dll` | 现场没有此文件；现场代码已不使用 NancyHost 自宿主（`BusinessManage` 中相关代码已注释） | 替换包中**不要**包含此 DLL |
+
+## 6. 与整合无关的说明（查漏补缺结论）
+
+1. 用户提供的 dnSpy 反编译 CODE（`反编译CODE\` 目录）与本报告的 ILSpy 反编译结果核对一致，未发现 dnSpy 导出遗漏的类型；其中 `SqlHelperParameterCache`、`E_State`、`RequestLeavedModel`、`SendModel`、`Channel`、`Location_Log` 等"多出来的文件"只是 dnSpy 按类拆分所致，源码中都存在。
+2. CODE 中的 `Creat_Task.cs`、`Cls\Func - 副本 (2).cs` 未被 csproj 编译，现场 exe 中也无对应类型，保持现状即可。
+3. 源码快照（20230901）略新于现场 zip 备份中 9/2 的 exe：多了"AGV经过地标"地标日志、`order by id`、部分路口数组扩容——即源码基线本身没有丢内容，缺的只是 9/2–9/18 的增量。
+
+## 7. 回灌与验收
+
+- 回灌范围：4.1–4.7 全部 + 3.1–3.2，共 10 个源文件（新增 2 个、修改 8 个，含 csproj 注册与 2 个 Designer 版本号）。
+- 验收标准：重编译后，用同一 ilspycmd 反编译新 exe / HxBusiness.dll / BllSql.dll，与现场反编译结果 **逐行零差异**（反编译器自动生成的 csproj 除外，其差异仅为本机路径）。
+- 替换清单（复制到现场目录）：`华晓AGV管理系统.exe`、`华晓AGV管理系统.pdb`、`HxBusiness.dll`、`HxBusiness.pdb`（BllSql 无差异可不换）。
+- 回滚：替换前备份现场原文件；现场目录自带 9/2 的 zip 备份可作最后手段。
+
+### 验收结果（2026-08-19 已完成）
+
+| 程序集 | 反编译比对结果 |
+|---|---|
+| 华晓AGV管理系统.exe | **53 个类型全部逐行一致**（`TrafficCtrl.Listen` 连 IL 字节长度都已对齐） |
+| HxBusiness.dll | **全部逐行一致** |
+| BllSql.dll | **全部逐行一致**（源码未改动，重编译即一致） |
+
+细节备注：
+1. 现场源码风格已在回灌中还原——`continue` 不带大括号（带括号会多一个 `nop` 字节改变 IL 标签号）、`TrafficCtrl` 的 foreach 采用两个独立守卫 `if`、`Frm_A17168` 初始化直接对 `Split(',')` 结果 foreach（不引入中间变量）。
+2. `Func.label_UpClick` 现场 IL 采用"正向 if 包裹 + return"结构（297 字节），回灌版为等价的"取反守卫 return"结构（293 字节），两者反编译 C# 完全一致、行为完全一致，仅方法内部 IL 编排不同，不影响验收。
+3. 之前 diff 中大量 `agvInfo→temp`、`num→location_temp` 的"改名"是反编译命名假象：现场代码因 lambda 闭包捕获把真实变量名保留进了元数据，回灌 lambda 后两侧命名自动对齐，非真实源码差异。