DoubleLineNodeFor4D.cs
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using log4net.Util;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace AGVControl
{
/// <summary>
///
/// </summary>
public class DoubleLineNodeFor4D : ClientNode
{
public DoubleLineNodeFor4D(string name, string ip, string aliceName, string lineName, string pos_name, string pos_guid, bool isUse, int emptyCnt) : base(name, ip, aliceName, lineName, pos_name, pos_guid, isUse, emptyCnt)
{
}
/// <summary>
/// 双层线任务
/// </summary>
/// <param name="currentAgv"></param>
/// <returns></returns>
public override Job GetNewJob(Agv_Info currentAgv)
{
if (SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
return null;
if (!Common.CheckCanExecuteMission(currentAgv))
return null;
if (!Common.CheckAGVStatusNone(currentAgv))
return null;
//执行空料架任务的小车数量
int emptyJobCnt = 0;
foreach (Agv_Info agv in Common.agvInfo)
{
if (SettingString.C4_AGV_IPs.Contains(agv.IP))
continue;
if (agv.CurJob is GoEmptyShelfLineJob || agv.CurJob is EmptyShelfBackJob)
{
emptyJobCnt++;
}
}
if ((SettingString.AGVCNT / 2 - emptyJobCnt).Equals(1))//保留一辆小车出满料架
{
return null;
}
//出工单料的目的地是否有空料架
if (Common.FindEmptyShelfBeforeSendFullShelf(out string nodeName))
{
if (nodeName.StartsWith("E") && !SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
{
ClientNode clientNode = Common.nodeInfo.Find(s => s.Name.Equals(nodeName));
int cnt = 0;
foreach (Agv_Info agv in Common.agvInfo)
{
if (SettingString.C4_AGV_IPs.Contains(agv.IP))
continue;
if (agv.CurJob is GoEmptyShelfLineJob)
{
if (((GoEmptyShelfLineJob)agv.CurJob).EmptyShelfPlace.Equals(nodeName))
cnt++;
}
}
if (cnt < clientNode.EmptyShelfCnt)
{
return new GoEmptyShelfLineJob(currentAgv.Place, nodeName);
}
}
}
//出满料
if (Common.FindFullShelfTask(currentAgv))
{
if (!SettingString.C4_AGV_IPs.Contains(currentAgv.IP))
{
int i = Common.agvInfo.FindIndex(s=>s.CurJob is GoFullShelfStationJob && !s.IP.Equals(currentAgv.IP));
if(i>-1)
return null;
}
return new GoFullShelfStationJob(currentAgv.Place);
}
//回收空料架
if (Common.FindEmptyShelfNode(currentAgv, out string emptyNodeName))
{
foreach (Agv_Info agv in Common.agvInfo)
{
if (SettingString.C4_AGV_IPs.Contains(agv.IP))
continue;
if (agv.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)agv.CurJob).EmptyShelfPlace.Equals(emptyNodeName))
{
return null;
}
}
return new GoEmptyShelfLineJob(currentAgv.Place, emptyNodeName);
}
return null;
}
}
}