AgvManager.cs
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using Acc.Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace Acc.AgvManager
{
public class AgvManager{
public static Dictionary<string,Node> nodeMap = new Dictionary<string, Node>();
public static Dictionary<string,AgvBean> agvBeanMap = new Dictionary<string, AgvBean>();
public static Node GetNode(string nodeName)
{
nodeMap.TryGetValue(nodeName, out Node node);
return node;
}
public static void UpdateNode(Node node)
{
string nodeName = node.GetNodeName();
if (nodeMap.ContainsKey(nodeName))
{
nodeMap.Add(nodeName, node);
}
else
{
nodeMap[nodeName] = node;
}
}
public static void UpdateNodeStatus(string nodeName, NodeStatus nodeStatus)
{
nodeMap.TryGetValue(nodeName, out Node node);
if(node != null)
{
node.UpdateNodeStatus(nodeStatus);
nodeMap[nodeName] = node;
}
}
public static void UpdateAgvStatus(string agvName, AgvStatus agvStatus)
{
}
public void onTimer()
{
foreach (AgvBean agvBean in agvBeanMap.Values)
{
if (agvBean.IsIdle() || agvBean.IsInCharge())
{
//空闲，判断电量，是否要进行充电
if (agvBean.NeedCharge())
{
if (!agvBean.IsInCharge())
{
//充电
LogUtil.info("AGV["+agvBean.Name+"]电量过低，执行充电任务");
}
}
else
{
//执行优先级最高的新任务
Job jobToExecute = null;
foreach (Node node in nodeMap.Values)
{
Job job = node.GetNewJob(agvBean, nodeMap, agvBeanMap);
if (job != null)
{
if (jobToExecute == null || job.GetPriority() > jobToExecute.GetPriority())
{
jobToExecute = job;
}
}
}
if (jobToExecute != null)
{
if (agvBean.IsInCharge())
{
//充电取消
LogUtil.info("AGV[" + agvBean.Name + "]充电任务中断");
}
LogUtil.info("AGV[" + agvBean.Name + "]开启新的任务"+ jobToExecute.ToString());
agvBean.ExecuteNewJob(jobToExecute);
}
}
}
else
{
//有任务，继续监控任务状态
agvBean.JobContinue(agvBean, nodeMap, agvBeanMap);
}
}
}
}
}