TakeEmptyShelfJob.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.demo
{
/// <summary>
/// 回收空料架任务
/// </summary>
public class TakeEmptyShelfJob : Job
{
public TakeEmptyShelfJob(string palce, int priority)
{
emptyShelfPlace = palce;
_priority = priority;
}
/// <summary>
/// 空料架位置点
/// </summary>
private string emptyShelfPlace = PLACE.NONE;
/// <summary>
/// 优先级
/// </summary>
private int _priority;
private JobStep<TAKE_EMPTY_STEP> TakeEmptyStep = new JobStep<TAKE_EMPTY_STEP>(TAKE_EMPTY_STEP.NONE);
public override void Execute(AgvBean agvBean, Dictionary<string, Node> nodeMap, Dictionary<string, AgvBean> agvBeanMap)
{
if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.NONE))
{
LogUtil.info("开始执行回收空料架任务，发送到AGV");
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TAKE_TASK);
Node node = AgvManager.GetNode(emptyShelfPlace);
if(node != null)
{
if(node is LineNode)
{
LineNode lineNode = (LineNode)node;
lineNode.StartOneTask(agvBean.Name);
AgvManager.UpdateNode(node);
}
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TAKE_TASK))
{
//判断小车是否开始执行任务
bool isTaskStart = false;
if (isTaskStart)
{
LogUtil.info("AGV已接收并开始执行回收空料架任务，等待到达取架点");
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TAKE_PLACE);
}
}
}
public override int GetPriority()
{
return _priority;
}
public override bool IsEnd()
{
return TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.END);
}
}
/// <summary>
/// AGV离开A4
/// </summary>
public enum TAKE_EMPTY_STEP
{
NONE,
/// <summary>
/// 等待AGV开始执行去取架点任务
/// </summary>
WAIT_AGV_START_TAKE_TASK,
/// <summary>
/// 等待AGV到达取架点
/// </summary>
WAIT_REACH_TAKE_PLACE,
/// <summary>
/// AGV到达取架点
/// </summary>
REACH_TAKE_PLACE,
/// <summary>
/// 送上双层线
/// </summary>
END
}
}