AGV架构

AgvManager/bean/AgvBean.cs

@@ -7,10 +7,10 @@ namespace Acc.AgvManager
     public class AgvBean
     public class AgvBean
     {
     {
         public AgvStatus agvStatus;
         public AgvStatus agvStatus;
-        public AgvApi AgvApi;
-        public Job job;
+        public AgvApi AgvApi { get; set; }
+        public Job CurrentJob { get; set; }
 
 
-        public string Name;
+        public string Name { get; set; }
 
 
         public bool IsIdle()
         public bool IsIdle()
         {
         {
@@ -24,33 +24,33 @@ namespace Acc.AgvManager
 
 
         public void ExecuteNewJob(Job newJob)
         public void ExecuteNewJob(Job newJob)
         {
         {
-            job = newJob;
+            CurrentJob = newJob;
         }
         }
 
 
         public void JobContinue(AgvBean currentAgvBean, Dictionary<string, Node> nodeMap, Dictionary<string, AgvBean> agvBeanMap)
         public void JobContinue(AgvBean currentAgvBean, Dictionary<string, Node> nodeMap, Dictionary<string, AgvBean> agvBeanMap)
         {
         {
-            if (job != null)
+            if (CurrentJob != null)
             {
             {
-                if (!job.IsProcess)
+                if (!CurrentJob.IsProcess)
                 {
                 {
                     try
                     try
                     {
                     {
-                        job.IsProcess = true;
-                        job.Execute(currentAgvBean, nodeMap, agvBeanMap);
+                        CurrentJob.IsProcess = true;
+                        CurrentJob.Execute(currentAgvBean, nodeMap, agvBeanMap);
                     }catch(Exception e)
                     }catch(Exception e)
                     {
                     {
-                        LogUtil.error("AGV["+Name+"]执行任务["+job.ToString()+"]出错",e);
+                        LogUtil.error("AGV["+Name+"]执行任务["+ CurrentJob.ToString()+"]出错",e);
                     }
                     }
                     finally
                     finally
                     {
                     {
-                        job.IsProcess = false;
+                        CurrentJob.IsProcess = false;
                     }
                     }
                 }
                 }
                 
                 
-                if (job.IsEnd())
+                if (CurrentJob.IsEnd())
                 {
                 {
                     //添加任务已经完成日志
                     //添加任务已经完成日志
-                    job = null;
+                    CurrentJob = null;
                 }
                 }
             }
             }
         }
         }

AgvManager/demo/TakeEmptyShelfJob.cs

@@ -42,6 +42,7 @@ namespace Acc.AgvManager.demo
                 {
                 {
                     if(node is LineNode)
                     if(node is LineNode)
                     {
                     {
+                        agvBean.
                         LineNode lineNode = (LineNode)node;
                         LineNode lineNode = (LineNode)node;
                         lineNode.StartOneTask(agvBean.Name);
                         lineNode.StartOneTask(agvBean.Name);
                         AgvManager.UpdateNode(node);
                         AgvManager.UpdateNode(node);