AGV架构重构

AgvManager/AgvManager.cs

+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace 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 void UpdateNodeStatus(string nodeName, NodeStatus nodeStatus)
+        {
+            
+        }
+
+        public static void UpdateAgvStatus(string agvName, AgvStatus agvStatus)
+        {
+
+        }
+
+        public void onTimer()
+        {
+            foreach (var agvName in agvBeanMap)
+            {
+                AgvBean agvBean = agvBeanMap[agvName];
+                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
+                        }
+
+                    }
+                    else
+                    {
+                        //执行优先级最高的新任务
+                        Job jobToExecute = null;
+                        foreach (var nodeName in agvBeanMap)
+                        {
+                            Node node = nodeMap[nodeName];
+                            Job job = node.GetNewJob(agvBean, nodeMap, agvBeanMap);
+                            if (job != null)
+                            {
+                                if (jobToExecute == null || job.priority > jobToExecute.priority)
+                                {
+                                    jobToExecute = job;
+                                }
+                            }
+                        }
+
+                        if (jobToExecute != null)
+                        {
+                            if (agvBean.isInCharge())
+                            {
+                                //充电取消
+                            }
+                            agvBean.executeNewJob(jobToExecute);
+                        }
+
+
+
+                    }
+                }
+                else
+                {
+                    //有任务，继续监控任务状态
+                    agvBean.JobContinue(agvBean, nodeMap, agvBeanMap);
+                }
+
+            }
+        }
+    }
+}

AgvManager/AgvManager.csproj

+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
+  <PropertyGroup>
+    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
+    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
+    <ProjectGuid>42a5cbfa-785a-41f8-8e6c-3988db9eb07c</ProjectGuid>
+    <OutputType>Library</OutputType>
+    <AppDesignerFolder>Properties</AppDesignerFolder>
+    <RootNamespace>AgvManager</RootNamespace>
+    <AssemblyName>AgvManager</AssemblyName>
+    <TargetFrameworkVersion>v4.6.1</TargetFrameworkVersion>
+    <FileAlignment>512</FileAlignment>
+    <Deterministic>true</Deterministic>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
+    <DebugSymbols>true</DebugSymbols>
+    <DebugType>full</DebugType>
+    <Optimize>false</Optimize>
+    <OutputPath>bin\Debug\</OutputPath>
+    <DefineConstants>DEBUG;TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
+    <DebugType>pdbonly</DebugType>
+    <Optimize>true</Optimize>
+    <OutputPath>bin\Release\</OutputPath>
+    <DefineConstants>TRACE</DefineConstants>
+    <ErrorReport>prompt</ErrorReport>
+    <WarningLevel>4</WarningLevel>
+  </PropertyGroup>
+  <ItemGroup>
+    <Reference Include="System"/>
+    
+    <Reference Include="System.Core"/>
+    <Reference Include="System.Xml.Linq"/>
+    <Reference Include="System.Data.DataSetExtensions"/>
+    
+    
+    <Reference Include="Microsoft.CSharp"/>
+    
+    <Reference Include="System.Data"/>
+    
+    <Reference Include="System.Net.Http"/>
+    
+    <Reference Include="System.Xml"/>
+  </ItemGroup>
+  <ItemGroup>
+    <Compile Include="Class1.cs" />
+    <Compile Include="Properties\AssemblyInfo.cs" />
+  </ItemGroup>
+  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
+ </Project>

AgvManager/Properties/AssemblyInfo.cs

+using System.Reflection;
+using System.Runtime.CompilerServices;
+using System.Runtime.InteropServices;
+
+// 有关程序集的一般信息由以下
+// 控制。更改这些特性值可修改
+// 与程序集关联的信息。
+[assembly: AssemblyTitle("AgvManager")]
+[assembly: AssemblyDescription("")]
+[assembly: AssemblyConfiguration("")]
+[assembly: AssemblyCompany("")]
+[assembly: AssemblyProduct("AgvManager")]
+[assembly: AssemblyCopyright("Copyright ©  2020")]
+[assembly: AssemblyTrademark("")]
+[assembly: AssemblyCulture("")]
+
+// 将 ComVisible 设置为 false 会使此程序集中的类型
+//对 COM 组件不可见。如果需要从 COM 访问此程序集中的类型
+//请将此类型的 ComVisible 特性设置为 true。
+[assembly: ComVisible(false)]
+
+// 如果此项目向 COM 公开，则下列 GUID 用于类型库的 ID
+[assembly: Guid("42a5cbfa-785a-41f8-8e6c-3988db9eb07c")]
+
+// 程序集的版本信息由下列四个值组成: 
+//
+//      主版本
+//      次版本
+//      生成号
+//      修订号
+//
+// 可以指定所有值，也可以使用以下所示的 "*" 预置版本号和修订号
+//通过使用 "*"，如下所示:
+// [assembly: AssemblyVersion("1.0.*")]
+[assembly: AssemblyVersion("1.0.0.0")]
+[assembly: AssemblyFileVersion("1.0.0.0")]

AgvManager/bean/AgvApi.cs

+using System;
+
+public interface AgvApi
+{
+	
+}

AgvManager/bean/AgvBean.cs

+using System;
+
+public class AgvBean
+{
+    public AgvStatus agvStatus;
+    public AgvApi AgvApi;
+    public Job job;
+
+    public bool isIdle()
+    {
+        return false;
+    }
+
+    public bool needCharge()
+    {
+        return false;
+    }
+
+    public void ExecuteNewJob(Job newJob)
+    {
+        job = newJob;
+    }
+
+    public void JobContinue(AgvBean currentAgvBean, Dictionary<string, Node> nodeMap, Dictionary<string, AgvBean> agvBeanMap)
+    {
+        if(job != null)
+        {
+            job.execute(agvBean, nodeMap, agvBeanMap);
+            if (job.IsEnd())
+            {
+                //添加任务已经完成日志
+                job = null;
+            }
+        }
+    }
+
+}

AgvManager/bean/AgvStatus.cs

+using System;
+
+public class AgvStatus
+{
+	public AgvStatus()
+	{
+	}
+}

AgvManager/bean/Job.cs

+using System;
+
+public interface Job
+{
+    /// <summary>
+    /// 任务优先级
+    /// </summary>
+    /// <returns></returns>
+    public virtual int GetPriority();
+
+    /// <summary>
+    /// 任务是否已经结束
+    /// </summary>
+    /// <returns></returns>
+    public virtual bool IsEnd();
+
+    /// <summary>
+    /// 根据任务状态继续执行任务
+    /// </summary>
+    public virtual void execute(AgvBean agvBean, Dictionary<string, Node> nodeMap, Dictionary<string, AgvBean> agvBeanMap);
+
+}

AgvManager/bean/Node.cs

+using System;
+
+public interface Node{
+    public string nodeName;
+
+    public virtual Job GetNewJob(AgvBean currentAgvBean, Dictionary<string, Node> nodeMap, Dictionary<string, AgvBean> agvBeanMap);
+    
+}

AgvManager/bean/NodeStatus.cs

+using System;
+
+/// <summary>
+/// 节点状态
+/// </summary>
+public class NodeStatus
+{
+	
+}