MissionSys.cs
6.5 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
using Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary
{
/// <summary>
/// 任务系统
/// </summary>
public class MissionSys
{
/// <summary>
/// 任务列表
/// </summary>
public static List<Mission> Missions;
/// <summary>
/// 加载任务列表
/// </summary>
public static void Init()
{
try
{
Missions = new List<Mission>();
string path = AGVManager.CONFIG_PATH + SettingString.FileName_AgvMission;
string[] line = System.IO.File.ReadAllLines(path, Encoding.UTF8);
string[] temp;
for (int i = 1; i < line.Length; i++)
{
temp = line[i].Split(',');
if (temp.Length != 3) continue;
Missions.Add(new Mission(temp[0], temp[1], temp[2]));
}
LogUtil.info("加载任务成功");
}
catch (Exception ex)
{
LogUtil.error("加载任务失败", ex);
}
}
/// <summary>
/// 根据目的地名获取guid号
/// </summary>
/// <param name="taskName"></param>
/// <returns></returns>
public static string GetMissionGuidByAliceName(string aliceName)
{
Mission mission = Missions.Find(s => s.AliceName.Equals(aliceName));
if (mission != null)
return mission.Guid;
else
LogUtil.error(string.Format("任务[{0}]不存在，请检查！", aliceName));
return "";
}
/// <summary>
/// 根据任务名获取guid号
/// </summary>
/// <param name="taskName"></param>
/// <returns></returns>
public static string GetMissionGuidByTaskName(string taskName)
{
Mission mission = Missions.Find(s => s.Name.Equals(taskName));
if (mission != null)
return mission.Guid;
else
LogUtil.error(string.Format("任务{0}不存在，请检查！", taskName));
return "";
}
public static string GetAliceNameByTaskName(string taskName)
{
Mission mission = Missions.Find(s => s.Name.Equals(taskName));
if (mission != null)
return mission.AliceName;
else
LogUtil.error(string.Format("任务{0}不存在，请检查！", taskName));
return "";
}
public static string GetTaskNameByAliceName(string aliceName)
{
Mission mission = Missions.Find(s => s.AliceName.Equals(aliceName));
if (mission != null)
return mission.Name;
else
LogUtil.error(string.Format("任务[{0}]不存在，请检查！", aliceName));
return "";
}
/// <summary>
/// 向小车发送任务
/// </summary>
/// <returns></returns>
public static bool AssignMission(Agv_Info agv, string taskName)
{
bool rtn = false;
string guid = GetMissionGuidByTaskName(taskName);
if (!guid.Equals(""))
{
if (!taskName.StartsWith(SettingString.AutoCharge))
agv.Place = taskName;
if (agv.UseFleet)
{
agv.CurTarName = taskName;
rtn = MiR_API.Add_Mission_Fleet(agv, guid);
MiR_API.State_Ready(agv);
if (rtn)
{
LogUtil.info(string.Format("{0} Add_Mission_Fleet [{1}] OK", agv.Name, taskName));
}
else
{
LogUtil.info(string.Format("{0} Add_Mission_Fleet [{1}] Fail", agv.Name, taskName));
}
}
else
{
agv.CurTarName = taskName;
rtn = MiR_API.Add_Mission(agv, guid);
MiR_API.State_Ready(agv);
if (rtn)
{
LogUtil.info(string.Format("{0} Add_Mission [{1}] OK", agv.Name, taskName));
}
else
{
LogUtil.info(string.Format("{0} Add_Mission [{1}] Fail", agv.Name, taskName));
}
}
agv.StateKanban.SetCurTask(MissionSys.GetAliceNameByTaskName(taskName));
}
return rtn;
}
/// <summary>
/// 删除任务
/// </summary>
/// <returns></returns>
public static void DelMission(Agv_Info agv)
{
if (agv.UseFleet)
{
MiR_API.Del_Mission_Fleet(agv, agv.CurTaskGUID);
}
else
{
MiR_API.Del_Mission(agv);
}
LogUtil.info(string.Format("{0} DelMission [{1}] OK", agv.Name, agv.CurTarName));
}
/// <summary>
/// 检查当前任务是否结束
/// </summary>
/// <param name="taskName">任务名称</param>
/// <param name="taskGUID">任务GUID</param>
/// <returns></returns>
public static bool CheckTaskFinished(Agv_Info agv, string taskName, string curTaskState)
{
LogUtil.debug(agv.Name + " 检查当前任务是否结束: " + taskName + " " + curTaskState);
return GetMissionGuidByTaskName(taskName).Equals(agv.CurTaskGUID) && curTaskState.Equals(SettingString.Done);
}
/// <summary>
/// 检查当前是否分配成功
/// </summary>
/// <param name="taskName">任务名称</param>
/// <param name="taskGUID">任务GUID</param>
/// <returns></returns>
public static bool CheckTaskIsOK(Agv_Info agv, string taskName, string curTaskState)
{
return GetMissionGuidByTaskName(taskName).Equals(agv.CurTaskGUID) && curTaskState.Equals(SettingString.Executing);
}
/// <summary>
/// 获取Job任务状态
/// </summary>
/// <param name="CurTaskID"></param>
/// <returns></returns>
public static string GetTakJobState(Agv_Info agv)
{
if (!agv.CurTaskID.Equals(-1) && MiR_API.Get_Task_State(agv, out string st))
return st;
return SettingString.Wait;
}
}
}