MissionSys.cs
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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 != 5) continue;
Missions.Add(new Mission(temp[0], temp[1], temp[2], temp[3], temp[4]));
}
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 GetMissionGuidByName(string name)
{
Mission mission = Missions.Find(s => s.TargetName.Equals(name));
if (mission != null)
return mission.Guid;
else
LogUtil.error(string.Format("任务目的地{0}不存在，请检查！", name));
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 "";
}
/// <summary>
/// 向小车发送任务
/// </summary>
/// <returns></returns>
public static bool AssignMission(Agv_Info agv, string missionName)
{
bool rtn = false;
string guid = GetMissionGuidByName(missionName);
if (!guid.Equals(""))
{
if (agv.UseFleet)
{
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, missionName));
}
else
{
LogUtil.info(string.Format("{0} Add_Mission_Fleet [{1}] Fail", agv.Name, missionName));
}
}
else
{
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, missionName));
}
else
{
LogUtil.info(string.Format("{0} Add_Mission [{1}] Fail", agv.Name, missionName));
}
}
}
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 GetMissionGuidByName(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 GetMissionGuidByName(taskName).Equals(agv.CurTaskGUID) && curTaskState.Equals(SettingString.Executing);
}
/// <summary>
/// 获取Fleet Job任务状态
/// </summary>
/// <param name="CurTaskID"></param>
/// <returns></returns>
public static string GetTakJobState(int CurTaskID)
{
if (!CurTaskID.Equals(-1) && MiR_API.Get_Task_State(CurTaskID, out string st))
return st;
return SettingString.Wait;
}
}
}