LiftToLinesJobType.cs
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using Common;
using System.Collections.Generic;
using System.Linq;
using DeviceLibrary.manager;
using DeviceLibrary.bean;
using DeviceLibrary.bean.job;
namespace DeviceLibrary
{
/// <summary>
/// 从电梯送到多条线体任务
/// </summary>
public class LiftToLinesJobType : JobType
{
/// <summary>
/// 将料从电梯送到线上任务
/// </summary>
/// <param name="currentAgv"></param>
/// <returns></returns>
public override Job GetNewJob(AgvInfo agv)
{
if (!agv.IsIdle())
return null;
else
{
if (!agv.Scope.Floor.Equals(1) && agv.HasEmptyShelfInLift(out string liftname, out lift.LiftStatus lift))
{
service.model.MissionInfo missionInfo = manager.MissionManager.GetReceiveMission(agv);
if (missionInfo != null)
{
Node src = manager.NodeManager.GetNode(liftname, NodeType.Lift);
string[] destTmp = lift.destinationPoint.Split(',');
string[] dests = destTmp.Distinct().ToArray();
Node dest = manager.NodeManager.GetNode(dests.Length > 1 ? dests[0] : lift.destinationPoint, NodeType.Node);
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
if(dests.Length>1)
{
for (int i = 1; i < dests.Length; i++)
{
Node node = manager.NodeManager.GetNode(dests[i], NodeType.Node);
if (node != null)
jobParam.TargetNodes.Add(node);
else
{
LogUtil.error($"无法生成任务，因不存在的节点：{dests[i]}");
return null;
}
}
}
return new LiftToLinesJob(jobParam);
}
}
}
return null;
}
}
}