AgvTaskManager.cs
8.6 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
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
using Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace DeviceLibrary
{
/// <summary>
/// AGV任务管理
/// </summary>
public class AgvTaskManager
{
/// <summary>
/// 任务列表
/// </summary>
public static List<AgvTask> AgvTasks;
/// <summary>
/// 加载任务
/// </summary>
public static void InitAgvTask()
{
try
{
AgvTasks = new List<AgvTask>();
manager.XmlConfigOperation.LoadTaskInfos(AgvTasks);
}
catch (Exception ex)
{
LogUtil.error("加载AGV任务失败", ex);
}
}
public static void InitView(ComboBox comboBox, AgvInfo agv)
{
comboBox.DisplayMember = "AliceName";
comboBox.ValueMember = "Name";
List<AgvTask> tasks = AgvTaskManager.AgvTasks.FindAll(s => s.TypeId.Equals(agv.FleetIP));
foreach (AgvTask mission in tasks)
{
comboBox.Items.Add(mission);
}
comboBox.SelectedItem = GetTaskByName($"{SettingString.Init}", agv);
}
/// <summary>
/// 根据id获取任务
/// </summary>
/// <param name="taskName"></param>
/// <returns></returns>
//public static AgvTask GetTaskById(int id)
//{
// AgvTask task = AgvTasks.Find(s => s.Id.Equals(id));
// if (task != null)
// return task;
// else
// LogUtil.error(string.Format("任务Id={0}不存在，请检查配置文件！", id));
// return new AgvTask();
//}
/// <summary>
/// 根据任务名获取任务
/// </summary>
/// <returns></returns>
public static AgvTask GetTaskByName(string name, AgvInfo agv)
{
AgvTask task = AgvTasks.Find(s => s.Name.Equals(name) && agv.FleetIP.Equals(s.TypeId));
if (task != null)
return task.ToCopy();
else
LogUtil.error(string.Format("任务名{0}不存在，请检查配置文件！", name));
return new AgvTask();
}
public static AgvTask GetTaskByAliceName(string aliceName)
{
AgvTask mission = AgvTasks.Find(s => s.AliceName.Equals(aliceName));
if (mission != null)
return mission;
else
LogUtil.error(string.Format("任务[{0}]不存在，请检查！", aliceName));
return new AgvTask();
}
/// <summary>
/// 向小车发送任务
/// </summary>
/// <returns></returns>
public static bool AssignMission(AgvInfo agv, string taskname)
{
bool rtn = false;
AgvTask task = GetTaskByName(taskname, agv);
Node node = null;
if (taskname.Contains($"{SettingString.Standby}"))
{
node = new Node() { Name = $"{agv.Name}{SettingString.Standby}", AliceName = $"{agv.Name}待机位", Type = NodeType.Standby };
}
else
{
string[] names = taskname.Split('_');
foreach (string item in names)
{
node = manager.NodeManager.GetNodeByName(item);
if (node != null)
break;
}
}
if (task != null)
{
agv.TaskRunState.Task = task;
if (node != null)
agv.Place = node;
if (!agv.IsCon)
{
agv.TaskRunState.ResetInfo();
if (agv.TaskRunState.CheckTaskExist(task))
{
agv.TaskRunState.EnWaitTaskQueue(task);
LogUtil.info(string.Format("{0} 离线，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));
}
return false;
}
if (agv.UseFleet)
{
rtn = MiR_API.Add_Mission_Fleet(agv);
MiR_API.State_Ready(agv);
if (rtn)
{
LogUtil.info(string.Format("{0} Add_Mission_Fleet[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
else
{
LogUtil.info(string.Format("{0} Add_Mission_Fleet[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
}
else
{
rtn = MiR_API.Add_Mission(agv);
MiR_API.State_Ready(agv);
if (rtn)
{
LogUtil.info(string.Format("{0} Add_Mission[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
else
{
LogUtil.info(string.Format("{0} Add_Mission[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
}
agv.StateKanban.SetCurTask(agv.TaskRunState.ToTaskShowInfo());
if (!rtn)
{
if (agv.TaskRunState.CheckTaskExist(task))
{
agv.TaskRunState.EnWaitTaskQueue(task);
LogUtil.info(string.Format("{0} 发送失败，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));
}
}
}
return rtn;
}
public static bool AssignMission(AgvInfo agv, DeviceLibrary.bean.ChargePile chargePile, AgvTask task)
{
bool rtn = false;
Node node = new Node() { Name = chargePile.Name, AliceName = chargePile.AliceName, Type = NodeType.AutoCharge };
if (task != null)
{
agv.TaskRunState.Task = task;
if (node != null)
agv.Place = node;
if (!agv.IsCon)
{
agv.TaskRunState.ResetInfo();
if (agv.TaskRunState.CheckTaskExist(task))
{
agv.TaskRunState.EnWaitTaskQueue(task);
LogUtil.info(string.Format("{0} 离线，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));
}
return false;
}
if (agv.UseFleet)
{
rtn = MiR_API.Add_Mission_Fleet(agv);
MiR_API.State_Ready(agv);
if (rtn)
{
LogUtil.info(string.Format("{0} Add_Mission_Fleet[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
else
{
LogUtil.info(string.Format("{0} Add_Mission_Fleet[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
}
else
{
rtn = MiR_API.Add_Mission(agv);
MiR_API.State_Ready(agv);
if (rtn)
{
LogUtil.info(string.Format("{0} Add_Mission[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
else
{
LogUtil.info(string.Format("{0} Add_Mission[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
}
agv.StateKanban.SetCurTask(agv.TaskRunState.ToTaskShowInfo());
if (!rtn)
{
if (agv.TaskRunState.CheckTaskExist(task))
{
agv.TaskRunState.EnWaitTaskQueue(task);
LogUtil.info(string.Format("{0} 发送失败，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));
}
}
}
return rtn;
}
/// <summary>
/// 删除任务
/// </summary>
/// <returns></returns>
public static void DelMission(AgvInfo agv)
{
if (agv.UseFleet)
{
MiR_API.Del_Mission_Fleet(agv);
}
else
{
MiR_API.Del_Mission(agv);
}
LogUtil.info(string.Format("{0} DelMission[{1}]OK", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
}
}