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;
using System;
using DeviceLibrary.lift;
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 (CheckHasSameJob(agv))
return null;
else if (CheckHasSendJob(agv))
return null;
else
{
if (agv.HasEmptyShelfInLift(out string liftname, out lift.LiftStatus lift))//!agv.Scope.Floor.Equals(1) &&
{
service.model.MissionInfo missionInfo = manager.MissionManager.GetReceiveMission(agv);
//检查是否是空台车领用 3D->4C
if (missionInfo == null && agv.Scope.Workshop.Equals(SettingString._4D))
{
missionInfo = MissionManager.Get3DTo4CReceiveMission(agv);
}
if (missionInfo != null)
{
if (!liftname.Equals(missionInfo?.liftName))
return null;
if (AgvAtPlace(agv, liftname))
return null;
if (service.model.MissionInfo.IsFinishedProdcut(missionInfo))
return 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] : missionInfo.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($"无法生成任务，因不存在的节点：{dests[i]}");
return null;
}
}
}
LiftContext.SetLiftNodeOccupied(agv, liftname);
MissionManager.SetMissionOccupied(missionInfo, agv);
MissionManager.Log.Info($"执行任务[{agv.Name}][目的地] {JsonHelper.SerializeObject(missionInfo)}");
return new LiftToLinesJob(jobParam);
}
}
}
return null;
}
bool CheckHasSameJob(AgvInfo agv)
{
return false;
try
{
if (agv.Scope.Workshop.Equals("1F"))
{
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && !s.IP.Equals(agv.IP) && s.Scope.Workshop.Equals(agv.Scope.Workshop)
&& s.CurJob != null && (s.CurJob is LiftToLinesJob));
if (agvInfo != null)
return true;
}
else
{
return false;
}
}
catch
{
return false;
}
return false;
}
bool CheckHasSendJob(AgvInfo agv)
{
return false;
try
{
if (agv.Scope.Workshop.Equals("1F"))
{
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && !s.IP.Equals(agv.IP) && s.Scope.Workshop.Equals(agv.Scope.Workshop)
&& s.CurJob != null && s.Scope.Workshop.Equals("1F") && (s.CurJob is LineToLiftJob || s.CurJob is F1LiftC1ToLiftD2Job
|| s.CurJob is F1LiftD2ToLiftC1Job));
if (agvInfo != null)
return true;
}
else
{
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && !s.IP.Equals(agv.IP) && s.Scope.Workshop.Equals(agv.Scope.Workshop)
&& s.CurJob != null && (s.CurJob is LineToLiftJob));
if (agvInfo != null)
return true;
}
}
catch
{
return false;
}
return false;
}
}
}