BackLiftToLineJobType.cs
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using Common;
using DeviceLibrary.bean.job;
using DeviceLibrary.lift;
using DeviceLibrary.manager;
using System;
namespace DeviceLibrary.bean.jobType
{
/// <summary>
/// 料架返回任务
/// </summary>
public class BackLiftToLineJobType : JobType
{
public override Job GetNewJob(AgvInfo agv)
{
if (!agv.IsIdle())
return null;
else
{
if (agv.HasEmptyShelfInLift(out string liftname, out lift.LiftStatus lift))//agv.Scope.Floor.Equals(1) &&
{
service.model.MissionInfo missionInfo = manager.MissionManager.ShelfBackMission(agv);
if (missionInfo != null)
{
if (!liftname.Equals(missionInfo?.liftName))
return null;
if (CheckHasSameJob(agv,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[] dests = lift.destinationPoint.Split(',');
Node dest = manager.NodeManager.GetNode(dests.Length > 1 ? dests[0] : lift.destinationPoint, NodeType.Node);
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
LiftContext.SetLiftNodeOccupied(agv, liftname);
MissionManager.SetMissionOccupied(missionInfo, agv);
return new ShelfBackLiftToStoreJob(jobParam);
}
}
}
return null;
}
bool CheckHasSameJob(AgvInfo agv,string liftname)
{
return false;
try
{
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && s.Scope.Workshop.Equals(agv.Scope.Workshop)
&& s.CurJob != null && (s.CurJob is F1LiftC1ToLiftD2Job ||
s.CurJob is F1LiftD2ToLiftC1Job || (s.CurJob is LineToLiftJob && liftname.Equals(s?.CurJob?.JobParam?.CurTargetNode?.Name??""))));
if (agvInfo != null)
return true;
}
catch
{
return false;
}
return false;
}
}
}