LineToLiftJobType.cs
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using Common;
using DeviceLibrary.bean.job;
using DeviceLibrary.lift;
using DeviceLibrary.manager;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary.bean.jobType
{
/// <summary>
/// 从线体取料并送入电梯内
/// </summary>
public class LineToLiftJobType : JobType
{
public override Job GetNewJob(AgvInfo agv)
{
if (!agv.IsIdle())
return null;
if (LiftContext.CheckHasEmptyFinished(agv, SettingString.LIFT_D2, out LiftStatus liftStatus))
return null;
service.model.MissionInfo missionInfo = manager.MissionManager.GetLineToLiftMission(agv, out string liftname);
if (missionInfo != null)
{
if (CheckHasSameJob(agv, liftname))
return null;
Node src = manager.NodeManager.GetNode(missionInfo.sourcePoint, NodeType.Node);
Node dest = manager.NodeManager.GetNode(liftname, NodeType.Lift);
if (src == null)
{
Common.LogUtil.error($"无法生成任务，起始点不存在：{missionInfo.sourcePoint}");
return null;
}
if (dest == null)
{
Common.LogUtil.error($"无法生成任务，电梯不存在：{liftname}");
return null;
}
//if (TargetIsOccupied(agv, liftname))
//{
// return null;
//}
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
MissionManager.SetMissionOccupied(missionInfo, agv);
MissionManager.Log.Info($"执行任务[{agv.Name}][LineToLiftJobType]{JsonHelper.SerializeObject(missionInfo)}");
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.已分配, out string msg);
return new LineToLiftJob(jobParam);
}
return null;
}
bool CheckHasSameJob(AgvInfo agv, string liftname)
{
return false;
try
{
if (agv.Scope.Workshop.Equals("1F"))
{
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && s.Scope.Workshop.Equals(agv.Scope.Workshop) &&
!s.IP.Equals(agv.IP)&&s.CurJob != null && ( s.CurJob is F1LiftC1ToLiftD2Job
|| s.CurJob is F1LiftD2ToLiftC1Job));//s.CurJob is LineToLiftJob ||
if (agvInfo != null)
{
if (agvInfo?.CurJob?.JobParam?.GetMissionInfo()?.liftName?.Equals(liftname) ?? true)
{
return true;
}
}
//if (agvInfo != null)
// return true;
}
else
{
AgvInfo agvInfo = AGVManager.agvInfo.Find(s => s.Auto && s.Scope.Workshop.Equals(agv.Scope.Workshop) &&
!s.IP.Equals(agv.IP) && s.CurJob != null && (s.CurJob is LineToLiftJob));
if (agvInfo != null)
{
return true;
}
}
return false;
}
catch (Exception ex)
{
LogUtil.error("LineToLiftJobType CheckHasSameJob", ex);
return true;
}
return false;
}
}
}