ChargeJob.cs
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using Common;
using DeviceLibrary.bean;
namespace DeviceLibrary
{
/// <summary>
/// 充电任务
/// </summary>
public class ChargeJob : Job
{
/// <summary>
/// 充电任务
/// </summary>
/// <param name="agvPlae">小车当前位置</param>
public ChargeJob(JobParam jobParam) : base(jobParam)
{
JobName = "充电任务";
}
public ChargeJob() : base() { JobName = "充电任务"; }
int BatteryMax = ChargePileManager.GetChargePiles().BatteryMax;
int BatteryMin = ChargePileManager.GetChargePiles().BatteryMin;
/// <summary>
/// 充电任务
/// </summary>
/// <param name="agv"></param>
public override Job Run(AgvInfo agv)
{
agv.SetJobContext(new bean.agv.JobContext()
{
});
if (JobRunStep.IsStep(RunStep.NONE))
{
ClearLiftNodeOccupied(agv);
if (!ChargePileManager.HasEmpty(agv, out ChargePile charge))
{
runInfo = $"无空闲充电桩，从" + JobParam.SrcNode + "回到待机位";
JobRunStep.Msg = runInfo;
return new StandyJob(new JobParam(JobParam.SrcNode.ToCopy()));
}
else
{
JobRunStep.ToNextStep(RunStep.CHARGE_WAIT_REACH_CHARGE);
runInfo = $"当前电量{agv.Battery}小于最大电量{BatteryMax},从{JobParam.SrcNode}去{charge.AliceName}";
JobRunStep.Msg = runInfo;
AllocateTask(agv, charge);
ChargePileManager.StartCharge(agv, charge.Name);
}
}
else if (JobRunStep.IsStep(RunStep.CHARGE_WAIT_REACH_CHARGE))
{
if (agv.TaskRunState.CheckAllocateOk())
{
JobRunStep.ToNextStep(RunStep.CHARGE_WAIT_CHARGE_OK);
runInfo = "开始充电";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.CHARGE_WAIT_CHARGE_OK))
{
if (CheckRandomCharge(agv))
{
if (agv.Battery >= BatteryMax)
{
runInfo = "电量充足，回待机位";
JobRunStep.Msg = runInfo;
ChargePileManager.StopCharge(agv);
JobRunStep.EndJob();
return new StandyJob(new JobParam(JobParam.SrcNode.ToCopy()));
}
else if (agv.Battery >= BatteryMin)
{
Job job = AGVManager.control.GetJob(agv);
if (job != null && ((job is ChargeJob) || (job is StandyJob)))
{
}
else if (job != null)
{
ChargePileManager.StopCharge(agv);
runInfo = "充电过程检测到任务，电量" + agv.Battery + "%大于最小电量" + BatteryMin + "%,中断充电执行任务";
JobRunStep.Msg = runInfo;
JobRunStep.EndJob();
return job;
}
else
{
}
}
}
else//固定充电桩
{
if (agv.Battery >= ChargePileManager.GetChargePiles().BatteryMax)
{
runInfo = "充电完成";
JobRunStep.Msg = runInfo;
JobRunStep.EndJob();
return new StandyJob(new JobParam(agv.Place));
}
else if (agv.Battery >= ChargePileManager.GetChargePiles().BatteryMin)
{
Job job = AGVManager.control.GetJob(agv);
if (job != null && ((job is ChargeJob) || (job is StandyJob)))
{
}
else if (job != null)
{
ChargePileManager.StopCharge(agv);
runInfo = "充电过程检测到任务，电量" + agv.Battery + "%大于最小电量" + BatteryMin + "%,中断充电执行任务";
JobRunStep.Msg = runInfo;
JobRunStep.EndJob();
return job;
}
}
}
}
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return this;
}
/// <summary>
/// 检查当前小车是否是共用充电桩的小车
/// </summary>
/// <returns></returns>
private bool CheckRandomCharge(AgvInfo agv)
{
if (ChargePileManager.CheckIsRandom(agv))
{
return true;
}
else
{
return false;
}
}
}
}