SteelLiftToLinesJobType.cs
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using Common;
using DeviceLibrary.bean.job;
using DeviceLibrary.manager;
namespace DeviceLibrary.bean.jobType
{
/// <summary>
/// 钢网项目-钢网领用-返回楼层，电梯
/// </summary>
public class SteelLiftToLinesJobType : JobType
{
public override Job GetNewJob(AgvInfo agv)
{
if (!agv.IsIdle())
return null;
else
{
if (agv.HasEmptyShelfInLift(out string liftname, out lift.LiftStatus lift))
{
service.model.MissionInfo missionInfo = manager.MissionManager.GetSteelToLinesReceiveMission(agv);
if (missionInfo != null)
{
if (!liftname.Equals(missionInfo?.liftName))
return null;
Node src = manager.NodeManager.GetNode(liftname, NodeType.Lift);
string[] dests = missionInfo.destinationPoint.Split(',');
Node dest = manager.NodeManager.GetNode(dests.Length > 1 ? dests[0] : lift.destinationPoint, NodeType.Node);
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
jobParam.SteelShelfNode = NodeManager.GetNode(Common.AppConfigHelper.GetValue("SteelShelfPos", "3dwash"), NodeType.Node);
if (dests.Length > 1)
{
for (int i = 1; i < dests.Length; i++)
{
Node node = manager.NodeManager.GetNode(dests[i], NodeType.Node);
if (node != null)
{
Node tmp = jobParam.TargetNodes.Find(s => s.Name.Equals(node.Name));
if (tmp == 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;
}
}
}
MissionManager.SetMissionOccupied(missionInfo, agv);
return new SteelLiftToLinesJob(jobParam);
}
missionInfo = manager.MissionManager.GetSteelToStorageReceiveMission(agv);
if(missionInfo!=null)
{
Node src = manager.NodeManager.GetNode(liftname, NodeType.Lift);
Node dest = manager.NodeManager.GetNode(SettingString.storage);
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
//jobParam.SteelShelfNode = NodeManager.GetNode(Common.AppConfigHelper.GetValue("SteelShelfPos"), NodeType.Node);
MissionManager.SetMissionOccupied(missionInfo, agv);
return new SteelLiftToStorageJob(jobParam);
}
}
}
return null;
}
}
}