SteelLineToLiftJobType.cs
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using Common;
using DeviceLibrary.manager;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary.bean.jobType
{
/// <summary>
/// 钢网入库，从线体取料并送入电梯内
/// </summary>
public class SteelLineToLiftJobType : JobType
{
public override Job GetNewJob(AgvInfo agv)
{
if (!agv.IsIdle())
return null;
service.model.MissionInfo missionInfo = manager.MissionManager.GetSteelLineToLiftMission(agv, out string liftname);
if (missionInfo != null)
{
if (AUOUsingD2(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;
}
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
jobParam.SteelShelfNode = NodeManager.GetNode(Common.AppConfigHelper.GetValue("SteelShelfPos", "3dwash"), NodeType.Node);
MissionManager. SetMissionOccupied(missionInfo, agv);
MissionManager.Log.Info($"执行任务[{agv.Name}][SteelLineToLiftJobType] {JsonHelper.SerializeObject(missionInfo)}");
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.已分配, out string msg);
return new SteelLineToLiftJob(jobParam);
}
return null;
}
}
}