AgvTaskManager.cs
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using Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace DeviceLibrary
{
/// <summary>
/// AGV任务管理
/// </summary>
public class AgvTaskManager
{
/// <summary>
/// 任务列表
/// </summary>
public static List<AgvTask> AgvTasks;
/// <summary>
/// 加载任务
/// </summary>
public static void InitAgvTask()
{
try
{
AgvTasks = new List<AgvTask>();
manager.XmlConfigOperation.LoadTaskInfos(AgvTasks);
}
catch (Exception ex)
{
LogUtil.error("加载AGV任务失败", ex);
}
}
public static void ReloadAgvTask()
{
try
{
List<AgvTask> tasks = new List<AgvTask>();
manager.XmlConfigOperation.LoadTaskInfos(tasks);
AgvTasks = tasks;
}
catch (Exception ex)
{
MessageBox.Show("重载任务配置失败" + ex.StackTrace, "提示");
}
}
public static void InitView(ComboBox comboBox, AgvInfo agv)
{
comboBox.DisplayMember = "AliceName";
comboBox.ValueMember = "Name";
List<AgvTask> tasks = AgvTaskManager.AgvTasks.FindAll(s => s.TypeId.Equals(agv.FleetIP));
foreach (AgvTask mission in tasks)
{
comboBox.Items.Add(mission);
}
comboBox.SelectedItem = GetTaskByName($"{SettingString.Init}", agv);
}
/// <summary>
/// 根据id获取任务
/// </summary>
/// <param name="taskName"></param>
/// <returns></returns>
//public static AgvTask GetTaskById(int id)
//{
// AgvTask task = AgvTasks.Find(s => s.Id.Equals(id));
// if (task != null)
// return task;
// else
// LogUtil.error(string.Format("任务Id={0}不存在，请检查配置文件！", id));
// return new AgvTask();
//}
/// <summary>
/// 根据任务名获取任务
/// </summary>
/// <returns></returns>
public static AgvTask GetTaskByName(string name, AgvInfo agv)
{
AgvTask task = AgvTasks.Find(s => s.Name.Equals(name) && agv.FleetIP.Equals(s.TypeId));
if (task != null)
return task.ToCopy();
else
LogUtil.error($"{agv.Name}任务名{name}不存在，请检查配置文件！");
return new AgvTask();
}
public static bool IsExistTask(string name,AgvInfo agv)
{
AgvTask task = AgvTasks.Find(s => s.Name.Equals(name) && agv.FleetIP.Equals(s.TypeId));
if (task != null)
return true;
return false;
}
public static AgvTask GetTaskByAliceName(string aliceName)
{
AgvTask mission = AgvTasks.Find(s => s.AliceName.Equals(aliceName));
if (mission != null)
return mission;
else
LogUtil.error(string.Format("任务[{0}]不存在，请检查！", aliceName));
return new AgvTask();
}
/// <summary>
/// 向小车发送任务
/// </summary>
/// <returns></returns>
public static bool AssignMission(AgvInfo agv, string taskname)
{
bool rtn = false;
AgvTask task = GetTaskByName(taskname, agv);
Node node = null;
if (taskname.Contains($"{SettingString.Standby}"))
{
node = new Node() { Name = $"{agv.Name}{SettingString.Standby}", AliceName = $"{agv.Name}待机位", Type = NodeType.Standby };
}
else
{
node = manager.NodeManager.GetNodeByName(taskname);
if (node == null)
{
string[] names = taskname.Split('_');
foreach (string item in names)
{
node = manager.NodeManager.GetNodeByName(item);
if (node != null)
break;
}
}
}
if (task != null&& !string.IsNullOrEmpty(task.Guid))
{
agv.TaskRunState.Task = task;
if (node != null)
agv.Place = node;
//else
//{
// agv.Place = new Node() { Name= taskname,AliceName= taskname };
//}
if (!agv.IsCon)
{
agv.TaskRunState.ResetInfo();
if (!agv.TaskRunState.CheckTaskExist(task))
{
agv.TaskRunState.EnWaitTaskQueue(task);
LogUtil.info(string.Format("{0} 离线，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));
}
return false;
}
if (agv.UseFleet)
{
rtn = MiR_API.Add_Mission_Fleet(agv);
MiR_API.State_Ready(agv);
if (rtn)
{
LogUtil.info(string.Format("{0} Add Mission Fleet[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
else
{
LogUtil.info(string.Format("{0} Add Mission Fleet[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
}
else
{
rtn = MiR_API.Add_Mission(agv);
MiR_API.State_Ready(agv);
if (rtn)
{
LogUtil.info(string.Format("{0} Add Mission[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
else
{
LogUtil.info(string.Format("{0} AddMission[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
}
agv.StateKanban.SetCurTask(agv.TaskRunState.ToTaskShowInfo());
if (!rtn)
{
if (!agv.TaskRunState.CheckTaskExist(task))
{
agv.TaskRunState.EnWaitTaskQueue(task);
LogUtil.info(string.Format("{0} 发送失败，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));
}
}
}
return rtn;
}
public static bool AssignMission(AgvInfo agv, DeviceLibrary.bean.ChargePile chargePile, AgvTask task)
{
bool rtn = false;
Node node = new Node() { Name = chargePile.Name, AliceName = chargePile.AliceName, Type = NodeType.AutoCharge };
if (task != null)
{
agv.TaskRunState.Task = task;
if (node != null)
agv.Place = node;
if (!agv.IsCon)
{
agv.TaskRunState.ResetInfo();
if (!agv.TaskRunState.CheckTaskExist(task))
{
agv.TaskRunState.EnWaitTaskQueue(task);
LogUtil.info(string.Format("{0} 离线，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));
}
return false;
}
if (agv.UseFleet)
{
rtn = MiR_API.Add_Mission_Fleet(agv);
MiR_API.State_Ready(agv);
if (rtn)
{
LogUtil.info(string.Format("{0} Add Mission Fleet[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
else
{
LogUtil.info(string.Format("{0} Add Mission Fleet[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
}
else
{
rtn = MiR_API.Add_Mission(agv);
MiR_API.State_Ready(agv);
if (rtn)
{
LogUtil.info(string.Format("{0} Add Mission[{1}]Success", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
else
{
LogUtil.info(string.Format("{0} Add Mission[{1}]Fail", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
}
agv.StateKanban.SetCurTask(agv.TaskRunState.ToTaskShowInfo());
if (!rtn)
{
if (!agv.TaskRunState.CheckTaskExist(task))
{
agv.TaskRunState.EnWaitTaskQueue(task);
LogUtil.info(string.Format("{0} 发送失败，[{1}]加入任务等待队列 ", agv.Name, task.AliceName));
}
}
}
return rtn;
}
}
}