RobotManager.cs
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using Common;
using DeviceLib.DB.Config;
using DeviceLib.Model.AGV;
using System;
using System.Collections.Generic;
namespace DeviceLib.BLL
{
public class RobotManager
{
static List<Robot> robots;
static int lowBattery = 30;
/// <summary>
/// 加载配置
/// </summary>
public static void Load()
{
//ConfigOperation.GetRobots();
robots = ConfigOperation.GetRobots() ?? new List<Robot>();
LogUtil.Info("机器人配置加载成功！");
}
/// <summary>
/// 获取所有机器人
/// </summary>
/// <returns></returns>
public static List<Robot> GetAllRobots()
{
return robots;
}
public static Robot GetRobot(int id)
{
return robots.Find(s => s.id == id);
}
public static Robot GetRobot(string ip)
{
return robots.Find(s => s.ip == ip);
}
/// <summary>
/// 查询机充电桩上是否有机器人
/// </summary>
/// <param name="nodeId"></param>
/// <returns>true:有机器人</returns>
public static bool CheckRobotInChargePile(int nodeId)
{
Robot robot = robots.Find(s => s.job != null && (s.job is ChargeJob && s.job.JobParam.CurDstNode.Id.Equals(nodeId)));
return robot != null;
}
/// <summary>
/// 查询机待机点上是否有机器人
/// </summary>
/// <param name="nodeId"></param>
/// <returns>true:有机器人</returns>
public static bool CheckRobotInStandbyPile(int nodeId)
{
Robot robot = robots.Find(s => s.job != null && s.job is StandbyJob && s.job.JobParam.CurDstNode.Id.Equals(nodeId));
return robot != null;
}
/// <summary>
/// 检查是否有机器人在当前节点
/// </summary>
/// <param name="nodename"></param>
/// <returns></returns>
public static bool RobotIsInNode(string nodename)
{
return robots.Find(s=>s?.mission_state?.node_name.Equals(nodename) ??false)!=null;
}
/// <summary>
/// 获取可执行任务的机器人
/// </summary>
/// <param name="workshop_id">车间编号：默认0，表示不区分车间</param>
/// <returns></returns>
public static Robot GetReadyRobot(int workshop_id = 0)
{
var finds = robots.FindAll(s => s.status.battery_percentage > lowBattery);
finds.FindAll(s => s.state.Equals(RobotState.待机中) || s.state.Equals(RobotState.充电中));
if (workshop_id > 0)
return finds.Find(s => s.workshop_id == workshop_id);
else if (finds.Count > 0)
return finds[0];
else
return null;
}
static Robot getRobot(int id)
{
return robots.Find(s => s.id.Equals(id));
}
public static void SetRobot(Robot robot)
{
ConfigOperation.SetRobot(robot);
}
public static void SetDebug(int id, bool debug)
{
Robot robot = getRobot(id);
if (robot != null)
{
robot.is_debug = debug;
SetRobot(robot);
LogUtil.Info($"设置【{robot.name}】调试模式={debug}");
}
}
public static void SetLoadInfo(int robotId, int pos, ShelfType type, string shelf_id = "")
{
Robot robot = getRobot(robotId);
if (robot != null)
{
LoadInfo loadInfo = robot.load_infos.Find(s => s.pos == pos);
if (loadInfo != null)
{
loadInfo.shelf_type = type;
loadInfo.shelf_id = shelf_id;
SetRobot(robot);
LogUtil.Info($"设置【{robot.name}】负载状态【{loadInfo}】");
}
else
{
LogUtil.Error($"设置【{robot.name}】负载状态失败【shelf_type={type.ToString()},shelf_id={shelf_id}】，因未找到pos={pos}");
}
}
}
public static void SetAuto(int id, bool auto)
{
Robot robot = getRobot(id);
if (robot != null)
{
robot.auto = auto;
SetRobot(robot);
LogUtil.Info($"设置【{robot.name}】自动模式={auto}");
}
}
public static void UploadState(Robot robot)
{
try
{
}
catch(Exception ex)
{
}
}
static MissionState getMissionState(int id)
{
Robot robot = getRobot(id);
if (robot != null)
{
return robot.mission_state;
}
return null;
}
static Job getJob(int id)
{
Robot robot = getRobot(id);
if (robot != null)
{
return robot.job;
}
return null;
}
public static void ClearBoxBind(Robot robot,string rfid)
{
HttpManager.ClearBoxBind(rfid,robot.name);
}
}
}