ChargeTask.cs
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using CtuDeviceLib;
using Mushiny;
using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary.CtuService
{
/// <summary>
/// 充电任务
/// </summary>
public class ChargeTask : CtuTaskBase
{
public ChargeTask(CTU ctu, string dst) : base(ctu, dst)
{
Name = "充电任务";
}
public override void Excute()
{
if (string.IsNullOrEmpty(DstName))
{
Msg.add($"【{ctu.Name}】无充电位置，请检查充电位置是否配置", MsgLevel.warning);
return;
}
//当前位置不是目的地,就重新规划路线
if (MoveInfo.MoveStep != RunStep.Wait && MoveInfo.MoveStep != RunStep.Charge_01_MoveToDst)
{
if (ctu.CurLandMark != destination)
{
MoveInfo.NextMoveStep(RunStep.Wait);
MoveInfo.Info($"当前点位不在目标点【{DstName}】【{destination}】,重新进入充电流程");
}
}
switch (MoveInfo.MoveStep)
{
case RunStep.Wait:
if (!CalcDst())
{
Msg.add($"规划去【{DstName}】失败，请检查", MsgLevel.warning);
return;
}
MoveInfo.NextMoveStep(RunStep.Charge_01_MoveToDst);
MoveInfo.Info($"去充电点【{DstName}】【{destination}】");
break;
case RunStep.Charge_01_MoveToDst:
if (IsFinished)
{
MoveInfo.NextMoveStep(RunStep.Charge_02_AtDst);
MoveInfo.Info($"已到充电点【{DstName}】【{destination}】");
}
else
{
Move();
}
break;
case RunStep.Charge_02_AtDst:
if (StartChargeTask())
{
MoveInfo.NextMoveStep(RunStep.Charge_03_StartCharge);
MoveInfo.Info($"对接充电桩【{DstName}】【{destination}】");
}
else
{
MoveInfo.Info($"创建对接充电桩异常【{DstName}】【{destination}】");
Msg.add($"【{ctu.Name}】创建对接充电桩异常", MsgLevel.warning);
}
break;
case RunStep.Charge_03_StartCharge:
if (IsFinished)
{
MoveInfo.NextMoveStep(RunStep.Charge_04_Charging);
MoveInfo.Info($"对接充电桩成功【{DstName}】【{destination}】");
}
break;
case RunStep.Charge_04_Charging:
var task = findTasks();
if (task != null || RobotManager.IsReadyUpdate)
{
if (CreatesStopChargeTask())
{
MoveInfo.NextMoveStep(RunStep.Charge_05_ExitCharging);
MoveInfo.Info($"退出充电桩【{DstName}】【{destination}】");
}
else
{
MoveInfo.Info($"创建退出充电桩异常【{DstName}】【{destination}】");
Msg.add($"【{ctu.Name}】创建退出充电桩异常", MsgLevel.warning);
}
}
else
{
MoveInfo.Info($"充电中【{ctu.SOC}%】");
}
break;
case RunStep.Charge_05_ExitCharging:
if (IsFinished)
{
MoveInfo.NextMoveStep(RunStep.CtuTask_ProcessFinished);
MoveInfo.Info($"退出完成【{DstName}】【{destination}】【{ctu.SOC}%】,搜寻任务");
}
break;
case RunStep.CtuTask_ProcessFinished:
var nextTask = findTasks();
if (nextTask != null)
{
ctu.CtuTask = nextTask;
}
break;
}
}
bool StartChargeTask()
{
if (MushinyManager.GenStartChargePathPoints(ctu, dstPosInfo, out PathPoint pathPoint))
{
runInfo.Reset(CtuTaskRunInfo.StartCharge);
return createPathPoint(new List<PathPoint>() { pathPoint }, CtuTaskRunInfo.StartCharge);
}
else
{
return false;
}
}
bool CreatesStopChargeTask()
{
if (MushinyManager.GenStopChargePathPoints(ctu, dstPosInfo, out PathPoint pathPoint))
{
runInfo.Reset(CtuTaskRunInfo.StopCharge);
return createPathPoint(new List<PathPoint>() { pathPoint }, CtuTaskRunInfo.StopCharge);
}
else
{
return false;
}
}
CtuTaskBase findTasks()
{
var exitChargeSoc = ConfigAppSettings.GetValue(Setting_Init.Charge_ExitChargeSoc, 80);
if (ctu.SOC >= exitChargeSoc)
{
CtuTaskBase task = null;
{
task = new StandbyTask(ctu);
}
return task;
}
else
{
var forceChargeSoc = ConfigAppSettings.GetValue(Setting_Init.Charge_ForceChargeSoc, 80);
if (ctu.SOC <= forceChargeSoc + 5)
{
return null;
}
var othCtus = CTUManager.GetOhterEnabledCTUs(ctu);
if (othCtus != null && othCtus.Count > 0)
{
var find = othCtus.Find(s => (s.SOC < forceChargeSoc) || (s.SOC < ctu.SOC && s.CtuTask != null && s.CtuTask is StandbyTask));
if (find != null)
{
return new StandbyTask(ctu);
}
}
}
return null;
}
}
}