TakeBoxBase.cs
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using AGVLib;
using CtuDeviceLib;
using log4net.Util;
using Mushiny;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary.CtuService
{
/// <summary>
/// 取箱类
/// </summary>
public class TakeBoxBase : CtuTaskBase
{
public TakeBoxBase(CTU ctu, RobotTask robotTask) : base(ctu, robotTask)
{
setBoxCode(robotTask.BoxCode);
setDstName(robotTask.SrcPoint);
}
public TakeBoxBase(CTU ctu) : base(ctu)
{
}
public override void Excute() { }
/// <summary>
/// 对接完成-线体收到finishleave回复
/// </summary>
protected bool Complete()
{
return RobotManager.loadContainerFinish(new ESS.EssModel()
{
containerAttribute = DateTime.Now,
containerCode = boxCode,
slotCode = DstName
});
//var clientNodes = RobotManager.AllClientNodes;
//if (clientNodes != null)
//{
// var node = clientNodes.Find(s => s.name.Equals(DstName));
// if (node == null)
// {
// Msg.add($"未查询到【{DstName}】，无法检查{NodeStatus.Complete}", MsgLevel.warning);
// }
// else
// {
// return node.status == NodeStatus.Complete;
// }
//}
//else
//{
// Msg.add($"无法获取节点信息，请检查AGV调度软件是否开启", MsgLevel.warning);
//}
//return false;
}
/// <summary>
/// 设备允许出料箱
/// </summary>
/// <returns></returns>
protected bool MayLeave()
{
var clientNodes = RobotManager.AllClientNodes;
if (clientNodes != null)
{
var node = clientNodes.Find(s => s.name.Equals(DstName));
if (node == null)
{
Msg.add($"未查询到【{DstName}】，无法检查{NodeStatus.MayLeave}", MsgLevel.warning);
}
else
{
return node.status == NodeStatus.MayLeave;
}
}
else
{
Msg.add($"无法获取节点信息，请检查AGV调度软件是否开启", MsgLevel.warning);
}
return false;
}
protected bool RejectLeave()
{
var clientNodes = RobotManager.AllClientNodes;
if (clientNodes != null)
{
var node = clientNodes.Find(s => s.name.Equals(DstName));
if (node == null)
{
Msg.add($"未查询到【{DstName}】，无法检查{NodeStatus.RejectLeave}", MsgLevel.warning);
}
else
{
return node.status == NodeStatus.RejectLeave;
}
}
else
{
Msg.add($"无法获取节点信息，请检查AGV调度软件是否开启", MsgLevel.warning);
}
return false;
}
/// <summary>
/// CTU接收到料箱发送完成
/// </summary>
protected void FinishLeave()
{
//var clientNodes = RobotManager.AllClientNodes;
//if (clientNodes != null)
//{
// var node = clientNodes.Find(s => s.name.Equals(DstName));
// if (node == null)
// {
// Msg.add($"未查询到【{DstName}】，无法发送{NodeStatus.FinishLeave}", MsgLevel.warning);
// }
// else
// {
// node.status = NodeStatus.FinishLeave;
// node.shelf_id = boxCode;
// RobotManager.SendToClientWitAPI(node);
// }
//}
//else
//{
// Msg.add($"无法获取节点信息，请检查AGV调度软件是否开启", MsgLevel.warning);
//}
}
/// <summary>
/// 向设备请求出料箱
/// </summary>
protected void RequestLeave()
{
//var clientNodes = RobotManager.AllClientNodes;
//if (clientNodes != null)
//{
// var node = clientNodes.Find(s => s.name.Equals(DstName));
// if (node == null)
// {
// Msg.add($"未查询到【{DstName}】，无法发送{NodeStatus.RequestLeave}", MsgLevel.warning);
// }
// else
// {
// node.status = NodeStatus.RequestLeave;
// node.shelf_id = boxCode;
// RobotManager.SendToClientWitAPI(node);
// }
//}
//else
//{
// Msg.add($"无法获取节点信息，请检查AGV调度软件是否开启", MsgLevel.warning);
//}
}
/// <summary>
///
/// </summary>
/// <returns></returns>
//protected bool Outlet_FindNearWaitSendBoxInBasket(out Tuple<string, string> dstBox)
//{
// dstBox = null;
// var dstMap = outlet_getNearDstInBaskets();
// if(dstMap == null || dstMap.Count == 0)
// {
// return false;
// }
// var minDis = int.MaxValue;
// var dstKey = dstMap.Keys.ToList()[0];
// foreach (var dst in dstMap)
// {
// PathManger.GetPToPDis(ctu.CurLandMark,)
// }
//}
}
}