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.XmlConfigOpManager.LoadTaskInfos(AgvTasks);
}
catch (Exception ex)
{
LogUtil.error("加载AGV任务失败", ex);
}
}
public static void InitView(ComboBox comboBox)
{
comboBox.DisplayMember = "AliceName";
comboBox.ValueMember = "Id";
foreach (AgvTask mission in AgvTaskManager.AgvTasks)
{
comboBox.Items.Add(mission);
}
comboBox.SelectedItem = GetTaskByName(SettingString.Init);
}
/// <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)
{
AgvTask task = AgvTasks.Find(s => s.Name.Equals(name));
if (task != null)
return task.ToCopy();
else
LogUtil.error(string.Format("任务名{0}不存在，请检查配置文件！", name));
return new AgvTask();
}
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(Agv_Info agv, string taskname)
{
bool rtn = false;
AgvTask task = GetTaskByName(taskname);
Node node = manager.NodeManager.GetNodeByName(taskname);
if (task !=null)
{
agv.TaskRunState.Task = task;
if (node != null)
agv.Place = node;
if (!agv.IsCon)
{
agv.TaskRunState.ResetInfo();
agv.TaskRunState.EnWaitTaskQueue(task);
LogUtil.info(string.Format("{0} 离线，任务{1}加入等待队列 ", 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)
agv.TaskRunState.EnWaitTaskQueue(task);
}
return rtn;
}
/// <summary>
/// 删除任务
/// </summary>
/// <returns></returns>
public static void DelMission(Agv_Info agv)
{
if (agv.UseFleet)
{
MiR_API.Del_Mission_Fleet(agv);
}
else
{
MiR_API.Del_Mission(agv);
}
LogUtil.info(string.Format("{0} DelMission [{1}] OK", agv.Name, agv.TaskRunState.ToTaskInfo()));
}
}
}