AGVExtensions.cs
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using RCS.Model.Comm;
using RCS.Model.Entity;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using static RCS.Model.Comm.EnumMsg;
namespace RCS.WinClient.Common;
public static class AGVExtensions
{
#region AGV通用
/// <summary>
/// 判断车是否能接任务
/// </summary>
/// <param name="agv"></param>
/// <returns></returns>
public static bool IsCanExecTask(this Base_Agv agv)
{
var agvPoint = App.PointList.FirstOrDefault(x => x.Barcode == agv.Barcode);
if (agvPoint == null)
{
return false;
}
//只有在 站台附属点、充电桩、出库区才能接任务
if (agv.AgvType == AgvType.叉车 && agvPoint.PointType == EnumMsg.PointType.站台点)
{
agv.StopReason = ComnMethod.GetStopReason(agv.StopReason, $"AGV在【站台点】不能接任务！");
return false;
}
if (IsFree(agv) && agv.Voltage > App.GetKeyValue("DangerCharge"))
{
return true;
}
return false;
}
/// <summary>
/// agv是否正常
/// </summary>
/// <param name="agv"></param>
/// <returns></returns>
public static bool IsNormal(this Base_Agv agv)
{
if (agv != null
&& agv.IsOnline
&& agv.IsEnable
&& string.IsNullOrWhiteSpace(agv.StopReason)
&& string.IsNullOrWhiteSpace(agv.Error))
return true;
return false;
}
/// <summary>
/// agv是否空闲
/// </summary>
/// <param name="agv"></param>
/// <returns></returns>
public static bool IsFree(this Base_Agv agv)
{
if (IsNormal(agv)
&& agv.AgvState == EnumMsg.AGVState.自动空闲
&& !App.OffAgvNos.Contains(agv.AgvNo)//待关机车辆不属于空闲
&& !App.TaskList.Any(t => t.TaskAgvNo == agv.AgvNo)//任务可能事先分配
&& agv.IsNotHaveGoods()
&& agv.AgvTask == null
//非叉车只能低位接任务
&& (agv.AgvType == AgvType.叉车 || agv.AgvType != AgvType.叉车 && agv.HeightState == HeightState.低位)
)
return true;
return false;
}
/// <summary>
/// 全部无货
/// 或者有货但是agv在站台且处于低位就判定为无货
/// </summary>
/// <returns></returns>
public static bool IsNotHaveGoods(this Base_Agv agv)
{
return !agv.SensorStatus.HasFlag(SensorStatus.车顶有货)
//顶升式agv在站台底下存在误检测可能
|| (agv.AgvType != AgvType.叉车 && agv.SensorStatus.HasFlag(SensorStatus.车顶有货)
&& App.StationList.Exists(station => station.Barcode == agv.Barcode)
&& agv.HeightState == HeightState.低位);
}
public static Base_SubTask? GetCurrSonTask(this Base_Agv agv)
{
var sonTask = agv
?.AgvTask
?.SubTaskList
?.Get(0);
return sonTask;
}
public static bool IsOnPoint(this Base_Agv agv, out Base_Point? point, int error = 25)
{
point = App.PointList.Find(x => ComnMethod.IsOnPoint(x, agv.XLength, agv.YLength, error));
return point != null;
}
public static bool IsInMap(this Base_Agv agv, double? tempX = null, double? tempY = null)
{
try
{
var agvPoint = new Base_Point()
{
XLength = (int)(tempX ?? agv.XLength),
YLength = (int)(tempY ?? agv.YLength)
};
var task = agv.AgvTask;
var sonTask = task?.SubTaskList?.FirstOrDefault();
if (
task == null
|| sonTask == null
|| sonTask.SubTaskState <= SubTaskState.建立路径失败
|| sonTask.PathPointList.Count == 0
)
return false;
var pathList = sonTask.PathPointList;
//任务中点位刷新不及时，当前点实际为上一个点
var lastPoint = App.PointList.Find(x => x.Barcode == agv.Barcode);
if (lastPoint == null)
return false;
var nextPathPoint = ComnMethod.GetNextPathPoint(agv, agv.Barcode);
if (nextPathPoint == null)
return false;
var res = agvPoint.IsOnLineSegment(lastPoint, nextPathPoint.Point);
if (!res)
return false;
App.ExFile.MessageLog("Motions", $"agv:{agv.AgvNo}在执行{agv.AgvTask?.TaskType}任务{agv.AgvTask?.TaskNo}:{sonTask.TaskNo}的子任务:{sonTask?.SubTaskNo}时agv不在点位上,但是在地图中{agv.Barcode},{agvPoint.IntX},{agvPoint.IntY}");
return true;
}
catch (Exception ex)
{
App.ExFile.MessageError("IsInMap", ex.Message + ex.StackTrace);
return false;
}
}
#endregion
}