ChargeManage.cs
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using RCS.Model.Comm;
using RCS.Model.Entity;
using RCS.WinClient.Common;
namespace RCS.WinClient.Service
{
public class ChargeManager
{
/// <summary>
/// 充电或是回家
/// </summary>
public static void AgvCharge()
{
try
{
foreach (Base_Agv agv in App.AgvList)
{
//当前点不在地图中，禁止充电
var startPoint = App.PointList.FirstOrDefault(t => t.Barcode == agv.Barcode);
if (startPoint == null) continue;
if (!agv.IsFree() && agv.AgvState != EnumMsg.AGVState.充电中) continue;
if (agv.AgvState == EnumMsg.AGVState.充电中)
{
//满电结束充电
if (agv.Voltage >= App.GetKeyValue("FullCharge"))
{
var taskBuild = new TaskBuildDto(EnumMsg.TaskType.取消充电.ToString())
{
TaskGroup = EnumMsg.TaskGroup.RCS单步任务.ToString(),
AgvNo = agv.AgvNo,
StartBarcode = agv.Barcode,
EndBarcode = agv.Barcode,
};
var result = TaskManage.TaskBuild(taskBuild);
if (!result.IsSuccess)
{
App.ExFile.MessageBusinessErr("ChargeManager", $"生成AGV【{agv.AgvNo}】的【取消充电】任务失败，原因：{result.Message}！");
}
continue;
}
////当前电量小于安全电量，继续充电
if (agv.Voltage < App.GetKeyValue("SafeCharge")) continue;
//如果充电时间小于最少充电时间，继续充电
if ((DateTime.Now - agv.ChargeTime).TotalSeconds < App.GetKeyValue("MinChargeTime")) continue;
}
//当前AGV所在群组能够执行的所有任务群组
var taskGroupList = App.TaskAgvGroupList.Where(t => t.AgvGroup == agv.Group).Select(t => t.TaskType).ToList();
////找出任务列表中【未提交、不是指定小车、相同任务分组】的任务
var noSubmitTask = App.TaskList.FirstOrDefault(t => !t.IsSubmit && string.IsNullOrEmpty(t.TaskErrMsg) && string.IsNullOrEmpty(t.TaskAgvNo) && taskGroupList.Contains(t.TaskGroup));
if (agv.IsFree())
{
//车低于危险电量，或者低于安全电量且无任务，都去充电
if ((DateTime.Now - agv.FreeTime).TotalSeconds > App.GetKeyValue("MinFreeTime"))
{
if (App.TaskList.Any(t => t.TaskAgvNo == agv.AgvNo && t.TaskType == EnumMsg.TaskType.充电.ToString())) continue;
if (agv.Voltage <= App.GetKeyValue("DangerCharge"))
{
GoCharge(agv);
return;
}
if (agv.Voltage <= App.GetKeyValue("SafeCharge") && noSubmitTask == null)
{
GoCharge(agv);
continue;
}
}
//回家
if ((DateTime.Now - agv.FreeTime).TotalSeconds > App.GetKeyValue("GoHomeTime"))
{
//如果已经在待机点，就不处理
//if (App.PointList.Any(t => t.IsHomePoint(agv))) continue;
var currPoint = App.PointList.Find(x => x.Barcode == agv.Barcode);
if (currPoint != null && currPoint.IsHomePoint(agv)) continue;
//如果有回家任务，就不处理
if (App.TaskList.Any(t => t.TaskAgvNo == agv.AgvNo && t.TaskType == EnumMsg.TaskType.回家.ToString())) continue;
Base_Point? stopPoint = ComnMethod.GetMinHomePoint(agv);
if (stopPoint != null && stopPoint.Barcode != agv.Barcode)
{
var taskBuild = new TaskBuildDto
{
TaskType = EnumMsg.TaskType.回家.ToString(),
TaskGroup = EnumMsg.TaskGroup.RCS单步任务.ToString(),
AgvNo = agv.AgvNo,
StartBarcode = startPoint.Barcode,
EndBarcode = stopPoint.Barcode,
};
var result = TaskManage.TaskBuild(taskBuild);
if (result.IsSuccess)
{
App.ExFile.MessageLog("TaskBuild", $"生成AGV【{agv.AgvNo}】的【回家】任务！");
}
else
{
var msg = $"生成【回家】任务失败，原因：{result.Message}！";
App.ExFile.MessageBusinessErr("TaskBuild", msg);
agv.StopReason = ComnMethod.GetStopReason(agv.StopReason, msg);
return;
}
}
}
}
//当前AGV所属任务群组有未提交的任务，就找个车取消充电
if (noSubmitTask != null)
{
var agvGroupList = App.AgvList.FindAll(x => x.Group == agv.Group);
//判断是否有取消充电任务，已经有取消充电的任务，就不处理。有充电任务也不处理，因为会自动删除执行中的充电任务。
var flag = App.TaskList.Any(t => agvGroupList.Any(x => x.AgvNo == t.TaskAgvNo)
&& (t.TaskType == EnumMsg.TaskType.取消充电.ToString()
|| (t.TaskType == EnumMsg.TaskType.充电.ToString()
&& agvGroupList.Find(x => x.AgvNo == t.TaskAgvNo) is Base_Agv agv1
&& agv1.AgvType != EnumMsg.AgvType.叉车)));
if (flag) continue;
var existEnableAgv = App.AgvList.Any(t => agvGroupList.Any(x => x.Group == t.Group) && t.IsCanExecTask());
if (existEnableAgv) continue;
//找到电量最大的超过危险电量的车，来取消充电，好执行任务
var cancleChargeAgv = App.AgvList
.Where(t => t.IsEnable
&& t.IsOnline
&& t.AgvState == EnumMsg.AGVState.充电中
&& t.AgvTask == null
&& agvGroupList.Any(x => x.Group == t.Group)
&& (DateTime.Now - t.ChargeTime).TotalSeconds > App.GetKeyValue("MinChargeTime"))
.OrderByDescending(a => a.Voltage)
.FirstOrDefault();
if (cancleChargeAgv != null)
{
var taskBuild = new TaskBuildDto
{
TaskType = EnumMsg.TaskType.取消充电.ToString(),
TaskGroup = EnumMsg.TaskGroup.RCS单步任务.ToString(),
AgvNo = cancleChargeAgv.AgvNo,
StartBarcode = cancleChargeAgv.Barcode,
EndBarcode = cancleChargeAgv.Barcode,
};
var result = TaskManage.TaskBuild(taskBuild);
if (!result.IsSuccess)
{
App.ExFile.MessageBusinessErr("ChargeManager", $"生成AGV【{agv.AgvNo}】的【取消充电】任务失败，原因：{result.Message}！");
}
continue;
}
}
}
}
catch (Exception ex)
{
App.ExFile.MessageError("AgvCharge", $"充电和回家发生异常，原因：{ex.Message}，堆栈：{ex.StackTrace}");
}
}
/// <summary>
/// 充电
/// </summary>
/// <param name="agv"></param>
/// <param name="flag"></param>
public static bool GoCharge(Base_Agv agv, Func<Base_Agv, Base_Station?> GetChargeStation)
{
try
{
//一个车对应一个充电桩
Base_Station? chargeStation = GetChargeStation(agv);
if (chargeStation == null)
{
App.ExFile.MessageBusinessErr("TaskBuild", $"生成AGV【{agv.AgvNo}】的【充电】任务失败，原因：未找到可用充电桩！");
return false;
}
var taskBuild = new TaskBuildDto
{
TaskType = EnumMsg.TaskType.充电.ToString(),
TaskGroup = EnumMsg.TaskGroup.RCS单步任务.ToString(),
AgvNo = agv.AgvNo,
StartBarcode = agv.Barcode,
EndBarcode = chargeStation.Barcode,
EndStationName = chargeStation.Name,
};
var result = TaskManage.TaskBuild(taskBuild);
if (result.IsSuccess)
{
App.ExFile.MessageLog("TaskBuild", $"生成AGV【{agv.AgvNo}】的【充电】任务！");
return true;
}
else
{
App.ExFile.MessageBusinessErr("TaskBuild", $"生成AGV【{agv.AgvNo}】的【充电】任务失败，原因：{result.Message}！");
return false;
}
}
catch (Exception ex)
{
App.ExFile.MessageError("NeedCharge", ex.Message.Replace(Environment.NewLine, ""));
return false;
}
}
/// <summary>
/// 充电
/// </summary>
/// <param name="agv"></param>
/// <param name="flag"></param>
public static bool GoCharge(Base_Agv agv)
{
return GoCharge(agv, ComnMethod.GetMinChargeStation);
}
}
}