ChargeManage.cs
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using RCS.Model.Comm;
using RCS.Model.Entity;
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)
{
if (agv.AgvTask != null || !agv.IsEnable || !agv.IsOnline || agv.InStock != EnumMsg.InStock.全部无货) continue;
//待关机车辆禁止车辆
if (App.offAgvNo.Contains(agv.AgvNo)) continue;
//当前点不在地图中，禁止充电
Base_Point startPoint = App.PointList.Find(t => t.Barcode == agv.Barcode);
if (startPoint == null) continue;
if (agv.AgvState == EnumMsg.State.自动空闲)
{
// 充电
if ((DateTime.Now - agv.FreeTime).TotalSeconds > App.GetKeyValue("MinFreeTime"))
{
if (App.TaskList.Any(t => t.TaskAgvNo == agv.AgvNo && t.TaskID == EnumMsg.TaskType.充电.ToString())) continue;
if (agv.Voltage <= App.GetKeyValue("DangerCharge") || agv.power <= App.GetKeyValue("DangerVoltage"))
{
NeedCharge(agv);
continue;
}
if (agv.Voltage < App.GetKeyValue("SafeCharge") || agv.power < App.GetKeyValue("SafeVoltage") || agv.VirtuallyVoltage < App.GetKeyValue("DangerVirtuallyVoltage"))
{
if (!App.TaskList.Any(t => t.PredictAgvNo == agv.AgvNo))
{
NeedCharge(agv);
continue;
}
}
}
// 回家
if ((DateTime.Now - agv.FreeTime).TotalSeconds > App.GetKeyValue("GoHomeTime"))
{
if (App.TaskList.Any(t => t.TaskAgvNo == agv.AgvNo && t.TaskID == EnumMsg.TaskType.手动行走.ToString())) continue;
if (agv.AgvNo == "A33_9001")
{
var stopPoint = App.PointList.FirstOrDefault(t => t.Barcode == "1326");
TaskManage.TaskBuild(EnumMsg.TaskType.手动行走.ToString(), EnumMsg.TaskGroup.RCS单步任务.ToString(), "1", 1, agv.AgvNo, startPoint.Barcode, stopPoint.Barcode, "", "", "");
continue;
}
if (agv.AgvNo == "A33_9002")
{
var stopPoint = App.PointList.FirstOrDefault(t => t.Barcode == "805");
TaskManage.TaskBuild(EnumMsg.TaskType.手动行走.ToString(), EnumMsg.TaskGroup.RCS单步任务.ToString(), "1", 1, agv.AgvNo, startPoint.Barcode, stopPoint.Barcode, "", "", "");
continue;
}
}
}
else if (agv.AgvState == EnumMsg.State.充电中)
{
//异常或者满电结束充电
if (agv.Error != "" || agv.Voltage >= App.GetKeyValue("FullCharge") && agv.current < App.GetKeyValue("FullCurrent") || agv.batteryflag > 0)
{
var result = TaskManage.TaskBuild(EnumMsg.TaskType.取消充电.ToString(),
EnumMsg.TaskGroup.RCS单步任务.ToString(),
"", 1, agv.AgvNo, agv.Barcode, agv.Barcode, "", "", "");
if (result.Success)
App.ExFile.MessageLog("TaskBuild", $"因为车不满足充电条件，生成AGV【{agv.AgvNo}】的【取消充电】任务！当前车辆电量【{agv.Voltage}】电流【{agv.current}】充满标识【{agv.batteryflag}】错误【{agv.Error}】");
else
App.ExFile.MessageBusinessErr("TaskBuild", $"因为车不满足充电条件，生成AGV【{agv.AgvNo}】的【取消充电】任务失败，原因：{result.Msg}！");
continue;
}
//当前电量小于安全电量、电压小于安全电压，就继续充电
if (agv.Voltage <= App.GetKeyValue("DangerCharge") || agv.power <= App.GetKeyValue("DangerVoltage")) 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所属任务群组有未提交的任务
if (App.TaskList.Any(t => t.PredictAgvNo == agv.AgvNo))
{
//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
if (App.TaskList.Any(t => t.TaskAgvNo == agv.AgvNo && t.TaskID == EnumMsg.TaskType.取消充电.ToString())) continue;
var result = TaskManage.TaskBuild(EnumMsg.TaskType.取消充电.ToString(),
EnumMsg.TaskGroup.RCS单步任务.ToString(),
"1", 1, agv.AgvNo, agv.Barcode, agv.Barcode, "", "", "");
if (result.Success)
App.ExFile.MessageLog("TaskBuild", $"因为有预分配给车的任务，生成AGV【{agv.AgvNo}】的【取消充电】任务！");
else
App.ExFile.MessageBusinessErr("TaskBuild", $"因为有预分配给车的任务，生成AGV【{agv.AgvNo}】的【取消充电】任务失败，原因：{result.Msg}！");
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 void NeedCharge(Base_Agv agv)
{
try
{
//一个车对应一个充电桩
var chargeName = agv.ChargeName;
Base_Station minCs = App.StationList.FirstOrDefault(t => t.Name == chargeName);
if (minCs != null)
{
var result = TaskManage.TaskBuild(EnumMsg.TaskType.充电.ToString(),
EnumMsg.TaskGroup.RCS单步任务.ToString(),
"1", 1, agv.AgvNo, agv.Barcode, minCs.Barcode, "", "", "");
if (result.Success)
App.ExFile.MessageLog("TaskBuild", $"生成AGV【{agv.AgvNo}】的【充电】任务！");
else
App.ExFile.MessageBusinessErr("TaskBuild", $"生成AGV【{agv.AgvNo}】的【充电】任务失败，原因：{result.Msg}！");
}
}
catch (Exception ex)
{
App.ExFile.MessageError("NeedCharge", ex.Message.Replace(Environment.NewLine, ""));
}
}
}
}