ChargeManage.cs
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using XingYe_ACS.BaseStruct;
using XingYe_ACS.Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace XingYe_ACS.Business
{
public class ChargeManager
{
public static void AgvCharge(int taskNum)
{
try
{
foreach (Agv agv in App.AgvList)
{
//记录日志
App.ExFile.MessageLog("AgvCharge", "进入充电判断");
if (agv.agvTask != null || !agv.isEnable || !agv.isOnline || agv.heightState != EnumMsg.HeightState.低位 || agv.isCarry == true) continue;
//待关机车辆禁止车辆
if (App.offAgvNo.Contains(agv.strAgvNo)) continue;
//当前AGV所在群组能够执行的所有任务群组
List<TaskAgvGroup> taskGroupList = App.TaskAgvGroupList.FindAll(b => b.agvGroup == agv.agvGroup);
//判断当前agv所在AGV群组对应的任务的群组里是否有未提交的任务
List<FTask> noSubmitList = App.TaskList.Where(a => !a.isTaskSubmit && a.strTaskAgv == ""
&& taskGroupList.Exists(b => b.taskGroup == a.strTaskGroup)).ToList();
//当前点不在地图中，禁止充电
Point startPoint = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
if (startPoint == null) continue;
if (agv.agvState == EnumMsg.State.自动空闲)
{
//判断提升机有货 不做回家任务
//Hoister hoister = App.HoisterList.First();
//if (hoister.read_isFull) continue;
// if (agv.currentCharge > App.DangerCharge) continue;
//空闲AGV是否为其他车辆子任务终点
var agvPoint = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
var sonTasks = App.TaskList.SelectMany(a => a.sonTaskList).ToList();
if (sonTasks.Count != 0)
{
var result = sonTasks.Exists(a => a.endPoint == agvPoint && a.sonTaskState != EnumMsg.SonTaskState.初始化);
if (result)
{
Point endPoint = null;
if (agvPoint.pointType == EnumMsg.PointType.充电点)
{
endPoint = App.PointList.Find(a => a.pointType == EnumMsg.PointType.避让点);
}
else
{
endPoint = App.PointList.Find(a => a.pointType == EnumMsg.PointType.充电点);
}
TaskManage.TaskBuild("回家", "", "", 1, agv.strAgvNo, "", startPoint, endPoint, "");
continue;
}
}
#region 测试电量
//Point point = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
//if (point.pointType != EnumMsg.PointType.充电点) continue;
//int intChargeTime = 0;
//if (agv.chargeTime != DateTime.MinValue)
//{
// TimeSpan ts1 = new TimeSpan(agv.chargeTime.Ticks);
// TimeSpan ts2 = new TimeSpan(DateTime.Now.Ticks);
// TimeSpan ts3 = ts2.Subtract(ts1).Duration();
// intChargeTime = ts3.Minutes * 60 + ts3.Seconds;
//}
////20181006 充电延时
//if (intChargeTime < 120) continue;
#endregion
int flag = 0;
if (agv.currentCharge < App.DangerCharge)
{
NeedCharge(agv, ref flag);
}
//else if (agv.currentCharge < App.FullCharge && agv.currentCharge > App.DangerCharge)
//{
// if (noSubmitList.Count > 0) { flag = 0; }
// //查找是否有比当前车辆更低电量的车
// else if (App.AgvList.Where(a => a.isEnable && a.isOnline && a.agvTask == null
// && a.agvState == EnumMsg.State.自动空闲 && a.currentCharge < agv.currentCharge && a.agvGroup == agv.agvGroup).ToList().Count == 0)
// {
// NeedCharge(agv, ref flag);
// }
//}
//未找到充电桩，回家待命等待充电桩
if (flag == 99 || flag == 0)
//if(agv.agvState==EnumMsg.State.自动空闲 && agv.currentCharge >App.DangerCharge)
{
Station endStation = null;
//工位优先补车
Point minHomePoint = null;
//minHomePoint = ComnMethod.GetMinHomePoint(agv, 0);
minHomePoint = App.PointList.Find(a => a.intX == 10 && a.intY == 988);
if (agv.strBarcode == minHomePoint.strBarcode) continue;
App.ExFile.MessageLog("AgvCharge", "进入回家判断");
if (minHomePoint != null)
{
//endStation = App.StationList.Find(a => a.strBarcode == minHomePoint.strBarcode);
bool isResult = false;
isResult = TaskManage.TaskBuild("回家", "", "", 1, agv.strAgvNo,"", startPoint, minHomePoint, "");
if (isResult)
{
//agv.strChooseStation = endStation.strStationNo;
//endStation.isLocked = true;
//bool updateAgvResult = UpdateManage.UpdateAgvMsg(agv);
//bool updateAtationResult = UpdateManage.UpdateStation(endStation);
}
}
}
continue;
}
else if (agv.agvState == EnumMsg.State.充电中)
{
//异常或者满电结束充电
if (agv.strAgvError != "" || agv.currentCharge == 100)
{
TaskManage.TaskBuild("取消充电", "", "", 1, agv.strAgvNo, "", startPoint, startPoint, "");
taskNum--;
continue;
}
var hoister1 = App.HoisterList.First();
if (agv.currentCharge > App.DangerCharge && hoister1.read_isFull)
{
TaskManage.TaskBuild("取消充电", "", "", 1, agv.strAgvNo, "", startPoint, startPoint, "");
taskNum--;
continue;
}
#region 充电延时注释
int intChargeTime = 0;
if (agv.chargeTime != DateTime.MinValue)
{
TimeSpan ts1 = new TimeSpan(agv.chargeTime.Ticks);
TimeSpan ts2 = new TimeSpan(DateTime.Now.Ticks);
TimeSpan ts3 = ts2.Subtract(ts1).Duration();
intChargeTime = ts3.Minutes * 60 + ts3.Seconds;
}
//20181006 充电延时
if (intChargeTime < 3600) continue;
#endregion
//当前电量小于安全电量，继续充电
if (agv.currentCharge < App.DangerCharge) continue;
//充电量小于最小充电量，继续充电
//if (agv.currentCharge - agv.startCharges <= App.MinCharges) continue;
//当前AGV所属任务群组有未提交的任务
if (noSubmitList.Count > 0)
{
//获取所有能执行当前任务群组的AGV组
List<TaskAgvGroup> agvGroups =
App.TaskAgvGroupList.Where(a => a.taskGroup == noSubmitList[0].strTaskGroup).ToList();
//判断当前任务群组小车是否有取消充电任务
if (App.AgvList.Where(a => ((a.agvTask != null && a.agvTask.strTaskID == "取消充电")
|| (a.isEnable && a.isOnline && a.agvTask == null && a.agvState != EnumMsg.State.充电中))
&& agvGroups.Exists(b => b.agvGroup == a.agvGroup)).ToList().Count > 0) continue;
TaskManage.TaskBuild("取消充电", "", "", 1, agv.strAgvNo, "", startPoint, startPoint, "");
}
// int tt = App.AgvList.Where(a => a.agvTask != null && a.agvTask.strTaskID == "取消充电").ToList().Count;
//int ss = App.AgvList.Where(a => a.isEnable && a.isOnline && a.agvTask == null && a.agvState == EnumMsg.State.自动空闲).ToList().Count;
//if (taskNum <= (tt + ss) && agv.currentCharge < App.FullCharge) continue;
taskNum--;
}
}
}
catch (Exception Ex)
{
App.ExFile.MessageError("AgvCharge", Ex.StackTrace);
}
}
public static void NeedCharge(Agv agv, ref int flag)
{
try
{
#region
//int intMin = 0;
//Station minCs = null;
////获取所有充电点
//List<Point> listPoint = App.PointList.Where(a => a.pointType == EnumMsg.PointType.充电点).ToList();
//foreach (Point point in listPoint)
//{
// Station Cs = App.StationList.FirstOrDefault(a => a.isEnable && !a.isLocked && a.strBarcode == point.strBarcode);
// if (Cs == null) { continue; }
// else
// {
// Point agvPoint = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
// if (point == null) { continue; }
// int csMinNum = Common.ComnMethod.GetMinPoint(agvPoint.intX, agvPoint.intY, point.intX, point.intY);
// if (intMin == 0) intMin = csMinNum;
// if (csMinNum <= intMin)
// {
// minCs = Cs;
// intMin = csMinNum;
// }
// }
//}
#endregion
Station minCs = null;
Point startPoint = App.PointList.Find(a => a.strBarcode == agv.strBarcode);
//未安装充电桩
if (startPoint.pointType == EnumMsg.PointType.充电点)
{
minCs = App.StationList.Find(a => a.strBarcode == startPoint.strBarcode);
}
else
{
minCs = ComnMethod.GetMinChargeStation(agv);
if (minCs == null)
{
agv.strStopReason = ComnMethod.GetStopReason(agv.strStopReason, "未找到充电桩；");
//未找到充电桩，判断充电中的车是否有满足条件可取消充电的车
//当前AGV所在群组能够执行的所有任务群组
List<TaskAgvGroup> taskGroupList = App.TaskAgvGroupList.FindAll(b => b.agvGroup == agv.agvGroup);
//判断是否有取消充电任务
FTask cancleTask = App.TaskList.FirstOrDefault(a => a.strTaskID == EnumMsg.TaskType.取消充电.ToString());
if (cancleTask == null && agv.currentCharge <= App.SafeCharge)
{
List<Agv> safeAgv = new List<Agv>();
//执行相同任务群组的AGV是否有可以取消充电的任务
safeAgv = App.AgvList.Where(a => a.currentCharge > App.SafeCharge
&& agv.currentCharge - agv.startCharges < App.MinCharges
&& a.agvState == EnumMsg.State.充电中
&& agv.agvTask == null && a.isEnable && a.isOnline
&& taskGroupList.Exists(b => b.agvGroup == a.agvGroup)).OrderByDescending(a => a.currentCharge).ToList();
if (safeAgv.Count == 0)
{
//按照电量从高到底排序
safeAgv = App.AgvList.Where(a => a.currentCharge > App.SafeCharge
&& agv.currentCharge - agv.startCharges < App.MinCharges
&& a.agvState == EnumMsg.State.充电中
&& agv.agvTask == null && a.isEnable && a.isOnline).OrderByDescending(a => a.currentCharge).ToList();
}
if (safeAgv.Count != 0)
{
Agv sAgv = safeAgv[0];
Point point = App.PointList.Find(a => a.strBarcode == sAgv.strBarcode);
TaskManage.TaskBuild("取消充电", "", "", 1, sAgv.strAgvNo, "", point, point, "");
flag = 2;
return;
}
}
flag = 99;
}
}
if (minCs != null)
{
Point endPoint = App.PointList.Find(a => a.strBarcode == minCs.strBarcode);
bool result = false;
if (startPoint.AreaType != endPoint.AreaType && agv.agvAreaType == "2")
{
result = TaskManage.TaskBuild("充电-1", "", "", 1, agv.strAgvNo, minCs.strStationNo, startPoint, endPoint, "");
}
else
{
result = TaskManage.TaskBuild("充电", "", "", 1, agv.strAgvNo, minCs.strStationNo, startPoint, endPoint, "");
}
if (result)
{
Station endCs = App.StationList.Find(a => a.strBarcode == endPoint.strBarcode);
endCs.isLocked = true;
bool isResult = UpdateManage.UpdateStation(endCs);
agv.strChooseStation = endCs.strStationNo;
bool isResultCs = UpdateManage.UpdateAgvMsg(agv);
flag = 1;
}
}
}
catch (Exception Ex)
{
App.ExFile.MessageError("NeedCharge", Ex.Message.Replace(Environment.NewLine, ""));
}
}
}
}