public void Start()
{
if (token != null && !token.IsCancellationRequested)
{
token.Cancel();
}
token = new CancellationTokenSource();
var startState = new AgvMissionServiceState {
State = AgvMissionServiceStateEnum.INFO, Message = "小车管理服务启动", ErrorCode = AgvMissionServiceErrorCodeEnum.NORMAL
};
ShowLogEvent?.Invoke(startState.ToString());
while (!token.IsCancellationRequested)
{
missionContext.Init();
foreach (var item in missionStates)
{
if (item.CanRequest())
{
ShowLogEvent?.Invoke($"【Time:{DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss")}】{item.Condition()}");
item.Handle();
}
}
missionContext.PushTask();
Thread.Sleep(1000);
}
}
public AgvMissionManagerClient(IControlDevice _carryDevice)
{
missionContext = new MissionContext(_carryDevice);
missionContext.SendAgvMissionServiceStateMessageEvent += (obj) => ShowLogEvent?.Invoke(obj);
missionContext.SendSignalrEvent += (action, obj) => SendSignalrEvent?.Invoke(action, obj);
missionContext.SendAgvMissonEvent += (s) => SendAgvMissonEvent?.Invoke(s);
InitMissionState();
}
public void AgvStateChange(string s)
{
try
{
var data = s.Split('_');
var obj = missionContext.MissionOutNodes.LastOrDefault(d => d.Id == $"{data[0]}_{data[1]}");
if (obj != null)
{
obj.Process = (AgvMissonProcessEnum)Enum.Parse(typeof(AgvMissonProcessEnum), data[2]);
SendAgvMissonEvent?.Invoke(obj);
}
var objIn = missionContext.MissionInNodes.LastOrDefault(d => d.Id == $"{data[0]}_{data[1]}");
if (objIn != null)
{
objIn.Process = (AgvMissonProcessEnum)Enum.Parse(typeof(AgvMissonProcessEnum), data[2]);
SendAgvMissonEvent?.Invoke(obj);
}
}
catch (Exception ex)
{
ShowLogEvent?.Invoke("AgvStateChange Error:" + ex.Message);
}
}
public void AddLog(string log)
{
ShowLogEvent?.Invoke(log);
}
