public bool CanRequest()
{
missonNodes.Clear();
var agv_outmissions_atpreplace = missionContext.undo_outmissions.Where(x => x.Process == AgvMissonProcessEnum.AGVATPREPLACE).ToList() ?? new List <AgvOutMissonModel>();
foreach (var mission in agv_outmissions_atpreplace)
{
var brother_mission_type = missionContext.brotherMissionType[mission.Type];
var brother_inmission = missionContext.MissionInNodes
.Where(x => x.ClientId == mission.ClientId &&
x.Type == brother_mission_type &&
x.Process >= AgvMissonProcessEnum.NEW && x.Process < AgvMissonProcessEnum.AGVPICKEDANDLEAVE)
.FirstOrDefault();
//var feeding_signal = feedingSignals.Where(x => x.ClientId == mission.ClientId && x.Type == mission.Type).FirstOrDefault() ?? new AgvFeedingSignal { Value = true };
//测试用 料道信号判断是否单元入料道是否有箱子--忽略
var feeding_signal = new AgvFeedingSignal {
Value = false
};
if (brother_inmission == null && feeding_signal.Value == false && mission.Process == AgvMissonProcessEnum.AGVATPREPLACE)
{
missonNodes.Add(mission);
}
}
return(missonNodes.Count > 0);
}
public bool CanRequest()
{
missonModels.Clear();
var agv_inmissions_atprepick = missionContext.undo_inmissions.Where(x => x.Process == AgvMissonProcessEnum.AGVATPREPICK).ToList() ?? new List <AgvInMissonModel>();
foreach (var mission in agv_inmissions_atprepick)
{
//var brother_mission_type = brotherMissionType[mission.Type];
//var brother_inmission = OutMissions
// .Where(x => x.ClientId == mission.ClientId
// && x.Type == brother_mission_type
// && x.Process >= AgvOutMissonProcessEnum.NEW && x.Process < AgvOutMissonProcessEnum.AGVPICKEDANDLEAVE)
// .FirstOrDefault();
//var feeding_signal = feedingSignals.Where(x => x.ClientId == mission.ClientId && x.Type == mission.Type).FirstOrDefault() ?? new AgvFeedingSignal { Value = true };
//测试用 料道信号判断是否单元入料道是否有箱子--忽略
var feeding_signal = new AgvFeedingSignal {
Value = true
};
if (feeding_signal.Value == true && mission.Process == AgvMissonProcessEnum.AGVATPREPICK)
{
missonModels.Add(mission);
}
}
return(missonModels.Count > 0);
}
public void UpdataFeedingSignal(AgvFeedingSignal signal)
{
var sig = feedingSignals.Where(x => x.Id == signal.Id).FirstOrDefault();
if (sig == null)
{
feedingSignals.Add(signal);
}
else
{
sig.Value = signal.Value;
}
}
public SendFeedingSignalMessage(AgvFeedingSignal model)
{
Model = model;
}
public void SendFeedingSignalMessage(AgvFeedingSignal message)
{
Clients.All.receiveFeedingSignalMessage(message);
}
