private static Task GenerateTask3(ResourceMapper resourceMapper, String taskName, int layer, int rack, int column, int targetRack)
{
Task task = new Task(taskName, layer, rack, column, targetRack);
task.AddNewPreMission(new Mission(resourceMapper.GetJoint("Rail 2-2-3"), resourceMapper.GetJoint("Lifter 2-2-2"), task, MissionType.Transmission, 5, resourceMapper));
task.AddNewPreMission(new Mission(resourceMapper.GetJoint("Lifter 2-2-2"), resourceMapper.GetJoint("Lifter 0-2-2"), task, MissionType.Lift, 0, resourceMapper));
task.AddNewPreMission(new Mission(resourceMapper.GetJoint("Lifter 0-2-2"), resourceMapper.GetJoint("Input point 0-1-1"), task, MissionType.Transmission, 6, resourceMapper));
task.AddNewPreMission(new Mission(resourceMapper.GetJoint("Input point 0-1-1"), resourceMapper.GetJoint("Input point 0-1-1"), task, MissionType.Transmission, 2, resourceMapper));
task.AddNewPreMission(new Mission(resourceMapper.GetJoint("Input point 0-1-1"), resourceMapper.GetJoint("Lifter 0-2-2"), task, MissionType.Transmission, 6, resourceMapper));
task.AddNewPreMission(new Mission(resourceMapper.GetJoint("Lifter 0-2-2"), resourceMapper.GetJoint("Lifter 2-2-2"), task, MissionType.Lift, 0, resourceMapper));
task.AddNewPreMission(new Mission(resourceMapper.GetJoint("Lifter 2-2-2"), resourceMapper.GetJoint("Rail 2-2-3"), task, MissionType.Transmission, 5, resourceMapper));
task.AddNewDoMission(new Mission(resourceMapper.GetJoint("Rail 2-2-3"), new Joint("", layer, rack, column, JointType.Rail), task, MissionType.DoWork, 0, resourceMapper));
task.AddNewDoMission(new Mission(new Joint("", layer, rack, column, JointType.Rail), new Joint("", layer, targetRack, column, JointType.Rail), task, MissionType.DoWork, 0, resourceMapper));
task.AddNewDoMission(new Mission(new Joint("", layer, targetRack, column, JointType.Rail), new Joint("", layer, rack, column, JointType.Rail), task, MissionType.DoWork, 0, resourceMapper));
return(task);
}
public double GetDoWorkTime(ResourceMapper resourceMapper)
{
double timeCost = 0;
foreach (Mission mission in this._doMissionList)
{
if (mission.Type == MissionType.DoWork)
{
timeCost += mission.TimeCost;
Debugger.WriteLine(mission.ToString());
}
else
{
throw new Exception("Misison not in correct list...At Task " + this.TaskName);
}
}
return(timeCost);
}
/// <summary>
/// 计算本任务的动态前摇时间，并生成序列的前置归位任务。
/// </summary>
public double GetPreMustWorkTime(ResourceMapper resourceMapper)
{
double preMustTimeCost = 0;
_preMustMissionList.Clear();
//扫描本任务的前摇任务和后摇任务所需的资源joint，以及各个mission的动作种类，
//结合传入的resource mapper中的各个资源joint的状态，生成需要执行的前摇复位任务，
//并计算所有前摇任务所需的时间，一般只有电梯资源点和轨道（代表子母车）会有此类操作
HashSet <Joint> replacingLifter = new HashSet <Joint>();
Joint jointLifter = null;
Joint jointRail = null;
foreach (Mission mission in this._preMissionList)
{
//运输任务即为传送带，为复位电梯列表添加电梯，复位至0层
if (mission.Type == MissionType.Transmission)
{
if (mission.FromJoint.Type == JointType.Lifter)
{
replacingLifter.Add(mission.FromJoint);
}
if (mission.ToJoint.Type == JointType.Lifter)
{
replacingLifter.Add(mission.ToJoint);
}
}
}
jointRail = this._preMissionList[0].FromJoint;
foreach (Mission mission in this._preMissionList)
{
//提升任务，该joint即为关键电梯资源，复位至rail位置所在层
if (mission.Type == MissionType.Lift)
{
if (mission.FromJoint.Type == JointType.Lifter &&
mission.ToJoint.Type == JointType.Lifter)
{
replacingLifter.Remove(mission.FromJoint);
jointLifter = mission.FromJoint;
}
else
{
throw new Exception("Lift mission ERROR..." + mission.ToString());
}
}
}
//生成并行复位任务，并计算最大复位时间
//传输电梯到底层
foreach (Joint joint in replacingLifter)
{
Joint from = joint.Copy();
from.Layer = resourceMapper.GetJointStatus(from).Layer;
from.JointName = from.AssembleJointName();
Joint to = from.Copy();
to.Layer = 0;
to.JointName = to.AssembleJointName();
if (from.Layer == to.Layer)
{
continue;
}
Mission tmpMission = new Mission(from, to, this, MissionType.Lift, 0, resourceMapper);
preMustTimeCost = preMustTimeCost < tmpMission.TimeCost ? tmpMission.TimeCost : preMustTimeCost;
_preMustMissionList.Add(tmpMission);
Debugger.WriteLine(tmpMission.ToString());
}
//生成关键电梯复位任务，并计算时间
//关键电梯到mission的位置
if (jointLifter != null)
{
Joint from = jointLifter.Copy();
from.Layer = resourceMapper.GetJointStatus(jointLifter).Layer;
from.JointName = from.AssembleJointName();
Joint to = from.Copy();
to.Layer = this.Layer;
to.JointName = to.AssembleJointName();
if (from.Layer != to.Layer)
{
Mission tmpMission = new Mission(from, to, this, MissionType.Lift, 0, resourceMapper);
preMustTimeCost = preMustTimeCost < tmpMission.TimeCost ? tmpMission.TimeCost : preMustTimeCost;
_preMustMissionList.Add(tmpMission);
Debugger.WriteLine(tmpMission.ToString());
}
}
//生成子母车复位任务，并计算时间
//子母车到接轨Rail的位置
if (jointRail == null)
{
throw new Exception("Mission ERROR...At Task " + this.TaskName);
}
else
{
Joint to = jointRail;
Joint from = to.Copy();
from.Column = resourceMapper.GetJointStatus(from).Column;
from.JointName = from.AssembleJointName();
if (from.Column != to.Column)
{
Mission tempMission = new Mission(from, to, this, MissionType.DoWork, 0, resourceMapper);
preMustTimeCost = preMustTimeCost < tempMission.TimeCost ? tempMission.TimeCost : preMustTimeCost;
_preMustMissionList.Add(tempMission);
Debugger.WriteLine(tempMission.ToString());
}
}
return(preMustTimeCost);
}
