public static async Task SetTask2(string start, string end, int delay = 10) { string clientKey = null; // 找空闲小车 foreach (var item in Clients.Keys) { DataCache.DictionaryForkLiftStatus.TryGetValue(item, out ForkLiftStatus forkLiftStatusTemp); if (forkLiftStatusTemp.state == ForkliftStatusEnum.Free) { clientKey = item; break; } } // 没有就算了 if (clientKey == null) { return; } ClientsID.TryGetValue(clientKey, out byte vid); if (vid == 1) { if (!(DataCache.GetPath(start, end, out List <uint> arcList) && DataCache.GetPoints(start, end, out List <uint> pointList))) { return; } Clients.TryGetValue(clientKey, out IChannel channel); var x = GenSongClientHandler.SetRequestSingleTask(vid, DataCache.NewTaskID(), 1, arcList[0], 0, 0, 1, (uint)ACTStatus.AGV_ACT_MOVE); await channel.WriteAndFlushAsync(x); } }
/// <summary> /// 装货 /// </summary> /// <param name="vids"></param> /// <param name="point"></param> /// <param name="delay"></param> /// <returns></returns> public static async Task Load(string vids, string point, int delay = 10) { string clientKey = null; byte vid = Convert.ToByte(vids); foreach (var item in ClientsID) { if (item.Value == vid) { clientKey = item.Key; } } // 开始执行 Clients.TryGetValue(clientKey, out IChannel channel); await channel.WriteAndFlushAsync(GenSongClientHandler.SetRequestSingleTask(vid, DataCache.NewTaskID(), 1, Convert.ToUInt32(point), 0, 0, 1, (uint)ACTStatus.AGV_ACT_PICK)); }
public static async Task SetTask3(string start, string end, int delay = 10) { string clientKey = null; // 找空闲小车 foreach (var item in Clients.Keys) { DataCache.DictionaryForkLiftStatus.TryGetValue(item, out ForkLiftStatus forkLiftStatusTemp); if (forkLiftStatusTemp.state == ForkliftStatusEnum.Free) { clientKey = item; break; } } // 没有就算了 if (clientKey == null) { return; } ClientsID.TryGetValue(clientKey, out byte vid); DataCache.GetPath(start, end, out List <uint> arcList); DataCache.GetPoints(start, end, out List <uint> pointList); DataCache.GetPath(end, start, out List <uint> arcList1); DataCache.GetPoints(end, start, out List <uint> pointList1); Clients.TryGetValue(clientKey, out IChannel channel); for (int i = 0; i < 20; i++) { DataCache.DictionaryForkLiftStatus.TryGetValue(clientKey, out ForkLiftStatus forkLiftStatusTemp); if (forkLiftStatusTemp.state == ForkliftStatusEnum.Free && forkLiftStatusTemp.currentNodeNum == uint.Parse(end)) { await channel.WriteAndFlushAsync(GenSongClientHandler.SetRequestSingleTask(vid, DataCache.NewTaskID(), 1, arcList[0], 0, 0, 1, (uint)ACTStatus.AGV_ACT_MOVE)); } else if (forkLiftStatusTemp.state == ForkliftStatusEnum.Free && forkLiftStatusTemp.currentNodeNum == uint.Parse(start)) { await channel.WriteAndFlushAsync(GenSongClientHandler.SetRequestSingleTask(vid, DataCache.NewTaskID(), 1, arcList1[0], 0, 0, 1, (uint)ACTStatus.AGV_ACT_MOVE)); } } }
public static byte[] GetVs() { return(GenSongClientHandler.SetRequestSingleTask(1, DataCache.NewTaskID(), 1, 23, 0, 0, 1, (uint)ACTStatus.AGV_ACT_MOVE).Array); }
/// <summary> /// 发送任务 /// </summary> /// <param name="start"></param> /// <param name="end"></param> /// <param name="delay"></param> /// <returns></returns> public static async Task SetTask(string start, string end, string vids, int delay = 10) { string clientKey = null; //// 找空闲小车 //foreach (var item in Clients.Keys) //{ // DataCache.DictionaryForkLiftStatus.TryGetValue(item, out ForkLiftStatus forkLiftStatusTemp); // if (forkLiftStatusTemp.state == ForkliftStatusEnum.Free) // { // clientKey = item; // break; // } //} //// 没有就算了 //if (clientKey == null) //{ // return; //} byte vid = Convert.ToByte(vids); foreach (var item in ClientsID) { if (item.Value == vid) { clientKey = item.Key; } } //ClientsID.TryGetValue(clientKey, out byte vid); //// 有就开始计算路径 //DataCache.DictionaryForkLiftStatus.TryGetValue(clientKey, out ForkLiftStatus forkLiftStatus); //// 去取货 //// 数据缓存线程安全取值 //if (!(DataCache.GetPath(forkLiftStatus.currentNodeNum.ToString(), start, out List<uint> arcList) // && DataCache.GetPoints(forkLiftStatus.currentNodeNum.ToString(), start, out List<uint> pointList))) //{ // return; //} // 开始执行 Clients.TryGetValue(clientKey, out IChannel channel); int tempDelay = 0; //for (int i = 0; i < arcList.Count; i++) //{ // DataCache.DictionaryConfictPoint.TryGetValue(pointList[i], out bool occupyedPoint); // DataCache.DictionaryConfictPoint.TryGetValue(pointList[i + 1], out bool occupyingPoint); // DataCache.DictionaryConfictPath.TryGetValue(arcList[i], out bool occupyingArc); // if (occupyingArc || occupyingPoint) // { // await Task.Delay(1000); // i--; // tempDelay++; // if (tempDelay > delay) // { // DataCache.DictionaryTrafficJam.AddOrUpdate(clientKey, true, (key, value) => { return value = true; }); // } // continue; // } // else // { // // 占用 // try // { // DataCache.DictionaryConfictPoint.AddOrUpdate(pointList[i + 1], true, (key, value) => { return value = true; }); // DataCache.DictionaryConfictPath.AddOrUpdate(arcList[i], true, (key, value) => { return value = true; }); // } // catch (ArgumentOutOfRangeException) // { // } // // 下发任务 // await channel.WriteAndFlushAsync(GenSongClientHandler.SetRequestSingleTask(vid, DataCache.NewTaskID(), 1, arcList[i], 0, 0, 1, (uint)ACTStatus.AGV_ACT_MOVE)); // // 等待完成 // while (true) // { // DataCache.DictionaryForkLiftStatus.TryGetValue(clientKey, out forkLiftStatus); // if (forkLiftStatus.currentNodeNum == pointList[i + 1]) // { // break; // } // await Task.Delay(500); // } // // 释放 // try // { // DataCache.DictionaryConfictPoint.AddOrUpdate(pointList[i + 1], false, (key, value) => { return value = false; }); // DataCache.DictionaryConfictPath.AddOrUpdate(arcList[i], false, (key, value) => { return value = false; }); // } // catch (ArgumentOutOfRangeException) // { // } // tempDelay = 0; // DataCache.DictionaryTrafficJam.AddOrUpdate(clientKey, false, (key, value) => { return value = false; }); // } //} //// 取货 //await channel.WriteAndFlushAsync(GenSongClientHandler.SetRequestSingleTask(vid, DataCache.NewTaskID(), 1, Convert.ToUInt32(start), 0, 0, 1, (uint)ACTStatus.AGV_ACT_PICK)); //await Task.Delay(1000); // 送货 // 数据缓存线程安全取值 if (!(DataCache.GetPath(start, end, out List <uint> arcList) && DataCache.GetPoints(start, end, out List <uint> pointList))) { return; } // 开始执行 for (int i = 0; i < arcList.Count; i++) { DataCache.DictionaryConfictPoint.TryGetValue(pointList[i + 1], out bool occupyingPoint); DataCache.DictionaryConfictPath.TryGetValue(arcList[i], out bool occupyingArc); { if (occupyingArc || occupyingPoint) { await Task.Delay(1000); i--; tempDelay++; // 交通堵塞了 if (tempDelay > delay) { DataCache.DictionaryTrafficJam.AddOrUpdate(clientKey, true, (key, value) => { return(value = true); }); } continue; } else { // 占用 try { DataCache.DictionaryConfictPoint.AddOrUpdate(pointList[i + 1], true, (key, value) => { return(value = true); }); DataCache.DictionaryConfictPath.AddOrUpdate(arcList[i + 1], true, (key, value) => { return(value = true); }); } catch (ArgumentOutOfRangeException) { } // 下发任务 await channel.WriteAndFlushAsync(GenSongClientHandler.SetRequestSingleTask(vid, DataCache.NewTaskID(), 1, arcList[i], 0, 0, 1, (uint)ACTStatus.AGV_ACT_MOVE)); // 等待完成 while (true) { DataCache.DictionaryForkLiftStatus.TryGetValue(clientKey, out ForkLiftStatus forkLiftStatus); if (forkLiftStatus.currentNodeNum == pointList[i + 1] && forkLiftStatus.state == ForkliftStatusEnum.Free) { break; } await Task.Delay(500); } // 释放 try { DataCache.DictionaryConfictPoint.AddOrUpdate(pointList[i], false, (key, value) => { return(value = false); }); DataCache.DictionaryConfictPath.AddOrUpdate(arcList[i + 1], false, (key, value) => { return(value = false); }); } catch (ArgumentOutOfRangeException) { } tempDelay = 0; DataCache.DictionaryTrafficJam.AddOrUpdate(clientKey, false, (key, value) => { return(value = false); }); } } } // 卸货 //await channel.WriteAndFlushAsync(GenSongClientHandler.SetRequestSingleTask(vid, DataCache.NewTaskID(), 1, Convert.ToUInt32(end), 0, 0, 1, (uint)ACTStatus.AGV_ACT_DROP)); await Task.Delay(1000); }