/// <summary>
/// 分派任务
/// </summary>
private async void assignTask()
{
try
{
lock (HandleTaskobje)
{
timerFreshTask.Enabled = false;
foreach (CarMonitor car in MoniCars.Where(p => (!string.IsNullOrEmpty(p.ExcuteTaksNo)) && p.TaskDetailID >= 0))
{
//将当前的任务明细更新完成
if (!string.IsNullOrEmpty(car.ExcuteTaksNo) && car.TaskDetailID != -1)
{
//HandTaskDetail(car.CurrSite.ToString(), car.ExcuteTaksNo, car.TaskDetailID);
if (car.Sate == 0 && car.CurrSite.ToString() == car.ArmLand)
{
#region 更新储位状态
UnLockStorage(car, Stores);
#endregion
AGVSimulationDAccess.HandTaskDetail(car.AgvID, car.CurrSite.ToString(), car.ExcuteTaksNo, car.TaskDetailID);
AGVSimulationDAccess.HandTaskzb(car.ExcuteTaksNo);
DispatchTaskInfo CarTaskInfo = AGVSimulationDAccess.CheckTaskIsFinish(car.ExcuteTaksNo);
if (CarTaskInfo == null)
{
car.ExcuteTaksNo = "";
}
}
}
}
Hashtable hs = new Hashtable();
//查找当前有效任务
IList <DispatchTaskInfo> tasks = AGVSimulationDAccess.LoadDispatchTask("0,1");
if (tasks != null && tasks.Count > 0)
{
foreach (DispatchTaskInfo task in tasks)
{
if (task.TaskDetail.Count <= 0)
{
continue;
}
//查找合适的AGV来领取任务
CarMonitor NoTaskCar = null;
//如果任务为待处理的,就找空闲的车来执行
//如果任务是正在执行中的，则找对应的空闲agv来继续执行
//查找任务到具体任务明细
DispatchTaskDetail TaskDetail = (from a in task.TaskDetail
where (a.State == 0 || a.State == 1)
orderby a.DetailID ascending
select a).FirstOrDefault();
if (task.TaskState == 0)
{
if (TaskDetail != null)
{
if (task.ExeAgvID != 0)
{
NoTaskCar = (from a in MoniCars
where task.ExeAgvID == a.AgvID && !string.IsNullOrEmpty(a.CurrSite.ToString()) && (a.Sate == 0 || a.IsBack) && a.ExcuteTaksNo == "" && /*a.TaskDetailID == -1*/
getDistant(a.CurrSite.ToString(), TaskDetail.LandCode) >= 0
orderby getDistant(a.CurrSite.ToString(), TaskDetail.LandCode) ascending
select a).FirstOrDefault();
}
else
{
NoTaskCar = (from a in MoniCars
where !string.IsNullOrEmpty(a.CurrSite.ToString()) && (a.Sate == 0 || a.IsBack) && a.ExcuteTaksNo == "" && /*a.TaskDetailID == -1*/
getDistant(a.CurrSite.ToString(), TaskDetail.LandCode) >= 0
orderby getDistant(a.CurrSite.ToString(), TaskDetail.LandCode) ascending
select a).FirstOrDefault();
}
}
}
else if (task.TaskState == 1)
{
NoTaskCar = MoniCars.FirstOrDefault(p => p.AgvID == task.ExeAgvID && ((p.Sate == 0 || p.Sate == 2 || p.IsBack)));
}
//找到对应的agv
if (NoTaskCar != null && NoTaskCar.CurrSite > 0)
{
if (NoTaskCar.IsBack)
{
NoTaskCar.IsBack = !NoTaskCar.IsBack;
}
}
else
{
continue;
}
//如果任务明细全部完成，那么需要将主任务状态更新并且让对应的agv回待命点
LandmarkInfo BeginLand, EndLand = null;
if (TaskDetail == null)
{
}
else
{
//判断一下当前小时是否就在任务地标上
if (NoTaskCar.CurrSite.ToString() == TaskDetail.LandCode && (TaskDetail.State == 0 || TaskDetail.State == 1))
{
NoTaskCar.OperType = TaskDetail.OperType;
NoTaskCar.PutType = TaskDetail.PutType;
NoTaskCar.ArmLand = TaskDetail.LandCode;
NoTaskCar.ExcuteTaksNo = TaskDetail.dispatchNo;
NoTaskCar.TaskDetailID = TaskDetail.DetailID;
AGVSimulationDAccess.HandTaskDetail(NoTaskCar.AgvID, TaskDetail.LandCode, TaskDetail.dispatchNo, TaskDetail.DetailID);
UnLockStorage(NoTaskCar, Stores);
//NoTaskCar.TaskDetailID = -1;
continue;
}
//判断小车当前的任务明细是否允许需要等待放行命令
DispatchTaskDetail PreTaskDetail = (from a in task.TaskDetail
where a.LandCode == NoTaskCar.CurrSite.ToString()
orderby a.DetailID ascending
select a).FirstOrDefault();
//如果不允许执行则跳过
if (PreTaskDetail != null && PreTaskDetail.IsAllowExcute == 0)
{
continue;
}
//记录当前小车的任务信息
//更新任务为执行状态
AGVSimulationDAccess.TaskHandle(task.dispatchNo, NoTaskCar.AgvID, 1, TaskDetail.LandCode, TaskDetail.DetailID);
NoTaskCar.ExcuteTaksNo = task.dispatchNo;
NoTaskCar.TaskDetailID = TaskDetail.DetailID;
NoTaskCar.ArmLand = TaskDetail.LandCode;
NoTaskCar.PutType = TaskDetail.PutType;
NoTaskCar.OperType = TaskDetail.OperType;
BeginLand = AllLands.FirstOrDefault(p => p.LandmarkCode == NoTaskCar.CurrSite.ToString());
EndLand = AllLands.FirstOrDefault(p => p.LandmarkCode == TaskDetail.LandCode);
if (BeginLand != null && EndLand != null)
{
NoTaskCar.CurrRoute = DataToObject.CreateDeepCopy <List <LandmarkInfo> >(CountRoute.GetRoute(BeginLand, EndLand));
string CountRouteResult = string.Join(",", NoTaskCar.CurrRoute.Select(p => p.LandmarkCode));
LogHelper.WriteLog(CountRouteResult);
if (NoTaskCar.CurrRoute.Count <= 0)
{
continue;
}
if (!Traffic.BeforStartTrafficForStop(NoTaskCar))
{
Traffic.GetTrafficResour(NoTaskCar);
//if (Route_Ini != null)
//{ Route_Ini(NoTaskCar.CurrRoute); }
NoTaskCar.StepChange += DoCar_StepChange;
NoTaskCar.Start();
}
}
}
}
}
else
{
List <CarMonitor> NoReleaseCars = MoniCars.Where(p => p.Sate != 1 && p.Sate != 2 && !string.IsNullOrEmpty(p.ExcuteTaksNo)).ToList();
foreach (CarMonitor item in NoReleaseCars)
{
item.ExcuteTaksNo = "";
}
}
List <CarMonitor> NoBackCars = MoniCars.Where(p => p.Sate != 1 && p.Sate != 2 && string.IsNullOrEmpty(p.ExcuteTaksNo) && p.CurrSite.ToString() != p.StandbyLandMark).ToList();
foreach (CarMonitor car in NoBackCars)
{
if (string.IsNullOrEmpty(car.StandbyLandMark))
{
continue;
}
LandmarkInfo BeginLand = AllLands.FirstOrDefault(p => p.LandmarkCode == car.CurrSite.ToString());
LandmarkInfo EndLand = AllLands.FirstOrDefault(p => p.LandmarkCode == car.StandbyLandMark);
//以车的当前地标为开始地标,待命点为结束地标规划回待命点路线
if (BeginLand == null || EndLand == null)
{
continue;
}
else
{
//规划路线
car.CurrRoute = DataToObject.CreateDeepCopy <List <LandmarkInfo> >(CountRoute.GetRoute(BeginLand, EndLand));
if (car.CurrRoute.Count <= 0)
{
continue;
}
if (!Traffic.BeforStartTrafficForStop(car))
{
Traffic.GetTrafficResour(car);
//if (Route_Ini != null)
//{ Route_Ini(car.CurrRoute); }
car.StepChange += DoCar_StepChange;
car.Start();
}
}
}
}
}
catch (Exception ex)
{ throw ex; }
finally
{ timerFreshTask.Enabled = true; }
}
