public override void Start()
{
var allAIThingPaths = config.AIThings.AllAIThingPaths;
var autoArmAIThingPaths = config.AIThings.AutoArmAIThingPaths;
allAIThingStates = new Dictionary <string, Status>();
allAIFinishFlags = new Dictionary <string, bool>();
foreach (var aiThingPath in allAIThingPaths)
{
allAIThingStates.Add(aiThingPath, Status.Idle);
allAIFinishFlags.Add(aiThingPath, false);
}
AllAIStatePrevious = AllAIStatus.AllIdle;
_allAIStateNow = AllAIStatus.AllIdle;
//订阅每个aiThing的StateChanged和AITaskFinished事件
foreach (var aiThingPath in allAIThingPaths)
{
MyHub.EventHub.Subscribe(new EventFilter(aiThingPath, "StateChanged"), stateChangedhandler);
MyHub.EventHub.Subscribe(new EventFilter(aiThingPath, "AITaskFinished"), aiTaskFinishedhandler);
}
//第一次无需判断（默认认为程序启动时所有AIThing都是idle状态）
//直接arm所有需要自动arm的AIThing
StartArmTask();
}
//当所有卡状态都变为一致时，AllAIState为该状态，否则AllAIState为Chaos
//当所有卡状态都变为Idle时，arm所有需要自动arm的AIThing
private void attemptToChangeAllAIState()
{
var tempState = allAIThingStates.Values.FirstOrDefault();
foreach (var state in allAIThingStates.Values)
{
if (state != tempState)
{
if (!(AllAIStateNow == AllAIStatus.Chaos))
{
AllAIStatePrevious = AllAIStateNow;
AllAIStateNow = AllAIStatus.Chaos;
}
return;
}
}
//循环完还没return说明所有卡状态一致
AllAIStatePrevious = AllAIStateNow;
//tempState是AllAIStatus的子集，可以强制转换
AllAIStateNow = (AllAIStatus)tempState;
//当所有卡状态都变为Idle时，arm所有需要自动arm的AIThing
if (AllAIStateNow == AllAIStatus.AllIdle)
{
Thread.Sleep(config.DelaySecondAfterFinish * 1000);
StartArmTask();
}
}