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));
}
/// <summary>
/// 异步查询叉车状态
/// </summary>
/// <returns></returns>
public static async Task GetForkliftStatusStatusAsync()
{
while (syncForkliftStatus)
{
//查询所有叉车的状态
foreach (var item in DataCache.DictionaryForkLiftStatus.Keys)
{
// 发送查询
ClientsID.TryGetValue(item, out byte id);
if (Clients.TryGetValue(item, out IChannel channel))
{
await channel.WriteAndFlushAsync(GenSongClientHandler.SetRequestAGVStatus(id));
}
}
await Task.Delay(1000);
}
}
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);
}
