AK056/Assets/script/device/agv/AgvCarManage.cs

using BestHTTP;
using EasyInject.Attributes;
using Newtonsoft.Json;
using Newtonsoft.Json.Linq;
using System.Collections;
using System.Collections.Generic;
using UnityEngine;
/// <summary>
/// AGV 小车管理
/// </summary>
[GameObjectBean]
public class AgvCarManage : MonoBehaviour,IApplcationShutdown
{
    /// <summary>
    /// agv小车来源
    /// </summary>
    private List<ICar> source;
    /// <summary>
    /// agv任务列表
    /// </summary>
    [SerializeField]
    private List<AgvTaskData> tasks;
    [Autowired]
    NetWorkComponent netWorkComponent;

    private Coroutine coroutine;
    [SerializeField]
    private bool initialize;

    public enum CarTaskStatusEnum
    {
        //待机
        STANDBY = 0,
        //取货中
        TAKING = 1,
        //申请取货
        APPLY_TAKE = 2,
        //取货完成
        TAKE_FINISHED = 3,
        //放货中
        PUTTING = 4,
        //申请放货
        APPLY_PUT = 5,
        //放货完成
        PUT_FINISHED = 6,
        //任务异常完成
        ERORR_FINNSHED = 7,
        //异常
        EXCEPTION = 8,
        //作废
        DERRECATE = 9,
        SENT = 10,
    }

    private void Start()
    {
        coroutine = StartCoroutine(LoadAgvTask());
        source = ApplicationBoot.Instance.GetBeans<ICar>();
    }

    private void OnInit()
    {
        foreach (ICar car in source)
        {
            car?.OnInit();
        }
      
        initialize = true;
    }
    private void FixedUpdate()
    {
        if (!initialize)
        {
            return;
        }
        //排序
        //tasks.Sort((a, b) =>
        //{
        //    if(a.fromLocation.Contains("-") && b.fromLocation.Contains("-"))
        //    {
        //        string[] aStr = a.fromLocation.Split("-");
        //        string[] bStr = b.fromLocation.Split("-");

        //        if (int.Parse(aStr[0]) > int.Parse(bStr[0]))
        //        {
        //            return 1;
        //        }
        //        if (int.Parse(aStr[1]) > int.Parse(bStr[1]))
        //        {
        //            return 1;
        //        }
        //        return -1;
        //    }
        //    return 0;
        //});
        //分配小车去消费任务
       
        foreach (AgvTaskData data in tasks)
        {
            ICar car =  source.Find(v => (v.AllowRows.Contains(data.fromDevice)) && !v.hasTask && v.Initialize);
            if (car != null)
            {
                //下发任务给小车
                car.SendTask(data);
            }
        }

    }

    /// <summary>
    /// 每秒加载后台AGV任务列表
    /// </summary>
    /// <returns></returns>
    public IEnumerator LoadAgvTask()
    {
        while (true)
        {
          
            yield return new  WaitForSecondsRealtime(1f);
         
            netWorkComponent.RemoteGetAgvTaskListData(OnTaskList);
        }
    }


    /// <summary>
    /// 接受响应数据
    /// </summary>
    /// <param name="originalRequest"></param>
    /// <param name="response"></param>
    private void OnTaskList(HTTPRequest originalRequest, HTTPResponse response)
    {
      
        if(response == null)
        {
            return;
        }
        if (response.IsSuccess)
        {
            JObject resultData =  JObject.Parse(response.DataAsText);
            string json =  resultData["object"].ToString();
            if (!string.IsNullOrEmpty(json))
            {
                List<AgvTaskData> agvTasks =  JsonConvert.DeserializeObject<List<AgvTaskData>>(json);
                agvTasks.Sort((a, b) =>
                {
                    if (a.fromLocation.Contains("-") && b.fromLocation.Contains("-"))
                    {
                        string[] aStr = a.fromLocation.Split("-");
                        string[] bStr = b.fromLocation.Split("-");

                        if (int.Parse(aStr[0]) > int.Parse(bStr[0]))
                        {
                            return 1;
                        }
                        if (int.Parse(aStr[1]) > int.Parse(bStr[1]))
                        {
                            return 1;
                        }
                        return -1;
                    }
                    return 0;
                });
                tasks = agvTasks;
                if (!initialize)
                {
                    OnInit();
                }
               
            }
        }
    }
    /// <summary>
    /// 存在当前任务
    /// </summary>
    /// <param name="task"></param>
    /// <returns></returns>
    public bool Contains(AgvTaskData task)
    {
        return tasks.Find(v => task.instructionCode == v.instructionCode && task.instructionId == v.instructionId) != null;
    }
    /// <summary>
    /// 根据指令号获取任务
    /// </summary>
    /// <param name="instructionCode"></param>
    /// <returns></returns>
    public AgvTaskData GetTaskByCode(long instructionCode)
    {
        return tasks.Find(v => instructionCode == v.instructionCode);
    }

    public void Shutdown()
    {
        Debug.Log("释放AGV任务协程");
        StopCoroutine(coroutine);
    }


   
}