using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using System.Threading.Tasks;
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namespace HH.WCS.Mobox3.AnGang.Helpers {
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public class AgvHelper {
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/// <summary>
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/// AGV 任务状态优先级：1->3->4->5->6->2
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/// </summary>
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private static readonly int[] _agvTaskStatePri = { 0, 1, 6, 2, 3, 4, 5 };
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/// <summary>
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/// AGV 状态变化表：1->3->4->5->6->2 | 0->0 | 2->0
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/// </summary>
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private static readonly int[] _agvNextState = new int[] { 0, 3, 0, 4, 5, 6, 2 };
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/// <summary>
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/// 判断AGV状态是否为合法的下个状态（包含检查状态是否为任务状态）
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/// </summary>
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/// <remarks>
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/// 1. 前后状态只要有不合法都会返回 <see langword="false"/><br/>
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/// 2. nextState 可以与 lastState 相同
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/// </remarks>
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/// <param name="lastState"></param>
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/// <param name="nextState"></param>
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/// <returns></returns>
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public static bool IsNextStateOk(int lastState, int nextState) {
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var lastPri = GetPri(lastState);
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var nextPri = GetPri(nextState);
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return lastPri != 0 && nextPri != 0 && lastPri <= nextPri;
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}
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/// <summary>
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/// 获取AGV当前状态的下个状态：不合法或为 2(完成) 时返回 0
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/// </summary>
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/// <param name="curState"></param>
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/// <returns></returns>
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public static int GetNextState(int curState) {
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if (!IsTaskState(curState)) return 0;
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return _agvNextState[curState];
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}
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/// <summary>
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/// 判断 AGV 状态是否为正常的执行任务状态：134562
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/// </summary>
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/// <param name="state"></param>
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/// <returns></returns>
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private static bool IsTaskState(int state) {
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return state > 0 && state < 7;
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}
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/// <summary>
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/// GetTaskStatePri：获取 AGV 任务状态的优先级（包含检查状态是否为任务状态）
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/// </summary>
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/// <param name="state"></param>
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/// <returns></returns>
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private static int GetPri(int state) {
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if (!IsTaskState(state)) { return 0; }
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return _agvTaskStatePri[state];
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}
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}
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}
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