SendFullShelfToLineJob.cs
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using AGVControl;
using BLL;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Security.Policy;
using System.Text;
using System.Threading.Tasks;
namespace AGVControl
{
/// <summary>
/// 从A6向产线运行任务(出满料)
/// </summary>
public class SendFullShelfToLineJob : Job
{
/// <summary>
/// 从A6向产线运行任务(出满料)
/// </summary>
/// <param name="palce">产线名</param>
/// <param name="rfid">料架RFID</param>
/// <param name="isIgNoreBigShelf">是否忽略大料架</param>
public SendFullShelfToLineJob(AGVManager.BoxDestInfo boxDestInfo, bool isIgNoreBigShelf = false)
{
FullShelfPlace = boxDestInfo.location;
RFID = boxDestInfo.id;
BoxDestInfo = boxDestInfo;
IsIgnoreBigShelf = isIgNoreBigShelf;
JobName = "送满料任务";
}
/// <summary>
/// 满料架目标位置点
/// </summary>
public string FullShelfPlace { get; set; }
public string RFID { get; set; }
public AGVManager.BoxDestInfo BoxDestInfo { get; private set; }
/// <summary>
/// 是否忽略大料架移库解绑
/// </summary>
public bool IsIgnoreBigShelf { get; private set; }
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return runInfo; }
}
private JobStep<SEND_FULL_SHELF_STEP> curJobStep = new JobStep<SEND_FULL_SHELF_STEP>(SEND_FULL_SHELF_STEP.NONE);
public override Job Execute(Agv_Info agv)
{
string msg = agv.Name + " ";
bool rtn = false;
agv.RFID = RFID;
agv.Msg = runInfo;
//runInfo = "送满料任务：";
//if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
// CurTaskState = st;
if (curJobStep.IsStep(SEND_FULL_SHELF_STEP.NONE))
{
curJobStep.RecordRunLog(agv, JobName, runInfo, FullShelfPlace);
AGVManager.AgvRemoveRfid(RFID);
if (FullShelfPlace.StartsWith(SettingString.C4_Name_Prefix))
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_DOOR);
runInfo = "前往4C门，从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
msg += runInfo;
curJobStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorDToC);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo = "从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
msg += runInfo;
curJobStep.Msg = msg;
Common.SetNodeOccupied(FullShelfPlace, agv.Name);
Common.MoveToNode(agv, FullShelfPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (curJobStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.DoorDToC, CurTaskState))
{
curJobStep.RecordRunLog(agv, JobName, runInfo, FullShelfPlace);
if (Common.Check4CTarget(agv, FullShelfPlace))//被占用
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_REACH_TEMP_PLACE);
runInfo = "目的地" + FullShelfPlace + "有小车占用，先到临时待机位";
msg += runInfo;
curJobStep.Msg = msg;
Common.MoveTo4CStandy(agv);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
if (Common.CheckIsInAirDoor(FullShelfPlace))
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_AIR_DOOR);
runInfo = "到达4C门，过风淋门[" + FullShelfPlace + "][RFID=" + RFID + "]";
msg += runInfo;
curJobStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorAirIn);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo = "从双层线A6送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
msg += runInfo;
curJobStep.Msg = msg;
Common.SetNodeOccupied(FullShelfPlace, agv.Name);
Common.MoveToNode(agv, FullShelfPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
}
}
else if (curJobStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_AIR_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.DoorAirIn, CurTaskState))
{
curJobStep.RecordRunLog(agv, JobName, runInfo, FullShelfPlace);
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo = "送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
msg += runInfo;
curJobStep.Msg = msg;
Common.SetNodeOccupied(FullShelfPlace, agv.Name);
Common.MoveToNode(agv, FullShelfPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (curJobStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_REACH_TEMP_PLACE))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.C4_STANDBY1, CurTaskState) || Common.CheckTaskFinished(agv, SettingString.C4_STANDBY2, CurTaskState))
{
curJobStep.RecordRunLog(agv, JobName, runInfo, FullShelfPlace);
if (!Common.Check4CTarget(agv, FullShelfPlace))//未占用
{
if (Common.CheckIsInAirDoor(FullShelfPlace))
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_AIR_DOOR);
runInfo = "到临时待机位，去产线先过风淋门[" + FullShelfPlace + "][RFID=" + RFID + "]";
msg += runInfo;
curJobStep.Msg = msg;
Common.DeleteStandyInfo(agv);
Common.DoorMission(agv, SettingString.DoorAirIn);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo = "从临时待机位送往[" + FullShelfPlace + "][RFID=" + RFID + "]";
msg += runInfo;
curJobStep.Msg = msg;
Common.DeleteStandyInfo(agv);
Common.SetNodeOccupied(FullShelfPlace, agv.Name);
Common.MoveToNode(agv, FullShelfPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
}
}
else if (curJobStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, FullShelfPlace, CurTaskState))
{
curJobStep.RecordRunLog(agv, JobName, runInfo, FullShelfPlace);
//if (FullShelfPlace.Equals(SettingString.C4FeederIn))
//{
// runInfo = "AGV到达 " + FullShelfPlace + "完成";
// msg += runInfo;
// SendFullShelfStep.Msg = msg;
// return new EnterLeaveShelfJob(FullShelfPlace, eEnterLeaveType.Leave);
//}
if (IsIgnoreBigShelf)
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_LINE_RESPONSE);
runInfo = "AGV到达 " + FullShelfPlace + "，并发送入料架请求[ReadyEnter]";
msg += runInfo;
curJobStep.Msg = msg;
Common.server.ReadyEnter(FullShelfPlace);
}
else
{
if (agv.Place.Equals("S0"))
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_BIG_SHELF_UNLOCK);
runInfo = "AGV到达 " + FullShelfPlace + "，并等待3D工单料架[" + RFID + "]库位转移";
msg += runInfo;
curJobStep.Msg = msg;
curJobStep.RecordRunLog(agv, JobName, runInfo, FullShelfPlace);
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Play"]);
}
else if (RFID.StartsWith("C") && !agv.Place.Equals(SettingString.D4FeederIn) && !agv.Place.Equals(SettingString.C4FeederIn))
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_BIG_SHELF_UNLOCK);
runInfo = "AGV到达 " + FullShelfPlace + "，并等待大料架[" + RFID + "]库位转移";
msg += runInfo;
curJobStep.Msg = msg;
curJobStep.RecordRunLog(agv, JobName, runInfo, FullShelfPlace);
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Play"]);
}
else
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_LINE_RESPONSE);
runInfo = "AGV到达 " + FullShelfPlace + "，并发送入料架请求[ReadyEnter]";
msg += runInfo;
curJobStep.Msg = msg;
Common.server.ReadyEnter(FullShelfPlace);
}
}
}
}
else if (curJobStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_BIG_SHELF_UNLOCK))
{
Common.mir.Get_IO_Status(agv, out bool[] input, out bool[] output);
System.Threading.Thread.Sleep(50);
if (AGVManager.GetRackBy(RFID, out string lineName) || (input != null && input[0]))
{
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Stop"]);
runInfo = "大料架在" + FullShelfPlace + "库位转移完成 [" + RFID + "] [" + agv.BoxDestInfo + "]";
agv.BoxDestInfo = "";
msg += runInfo;
curJobStep.Msg = msg;
curJobStep.RecordRunLog(agv, JobName, runInfo, FullShelfPlace);
if (RFID.StartsWith("D"))
return new EmptyShelfBackJob(FullShelfPlace, eShelfType.SmallShelf);
else
return new EmptyShelfBackJob(FullShelfPlace, eShelfType.BigShelf);
}
}
else if (curJobStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_LINE_RESPONSE))
{
int id = Common.FindNode(FullShelfPlace);
ClientNode node = Common.nodeInfo[id];
Common.mir.Get_IO_Status(agv, out bool[] input, out bool[] output);
System.Threading.Thread.Sleep(50);
if (node.StateEquals(eNodeStatus.MayEnter))
{
agv.HasError = false;
if (!agv.CurTaskName.Equals("Leave"))
{
curJobStep.RecordRunLog(agv, JobName, runInfo, FullShelfPlace);
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT__SHELF_IN_LINE);
runInfo = "收到产线入料架请求[ReadyEnter]的响应 " + FullShelfPlace + "入料架，小车链条运行";
msg += runInfo;
curJobStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (input != null && !input[3] && input[0])
{
agv.HasError = false;
runInfo = "手动操作:满料架进入" + FullShelfPlace + "完成 [RFID=" + RFID + "] [" + agv.BoxDestInfo + "]";
msg += runInfo;
curJobStep.Msg = msg;
agv.RFID = "";
agv.BoxDestInfo = "";
AGVManager.UpdateStatus(RFID, FullShelfPlace);
curJobStep.RecordRunLog(agv, JobName, runInfo, FullShelfPlace);
return new EmptyAGVBackJob(FullShelfPlace);
}
else if (curJobStep.IsTimeOut(15000, out TimeSpan timeOutValue))
{
curJobStep.RecordRunLog(agv, JobName, runInfo, FullShelfPlace);
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo = "AGV到达 " + FullShelfPlace + "，15秒后重新向产线发送入料架请求[ReadyEnter]";
msg += runInfo;
curJobStep.Msg = msg;
agv.HasError = true;
agv.SetErrorMsg("AGV到达 " + FullShelfPlace + "，向产线发送入料架请求[ReadyEnter]异常", timeOutValue.TotalMinutes.ToString("f2"));
}
}
else if (curJobStep.IsStep(SEND_FULL_SHELF_STEP.WAIT__SHELF_IN_LINE))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
curJobStep.RecordRunLog(agv, JobName, runInfo, FullShelfPlace);
if (Common.CheckEnterOrLeaveFinished(agv, "Leave", CurTaskState))
{
agv.HasError = false;
runInfo = "满料进入" + FullShelfPlace + "完成 [RFID=" + RFID + "] [" + agv.BoxDestInfo + "]";
msg += runInfo;
curJobStep.Msg = msg;
agv.RFID = "";
agv.BoxDestInfo = "";
AGVManager.UpdateStatus(RFID, FullShelfPlace);
curJobStep.RecordRunLog(agv, JobName, runInfo, FullShelfPlace);
return new EmptyAGVBackJob(FullShelfPlace);
}
else if (curJobStep.IsTimeOut(60000, out TimeSpan timeOutValue))
{
//链条停止
runInfo = "满料在[" + FullShelfPlace + "]离开小车超时，请检查料架离开小车的情况";
agv.HasError = true;
agv.SetErrorMsg("满料在[" + FullShelfPlace + "]离开小车超时", timeOutValue.TotalMinutes.ToString("f2"));
}
}
//else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.END))
//{
//}
return this;
}
}
/// <summary>
/// AGV送满料架到产线
/// </summary>
public enum SEND_FULL_SHELF_STEP
{
/// <summary>
/// 料架已进入小车，去目的地
/// </summary>
NONE,
/// <summary>
/// 等待AGV到达门
/// </summary>
WAIT_AGV_REACH_DOOR,
/// <summary>
/// 等待agv到达4C临时待机位
/// </summary>
WAIT_REACH_TEMP_PLACE,
/// <summary>
/// 等待到达4C风淋门
/// </summary>
WAIT_AGV_REACH_AIR_DOOR,
/// <summary>
/// 等待小车到达目的地
/// </summary>
WAIT_AGV_REACH_LINE,
/// <summary>
/// 等待大料架解绑
/// </summary>
WAIT_BIG_SHELF_UNLOCK,
/// <summary>
/// 等待AGV载大料架返回双层线
/// </summary>
WAIT_BIG_SHELF_BACK_DOUBLE_LINE,
/// <summary>
/// 等待AGV到达停车位
/// </summary>
WAIT_BIG_SHELF_BACK_STANDYBY,
/// <summary>
/// 等待产线回应
/// </summary>
WAIT_LINE_RESPONSE,
/// <summary>
/// 等待料架进入产线
/// </summary>
WAIT__SHELF_IN_LINE,
/// <summary>
/// 进入产线完成
/// </summary>
END
}
}