TakeEmptyShelfJob.cs
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using AGVControl;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace AGVControl
{
/// <summary>
/// 回收空料架任务
/// </summary>
public class TakeEmptyShelfJob : Job
{
public TakeEmptyShelfJob(string palce, ePriority priority)
{
EmptyShelfPlace = palce;
_priority = priority;
}
/// <summary>
/// 空料架位置点
/// </summary>
private string EmptyShelfPlace { get; set; }
/// <summary>
/// 空料架目的地
/// </summary>
private string EmptyShelfTargetPlace="";
/// <summary>
/// 优先级
/// </summary>
private ePriority _priority;
private JobStep<TAKE_EMPTY_STEP> TakeEmptyStep = new JobStep<TAKE_EMPTY_STEP>(TAKE_EMPTY_STEP.NONE);
/// <summary>
/// 空架任务执行
/// </summary>
/// <param name="agv"></param>
public override void Execute(Agv_Info agv)
{
string msg = "";
bool rtn = false;
int nodeIdx = Common.FindNode(EmptyShelfPlace);
if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.NONE))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
msg = "开始执行回收空料架任务";
TakeEmptyStep.Msg = msg;
EmptyShelfTargetPlace = "";
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK))
{
if (nodeIdx > -1)
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TASK);
msg = "AGV 添加任务：移动到" + EmptyShelfPlace;
TakeEmptyStep.Msg = msg;
Common.MoveToNode(agv, EmptyShelfPlace);
}
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
msg = EmptyShelfPlace + " 不存在或未开启调用";
TakeEmptyStep.Msg = msg;
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TASK))
{
if(agv.PlaceState.Equals(ePlaceState.Move))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE);
msg = "AGV开始向目的地["+EmptyShelfPlace+"]移动";
TakeEmptyStep.Msg = msg;
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE))
{
if (agv.Place.Equals(EmptyShelfPlace) && agv.PlaceState.Equals(ePlaceState.MoveFinish))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE);
msg = "AGV到达 " + EmptyShelfPlace + " 向产线发送出料架请求[ReadyLeave]";
TakeEmptyStep.Msg = msg;
Common.server.ReadyLeave(EmptyShelfPlace);
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE))
{
ClientNode node = Common.nodeInfo[nodeIdx];
if (node.StateEquals(eNodeStatus.MayLeave))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF);
msg = "收到产线出料请求[ReadyLeave]的响应 " + EmptyShelfPlace + "出料架，小车链条运行";
TakeEmptyStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
agv.TaskSend = rtn ? "Enter" : "";
}
else if(TakeEmptyStep.IsTimeOut(15000,out double timeOutValue))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE);
msg = "AGV到达 " + EmptyShelfPlace + "，15秒后重新向产线发送出料架请求[ReadyLeave]";
TakeEmptyStep.Msg = msg;
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF))
{
if(agv.PlaceState.Equals(ePlaceState.EnterFinish))
{
ClientNode node = Common.nodeInfo[nodeIdx];
//回收空料架数量减少1
if (Common.CheckA5A6State_SmallShelf(agv, node,out EmptyShelfTargetPlace))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_A5A6);
msg = "空料架在[" + EmptyShelfPlace + "]进入小车完成,送往双层线";
TakeEmptyStep.Msg = msg;
}
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_STANDBY_TEMP);
msg = "空料架在[" + EmptyShelfPlace + "]进入小车完成,双层线暂不需要，到待机位";
TakeEmptyStep.Msg = msg;
}
}
else if(TakeEmptyStep.IsTimeOut(60000,out double timeOutValue))
{
//链条停止
msg = "空料架在[" + EmptyShelfPlace + "]进入小车超时["+ timeOutValue.ToString("f1") + "秒]，停止链条运行，请检查料架进入小车的情况";
TakeEmptyStep.Msg = msg;
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_STANDBY_TEMP))
{
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_A5A6))
{
if(agv.Place.Equals(EmptyShelfTargetPlace) && agv.PlaceState.Equals(ePlaceState.MoveFinish))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_DOUBLE_LINE_RESPONSE);
msg = "AGV到达 " + EmptyShelfTargetPlace + "，并发送入料架请求[ReadyEnter]";
TakeEmptyStep.Msg = msg;
Common.server.ReadyEnter(EmptyShelfTargetPlace);
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_DOUBLE_LINE_RESPONSE))
{
int id = Common.FindNode(EmptyShelfTargetPlace);
ClientNode node = Common.nodeInfo[id];
if (node.StateEquals(eNodeStatus.MayEnter))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF);
msg = "收到双层线入料架请求[ReadyEnter]的响应 " + EmptyShelfTargetPlace + "入料架，小车链条运行";
TakeEmptyStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
agv.TaskSend = rtn ? "Leave" : "";
}
else if (TakeEmptyStep.IsTimeOut(15000, out double timeOutValue))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_A5A6);
msg = "AGV到达 " + EmptyShelfTargetPlace + "，15秒后重新向双层线发送入料架请求[ReadyEnter]";
TakeEmptyStep.Msg = msg;
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_RECYCLE_EMPTY_SHELF))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.END);
msg = "空料架送往双层线";
TakeEmptyStep.Msg = msg;
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF))
{
if (agv.PlaceState.Equals(ePlaceState.EnterFinish))
{
ClientNode node = Common.nodeInfo[nodeIdx];
//回收空料架数量减少1
if (Common.CheckA5A6State_SmallShelf(agv, node, out EmptyShelfTargetPlace))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_A5A6);
msg = "空料架在[" + EmptyShelfPlace + "]进入小车完成,送往双层线";
TakeEmptyStep.Msg = msg;
}
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_STANDBY_TEMP);
msg = "空料架在[" + EmptyShelfPlace + "]进入小车完成,双层线暂不需要，到待机位";
TakeEmptyStep.Msg = msg;
}
}
else if (TakeEmptyStep.IsTimeOut(60000, out double timeOutValue))
{
//链条停止
msg = "空料架在[" + EmptyShelfPlace + "]进入小车超时[" + timeOutValue.ToString("f1") + "秒]，停止链条运行，请检查料架进入小车的情况";
TakeEmptyStep.Msg = msg;
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.END))
{
}
}
private void MoveToNode(string name)
{
}
public override ePriority GetPriority()
{
return _priority;
}
public override bool IsEnd()
{
return TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.END);
}
/// <summary>
/// AGV回收空料架流程
/// </summary>
private enum TAKE_EMPTY_STEP
{
/// <summary>
/// 准备，发送给AGV
/// </summary>
NONE,
/// <summary>
/// 给AGV分配任务
/// </summary>
ASSIGN_AGV_TASK,
/// <summary>
/// 等待AGV开始执行去取架点任务
/// </summary>
WAIT_AGV_START_TASK,
/// <summary>
/// 等待AGV到达取架点
/// </summary>
WAIT_REACH_PLACE,
/// <summary>
/// 等待产线回应
/// </summary>
WAIT_LINE_RESPONSE,
/// <summary>
/// 等待料架进入小车
/// </summary>
WAIT_TAKE_EMPTY_SHELF,
/// <summary>
/// 等待小车到达A5,A6
/// </summary>
WAIT_AGV_REACH_A5A6,
/// <summary>
/// 等待双层线回应
/// </summary>
WAIT_DOUBLE_LINE_RESPONSE,
/// <summary>
/// 等待料架进入双层线
/// </summary>
WAIT__EMPTY_SHELF_IN_DOUBLE_LINE,
/// <summary>
/// A5,A6暂时不需要，等待AGV到达临时待机位
/// </summary>
WAIT_AGV_REACH_STANDBY_TEMP,
/// <summary>
/// 送上双层线
/// </summary>
END
}
}
}