GoEmptyShelfLineJob.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>
/// 去空料架任务点
/// </summary>
public class GoEmptyShelfLineJob : Job
{
/// <summary>
/// 去空料架任务点
/// </summary>
/// <param name="agvPlae">小车当前位置，空表示在待机位</param>
/// <param name="palce">空料架位置点</param>
public GoEmptyShelfLineJob(string agvPlae, string palce)
{
EmptyShelfPlace = palce;
this.agvPlae = agvPlae;
}
/// <summary>
/// 空料架位置点
/// </summary>
public string EmptyShelfPlace { get; set; }
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlae { get; set; }
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return runInfo; }
}
private JobStep<TAKE_EMPTY_STEP> TakeEmptyStep = new JobStep<TAKE_EMPTY_STEP>(TAKE_EMPTY_STEP.NONE);
/// <summary>
/// 空架任务执行,去目的地
/// </summary>
/// <param name="agv"></param>
public override Job Execute(Agv_Info agv)
{
string msg = agv.Name + " ";
bool rtn = false;
agv.Msg = runInfo;
int nodeIdx = Common.FindNode(EmptyShelfPlace);
//if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
// CurTaskState = st;
if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.NONE))
{
if (agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.D4_Name_Prefix))//4C->4D
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR);
runInfo = "去空料架产线" + EmptyShelfPlace + "，先前往4D门[" + agvPlae + "->" + EmptyShelfPlace + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if ((agvPlae.StartsWith(SettingString.D4_Name_Prefix) || agvPlae.StartsWith("A") || agvPlae.Equals(SettingString.Standby) || agvPlae.Equals(SettingString.AutoCharge))
&& EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))//4D->4C
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4C_DOOR);
runInfo= "去空料架产线" + EmptyShelfPlace + "，先前往4C门[" + agvPlae + "->" + EmptyShelfPlace + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorDToC);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if(agvPlae.StartsWith(SettingString.C4_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.C4_Name_Prefix))
{
if(Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.MoveTo4CStandy(agv);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
}
}
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo= "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4C_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.DoorDToC, CurTaskState))
{
if (Common.Check4CTarget(agv, EmptyShelfPlace))//被占用
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.MoveTo4CStandy(agv);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
}
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.C4_STANDBY1, CurTaskState) || Common.CheckTaskFinished(agv, SettingString.C4_STANDBY2, CurTaskState))
{
if (!Common.Check4CTarget(agv, EmptyShelfPlace))//未占用
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.DeleteStandyInfo(agv);
}
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK))
{
if (nodeIdx > -1)
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TASK);
runInfo= "AGV 添加任务：移动到" + EmptyShelfPlace;
msg += runInfo;
TakeEmptyStep.Msg = msg;
Common.MoveToNode(agv, EmptyShelfPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo= EmptyShelfPlace + " 不存在或未开启调用";
msg += runInfo;
TakeEmptyStep.Msg = msg;
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TASK))
{
if (agv.CurTaskState.Equals(SettingString.Executing))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE);
runInfo= "AGV开始向目的地[" + EmptyShelfPlace + "]移动";
msg += runInfo;
TakeEmptyStep.Msg = msg;
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, EmptyShelfPlace, CurTaskState))
{
if (EmptyShelfPlace.Equals(SettingString.C4FeederOut))
{
runInfo = "AGV到达 " + EmptyShelfPlace;
msg += runInfo;
TakeEmptyStep.Msg = msg;
return new EnterLeaveShelfJob(EmptyShelfPlace, eEnterLeaveType.Enter);
}
else
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE);
runInfo= "AGV到达 " + EmptyShelfPlace + " 向产线发送出料架请求[ReadyLeave]";
msg += runInfo;
TakeEmptyStep.Msg = msg;
if (nodeIdx == -1)
{
runInfo = EmptyShelfPlace + " 未开启调用";
msg += runInfo;
TakeEmptyStep.Msg = msg;
return this;
}
ClientNode node = Common.nodeInfo[nodeIdx];
agv.RFID = node.RFID;
Common.server.ReadyLeave(EmptyShelfPlace);
}
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE))
{
if(nodeIdx==-1)
{
runInfo= EmptyShelfPlace + " 未开启调用";
msg += runInfo;
TakeEmptyStep.Msg = msg;
return this;
}
ClientNode node = Common.nodeInfo[nodeIdx];
agv.RFID = node.RFID;
if (node.StateEquals(eNodeStatus.MayLeave))
{
if (!agv.CurTaskName.Equals("Enter"))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF);
runInfo = "收到产线出料请求[ReadyLeave]的响应 " + EmptyShelfPlace + "出料架，小车链条运行";
msg += runInfo;
TakeEmptyStep.Msg = msg;
//agv.RFID = node.RFID;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (TakeEmptyStep.IsTimeOut(15000, out double timeOutValue))
{
TakeEmptyStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE);
//runInfo = "AGV到达 " + EmptyShelfPlace + "，15秒后重新向产线发送出料架请求[ReadyLeave]";
//msg += runInfo;
//TakeEmptyStep.Msg = msg;
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckEnterOrLeaveFinished(agv, "Enter", CurTaskState))
{
ClientNode node = Common.nodeInfo[nodeIdx];
node.AgvName = "";
//回收空料架数量减少1
Common.DelEmptyShelfTask(EmptyShelfPlace);
runInfo= "空料架在[" + EmptyShelfPlace + "]进入小车完成";
msg += runInfo;
TakeEmptyStep.Msg = msg;
//4DfeederOut默认大料架
if (agv.Place.Equals(SettingString.D4FeederOut))
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
else if (agv.RFID.StartsWith("D"))
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.SmallShelf);
else if (agv.RFID.StartsWith("C"))
{
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
}
else
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.SmallShelf);
}
else if (TakeEmptyStep.IsTimeOut(60000, out double timeOutValue))
{
//链条停止
runInfo = "空料架在[" + EmptyShelfPlace + "]进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况";
// msg += runInfo;
//TakeEmptyStep.Msg = msg;
}
}
else if (TakeEmptyStep.IsStep(TAKE_EMPTY_STEP.END))
{
}
return this;
}
/// <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>
/// 等待到达4C门
/// </summary>
WAIT_AGV_REACH_4C_DOOR,
/// <summary>
/// 等待到达4D门
/// </summary>
WAIT_AGV_REACH_4D_DOOR,
/// <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AGV到达临时停车位
/// </summary>
WAIT_REACH_TEMP_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>
/// 料架进入小车完成
/// </summary>
END
}
}
}