GoFullShelfStationJob.cs
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using AGVControl;
using BLL;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace AGVControl
{
/// <summary>
/// 检查AGV是否有负载,去A6入料口并装车
/// </summary>
public class GoFullShelfStationJob : Job
{
/// <summary>
/// 去A6入料口任务并检查AGV是否有负载
/// </summary>
/// <param name="agvCurPlace">接到任务时，AGV的位置(空表示待机位)</param>
/// <param name="palce"></param>
public GoFullShelfStationJob(string agvCurPlace = "", string palce = "A6")
{
FullShelfStationPlace = palce;
agvPlace = agvCurPlace;
}
/// <summary>
/// 出满料位置点
/// </summary>
public string FullShelfStationPlace { get; set; }
/// <summary>
/// 接到任务时，AGV的位置
/// </summary>
public string agvPlace { get; set; }
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return runInfo; }
}
/// <summary>
/// AGV上是否有负载
/// </summary>
public bool IsLoadOnAGV { get; private set; } = false;
public AGVManager.BoxDestInfo FullShelfDestInfo = null;
private JobStep<GO_FULL_SHELF_STATION_STEP> GoFullShelfStationStep = new JobStep<GO_FULL_SHELF_STATION_STEP>(GO_FULL_SHELF_STATION_STEP.NONE);
public override Job Execute(Agv_Info agv)
{
string msg = agv.Name + " ";
bool rtn = false;
agv.Msg = "去云仓接满料任务："+runInfo;
//runInfo = "去云仓接满料任务：";
//if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
// CurTaskState = st;
if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.NONE))
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_CHECK_RESULT);
runInfo = "检查AGV负载情况";
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.CheckLoad(agv);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_CHECK_RESULT))
{
//Common.log.Debug("WAIT_CHECK_RESULT " + Common.agvMission["CheckShelf"].Equals(agv.CurTaskGUID).ToString() + " " + agv.CurTaskGUID + " " + Common.agvMission["CheckShelf"]);
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.agvMission["CheckShelf"].Equals(agv.CurTaskGUID) && agv.CurTaskState.Equals(SettingString.Done))
{
rtn = Common.mir.Get_IO_Status(agv, out bool[] input, out bool[] output);
if (rtn)
{
Common.log.Debug("WAIT_CHECK_RESULT: " + agv.Name + " 获取IO状态成功:满载信号=" + input[3].ToString());
if (input != null && input[3])
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END);
runInfo = "车上有料架，无法去入料口出料";
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
agv.IsExistShelf = true;
IsLoadOnAGV = true;
}
else if (input != null && !input[3])
{
if (agvPlace.Equals("") || agvPlace.Equals(SettingString.Standby) || agvPlace.StartsWith(SettingString.AutoCharge))//待机位/充电位接到任务
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
runInfo = "无负载，准备运动到入料口" + FullShelfStationPlace;
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.MoveToNode(agv, FullShelfStationPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (Common.CheckIsInAirDoor(agvPlace))
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_AIR_DOOR);
runInfo = "在4C风淋门内，先过风淋门";
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorAirOut);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))//4C车间
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR);
runInfo = "在4C车间，向4D门运行,再到双层线入料口";
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
runInfo = "无负载，准备运动到入料口" + FullShelfStationPlace;
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.MoveToNode(agv, FullShelfStationPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
}
else
{
Common.LogInfo("WAIT_CHECK_RESULT: 获取IO状态失败，使用小车IO信号");
if (!agv.IsExistShelf)
{
if (agvPlace.Equals(""))//待机位接到任务
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
runInfo = "无负载，准备运动到入料口" + FullShelfStationPlace;
msg = runInfo;
GoFullShelfStationStep.Msg = msg;
Common.MoveToNode(agv, FullShelfStationPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if(Common.CheckIsInAirDoor(agvPlace))
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_AIR_DOOR);
runInfo = "在4C风淋门内，先过风淋门";
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorAirOut);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))//4C车间
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR);
runInfo = "在4C车间，向4D门运行,再到双层线入料口";
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
}
}
}
else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_AIR_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR);
runInfo = "过风淋门，向4D门运行，再到双层线入料口" + FullShelfStationPlace;
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.MoveToNode(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
runInfo = "到达4D门，准备运动到双层线入料口" + FullShelfStationPlace;
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.MoveToNode(agv, FullShelfStationPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, FullShelfStationPlace, CurTaskState))
{
ClientNode node = Common.nodeInfo.Find(s => s.Name.Equals(SettingString.A6)
&& (s.StateEquals(eNodeStatus.NeedLeave) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && !s.RFID.Equals("00"));
if (node != null && node.Name.Equals(SettingString.A6))
{
if (AGVManager.FindFullShelfTarget(node.RFID, out FullShelfDestInfo))
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_DOUBLE_LINE_RESPONSE);
if (FullShelfDestInfo!=null)
{
Common.GetLineNameByNodeName(FullShelfDestInfo.location,out string line);
agv.BoxDestInfo = FullShelfDestInfo.ShowInfo(line);
}
runInfo = "AGV到达 " + FullShelfStationPlace + "，并发送出料架请求[ReadyLeave]";
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.server.ReadyLeave(FullShelfStationPlace);
}
else
{
if (FullShelfDestInfo !=null)
{
Common.GetLineNameByNodeName(FullShelfDestInfo.location, out string line);
runInfo = "AGV到达 " + FullShelfStationPlace + "，查询满料架目的地:" + FullShelfDestInfo.ShowInfo(line);
msg += runInfo; ;
GoFullShelfStationStep.Msg = msg;
}
else
{
//[{"msg":"0料车已解绑或未发新料"}]
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_REACH_STANDBY);
runInfo = "从产线" + agvPlace + "回到待机位";
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
Common.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
}
}
//else if (GoFullShelfStationStep.IsTimeOut(30000, out double timeOutValue) && !agv.TaskSend.Equals(SettingString.Move + SettingString.A6)
// && !agv.CurTaskName.Equals(SettingString.Move+SettingString.A6))
//{
// Common.MoveToNode(agv, FullShelfStationPlace);
//}
}
else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_REACH_STANDBY))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckTaskFinished(agv, SettingString.Standby, CurTaskState))
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END);
runInfo = "到达待机位";
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
}
}
else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_DOUBLE_LINE_RESPONSE))
{
int id = Common.FindNode(FullShelfStationPlace);
if (id == -1)
{
runInfo = "未找到节点：" + FullShelfStationPlace;
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
return this;
}
ClientNode node = Common.nodeInfo[id];
if (node.StateEquals(eNodeStatus.MayLeave))
{
if (!agv.CurTaskName.Equals("Enter"))
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT__FULL_SHELF_IN_AGV);
runInfo = "收到双层线出料架请求[ReadyLeave]的响应 " + FullShelfStationPlace + "出料架，小车链条运行";
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Enter"]);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (GoFullShelfStationStep.IsTimeOut(15000, out double timeOutValue))
{
GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
//runInfo = "AGV到达 " + FullShelfStationPlace + "，15秒后重新向双层线发送出料架请求[ReadyLeave]";
//msg += runInfo;
//GoFullShelfStationStep.Msg = msg;
}
}
else if (GoFullShelfStationStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT__FULL_SHELF_IN_AGV))
{
CurTaskState = Common.GetTakJobState(CurTaskID);
if (Common.CheckEnterOrLeaveFinished(agv, "Enter", CurTaskState))
{
//GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END);
runInfo = FullShelfStationPlace + "满料架进入小车完成";
msg += runInfo;
GoFullShelfStationStep.Msg = msg;
return new SendFullShelfToLineJob(FullShelfDestInfo);
}
else if (GoFullShelfStationStep.IsTimeOut(60000, out double timeOutValue))
{
//链条停止
runInfo = "满料架在[" + FullShelfStationPlace + "]进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况";
//msg +=runInfo;
//GoFullShelfStationStep.Msg = msg;
}
}
return this;
}
}
/// <summary>
/// 出满料步骤
/// </summary>
public enum GO_FULL_SHELF_STATION_STEP
{
/// <summary>
/// 负载检查
/// </summary>
NONE,
/// <summary>
/// 负载检查结果
/// </summary>
WAIT_CHECK_RESULT,
/// <summary>
/// 等待到达4C风淋门
/// </summary>
WAIT_AGV_REACH_AIR_DOOR,
/// <summary>
/// 等待AGV到达门
/// </summary>
WAIT_AGV_REACH_DOOR,
/// <summary>
/// 等待到达A6
/// </summary>
WAIT_AGV_REACH_A6,
/// <summary>
/// 等待双层线回应
/// </summary>
WAIT_DOUBLE_LINE_RESPONSE,
/// <summary>
/// 等待料架进入小车
/// </summary>
WAIT__FULL_SHELF_IN_AGV,
/// <summary>
/// 等待AGV到达待机位
/// </summary>
WAIT_REACH_STANDBY,
/// <summary>
/// 送上双层线
/// </summary>
END
}
}