EmptyAGVBackJob.cs
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using AGVControl;
using System;
using System.Collections.Generic;
using System.Linq;
using System.ServiceModel.PeerResolvers;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace AGVControl
{
/// <summary>
/// 空车返回待机位任务
/// </summary>
public class EmptyAGVBackJob : Job
{
/// <summary>
/// 出完满料后-空车返回任务
/// </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 EmptyAGVBackJob(string agvPlae)
{
this.agvPlace = agvPlae;
}
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlace { get; set; }
/// <summary>
/// 运行信息
/// </summary>
public string RunInfo { get; set; }
/// <summary>
/// 到达待机位
/// </summary>
public override bool IsEnd { get { return EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.END); } }
private JobStep<EMPTY_AGV_BACK_STEP> EmptyAGVBackStep = new JobStep<EMPTY_AGV_BACK_STEP>(EMPTY_AGV_BACK_STEP.NONE);
/// <summary>
/// 空车返回执行
/// </summary>
/// <param name="agv"></param>
public override Job Execute(Agv_Info agv)
{
string msg = "";
bool rtn = false;
if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.NONE))
{
if(Common.FindEmptyShelfNode(agv,out string nodeName))
{
//EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.END);
msg = "小车在产线"+agvPlace+"准备返回时检测到"+nodeName+"有空料架";
EmptyAGVBackStep.Msg = msg;
return new GoEmptyShelfLineJob(agvPlace,nodeName);
}
else
{
if(agvPlace.StartsWith("G"))
{
EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR);
msg = "从产线" + agvPlace + "回到待机位，先到4D门";
EmptyAGVBackStep.Msg = msg;
Common.DoorMission(agv, SettingString.MoveDoorCToD);
}
else
{
EmptyAGVBackStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY);
msg = "从产线" + agvPlace + "回到待机位";
EmptyAGVBackStep.Msg = msg;
Common.MoveToNode(agv, SettingString.MoveStandby);
}
}
}
else if (EmptyAGVBackStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_4D_DOOR))
{
if(agv.Place.Equals(SettingString.D4_DOOR_Name)&& agv.PlaceState.Equals(ePlaceState.MoveFinish))
{
if(Common.FindFullShelfTask(agv))
{
msg = "从产线" + agvPlace + "到达4D门，检测到A6出满料，去A6";
EmptyAGVBackStep.Msg = msg;
return new GoFullShelfStationJob(SettingString.D4_DOOR_Name);
}
else
{
msg = "从产线" + agvPlace + "到达4D门，暂无任务，去充电位";
EmptyAGVBackStep.Msg = msg;
return new ChargeJob(SettingString.D4_DOOR_Name);
}
}
}
RunInfo = EmptyAGVBackStep.Msg;
return this;
}
/// <summary>
/// AGV回收空料架流程
/// </summary>
private enum EMPTY_AGV_BACK_STEP
{
/// <summary>
/// 查询任务
/// </summary>
NONE,
/// <summary>
/// 等待到达4D门
/// </summary>
WAIT_AGV_REACH_4D_DOOR,
/// <summary>
/// 等待AGV到达待机位
/// </summary>
WAIT_REACH_STANDBY,
/// <summary>
///
/// </summary>
END
}
}
}