EmptyShelfBackJob.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.Web.ModelBinding;
using System.Windows.Forms;
namespace AGVControl
{
public enum eShelfType
{
BigShelf,
SmallShelf
}
/// <summary>
/// 载空料架返回任务,A5,A6需要则直接去，否则在待机位等待
/// </summary>
public class EmptyShelfBackJob : Job
{
/// <summary>
/// 载空料架返回任务
/// </summary>
/// <param name="lineName">产线的节点名称</param>
public EmptyShelfBackJob(string lineName,eShelfType shelfType)
{
EmptyShelfPlace = lineName;
this.shelfType = shelfType;
}
/// <summary>
/// 空料架的产线位置
/// </summary>
private string EmptyShelfPlace { get; set; }
/// <summary>
/// 空料架目的地
/// </summary>
private string EmptyShelfTargetPlace { get; set; }
/// <summary>
/// 运行信息
/// </summary>
public string RunInfo { get; set; }
private eShelfType shelfType;
public override bool IsEnd { get {return EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.END); } }
private JobStep<EMPTY_SHELF_BACK_STEP> EmptyBackStep = new JobStep<EMPTY_SHELF_BACK_STEP>(EMPTY_SHELF_BACK_STEP.NONE);
/// <summary>
/// 空架任务执行
/// </summary>
/// <param name="agv"></param>
public override Job Execute(Agv_Info agv)
{
string msg = "";
bool rtn = false;
if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.NONE))
{
Common.DelEmptyShelfTask(EmptyShelfPlace);
if (EmptyShelfPlace.StartsWith("G"))//4车间
{
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR);
msg = "空料架从产线"+ EmptyShelfPlace + "前往4D门";
EmptyBackStep.Msg = msg;
Common.DoorMission(agv, SettingString.MoveDoorCToD);
}
else
{
if (Common.CheckA5A6State(agv,shelfType, out string nodeName))
{
EmptyShelfTargetPlace = nodeName;
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
msg = "空料架从产线 [" + EmptyShelfTargetPlace + "] 送往双层线";
EmptyBackStep.Msg = msg;
}
else
{
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
msg = "双层线暂不需要空料架，从产线[" + EmptyShelfTargetPlace + "]到待机位";
EmptyBackStep.Msg = msg;
Common.MoveToNode(agv, SettingString.MoveStandby);
}
}
}
else if(EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_DOOR))
{
if(agv.Place.Equals(SettingString.D4_DOOR_Name) && agv.PlaceState.Equals(ePlaceState.MoveFinish))
{
if (Common.CheckA5A6State(agv, shelfType, out string nodeName))
{
EmptyShelfTargetPlace = nodeName;
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
msg = "空料架从产线 [" + EmptyShelfTargetPlace + "] 送往双层线";
EmptyBackStep.Msg = msg;
}
else
{
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
msg = "双层线暂不需要空料架，从产线[" + EmptyShelfTargetPlace + "]到待机位";
EmptyBackStep.Msg = msg;
Common.MoveToNode(agv, SettingString.MoveStandby);
}
}
}
else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY))
{
if (Common.CheckA5A6State(agv, shelfType, out string nodeName))
{
EmptyShelfTargetPlace = nodeName;
EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
msg = "待机位检测到双层线需要料架,送往双层线 "+EmptyShelfTargetPlace;
EmptyBackStep.Msg = msg;
}
}
else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6))
{
if(agv.Place.Equals(EmptyShelfTargetPlace) && agv.PlaceState.Equals(ePlaceState.MoveFinish))
{
msg = "AGV到达 " + EmptyShelfTargetPlace;
EmptyBackStep.Msg = msg;
return new EnterLeaveShelfJob(EmptyShelfTargetPlace,eEnterLeaveType.Leave,shelfType);
//EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_DOUBLE_LINE_RESPONSE);
//msg = "AGV到达 " + EmptyShelfTargetPlace + "，并发送入料架请求[ReadyEnter]";
//EmptyBackStep.Msg = msg;
//Common.server.ReadyEnter(EmptyShelfTargetPlace);
}
}
//else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_DOUBLE_LINE_RESPONSE))
//{
// int id = Common.FindNode(EmptyShelfTargetPlace);
// ClientNode node = Common.nodeInfo[id];
// if (node.StateEquals(eNodeStatus.MayEnter))
// {
// EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_DOUBLE_LINE);
// 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";
// EmptyBackStep.Msg = msg;
// rtn = Common.mir.Add_Mission_Fleet(agv, Common.agvMission["Leave"]);
// agv.TaskSend = rtn ? "Leave" : "";
// }
// else if (EmptyBackStep.IsTimeOut(15000, out double timeOutValue))
// {
// EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_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]";
// EmptyBackStep.Msg = msg;
// }
//}
//else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_DOUBLE_LINE))
//{
// if (agv.Place.Equals(EmptyShelfTargetPlace) && agv.PlaceState.Equals(ePlaceState.LeaveFinish))
// {
// EmptyBackStep.ToNextStep(EMPTY_SHELF_BACK_STEP.END);
// msg = "空料架进入" + EmptyShelfTargetPlace + "完成";
// EmptyBackStep.Msg = msg;
// }
// else if (EmptyBackStep.IsTimeOut(60000, out double timeOutValue))
// {
// //链条停止
// msg = "空料架在[" + EmptyShelfTargetPlace + "]离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
// EmptyBackStep.Msg = msg;
// }
//}
//else if (EmptyBackStep.IsStep(EMPTY_SHELF_BACK_STEP.END))
//{
//}
RunInfo = EmptyBackStep.Msg;
return this;
}
/// <summary>
/// AGV载空料架回收流程
/// </summary>
private enum EMPTY_SHELF_BACK_STEP
{
/// <summary>
/// 料架已进入小车，寻找目的地
/// </summary>
NONE,
/// <summary>
/// 等待AGV到达门
/// </summary>
WAIT_AGV_REACH_DOOR,
/// <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到达待机位
/// </summary>
WAIT_AGV_REACH_STANDBY,
/// <summary>
/// 送上双层线
/// </summary>
END
}
}
}