MissionJob.cs
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/*
* 这是一个子job，只运行一个小车任务，需要其他job来调用
*
*/
using System;
using Model;
namespace BLL
{
public class MissionJob : IJob
{
private string _id;
private string _mission;
private AgvInfo _info;
private int _times; //发送次数
private DateTime _getTime; //用于调用API的间隔时间
private JobStep<MissionStep> missionStep;
public MissionJob(string mission)
{
_times = 0;
_mission = mission;
IsEnd = false;
missionStep = new JobStep<MissionStep>(MissionStep.Send);
Common.log.Debug(string.Format("加载MissionJob[{0}]", _mission));
}
public bool IsEnd { get; private set; }
public string Msg
{
get
{
return missionStep.Msg;
}
}
public IJob Execute(AgvInfo info)
{
_info = info;
if (missionStep.Equals(MissionStep.Send))
Send();
else if (missionStep.Equals(MissionStep.Working))
Working();
else if (missionStep.Equals(MissionStep.Error))
Error();
else if (missionStep.Equals(MissionStep.End))
IsEnd = true;
return this;
}
private void Send()
{
bool rtn;
string log;
_info.MissionName = _mission;
if (Common.FleetSend)
rtn = Common.mir.Add_Mission_Fleet(_info.FleetID, _info.Authorization, _mission, out _id);
else
rtn = Common.mir.Add_Mission(_info.IP, _info.Authorization, _mission, out _id);
if (rtn)
{
_times = 0;
_info.TaskName = _mission;
log = string.Format("MissionJob To:{0},[{1}]发送成功", _info.Name, _mission);
Common.log.Info(log);
_getTime = DateTime.Now;
missionStep.NextStep(MissionStep.Working);
}
else
{
_times++;
log = string.Format("MissionJob To:{0},[{1}]发送失败{2}次", _info.Name, _mission, _times);
Common.log.Warn(log);
}
}
private void Working()
{
//TimeSpan span = DateTime.Now - _getTime;
//if (span.TotalMilliseconds >= 5000)
//{
bool rtn;
string state;
string log;
if (Common.FleetSend)
rtn = Common.mir.Get_MissionState_Fleet(_info.Authorization, _id, out state);
else
rtn = Common.mir.Get_MissionState(_info.IP, _info.Authorization, _id, out state);
if (rtn)
{
log = string.Format("MissionJob To:{0},[{1}]任务状态{2}", _info.Name, _mission, state);
if (state == MissionState.Done.ToString())
{
missionStep.NextStep(MissionStep.End);
Common.log.Info(log);
}
else if (state == MissionState.Aborted.ToString())
{
missionStep.NextStep(MissionStep.Error);
Common.log.Warn(log);
}
else if (state == MissionState.Executing.ToString())
{
_getTime = DateTime.Now;
Common.log.Debug(log);
}
else if (state == MissionState.Pending.ToString())
{
_getTime = DateTime.Now;
Common.log.Debug(log);
}
}
else
{
log = string.Format("MissionJob To:{0},[{1}]获取状态失败", _info.Name, _mission);
Common.log.Warn(log);
}
//}
}
private void Error()
{
Common.log.Info(string.Format("MissionJob To:{0},[{1}]重新发送", _info.Name, _mission));
Common.mir.Clear_Error(_info.IP, _info.Authorization);
System.Threading.Thread.Sleep(200);
Common.mir.Del_Mission(_info.IP, _info.Authorization);
missionStep.NextStep(MissionStep.Send);
////顶升机构上升PLC8=1，顶升机构下降PLC7=1
//bool rtn = Common.mir.Get_Register(_info.IP, _info.Authorization, 8, out int reg8);
//System.Threading.Thread.Sleep(200);
//rtn = Common.mir.Get_Register(_info.IP, _info.Authorization, 7, out int reg7);
//Common.log.Info(string.Format("顶升机构，上升PLC8={0}，下降PLC7={1}，ExistShelf={2}", reg8, reg7, _info.ExistShelf));
//if (_info.ExistShelf == 1 && reg8 == 1)
//{
// //机构上升，说明架子已经在小车上，即使任务后面报错，不应该重新发送任务拉取架子
// Common.log.Info(_info.Name + ", " + _mission + ", 虽然任务报错，但货架已经在小车身上，继续后面步骤");
// missionStep.NextStep(MissionStep.End);
//}
//else if (_info.ExistShelf == 0 && reg7 == 1)
//{
// //机构下降，说明架子已经离开小车，即使任务后面报错，不应该重新发送任务释放架子
// Common.log.Info(_info.Name + ", " + _mission + ", 虽然任务报错，但货架已经离开小车，继续后面步骤");
// missionStep.NextStep(MissionStep.End);
//}
//else
//{
// System.Threading.Thread.Sleep(100);
// Common.log.Info(string.Format("MissionJob To:{0},[{1}]重新发送", _info.Name, _mission));
// Common.mir.Clear_Error(_info.IP, _info.Authorization);
// System.Threading.Thread.Sleep(200);
// Common.mir.Del_Mission(_info.IP, _info.Authorization);
// missionStep.NextStep(MissionStep.Send);
//}
}
private enum MissionStep
{
Send,
Working,
Error,
End
}
private enum MissionState
{
/// <summary>
/// 异常
/// </summary>
Aborted,
/// <summary>
/// 正在执行
/// </summary>
Executing,
/// <summary>
/// 未发送（fleet收到任务，还未分配给小车）
/// </summary>
Pending,
/// <summary>
/// 完成
/// </summary>
Done
}
}
}