FullShelfJob.cs
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using System;
using Model;
namespace BLL
{
public class FullShelfJob : IJob
{
private AgvInfo _info;
private MissionJob move;
private string mission;
private DateTime getTime;
private string key;
//private bool recycleFirst;
private JobStep<FullShelfStep> fullShelfStep;
public FullShelfJob()
{
IsEnd = false;
fullShelfStep = new JobStep<FullShelfStep>(FullShelfStep.None);
Common.log.Debug("加载FullShelfJob");
}
public bool IsEnd { get; private set; }
public IJob Execute(AgvInfo info)
{
_info = info;
if (fullShelfStep.Equals(FullShelfStep.None))
{
if (ManageWork.PauseFull)
EnterElevatorSideShelf();
else
FindLine();
}
else if (fullShelfStep.Equals(FullShelfStep.MoveLine))
{
MoveLine();
}
else if (fullShelfStep.Equals(FullShelfStep.MoveElevator))
{
MoveElevator();
}
else if (fullShelfStep.Equals(FullShelfStep.SendUseAsk))
{
ManageWork.SendElevatorUseAsk();
fullShelfStep.NextStep(FullShelfStep.UseAnswer);
fullShelfStep.Msg = string.Format("{0} 发送电梯使用请求", _info.Name);
}
else if (fullShelfStep.Equals(FullShelfStep.UseAnswer))
{
if (ManageWork.ElevatorUseAnswer())
{
ManageWork.PauseFull = false;
fullShelfStep.NextStep(FullShelfStep.CallElevator);
fullShelfStep.Msg = string.Format("{0} 电梯可以使用", _info.Name);
}
else if (ManageWork.FindElevatorWork())
{
//送满架子时，同时要回收空架子
ManageWork.PauseFull = true;
mission = Common.MISSION_LEAVE_SHELF;
move = new MissionJob(mission);
move.Execute(_info);
fullShelfStep.NextStep(FullShelfStep.LeaveShelf);
fullShelfStep.Msg = string.Format("{0} 暂停送满货架，优先拉空货架", _info.Name);
}
else
{
Common.log.Debug(string.Format("{0} 电梯还未应答使用请求", _info.Name));
}
}
else if (fullShelfStep.Equals(FullShelfStep.CallElevator))
{
ManageWork.ElevatorCall(true);
getTime = DateTime.Now;
fullShelfStep.NextStep(FullShelfStep.CancelCallElevator);
fullShelfStep.Msg = string.Format("{0} 发送电梯呼叫", _info.Name);
}
else if (fullShelfStep.Equals(FullShelfStep.CancelCallElevator))
{
TimeSpan ts = DateTime.Now - getTime;
if (ts.Seconds >= 3)
{
//呼叫信号不能长时间保持，3s-5s即可。
ManageWork.ElevatorCall(false);
fullShelfStep.Msg = string.Format("{0} 满3s以上取消呼叫保持", _info.Name);
fullShelfStep.NextStep(FullShelfStep.OpenDoorAnswer);
}
}
else if (fullShelfStep.Equals(FullShelfStep.OpenDoorAnswer))
{
if (ManageWork.ElevatorReady())
{
fullShelfStep.Msg = string.Format("{0} 电梯已开门", _info.Name);
fullShelfStep.NextStep(FullShelfStep.EnterInto);
}
else
{
Common.log.Debug(string.Format("{0} 电梯还未开门", _info.Name));
}
}
else if (fullShelfStep.Equals(FullShelfStep.EnterInto))
{
_info.Place = "送满架进电梯";
EnterInto();
}
else if (fullShelfStep.Equals(FullShelfStep.Leave))
{
move.Execute(_info);
if (move.IsEnd)
{
_info.Place = "电梯门外";
ManageWork.ElevatorFullShelf();
getTime = DateTime.Now;
fullShelfStep.Msg = string.Format("{0} 发送满料信号", _info.Name);
fullShelfStep.NextStep(FullShelfStep.EndTask);
}
}
else if (fullShelfStep.Equals(FullShelfStep.EndTask))
{
TimeSpan ts = DateTime.Now - getTime;
if (ts.Seconds >= 3)
{
//离开信号保持几秒后，取消所有信号
ManageWork.ElevatorEnd();
ManageWork.FirstFloorAdd();
fullShelfStep.Msg = string.Format("{0} 送满料任务结束，当前一楼货架数量{1}个", _info.Name, Common.FirstFloorCurr);
fullShelfStep.NextStep(FullShelfStep.End);
}
}
else if (fullShelfStep.Equals(FullShelfStep.LeaveShelf))
{
move.Execute(_info);
if (move.IsEnd)
{
fullShelfStep.NextStep(FullShelfStep.End);
fullShelfStep.Msg = string.Format("{0} 退出货架，[{1}]", _info.Name, mission);
}
}
else if (fullShelfStep.Equals(FullShelfStep.End))
{
IsEnd = true;
if (ManageWork.PauseFull)
{
return new RecycleJob();
}
else
{
IJob job = ManageWork.GetJob();
if (job == null)
return new StandbyJob();
else
return job;
}
}
return this;
}
private void FindLine()
{
bool rtn = ManageWork.FindLineWork(out string key, out string name);
if (rtn)
{
_info.Place = name;
this.key = key;
mission = Common.MISSION_CARRY_FULL + key;
move = new MissionJob(mission);
move.Execute(_info);
fullShelfStep.NextStep(FullShelfStep.MoveLine);
fullShelfStep.Msg = string.Format("{0} 送满货架任务，去{1}，[{2}]", _info.Name, name, mission);
}
else
{
fullShelfStep.NextStep(FullShelfStep.End);
fullShelfStep.Msg = string.Format("{0} 没有找到产线呼叫，或产线没有货架", _info.Name);
}
}
private void MoveLine()
{
move.Execute(_info);
if (move.IsEnd)
{
ManageWork.LineTakeAway(key);
_info.Place = "去电梯";
mission = Common.MISSION_MOVE_ELEVATOR;
move = new MissionJob(mission);
move.Execute(_info);
fullShelfStep.NextStep(FullShelfStep.MoveElevator);
fullShelfStep.Msg = string.Format("{0} 送满货架任务，去电梯，[{1}]", _info.Name, mission);
}
}
private void EnterElevatorSideShelf()
{
_info.Place = "进入电梯旁货架";
mission = Common.MISSION_CARRY_ELEVATOR;
move = new MissionJob(mission);
move.Execute(_info);
fullShelfStep.NextStep(FullShelfStep.MoveElevator);
fullShelfStep.Msg = string.Format("{0} 送满货架任务，去电梯，[{1}]", _info.Name, mission);
}
private void MoveElevator()
{
move.Execute(_info);
if (move.IsEnd)
{
ManageWork.PauseFull = false;
_info.Place = "电梯等待位";
fullShelfStep.NextStep(FullShelfStep.SendUseAsk);
fullShelfStep.Msg = string.Format("{0} 到达电梯等待位", _info.Name);
}
}
private void EnterInto()
{
mission = Common.MISSION_ENTER_ELEVATOR_FULL;
move = new MissionJob(mission);
move.Execute(_info);
fullShelfStep.Msg = string.Format("{0} 送满货架进电梯，[{1}]", _info.Name, mission);
fullShelfStep.NextStep(FullShelfStep.Leave);
}
private enum FullShelfStep
{
None,
End,
MoveLine,
MoveElevator,
SendUseAsk,
UseAnswer,
CallElevator,
CancelCallElevator,
OpenDoorAnswer,
EnterInto,
Leave,
LeaveShelf,
EndTask
}
}
}