ChargeJob.cs
4.1 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
using System;
using Model;
namespace BLL
{
public class ChargeJob : IJob
{
private AgvInfo _info;
private MoveJob move;
private string mission;
private JobStep<ChargeStep> chargeStep;
//private int currBattery;
private const int CHARGE_PLC = 20;
public ChargeJob()
{
chargeStep = new JobStep<ChargeStep>(ChargeStep.None);
Common.log.Debug("加载ChargeJob");
}
public bool IsEnd { get; private set; }
public string Msg
{
get
{
return chargeStep.Msg;
}
}
public IJob Execute(AgvInfo info)
{
_info = info;
if (chargeStep.Equals(ChargeStep.None))
{
_info.From = "";
_info.Place = "";
//currBattery = _info.Battery;
if (_info.IsWorkspace())
MoveCharge();
else
PassDoor();
}
else if (chargeStep.Equals(ChargeStep.PassDoor))
{
move.Execute(_info);
if(move.IsEnd)
MoveCharge();
}
else if (chargeStep.Equals(ChargeStep.MoveStation))
{
move.Execute(_info);
MoveStation();
}
else if (chargeStep.Equals(ChargeStep.Charging))
{
Common.log.Debug(_info.Name + " 当前电量" + _info.Battery);
move.Execute(_info);
if (_info.Battery == _info.BatteryMax)
{
chargeStep.Msg = _info.Name + " 电量达到" + _info.BatteryMax;
chargeStep.NextStep(ChargeStep.End);
}
else if (_info.Battery > _info.BatteryMin)
{
IJob job = SteelManage.GetSteelJob(_info);
if (job != null)
{
Common.mir.Del_Mission(_info.IP, _info.Authorization);
return job;
}
}
}
else if (chargeStep.Equals(ChargeStep.End))
{
_info.Place = "充电结束";
Common.mir.Del_Mission(_info.IP, _info.Authorization);
chargeStep.Msg = _info.Name + " 充电工作结束，回待机位";
return new StandbyJob();
}
return this;
}
private void MoveCharge()
{
mission = Common.MISSION_CHARGE + _info.Workshop;
_info.Place = "去充电位";
move = new MoveJob(mission);
move.Execute(_info);
chargeStep.NextStep(ChargeStep.MoveStation);
chargeStep.Msg = _info.Name + " 发送充电任务 " + mission;
}
private void PassDoor()
{
mission = Common.MISSION_PASS_DOOR_INTO + _info.Workshop;
_info.Place = string.Format("去{0}车间", _info.Workshop);
move = new MoveJob(mission);
move.Execute(_info);
chargeStep.NextStep(ChargeStep.PassDoor);
chargeStep.Msg = _info.Name + " 发送过车间门任务 " + mission;
}
private void MoveStation()
{
//if (_info.Battery > currBattery)
//{
// chargeStep.Msg = _info.Name + " 到达充电位，准备充电";
// chargeStep.NextStep(ChargeStep.Charging);
//}
bool rtn = Common.mir.Get_Register(_info.IP, _info.Authorization, CHARGE_PLC, out int value);
if (rtn)
{
if (value == 1)
{
_info.Place = "充电中";
chargeStep.Msg = _info.Name + " 到达充电位，准备充电";
chargeStep.NextStep(ChargeStep.Charging);
}
}
}
private enum ChargeStep
{
None,
End,
PassDoor,
MoveStation,
Charging
}
}
}