ChargeJob.cs
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using System;
using AGVControl_Steel;
namespace Model
{
/// <summary>
/// 充电工作
/// </summary>
public class ChargeJob : Job
{
private string id;
private JobStep<ChargeStep> chargeStep;
private const int CHARGE_PLACE_PLC = 20;
/// <summary>
/// 充电工作
/// </summary>
public ChargeJob()
{
chargeStep = new JobStep<ChargeStep>(ChargeStep.None);
Common.log.Debug("进入ChargeJob任务");
}
/// <summary>
/// 任务执行
/// </summary>
/// <param name="info"></param>
public override Job Execute(AgvInfo info)
{
if (chargeStep.IsEqual(ChargeStep.None))
{
if (info.IsSelfWorkshop())
MoveCharge(info);
else
MoveDoor(info);
}
else if (chargeStep.IsEqual(ChargeStep.WaitWorkshopDoor))
{
rtn = Common.mir.Get_MissionState_Fleet(info.Authorization, id, out string state);
if (rtn)
{
if (state == MissionState.Done.ToString())
MoveCharge(info);
else if (state == MissionState.Aborted.ToString())
chargeStep.Msg = info.FullName + "任务状态" + MissionState.Aborted.ToString();
}
else
{
chargeStep.Msg = info.FullName + "获取任务状态id[" + id + "]失败";
}
}
else if (chargeStep.IsEqual(ChargeStep.WaitChargeStation))
{
rtn = Common.mir.Get_Register(info.IP, info.Authorization, CHARGE_PLACE_PLC, out int value);
if (rtn)
{
if (value == 1)
{
chargeStep.Msg = info.FullName + "到达充电位，准备充电";
chargeStep.NextStep(ChargeStep.Charging);
}
}
else
{
chargeStep.Msg = info.FullName + "获取PLC" + CHARGE_PLACE_PLC + "失败";
}
}
else if (chargeStep.IsEqual(ChargeStep.Charging))
{
if (info.Battery == info.BatteryMax)
{
chargeStep.Msg = info.FullName + "电量达到" + info.BatteryMax + "，充电工作结束";
chargeStep.NextStep(ChargeStep.End);
}
else if (info.Battery > info.BatteryMin)
{
Job job = Common.steelManage.GetSteelJob(info);
if (job != null)
{
Common.mir.Del_Mission(info.IP, info.Authorization);
return job;
}
}
}
else if (chargeStep.IsEqual(ChargeStep.End))
{
Common.mir.Del_Mission(info.IP, info.Authorization);
Common.log.Info(info.FullName + "ChargeJob结束，切换StandbyJob");
return new StandbyJob();
}
return this;
}
private void MoveDoor(AgvInfo info)
{
mission = Common.MISSION_PASS_DOOR_INTO + info.Workshop;
if (Common.FLEET_SEND)
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)
{
chargeStep.Msg = info.FullName + "在" + info.Workshop + "车间，先过车间门";
chargeStep.NextStep(ChargeStep.WaitWorkshopDoor);
}
else
{
chargeStep.Msg = info.FullName + "发送" + mission + "任务失败";
}
}
private void MoveCharge(AgvInfo info)
{
mission = Common.MISSION_CHARGE + info.Workshop;
if (Common.FLEET_SEND)
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)
{
info.Place = "充电位";
chargeStep.Msg = info.FullName + "在" + info.Workshop + "车间去充电位，" + mission;
chargeStep.NextStep(ChargeStep.WaitChargeStation);
}
else
{
chargeStep.Msg = info.FullName + "发送" + mission + "任务失败";
}
}
/// <summary>
/// 充电步骤
/// </summary>
private enum ChargeStep
{
/// <summary>
/// 无
/// </summary>
None,
/// <summary>
/// 充电结束
/// </summary>
End,
/// <summary>
/// 移动到车间门口
/// </summary>
WaitWorkshopDoor,
/// <summary>
/// 移动到充电位置
/// </summary>
WaitChargeStation,
/// <summary>
/// 移动到待机位
/// </summary>
WaitStandby,
/// <summary>
/// 充电中
/// </summary>
Charging,
/// <summary>
/// 发送任务
/// </summary>
SendMission
}
}
}