StorageJob.cs
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using System;
using Model;
namespace BLL
{
public class StorageJob : IJob
{
private int delayGetSignal; //延迟获取信号
private int dockTime; //停靠次数
private AgvInfo _info;
private MoveJob move;
private string mission;
private JobStep<StorageStep> storageStep;
public StorageJob()
{
storageStep = new JobStep<StorageStep>(StorageStep.None);
Common.log.Debug("加载StorageStep");
}
public bool IsEnd { get; private set; }
public string Msg
{
get
{
return storageStep.Msg;
}
}
public IJob Execute(AgvInfo info)
{
_info = info;
if (storageStep.Equals(StorageStep.None))
{
_info.From = "";
if (_info.Is4DWorkshop())
MoveStorage();
else
PassDoor4D();
}
else if (storageStep.Equals(StorageStep.PassDoor))
{
move.Execute(_info);
if (move.IsEnd)
MoveStorage();
}
else if (storageStep.Equals(StorageStep.MoveStorage))
{
move.Execute(_info);
if (move.IsEnd)
{
storageStep.Msg = info.Name + " 已到位，等待对接信号";
storageStep.NextStep(StorageStep.GetSingle);
delayGetSignal = 0;
dockTime = 0;
}
}
else if (storageStep.Equals(StorageStep.GetSingle))
{
if (Common.StorageDockAlway || Common.StorageDockFinish)
{
SteelManage.StorageWorkDel(_info.Place);
storageStep.Msg = info.Name + " 等待离开信号";
storageStep.NextStep(StorageStep.WaitStorageLeave);
}
else
{
if (delayGetSignal >= 3)
{
if (dockTime >= 3)
{
storageStep.Msg = info.Name + " 对接仓库连续3次信号没有到位";
storageStep.NextStep(StorageStep.Error);
dockTime = 0;
//小车报警任务
}
else
{
dockTime++;
storageStep.Msg = info.Name + " 没有收到对接信号，重新发送";
MoveStorage();
}
}
delayGetSignal++;
}
}
else if (storageStep.Equals(StorageStep.WaitStorageLeave))
{
if (SteelManage.FindStorageWorkLeave())
{
SteelManage.StorageWorkDelLeave();
storageStep.Msg = info.Name + " 收到离开信号";
if (SteelManage.FindStorageWork(info))
{
if (_info.IsWorkspace())
{
storageStep.NextStep(StorageStep.FindLine);
}
else
{
PassDoor4C();
}
}
else
return new StandbyJob();
}
}
else if (storageStep.Equals(StorageStep.BackDoor))
{
move.Execute(_info);
if (move.IsEnd)
storageStep.NextStep(StorageStep.FindLine);
}
else if (storageStep.Equals(StorageStep.FindLine))
{
bool rtn = SteelManage.FindStorageWork(_info, out string place);
if (rtn)
{
FindLine(place);
}
else
{
storageStep.Msg = info.Name + " 没有后续新钢板任务";
return new StandbyJob();
}
}
else if (storageStep.Equals(StorageStep.MoveLine))
{
move.Execute(_info);
if (move.IsEnd)
{
SteelManage.StorageWorkDel(_info.Place);
storageStep.Msg = _info.Name + " 到达 " + _info.Place;
storageStep.NextStep(StorageStep.FindLine);
}
}
else if (storageStep.Equals(StorageStep.Error))
{
}
else if (storageStep.Equals(StorageStep.End))
{
}
return this;
}
private void MoveStorage()
{
mission = Common.MISSION_MOVE_STORAGE;
_info.Place = _info.Workshop + "_ENTER";
move = new MoveJob(mission);
move.Execute(_info);
storageStep.NextStep(StorageStep.MoveStorage);
storageStep.Msg = _info.Name + " 发送任务 " + mission;
}
private void PassDoor4C()
{
mission = Common.MISSION_PASS_DOOR_4C;
_info.Place = "Pass Door";
move = new MoveJob(mission);
move.Execute(_info);
storageStep.NextStep(StorageStep.BackDoor);
storageStep.Msg = _info.Name + " 发送任务 " + mission;
}
private void PassDoor4D()
{
mission = Common.MISSION_PASS_DOOR_4D;
_info.Place = "Pass Door";
move = new MoveJob(mission);
move.Execute(_info);
storageStep.NextStep(StorageStep.PassDoor);
storageStep.Msg = _info.Name + " 发送任务 " + mission;
}
private void FindLine(string place)
{
mission = Common.MISSION_MOVE_STEEL + place;
_info.Place = place;
move = new MoveJob(mission);
move.Execute(_info);
storageStep.NextStep(StorageStep.MoveLine);
storageStep.Msg = _info.Name + " 发送任务 " + mission;
}
private enum StorageStep
{
None,
End,
PassDoor,
BackDoor,
BackDoorFinish,
MoveStorage,
WaitStorage,
GetSingle,
WaitStorageLeave,
FindLine,
MoveLine,
Error
}
}
}