ChargeJob.cs
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using System;
using Model;
namespace BLL
{
public class ChargeJob : IJob
{
private AgvInfo _info;
private MoveJob move;
private string mission;
private JobStep<ChargeStep> chargeStep;
private IJob job;
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 = "";
_info.LogJson.SetMissionStart("充电任务", "充电桩");
_info.LogJson.SetMissionStep("开始执行任务", ChargeStep.None.ToString());
if (_info.IsWorkspace())
MoveWash();
else
PassDoor();
}
else if (chargeStep.Equals(ChargeStep.PassDoor))
{
move.Execute(_info);
if (move.IsEnd)
{
MoveWash();
_info.LogJson.SetMissionStep("已过门", ChargeStep.PassDoor.ToString());
}
}
else if (chargeStep.Equals(ChargeStep.WaitWashPoint))
{
move.Execute(_info);
if (move.IsEnd)
{
_info.LogJson.SetMissionStep("到达" + _info.Workshop + "清洗房", ChargeStep.WaitWashPoint.ToString());
MoveCharge();
}
}
else if (chargeStep.Equals(ChargeStep.MoveStation))
{
move.Execute(_info);
MoveStation();
}
else if (chargeStep.Equals(ChargeStep.Charging))
{
Common.log.Debug(string.Format("{0} 充电中 当前{1} 最小{2} 最大{3}", _info.Name, _info.Battery, _info.BatteryMin, _info.BatteryMax));
move.Execute(_info);
if (_info.Battery == _info.BatteryMax)
{
chargeStep.Msg = _info.Name + " 电量达到" + _info.BatteryMax;
chargeStep.NextStep(ChargeStep.End);
_info.LogJson.SetMissionStep("结束充电", ChargeStep.Charging.ToString());
}
else if (_info.Battery > _info.BatteryMin)
{
job = SteelManage.GetSteelJob(_info);
if (job != null)
{
_info.LogJson.SetMissionStep("结束充电", ChargeStep.Charging.ToString());
Common.log.Info(_info.Name + " 结束充电，接收到任务" + job.ToString());
move.DeleteTask(_info);
chargeStep.NextStep(ChargeStep.DeleteTask);
}
}
}
else if (chargeStep.Equals(ChargeStep.DeleteTask))
{
move.Execute(_info);
if (move.IsEnd)
return job;
else
move.DeleteTask(_info); //没有成功删除时继续发删除
}
else if (chargeStep.Equals(ChargeStep.End))
{
_info.Place = "充电结束";
//_info.LogJson.SetMissionStep("充电任务结束", ChargeStep.End.ToString());
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 MoveWash()
{
mission = Common.MISSION_MOVE_WASH + _info.Workshop;
_info.Place = string.Format("去{0}清洗点", _info.Workshop);
move = new MoveJob(mission);
move.Execute(_info);
chargeStep.NextStep(ChargeStep.WaitWashPoint);
chargeStep.Msg = _info.Name + " 发送回清洗点任务 " + mission;
}
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()
{
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);
_info.LogJson.SetMissionStep("到达充电位", ChargeStep.MoveStation.ToString());
}
}
}
private enum ChargeStep
{
None,
End,
PassDoor,
MoveStation,
GoWashPoint,
WaitWashPoint,
Charging,
DeleteTask
}
}
}