AC_BOX_Bean_AGV.cs
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using Asa;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.Diagnostics;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
namespace OnlineStore.DeviceLibrary
{
public partial class AC_BOX_Bean
{
/// <summary>
/// 设置出入口AGV状态
/// </summary>
/// <param name="mark"></param>
/// <param name="shelfId"></param>
/// <param name="action"></param>
/// <param name="level"></param>
/// <param name="isMust"></param>
public void setAgvStatus(string mark = "0", string shelfId = "", ClientAction action = ClientAction.None, ClientLevel level = ClientLevel.Low, bool isMust = false)
{
AgvClient.SetStatus(Config.AgvNodeName, mark, shelfId, action, level, isMust);
}
internal bool ProcessAGVAction(string name, string rfid, ClientAction action)
{
string logN = name + "收到调度" + name + "=" + action + ",RFID[" + rfid + "]";
//Arrive收到后打开门
if (!action.Equals(ClientAction.Arrive))
{
LogUtil.info(Name + logN + " ，未找到相关处理");
return false;
}
//出库处理中不处理
if (MoveInfo.MoveStep.Equals(StoreMoveStep.BS_03_WaitEmptyAgv))
{
if (!rfid.Equals(""))
{
string mark = GetMarkInfo();
LogUtil.error(Name + logN + " 当前 BS_03_WaitEmptyAgv，RFID[" + rfid + "]不是空车，不处理agv，重发 NeedLeave [" + mark + "][" + CurrShelfID + "]");
Task.Factory.StartNew(new Action(() =>
{
setAgvStatus(mark, CurrShelfID, ClientAction.MayNot, ClientLevel.High, true);
Thread.Sleep(10000);
setAgvStatus(mark, CurrShelfID, ClientAction.NeedLeave, ClientLevel.High, true);
}));
return false;
}
//等待空车到达
LogUtil.info(Name + logN + ",当前 BS_03_WaitEmptyAgv，正在等待料架到达");
MoveInfo.NextMoveStep(StoreMoveStep.BS_04_DoorOpen);
InOutStoreLog("送出料架等待空车，agv到达,打开入料口移门");
DoorBean.StartOpen(MoveInfo);
return true;
}
else if (MoveInfo.MoveType.Equals(StoreMoveType.OutStore) && MoveInfo.MoveStep.Equals(StoreMoveStep.BI_00_ReadyShelf))
{
if (rfid.Equals(""))
{
string mark = GetMarkInfo();
LogUtil.error(Name + logN + " 当前出库中 BI_00_ReadyShelf，RFID无效，不处理agv，重发 NeedEnter [" + mark + "][" + MoveInfo.MoveParam.rfid + "]");
Task.Factory.StartNew(new Action(() =>
{
setAgvStatus(mark, CurrShelfID, ClientAction.MayNot, ClientLevel.High, true);
Thread.Sleep(10000);
setAgvStatus(mark, MoveInfo.MoveParam.rfid, ClientAction.NeedEnter, ClientLevel.High, true);
}));
return false;
}
//出库等待料架到达
LogUtil.info(Name + logN + ",当前出库中 BI_00_ReadyShelf，正在等待料架到达");
MoveInfo.NextMoveStep(StoreMoveStep.BI_01_DoorOpen);
InOutStoreLog("出库等待料架，agv已到达，打开入料口移门");
DoorBean.StartOpen(MoveInfo);
return true;
}
else if (storeRunStatus.Equals(StoreRunStatus.Runing) &&
MoveInfo.MoveType.Equals(StoreMoveType.None) &&
IOValue(IO_Type.LineTake_Check).Equals(IO_VALUE.LOW))
{
//agv到达，开始处理
if (rfid.Equals(""))
{
LogUtil.error(Name + logN + " ，RFID无效，不需要入库处理");
return false;
}
LogUtil.info(Name + logN + " ，检测到料架，开始料架入库");
StartShelfInStore();
return true;
}
else
{
LogUtil.error(Name + logN + " ，[" + MoveInfo.MoveType + "][" + MoveInfo.MoveStep + "]未找到相关处理");
}
return false;
}
}
}