GoFullShelfStationJob.cs
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using Common;
namespace DeviceLibrary
{
/// <summary>
/// 检查AGV是否有负载,去A6入料口并装车
/// </summary>
public class GoFullShelfStationJob : Job
{
/// <summary>
/// 去云仓出料口任务
/// </summary>
/// <param name="agvCurPlace">接到任务时，AGV的位置(空表示待机位)</param>
/// <param name="palce"></param>
public GoFullShelfStationJob(string palce, string agvCurPlace, string rfid)
{
FullShelfStationPlace = palce;
agvPlace = agvCurPlace;
RFID = rfid;
}
/// <summary>
/// 出满料位置点
/// </summary>
public string FullShelfStationPlace { get; set; }
public string RFID { get; set; }
/// <summary>
/// 接到任务时，AGV的位置
/// </summary>
public string agvPlace { get; set; }
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return string.Format("接满料任务[{0}][rfid={1}]：{2}", CurTaskID, RFID, runInfo); }
}
private bool noneTargetHandle = false;
/// <summary>
/// AGV上是否有负载
/// </summary>
public bool IsLoadOnAGV { get; private set; } = false;
public HttpManager.BoxDestInfo FullShelfDestInfo = null;
private JobStep<GO_FULL_SHELF_STATION_STEP> jobStep = new JobStep<GO_FULL_SHELF_STATION_STEP>(GO_FULL_SHELF_STATION_STEP.NONE);
public override Job Execute(Agv_Info agv)
{
string msg = string.Format("{0} 接满料任务： ", agv.Name);
//bool rtn = false;
if (jobStep.IsStep(GO_FULL_SHELF_STATION_STEP.NONE))
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_CHECK_RESULT);
runInfo = "检查AGV负载";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.CheckShelf);
UpdateJobTaskInfo(agv);
}
else if (jobStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_CHECK_RESULT))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.CheckShelf, CurTaskState))
{
if (agv.IsExistShelf)
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END);
runInfo = "车上有料架，无法去云仓接满料";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
IsLoadOnAGV = true;
}
else if (!agv.IsExistShelf)
{
//if (agvPlace.Equals("") || agvPlace.Equals(SettingString.Standby) || agvPlace.StartsWith(SettingString.AutoCharge))//待机位/充电位接到任务
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_SMD);
runInfo = "无负载，去云仓接满料" + FullShelfStationPlace;
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, FullShelfStationPlace);
UpdateJobTaskInfo(agv);
}
}
}
}
else if (jobStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_SMD))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, FullShelfStationPlace, CurTaskState))
{
if (HttpManager.FindFullShelfTarget(RFID, out FullShelfDestInfo))
{
if (FullShelfDestInfo != null && AGVManager.GetLineNameByNodeName(FullShelfDestInfo.data, out string line))
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_DOUBLE_LINE_RESPONSE);
runInfo = "AGV到达 " + FullShelfStationPlace + "，并发送出料架请求[ReadyLeave]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
AGVManager.server.ReadyLeave(FullShelfStationPlace);
}
else
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_REACH_STANDBY);
runInfo = "从" + FullShelfStationPlace + "回到待机位,因不存在该节点" + FullShelfDestInfo.data;
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.Standby);
UpdateJobTaskInfo(agv);
}
}
else
{
noneTargetHandle = true;
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_DOUBLE_LINE_RESPONSE);
runInfo = "AGV到达 " + FullShelfStationPlace + "，并发送出料架请求[ReadyLeave][该料架无目的地]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
AGVManager.server.ReadyLeave(FullShelfStationPlace);
}
}
}
else if (jobStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_REACH_STANDBY))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.Standby, CurTaskState))
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END);
runInfo = "到达待机位";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
}
}
else if (jobStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_DOUBLE_LINE_RESPONSE))
{
int id = AGVManager.FindNode(FullShelfStationPlace);
if (id == -1)
{
runInfo = "未找到节点：" + FullShelfStationPlace;
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
return this;
}
ClientNode node = AGVManager.nodeInfo[id];
if (node.StateEquals(eNodeStatus.MayLeave))
{
if (!agv.CurTarName.Equals("Enter"))
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT__FULL_SHELF_IN_AGV);
runInfo = "收到请求[ReadyLeave]的响应 " + FullShelfStationPlace + "出料架，小车链条运行";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.Enter);
UpdateJobTaskInfo(agv);
}
}
else if (jobStep.IsTimeOut(15000, out double timeOutValue))
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_SMD);
}
}
else if (jobStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT__FULL_SHELF_IN_AGV))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.Enter, CurTaskState))
{
HttpManager.AgvRemoveRfid(RFID);
if (noneTargetHandle)
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_REACH_TEMP_PLACE);
runInfo = FullShelfStationPlace + "满料架进入小车完成,由于该料架无目的地，去临时点卸料";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
//FullShelfStationPlace = SettingString.A2;
MissionSys.AssignMission(agv, SettingString.A2);
UpdateJobTaskInfo(agv);
}
else
{
runInfo = FullShelfStationPlace + "满料架进入小车完成";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
return new SendFullShelfToLineJob(FullShelfDestInfo, RFID);
}
}
else if (jobStep.IsTimeOut(60000, out double timeOutValue))
{
//链条停止
runInfo = "满料架在[" + FullShelfStationPlace + "]进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况";
//msg +=runInfo;
//GoFullShelfStationStep.Msg = msg;
}
}
else if (jobStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_REACH_TEMP_PLACE))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.A2, CurTaskState))
{
MiR_API.Get_IO_Status(agv, out bool[] input, out bool[] output);
System.Threading.Thread.Sleep(500);
if ((input != null && (input[0] || input[1])))
{
runInfo = "人员在临时区卸料完成[无目的地],回收料架";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
AGVManager.CheckBoxNeedShelfState(agv, out string nodeName);
return new EmptyShelfBackJob(SettingString.A2, eShelfType.SmallShelf,nodeName);
}
}
}
else if (jobStep.IsStep(GO_FULL_SHELF_STATION_STEP.END))
{
return null;
}
return this;
}
}
/// <summary>
/// 出满料步骤
/// </summary>
public enum GO_FULL_SHELF_STATION_STEP
{
/// <summary>
/// 负载检查
/// </summary>
NONE,
/// <summary>
/// 负载检查结果
/// </summary>
WAIT_CHECK_RESULT,
/// <summary>
/// 等待到达云仓
/// </summary>
WAIT_AGV_REACH_SMD,
/// <summary>
/// 等待双层线回应
/// </summary>
WAIT_DOUBLE_LINE_RESPONSE,
/// <summary>
/// 等待料架进入小车
/// </summary>
WAIT__FULL_SHELF_IN_AGV,
/// <summary>
/// 等待AGV到达待机位
/// </summary>
WAIT_REACH_STANDBY,
/// <summary>
/// 无目的地，放到临时位置
/// </summary>
WAIT_REACH_TEMP_PLACE,
/// <summary>
/// 送上双层线
/// </summary>
END
}
}