EmptyShelfBackJob.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Web.ModelBinding;
using System.Windows.Forms;
using Common;
namespace DeviceLibrary
{
/// <summary>
/// 载空料架返回任务
/// </summary>
public class EmptyShelfBackJob : Job
{
/// <summary>
/// 载空料架返回任务
/// </summary>
/// <param name="lineName">产线的节点名称</param>
public EmptyShelfBackJob(string emptyShelfPlace, eShelfType shelfType, string emptyShelfTargetPlace)
{
EmptyShelfPlace = emptyShelfPlace;
this.shelfType = shelfType;
EmptyShelfTargetPlace = emptyShelfTargetPlace;
}
/// <summary>
/// 空料架的产线位置
/// </summary>
public string EmptyShelfPlace { get; set; }
/// <summary>
/// 空料架目的地
/// </summary>
public string EmptyShelfTargetPlace { get; set; } = "";
private int tryTimes = 0;
private eShelfType shelfType;
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return string.Format("空料架[{0}][{1}]返回：{2} ", shelfType.ToString(), CurTaskID, runInfo); }
}
private JobStep<EMPTY_SHELF_BACK_STEP> jobStep = new JobStep<EMPTY_SHELF_BACK_STEP>(EMPTY_SHELF_BACK_STEP.NONE);
/// <summary>
/// 空架任务执行
/// </summary>
/// <param name="agv"></param>
public override Job Execute(Agv_Info agv)
{
string msg = string.Format("{0} 空料架[{1}]返回： ", agv.Name, shelfType.ToString());
//bool rtn = false;
//runInfo = "空料架返回：";
if (jobStep.IsStep(EMPTY_SHELF_BACK_STEP.NONE))
{
if (EmptyShelfPlace.Equals(SettingString.A1) && AGVManager.CheckBoxNeedShelfState(agv, out string nodeName))
{
EmptyShelfTargetPlace = nodeName;
jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_Target);
runInfo = "从线体 [" + EmptyShelfPlace + "]送往" + EmptyShelfTargetPlace;
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
if (!EmptyShelfTargetPlace.Equals(""))
{
MissionSys.AssignMission(agv, EmptyShelfTargetPlace);
UpdateJobTaskInfo(agv);
}
}
else if (AGVManager.CheckShelfStorageInState(agv))
{
jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_Target);
EmptyShelfTargetPlace = SettingString.A2;
runInfo = "云仓暂不需要空料架，从线体[" + EmptyShelfPlace + "]到料架缓存处";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, EmptyShelfTargetPlace);
UpdateJobTaskInfo(agv);
}
else
{
jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
runInfo = "云仓和料架缓存处均不需要空料架，从线体[" + EmptyShelfPlace + "]到待机位";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.Standby);
UpdateJobTaskInfo(agv);
}
}
else if (jobStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (AGVManager.CheckNeedEmptyShelf(agv, out string nodeName))
{
EmptyShelfTargetPlace = nodeName;
jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_Target);
runInfo = "待机位检测到" + EmptyShelfTargetPlace + "需要料架,送往 " + EmptyShelfTargetPlace;
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, EmptyShelfTargetPlace);
UpdateJobTaskInfo(agv);
}
}
else if (jobStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_Target))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, EmptyShelfTargetPlace, CurTaskState))
{
jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_DOUBLE_LINE_RESPONSE);
runInfo = "AGV到达 " + EmptyShelfTargetPlace + "，并发送入料架请求[ReadyEnter]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
AGVManager.server.ReadyEnter(EmptyShelfTargetPlace);
}
}
else if (jobStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_DOUBLE_LINE_RESPONSE))
{
int id = AGVManager.FindNode(EmptyShelfTargetPlace);
ClientNode node = AGVManager.nodeInfo[id];
if (node.StateEquals(eNodeStatus.MayEnter))
{
if (!agv.CurTarName.Equals(SettingString.Leave))
{
jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_LINE);
runInfo = "收到入料架请求[ReadyEnter]的响应 " + EmptyShelfTargetPlace + "入料架，小车链条运行";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.Leave);
UpdateJobTaskInfo(agv);
}
}
else if (jobStep.IsTimeOut(15000, out double timeOutValue))
{
tryTimes++;
if (tryTimes < 3)
return this;
tryTimes = 0;
jobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
runInfo = EmptyShelfTargetPlace + "暂不需要空料架，从[" + EmptyShelfTargetPlace + "]到待机位";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.Standby);
UpdateJobTaskInfo(agv);
}
}
else if (jobStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_LINE))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.Leave, CurTaskState))
{
agv.RFID = "";
Job job = AGVManager.control.GetJob(agv);
if (job != null)
{
runInfo = "检测到新任务，开始执行";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
return job;
}
else
{
runInfo = "空料架进入" + EmptyShelfTargetPlace + "完成,暂无任务，回充电位";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
agv.RFID = "";
agv.BoxDestInfo = "";
return new ChargeJob(EmptyShelfTargetPlace);
}
}
else if (jobStep.IsTimeOut(60000, out double timeOutValue))
{
runInfo = "空料架在[" + EmptyShelfTargetPlace + "]离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
}
}
else if (jobStep.IsStep(EMPTY_SHELF_BACK_STEP.END))
{
}
return this;
}
/// <summary>
/// AGV载空料架回收流程
/// </summary>
private enum EMPTY_SHELF_BACK_STEP
{
/// <summary>
/// 料架已进入小车，寻找目的地
/// </summary>
NONE,
/// <summary>
/// 等待小车到达目的地
/// </summary>
WAIT_AGV_REACH_Target,
/// <summary>
/// 等待双层线回应
/// </summary>
WAIT_DOUBLE_LINE_RESPONSE,
/// <summary>
/// 等待料架进入线体
/// </summary>
WAIT__EMPTY_SHELF_IN_LINE,
/// <summary>
/// A5,A6暂时不需要，等待AGV到达待机位
/// </summary>
WAIT_AGV_REACH_STANDBY,
/// <summary>
/// 送上双层线
/// </summary>
END
}
}
}