GoEmptyShelfLineJob.cs
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using Common;
using System;
namespace DeviceLibrary
{
/// <summary>
/// 去空料架任务点
/// </summary>
public class GoEmptyShelfLineJob : Job
{
/// <summary>
/// 去空料架任务点
/// </summary>
/// <param name="agvPlae">小车当前位置，空表示在待机位</param>
/// <param name="palce">空料架位置点</param>
public GoEmptyShelfLineJob(string agvPlae, string palce, string rfid)
{
EmptyShelfPlace = palce;
this.agvPlae = agvPlae;
RFID = rfid;
JobName = "回收空料架任务";
}
public string RFID { get; set; }
/// <summary>
/// 空料架位置点
/// </summary>
public string EmptyShelfPlace { get; set; }
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlae { get; set; }
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return string.Format("回收空料架[RFID={0}][{1}]：{2}", RFID, CurTaskID, runInfo); }
}
private JobStep<TAKE_EMPTY_STEP> curJobStep = new JobStep<TAKE_EMPTY_STEP>(TAKE_EMPTY_STEP.NONE);
/// <summary>
/// 空架任务执行,去目的地
/// </summary>
/// <param name="agv"></param>
public override Job Execute(Agv_Info agv)
{
string msg = string.Format("{0} 回收空料架[RFID={1}]： ", agv.Name, RFID);
//bool rtn = false;
StartJobTime = curJobStep.startTime;
agv.RFID = RFID;
int nodeIdx = AGVManager.FindNode(EmptyShelfPlace);
if (curJobStep.IsStep(TAKE_EMPTY_STEP.NONE))
{
if (AGVManager.CheckIsInAirDoor(agvPlae) && !AGVManager.CheckIsInAirDoor(EmptyShelfPlace))//风淋门内->风淋门外
{
curJobStep.ToNextStep(TAKE_EMPTY_STEP.OUT_AIR_DOOR_1);
runInfo = "去产线" + EmptyShelfPlace + "，先去风淋门停留点[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, $"{SettingString.DoorAirOut}-1");
UpdateJobTaskInfo(agv);
}
else if (!AGVManager.CheckIsInAirDoor(agvPlae) && AGVManager.CheckIsInAirDoor(EmptyShelfPlace))//风淋门外->风淋门内
{
curJobStep.ToNextStep(TAKE_EMPTY_STEP.IN_AIR_DOOR_1);
runInfo = "去产线" + EmptyShelfPlace + "，先去风淋门停留点[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, $"{SettingString.DoorAirIn}-1");
UpdateJobTaskInfo(agv);
}
else//起始与目的地在风淋门同一侧
{
if (AGVManager.CheckIsInAirDoor(agvPlae) && AGVManager.CheckIsInAirDoor(EmptyShelfPlace))//都在风淋门内
{
curJobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
}
else if (agvPlae.Equals("") || (!AGVManager.CheckIsInAirDoor(agvPlae)) && !AGVManager.CheckIsInAirDoor(EmptyShelfPlace))//都在风淋门外
{
curJobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
}
}
}
else if (curJobStep.IsStep(TAKE_EMPTY_STEP.OUT_AIR_DOOR_1))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, $"{SettingString.DoorAirOut}-1", CurTaskState))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(TAKE_EMPTY_STEP.OUT_AIR_DOOR_2);
runInfo = string.Format("{0}到达风淋门停留点，进入{1}风淋门", agv.Place, SettingString.RoomD_Name);
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, $"{SettingString.DoorAirOut}-2");
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(TAKE_EMPTY_STEP.OUT_AIR_DOOR_2))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, $"{SettingString.DoorAirOut}-2", CurTaskState))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(TAKE_EMPTY_STEP.OUT_AIR_DOOR_3);
runInfo = string.Format("{0}进入风淋门，准备出{1}风淋门", agv.Place, SettingString.RoomD_Name);
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, $"{SettingString.DoorAirOut}-3");
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(TAKE_EMPTY_STEP.OUT_AIR_DOOR_3))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, $"{SettingString.DoorAirOut}-3", CurTaskState))
{
curJobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "到风淋门外，开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
}
}
else if (curJobStep.IsStep(TAKE_EMPTY_STEP.IN_AIR_DOOR_1))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, $"{SettingString.DoorAirIn}-1", CurTaskState))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(TAKE_EMPTY_STEP.IN_AIR_DOOR_2);
runInfo = string.Format("{0}到达风淋门停留点，进入{1}风淋门", agv.Place, SettingString.RoomD_Name);
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, $"{SettingString.DoorAirIn}-2");
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(TAKE_EMPTY_STEP.IN_AIR_DOOR_2))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, $"{SettingString.DoorAirIn}-2", CurTaskState))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(TAKE_EMPTY_STEP.IN_AIR_DOOR_3);
runInfo = string.Format("{0}进入风淋门，准备出{1}风淋门", agv.Place, SettingString.RoomD_Name);
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, $"{SettingString.DoorAirIn}-3");
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(TAKE_EMPTY_STEP.IN_AIR_DOOR_3))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, $"{SettingString.DoorAirIn}-3", CurTaskState))
{
curJobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "到风淋门外，开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
}
}
else if (curJobStep.IsStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.C4_STANDBY1, CurTaskState) || MissionSys.CheckTaskFinished(agv, SettingString.C4_STANDBY2, CurTaskState))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
if (!AGVManager.CheckRoomCTarget(agv, EmptyShelfPlace))//未占用
{
curJobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
//AGVManager.DeleteStandyInfo(agv);
}
}
}
else if (curJobStep.IsStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK))
{
if (nodeIdx > -1)
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TASK);
runInfo = "AGV 添加任务：移动到" + EmptyShelfPlace + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, EmptyShelfPlace);
UpdateJobTaskInfo(agv);
}
else
{
curJobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = EmptyShelfPlace + " 不存在或未开启调用";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
}
}
else if (curJobStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TASK))
{
if (agv.CurTaskState.Equals(SettingString.Executing))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE);
runInfo = "AGV开始向目的地[" + EmptyShelfPlace + "]移动" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
}
}
else if (curJobStep.IsStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, EmptyShelfPlace, CurTaskState))
{
//if (EmptyShelfPlace.Equals(SettingString.C4FeederOut))
//{
// runInfo = "AGV到达 " + EmptyShelfPlace;
// msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
// TakeEmptyStep.Msg = msg;
// return new EnterLeaveShelfJob(EmptyShelfPlace, eEnterLeaveType.Enter);
//}
//else
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE);
runInfo = "AGV到达 " + EmptyShelfPlace + " 向产线发送出料架请求[ReadyLeave]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
if (nodeIdx == -1)
{
runInfo = EmptyShelfPlace + " 未开启调用";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
return this;
}
ClientNode node = AGVManager.nodeInfo[nodeIdx];
AGVManager.server.ReadyLeave(EmptyShelfPlace);
}
}
}
else if (curJobStep.IsStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE))
{
if (nodeIdx == -1)
{
runInfo = EmptyShelfPlace + " 未开启调用";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
return this;
}
ClientNode node = AGVManager.nodeInfo[nodeIdx];
if (node.StateEquals(eNodeStatus.MayLeave))
{
agv.HasError = false;
if (!agv.CurTarName.Equals("Enter"))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF);
runInfo = "收到产线出料请求[ReadyLeave]的响应 " + EmptyShelfPlace + "出料架，小车链条运行" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
//agv.RFID = node.RFID;
MissionSys.AssignMission(agv, SettingString.Enter);
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsTimeOut(15000, out TimeSpan timeOutValue))
{
curJobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE);
agv.HasError = true;
}
}
else if (curJobStep.IsStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.Enter, CurTaskState))
{
agv.HasError = false;
ClientNode node = AGVManager.nodeInfo[nodeIdx];
//回收空料架数量减少1
AGVManager.unlockManager.DelMission(EmptyShelfPlace, RFID);
if (!agvPlae.Equals(SettingString.RoomDFeederOut) && !agvPlae.Equals(SettingString.RoomCFeederOut))
HttpManager.ClearRFID(EmptyShelfPlace, RFID);
runInfo = "空料架在[" + EmptyShelfPlace + "]进入小车完成" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
if (RFID.StartsWith("D"))
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.SmallShelf);
else if (RFID.StartsWith("C"))
{
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
}
else
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.SmallShelf);
}
else if (curJobStep.IsTimeOut(60000, out TimeSpan timeOutValue))
{
//链条停止
runInfo = "空料架在[" + EmptyShelfPlace + "]进入小车超时[RFID=" + RFID + "]";
agv.HasError = true;
agv.SetErrorMsg("空料架在[" + EmptyShelfPlace + "]进入小车超时", timeOutValue.TotalMinutes.ToString("f2"));
}
}
else if (curJobStep.IsStep(TAKE_EMPTY_STEP.END))
{
}
return this;
}
/// <summary>
/// AGV回收空料架流程
/// </summary>
private enum TAKE_EMPTY_STEP
{
/// <summary>
/// 准备，发送给AGV
/// </summary>
NONE,
/// <summary>
/// 去出3D风淋门等待位
/// </summary>
OUT_AIR_DOOR_1,
/// <summary>
/// 进风淋门
/// </summary>
OUT_AIR_DOOR_2,
/// <summary>
/// 出风淋门
/// </summary>
OUT_AIR_DOOR_3,
/// <summary>
/// 去进3D风淋门等待位
/// </summary>
IN_AIR_DOOR_1,
/// <summary>
/// 进风淋门
/// </summary>
IN_AIR_DOOR_2,
/// <summary>
/// 出风淋门
/// </summary>
IN_AIR_DOOR_3,
/// <summary>
/// 给AGV分配任务
/// </summary>
ASSIGN_AGV_TASK,
/// <summary>
/// 等待AGV开始执行去取架点任务
/// </summary>
WAIT_AGV_START_TASK,
/// <summary>
/// 等待AGV到达取架点
/// </summary>
WAIT_REACH_PLACE,
/// <summary>
/// 等待AGV到达临时停车位
/// </summary>
WAIT_REACH_TEMP_PLACE,
/// <summary>
/// 等待产线回应
/// </summary>
WAIT_LINE_RESPONSE,
/// <summary>
/// 等待料架进入小车
/// </summary>
WAIT_TAKE_EMPTY_SHELF,
/// <summary>
/// 料架进入小车完成
/// </summary>
END
}
}
}