SendFullShelfToLineJob.cs
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using Common;
using System;
namespace DeviceLibrary
{
/// <summary>
/// 从A6向产线运行任务(出满料)
/// </summary>
public class SendFullShelfToLineJob : Job
{
/// <summary>
/// 从A6向产线运行任务(出满料)
/// </summary>
/// <param name="palce">产线名</param>
/// <param name="rfid">料架RFID</param>
/// <param name="isIgNoreBigShelf">是否忽略大料架</param>
public SendFullShelfToLineJob(HttpManager.BoxDestInfo boxDestInfo, bool isIgNoreBigShelf = false)
{
FullShelfPlace = boxDestInfo.location;
RFID = boxDestInfo.id;
BoxDestInfo = boxDestInfo;
IsIgnoreBigShelf = isIgNoreBigShelf;
JobName = "送满料任务";
}
/// <summary>
/// 满料架目标位置点
/// </summary>
public string FullShelfPlace { get; set; }
public string RFID { get; set; }
public HttpManager.BoxDestInfo BoxDestInfo { get; private set; }
/// <summary>
/// 是否忽略大料架移库解绑
/// </summary>
public bool IsIgnoreBigShelf { get; private set; }
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return string.Format("送满料任务[RFID={0}][{1}]：{2}", RFID, CurTaskID, runInfo); }
}
private JobStep<SEND_FULL_SHELF_STEP> curJobStep = new JobStep<SEND_FULL_SHELF_STEP>(SEND_FULL_SHELF_STEP.NONE);
public override Job Execute(Agv_Info agv)
{
string msg = string.Format("{0} 送满料任务[RFID={1}]： ", agv.Name, RFID);
//bool rtn = false;
agv.RFID = RFID;
StartJobTime = curJobStep.startTime;
if (curJobStep.IsStep(SEND_FULL_SHELF_STEP.NONE))
{
HttpManager.AgvRemoveRfid(RFID);
if (AGVManager.CheckIsInAirDoor(FullShelfPlace))
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.IN_AIR_DOOR_1);
runInfo = "送满料，去风淋门停留点[" + FullShelfPlace + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, $"{SettingString.DoorAirIn}-1");
UpdateJobTaskInfo(agv);
}
else
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo = "从双层线A6送往[" + FullShelfPlace + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, FullShelfPlace);
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(SEND_FULL_SHELF_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(SEND_FULL_SHELF_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(SEND_FULL_SHELF_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(SEND_FULL_SHELF_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(SEND_FULL_SHELF_STEP.IN_AIR_DOOR_3))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, $"{SettingString.DoorAirIn}-3", CurTaskState))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo = "送往[" + FullShelfPlace + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, FullShelfPlace);
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, FullShelfPlace, CurTaskState))
{
//if (FullShelfPlace.Equals(SettingString.C4FeederIn))
//{
// runInfo = "AGV到达 " + FullShelfPlace + "完成";
// msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
// SendFullShelfStep.Msg = msg;
// return new EnterLeaveShelfJob(FullShelfPlace, eEnterLeaveType.Leave);
//}
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
if (IsIgnoreBigShelf)
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_LINE_RESPONSE);
runInfo = "AGV到达 " + FullShelfPlace + "，并发送入料架请求[ReadyEnter]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
AGVManager.server.ReadyEnter(FullShelfPlace);
}
else
{
if (FullShelfPlace.Equals("D0"))
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_BIG_SHELF_UNLOCK);
runInfo = "AGV到达 " + FullShelfPlace + "，并等待4楼工单料架移库操作";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, "Play");
}
else if (RFID.StartsWith(SettingString.BigShelf_Prefix) && !FullShelfPlace.Equals(SettingString.RoomDFeederIn) && !FullShelfPlace.Equals(SettingString.RoomCFeederIn))
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_BIG_SHELF_UNLOCK);
runInfo = "AGV到达 " + FullShelfPlace + "，并等待大料架移库操作";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, "Play");
}
else
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_LINE_RESPONSE);
runInfo = "AGV到达 " + FullShelfPlace + "，并发送入料架请求[ReadyEnter]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
AGVManager.server.ReadyEnter(FullShelfPlace);
}
}
}
}
else if (curJobStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_BIG_SHELF_UNLOCK))
{
MiR_API.Get_IO_Status(agv, out bool[] input, out bool[] output);
System.Threading.Thread.Sleep(50);
if (HttpManager.GetRackBy(RFID, out string lineName) || (input != null && input[0]))
{
MissionSys.AssignMission(agv, "Stop");
runInfo = "大料架在" + FullShelfPlace + "移库完成[" + agv.BoxDestInfo + "]";
agv.BoxDestInfo = "";
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(FullShelfPlace, eShelfType.SmallShelf);
}
else
{
return new EmptyShelfBackJob(FullShelfPlace, eShelfType.BigShelf);
}
}
}
else if (curJobStep.IsStep(SEND_FULL_SHELF_STEP.WAIT_LINE_RESPONSE))
{
int id = AGVManager.FindNode(FullShelfPlace);
ClientNode node = AGVManager.nodeInfo[id];
MiR_API.Get_IO_Status(agv, out bool[] input, out bool[] output);
System.Threading.Thread.Sleep(50);
if (node.StateEquals(eNodeStatus.MayEnter))
{
if (!agv.CurTarName.Equals(SettingString.Leave))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT__SHELF_IN_LINE);
runInfo = "收到产线入料架请求[ReadyEnter]的响应 " + FullShelfPlace + "入料架，小车链条运行";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.Leave);
UpdateJobTaskInfo(agv);
}
}
else if (input != null && !input[3] && input[0])
{
agv.HasError = false;
runInfo = "手动操作:满料架进入" + FullShelfPlace + "完成[" + agv.BoxDestInfo + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
agv.RFID = "";
agv.BoxDestInfo = "";
HttpManager.UpdateStatus(RFID, FullShelfPlace);
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
return new EmptyAGVBackJob(FullShelfPlace);
}
else if (curJobStep.IsTimeOut(15000, out TimeSpan timeOutValue))
{
curJobStep.ToNextStep(SEND_FULL_SHELF_STEP.WAIT_AGV_REACH_LINE);
runInfo = "AGV到达 " + FullShelfPlace + "，15秒后重新向产线发送入料架请求[ReadyEnter]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
agv.HasError = true;
agv.SetErrorMsg("AGV到达 " + FullShelfPlace + "，向产线发送入料架请求[ReadyEnter]异常", timeOutValue.TotalMinutes.ToString("f2"));
}
}
else if (curJobStep.IsStep(SEND_FULL_SHELF_STEP.WAIT__SHELF_IN_LINE))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.Leave, CurTaskState))
{
agv.HasError = false;
runInfo = "满料进入" + FullShelfPlace + "完成[" + agv.BoxDestInfo + "]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
agv.RFID = "";
agv.BoxDestInfo = "";
HttpManager.UpdateStatus(RFID, FullShelfPlace);
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
return new EmptyAGVBackJob(FullShelfPlace);
}
else if (curJobStep.IsTimeOut(60000, out TimeSpan timeOutValue))
{
//链条停止
runInfo = "满料在[" + FullShelfPlace + "]离开小车超时，请检查料架离开小车的情况";
//msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
//SendFullShelfStep.Msg = msg;
agv.HasError = true;
agv.SetErrorMsg("满料架在[" + FullShelfPlace + "]离开小车超时", timeOutValue.TotalMinutes.ToString("f2"));
}
}
//else if (SendFullShelfStep.IsStep(SEND_FULL_SHELF_STEP.END))
//{
//}
return this;
}
}
/// <summary>
/// AGV送满料架到产线
/// </summary>
public enum SEND_FULL_SHELF_STEP
{
/// <summary>
/// 料架已进入小车，去目的地
/// </summary>
NONE,
/// <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>
/// 等待小车到达目的地
/// </summary>
WAIT_AGV_REACH_LINE,
/// <summary>
/// 等待大料架解绑
/// </summary>
WAIT_BIG_SHELF_UNLOCK,
/// <summary>
/// 等待AGV载大料架返回双层线
/// </summary>
WAIT_BIG_SHELF_BACK_DOUBLE_LINE,
/// <summary>
/// 等待AGV到达停车位
/// </summary>
WAIT_BIG_SHELF_BACK_STANDYBY,
/// <summary>
/// 等待产线回应
/// </summary>
WAIT_LINE_RESPONSE,
/// <summary>
/// 等待料架进入产线
/// </summary>
WAIT__SHELF_IN_LINE,
/// <summary>
/// 进入产线完成
/// </summary>
END
}
}