EnterLeaveShelfJob.cs
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using Common;
namespace DeviceLibrary
{
/// <summary>
/// 小车进出料类型
/// </summary>
public enum eEnterLeaveType
{
/// <summary>
/// 小车进料
/// </summary>
Enter,
/// <summary>
/// 小车出料
/// </summary>
Leave,
}
/// <summary>
/// 进出料任务
/// </summary>
public class EnterLeaveShelfJob : Job
{
/// <summary>
/// 进出料任务
/// </summary>
/// <param name="palce">位置点名称</param>
/// <param name="rfid">RFID</param>
public EnterLeaveShelfJob(string palce, eEnterLeaveType type,eShelfType shelfType= eShelfType.SmallShelf,string rfid="")
{
LineName = palce;
RFID = rfid;
ActionType = type;
this.shelfType = shelfType;
}
/// <summary>
/// 位置名
/// </summary>
public new string LineName { get; set; }
public string RFID { get; set; }
public eEnterLeaveType ActionType { get; set; }
private eShelfType shelfType;
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return runInfo; }
}
private JobStep<ENTER_LEAVE_SHELF_STEP> jobStep = new JobStep<ENTER_LEAVE_SHELF_STEP>(ENTER_LEAVE_SHELF_STEP.NONE);
public override Job Execute(Agv_Info agv)
{
string msg = string.Format("{0} 进出料： ", agv.Name, shelfType.ToString());
//bool rtn = false;
//if (!CurTaskID.Equals(-1) && Common.mir.Get_Task_State(CurTaskID, out string st))
// CurTaskState = st;
if (jobStep.IsStep(ENTER_LEAVE_SHELF_STEP.NONE))
{
if (ActionType.Equals(eEnterLeaveType.Leave))
{
//EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT_LINE_ReadyEnter_RESPONSE);
//msg = "AGV到达 " + LineName + "，并发送入料架请求[ReadyEnter]";
//EnterLeaveShelfStep.Msg = msg;
//Common.server.ReadyEnter(LineName);
jobStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_IN_LINE);
runInfo = LineName + "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.CurTaskName, agv.CurTaskID);
}
else if(ActionType.Equals(eEnterLeaveType.Enter))
{
//EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT_LINE_ReadyLeave_RESPONSE);
//msg = "AGV到达 " + LineName + "，并发送出料架请求[ReadyLeave]";
//EnterLeaveShelfStep.Msg = msg;
//Common.server.ReadyLeave(LineName);
jobStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_OUT_LINE);
runInfo = LineName + "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.CurTaskName, agv.CurTaskID);
}
}
else if (jobStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT_LINE_ReadyEnter_RESPONSE))
{
int id = AGVManager.FindNode(LineName);
ClientNode node = AGVManager.nodeInfo[id];
if (node.StateEquals(eNodeStatus.MayEnter))
{
jobStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_IN_LINE);
runInfo= "收到产线入料架请求[ReadyEnter]的响应, " + LineName + "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.CurTaskName, agv.CurTaskID);
}
else if (jobStep.IsTimeOut(15000, out double timeOutValue))
{
jobStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.NONE);
runInfo = "AGV到达 " + LineName + "，15秒后重新向产线发送入料架请求[ReadyEnter]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
}
}
else if (jobStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT_LINE_ReadyLeave_RESPONSE))
{
int id = AGVManager.FindNode(LineName);
ClientNode node = AGVManager.nodeInfo[id];
if (node.StateEquals(eNodeStatus.MayLeave))
{
jobStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_OUT_LINE);
runInfo= "收到产线出料架请求[ReadyLeave]的响应, " + LineName + "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.CurTaskName, agv.CurTaskID);
}
else if (jobStep.IsTimeOut(15000, out double timeOutValue))
{
jobStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.NONE);
runInfo= "AGV到达 " + LineName + "，15秒后重新向产线发送入料架请求[ReadyLeave]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
}
}
else if (jobStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_IN_LINE))
{
CurTaskState = MissionSys.GetTakJobState(CurTaskID);
if (MissionSys.CheckTaskFinished(agv,SettingString.Leave, CurTaskState))
{
//EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.END);
runInfo= "料架进入" + LineName + "完成 [" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
agv.RFID = "";
return new EmptyAGVBackJob(LineName);
}
else if (jobStep.IsTimeOut(60000, out double timeOutValue))
{
//链条停止
runInfo= "料架在[" + LineName + "]离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
//msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
//EnterLeaveShelfStep.Msg = msg;
}
}
else if (jobStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_OUT_LINE))
{
CurTaskState = MissionSys.GetTakJobState(CurTaskID);
if (MissionSys.CheckTaskFinished(agv, SettingString.Enter, CurTaskState))
{
//EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.END);
runInfo = "料架在" + LineName + "出去完成 [" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
AGVManager.unlockManager.DelMission(LineName,RFID);
return new EmptyShelfBackJob(LineName,eShelfType.BigShelf);
}
else if (jobStep.IsTimeOut(60000, out double timeOutValue))
{
//链条停止
runInfo= "料架在[" + LineName + "]进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况";
//msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
//EnterLeaveShelfStep.Msg = msg;
}
}
else if (jobStep.IsStep(ENTER_LEAVE_SHELF_STEP.END))
{
}
return this;
}
}
/// <summary>
/// AGV进出料
/// </summary>
public enum ENTER_LEAVE_SHELF_STEP
{
/// <summary>
///
/// </summary>
NONE,
/// <summary>
/// 等待产线ReadyEnter回应
/// </summary>
WAIT_LINE_ReadyEnter_RESPONSE,
/// <summary>
/// 等待产线ReadyLeave回应
/// </summary>
WAIT_LINE_ReadyLeave_RESPONSE,
/// <summary>
/// 等待料架离开产线
/// </summary>
WAIT__SHELF_OUT_LINE,
/// <summary>
/// 等待料架进入产线
/// </summary>
WAIT__SHELF_IN_LINE,
/// <summary>
/// 进入/离开完成
/// </summary>
END
}
}