ChargeJob.cs
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using Common;
namespace DeviceLibrary
{
/// <summary>
/// 充电任务
/// </summary>
public class ChargeJob : Job
{
/// <summary>
/// 充电任务
/// </summary>
/// <param name="agvPlae">小车当前位置</param>
public ChargeJob(string agvPlae)
{
this.agvPlace = agvPlae;
}
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlace = SettingString.Standby;
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return string.Format("充电任务[{0}][{1}]：{2} ", CurTaskID, CurTaskState, runInfo);}
}
private JobStep<CHARGE_STEP> jobStep = new JobStep<CHARGE_STEP>(CHARGE_STEP.NONE);
/// <summary>
/// 充电任务
/// </summary>
/// <param name="agv"></param>
public override Job Execute(Agv_Info agv)
{
string msg = string.Format("{0} 充电任务： ", agv.Name);
//bool rtn = false;
CurTaskState = MissionSys.GetTakJobState(CurTaskID);
if (jobStep.IsStep(CHARGE_STEP.NONE))
{
if (agv.Battery > AGVManager.Charge.BatteryMax)
{
if (agvPlace.Equals(SettingString.Standby) || agvPlace.Equals(""))//在待机位
{
jobStep.ToNextStep(CHARGE_STEP.END);
runInfo = "在待机位，电量充足[" + agv.Battery + "%],等待任务";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv,SettingString.Standby);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
else if (agvPlace.StartsWith(SettingString.RoomC_Name_Prefix) && AGVManager.CheckIsInAirDoor(agvPlace))
{
jobStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_AIR_DOOR);
runInfo = string.Format("电量充足{0}%,从当前位置{1}回到待机位，先过{2}风淋门", agv.Battery,agvPlace,SettingString.RoomC_Name);
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv,SettingString.DoorAirOut);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
else if (agvPlace.StartsWith(SettingString.RoomC_Name_Prefix))
{
jobStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_ROOMD_DOOR);
runInfo = string.Format("电量充足{0}%,从当前位置{1}回到待机位，先过{2}门", agv.Battery, agvPlace, SettingString.RoomC_Name);
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv,SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
else
{
jobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_STANDBY);
runInfo = "电量充足[" + agv.Battery + "%],从当前位置" + agvPlace + "回到待机位";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv,SettingString.Standby);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
}
else
{
if (agvPlace.StartsWith(SettingString.RoomC_Name_Prefix) && AGVManager.CheckIsInAirDoor(agvPlace))
{
jobStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_AIR_DOOR);
runInfo =string.Format("电量{0}%小于最大电量{1}%,从当前位置{2}回到充电位，先过{3}风淋门", agv.Battery, AGVManager.Charge.BatteryMax, agvPlace,SettingString.RoomC_Name);
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv,SettingString.DoorAirOut);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
else if (agvPlace.StartsWith(SettingString.RoomC_Name_Prefix))
{
jobStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_ROOMD_DOOR);
runInfo = string.Format("电量{0}%小于最大电量{1}%,从当前位置{2}回到充电位，先过{3}门", agv.Battery, AGVManager.Charge.BatteryMax, agvPlace, SettingString.RoomC_Name);
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv,SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
else
{
if (!AGVManager.Charge.StartCharge(agv))
{
jobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_STANDBY);
runInfo = "电量" + agv.Battery + "%小于最大电量" + AGVManager.Charge.BatteryMax + "%,充电桩有小车，从当前位置" + agvPlace + "回到待机位";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv,SettingString.Standby);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
else
{
jobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION);
runInfo = "电量" + agv.Battery + "%小于最大电量" + AGVManager.Charge.BatteryMax + "%,从当前位置" + agvPlace + "去充电位";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
}
}
}
else if (jobStep.IsStep(CHARGE_STEP.WAIT_AGV_REACH_AIR_DOOR))
{
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
{
jobStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_ROOMD_DOOR);
runInfo = string.Format("电量充足{0}%,从当前位置{1}回到待机位，先过{2}门",agv.Battery, agvPlace,SettingString.RoomC_Name);
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
}
else if (jobStep.IsStep(CHARGE_STEP.WAIT_AGV_REACH_ROOMD_DOOR))
{
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
{
if (agv.Battery >AGVManager.Charge.BatteryMax)
{
jobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_STANDBY);
runInfo = "电量充足" + agv.Battery + "%,从当前位置" + agvPlace + "回到待机位";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
else
{
if (!AGVManager.Charge.StartCharge(agv))
{
jobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_STANDBY);
runInfo = "电量" + agv.Battery + "%小于最大电量" + AGVManager.Charge.BatteryMax + "%,充电桩有小车，从当前位置" + agvPlace + "回到待机位";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
else
{
jobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION);
runInfo = "电量" + agv.Battery + "%小于最大电量" + AGVManager.Charge.BatteryMax + "%,从当前位置" + agvPlace + "回到充电位";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
}
}
}
else if (jobStep.IsStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION))
{
if (MissionSys.CheckTaskIsOK(agv, CurTarName,CurTaskState))
{
jobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK);
runInfo = "开始充电任务";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
}
}
else if (jobStep.IsStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK))
{
if (CheckRandomCharge(agv))
{
if (agv.Battery >= AGVManager.Charge.BatteryMax)
{
jobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_STANDBY);
runInfo = "电量充足，回待机位";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
AGVManager.Charge.DelOccupyInfo(agv);
MissionSys.AssignMission(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
else if (agv.Battery >= AGVManager.Charge.BatteryMin)
{
Job job = AGVManager.control.GetJob(agv);
if (job != null && !(job is ChargeJob))
{
AGVManager.Charge.DelOccupyInfo(agv);
runInfo = "充电过程检测到任务，电量" + agv.Battery + "%大于最小电量" + AGVManager.Charge.BatteryMin + "%,中断充电执行任务";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
return job;
}
}
}
else//固定充电桩
{
if (agv.Battery >= AGVManager.Charge.BatteryMax)
{
jobStep.ToNextStep(CHARGE_STEP.END);
runInfo = "充电完成";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
}
else if (agv.Battery >= AGVManager.Charge.BatteryMin)
{
Job job = AGVManager.control.GetJob(agv);
if (job != null && !(job is ChargeJob))
{
runInfo = "充电过程中检测到任务，电量" + agv.Battery + "%大于最小电量" + AGVManager.Charge.BatteryMin + "%,中断充电执行任务";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
AGVManager.Charge.DelOccupyInfo(agv);
return job;
}
}
}
}
else if (jobStep.IsStep(CHARGE_STEP.WAIT_REACH_STANDBY))
{
if (MissionSys.CheckTaskFinished(agv, SettingString.Standby, CurTaskState))
{
jobStep.ToNextStep(CHARGE_STEP.END);
runInfo = "充电完成，到达待机位";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
}
}
else if (jobStep.IsStep(CHARGE_STEP.END))
{
runInfo = "等待任务";
Job job = AGVManager.control.GetJob(agv);
if (job != null && !(job is ChargeJob))
{
runInfo = "在待机位检测到任务，执行任务";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
AGVManager.Charge.DelOccupyInfo(agv);
return job;
}
else if (job == null && agv.Battery < AGVManager.Charge.BatteryMax / 2)
{
jobStep.ToNextStep(CHARGE_STEP.NONE);
runInfo = "在待机位暂无任务，且当前电量小于" + AGVManager.Charge.BatteryMax / 2 + "%,去充电位";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
AGVManager.Charge.DelOccupyInfo(agv);
}
}
return this;
}
/// <summary>
/// 检查当前小车是否是共用充电桩的小车
/// </summary>
/// <returns></returns>
private bool CheckRandomCharge(Agv_Info agv)
{
if (SettingString.RandomCharge_IPs.Contains(agv.IP))
{
return true;
}
else
{
return false;
}
}
/// <summary>
/// AGV充电流程
/// </summary>
private enum CHARGE_STEP
{
/// <summary>
///
/// </summary>
NONE,
/// <summary>
/// 等待到达风淋门
/// </summary>
WAIT_AGV_REACH_AIR_DOOR,
/// <summary>
/// 等待到达4D门
/// </summary>
WAIT_AGV_REACH_ROOMD_DOOR,
/// <summary>
/// 等待AGV到达充电位
/// </summary>
WAIT_REACH_CHARGE_STATION,
/// <summary>
/// 等待充电完成
/// </summary>
WAIT_REACH_CHARGE_OK,
/// <summary>
/// 充电完成去待机位
/// </summary>
WAIT_REACH_STANDBY,
/// <summary>
///
/// </summary>
END
}
}
}