EmptyAGVBackJob.cs
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using Common;
using System;
using System.Collections.Generic;
using System.Linq;
using System.ServiceModel.PeerResolvers;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
namespace DeviceLibrary
{
/// <summary>
/// 空车返回任务
/// </summary>
public class EmptyAGVBackJob : Job
{
/// <summary>
/// 出完满料后-空车返回任务
/// </summary>
/// <param name="agvPlae">小车当前位置，空表示在待机位</param>
public EmptyAGVBackJob(string agvPlae)
{
this.agvPlace = agvPlae;
}
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlace { get; set; }
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return string.Format("返回任务[{0}][{1}]：{2}", CurTaskID,CurTaskState,runInfo); }
}
private JobStep<EMPTY_AGV_BACK_STEP> jobStep = new JobStep<EMPTY_AGV_BACK_STEP>(EMPTY_AGV_BACK_STEP.NONE);
/// <summary>
/// 空车返回执行
/// </summary>
/// <param name="agv"></param>
public override Job Execute(Agv_Info agv)
{
string msg = string.Format("{0} 返回任务： ", agv.Name);
//bool rtn = false;
CurTaskState = MissionSys.GetTakJobState(CurTaskID);
if (jobStep.IsStep(EMPTY_AGV_BACK_STEP.NONE))
{
if (AGVManager.FindEmptyShelfNode(agv, out string nodeName, true))
{
int i = AGVManager.agvInfo.FindIndex(s => s.CurJob is GoEmptyShelfLineJob && ((GoEmptyShelfLineJob)s.CurJob).EmptyShelfPlace.Equals(nodeName));
if (i == -1)
{
ClientNode clientNode = AGVManager.nodeInfo.Find(s => s.Name.Equals(nodeName));
if (AGVManager.CheckStationState(clientNode, out string rfid))
{
runInfo = "小车在产线 " + agvPlace + " 准备返回时检测到 " + nodeName + " 有空料架";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
return new GoEmptyShelfLineJob(agvPlace, nodeName, rfid);
}
else
{
if (AGVManager.CheckIsInAirDoor(agvPlace))
{
jobStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_RoomC_AIR_DOOR);
runInfo = string.Format("从产线{0}回待机位，先过{1}风淋门", 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(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_RoomD_DOOR);
runInfo = string.Format("从产线{0}回待机位，先过{1}门", 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(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY);
runInfo = "从产线" + agvPlace + "回待机位";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
}
}
else
{
if (AGVManager.CheckIsInAirDoor(agvPlace))
{
jobStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_RoomC_AIR_DOOR);
runInfo = string.Format("从产线{0}回待机位，先过{1}风淋门", 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(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_RoomD_DOOR);
runInfo = string.Format("从产线{0}回待机位，先过{1}门", 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(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY);
runInfo = "从产线" + agvPlace + "回待机位";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
}
}
else
{
if (AGVManager.CheckIsInAirDoor(agvPlace))
{
jobStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_RoomC_AIR_DOOR);
runInfo = string.Format("从产线{0}回待机位，先过{1}风淋门", 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(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_RoomD_DOOR);
runInfo = string.Format("从产线{0}回待机位，先过{1}门", 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(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY);
runInfo = "从产线" + agvPlace + "回待机位";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.Standby);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
}
}
else if (jobStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_REACH_STANDBY))
{
CurTaskState = MissionSys.GetTakJobState(CurTaskID);
if (MissionSys.CheckTaskFinished(agv, SettingString.Standby, CurTaskState))
{
Job job = AGVManager.control.GetJob(agv);
if (job == null && agv.Battery < AGVManager.Charge.BatteryMax)
{
runInfo = "到达待机位,电量" + agv.Battery + "小于最大电量" + AGVManager.Charge.BatteryMax + ",暂无任务，去充电";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
return new ChargeJob(SettingString.Standby);
}
else
{
runInfo = "到达待机位,检测到新任务,执行任务";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
return job;
}
}
else
{
if (AGVManager.FindFullShelfTask(agv))
{
runInfo = "从产线" + agvPlace + "回待机位过程中，检测到A6出满料，去A6";
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
return new GoFullShelfStationJob(SettingString.Standby);
}
}
}
else if (jobStep.IsStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_RoomC_AIR_DOOR))
{
CurTaskState = MissionSys.GetTakJobState(CurTaskID);
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
{
jobStep.ToNextStep(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_RoomD_DOOR);
runInfo = string.Format("从产线{0}回待机位，先过{1}门", 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(EMPTY_AGV_BACK_STEP.WAIT_AGV_REACH_RoomD_DOOR))
{
CurTaskState = MissionSys.GetTakJobState(CurTaskID);
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
{
if (AGVManager.FindFullShelfTask(agv))
{
runInfo = string.Format("从产线{0}到达{1}门，检测到A6出满料，去A6", agvPlace, SettingString.RoomD_Name);
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
return new GoFullShelfStationJob(SettingString.DoorCToD);
}
else
{
runInfo = string.Format("从产线{0}到达{1}门，暂无任务，去充电位", agvPlace, SettingString.RoomD_Name);
msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
jobStep.Msg = msg;
return new ChargeJob(SettingString.DoorCToD);
}
}
}
return this;
}
/// <summary>
/// AGV回收空料架流程
/// </summary>
private enum EMPTY_AGV_BACK_STEP
{
/// <summary>
/// 查询任务
/// </summary>
NONE,
/// <summary>
/// 等待到达C风淋门
/// </summary>
WAIT_AGV_REACH_RoomC_AIR_DOOR,
/// <summary>
/// 等待到达D门
/// </summary>
WAIT_AGV_REACH_RoomD_DOOR,
/// <summary>
/// 等待恒邑反馈
/// </summary>
WAIT_HY_RESPONSE,
/// <summary>
/// 等待AGV到达待机位
/// </summary>
WAIT_REACH_STANDBY,
/// <summary>
///
/// </summary>
END
}
}
}