GoFullShelfStationJob.cs
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using Common;
namespace DeviceLibrary
{
/// <summary>
/// 检查AGV是否有负载,去A6入料口并装车
/// </summary>
public class GoFullShelfStationJob : Job
{
/// <summary>
/// 去A6入料口任务并检查AGV是否有负载
/// </summary>
/// <param name="agvCurPlace">接到任务时，AGV的位置(空表示待机位)</param>
/// <param name="palce"></param>
public GoFullShelfStationJob(string agvCurPlace = SettingString.Standby, string palce = SettingString.A6)
{
FullShelfStationPlace = palce;
agvPlace = agvCurPlace;
}
/// <summary>
/// 出满料位置点
/// </summary>
public string FullShelfStationPlace { get; set; }
/// <summary>
/// 接到任务时，AGV的位置
/// </summary>
public string agvPlace { get; set; }
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return string.Format("接满料任务[{0}][{1}]：{2}", CurTaskID, CurTaskState, runInfo); }
}
/// <summary>
/// AGV上是否有负载
/// </summary>
public bool IsLoadOnAGV { get; private set; } = false;
public HttpManager.BoxDestInfo FullShelfDestInfo = null;
private JobStep<GO_FULL_SHELF_STATION_STEP> jobStep = new JobStep<GO_FULL_SHELF_STATION_STEP>(GO_FULL_SHELF_STATION_STEP.NONE);
public override Job Execute(Agv_Info agv)
{
string msg = string.Format("{0} 接满料任务： ", agv.Name);
//bool rtn = false;
if (jobStep.IsStep(GO_FULL_SHELF_STATION_STEP.NONE))
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_CHECK_RESULT);
runInfo = "检查AGV负载情况";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.CheckShelf);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
else if (jobStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_CHECK_RESULT))
{
CurTaskState = MissionSys.GetTakJobState(CurTaskID);
if (MissionSys.CheckTaskFinished(agv, SettingString.CheckShelf, CurTaskState))
{
if (agv.IsExistShelf)
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END);
runInfo = "车上有料架，无法去入料口出料";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
IsLoadOnAGV = true;
}
else if (!agv.IsExistShelf)
{
if (agvPlace.Equals("") || agvPlace.Equals(SettingString.Standby) || agvPlace.StartsWith(SettingString.AutoCharge))//待机位/充电位接到任务
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
runInfo = "无负载，准备运动到入料口" + FullShelfStationPlace;
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, FullShelfStationPlace);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
else if (AGVManager.CheckIsInAirDoor(agvPlace))
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_AIR_DOOR);
runInfo = "在风淋门内，先过风淋门";
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))//4C车间
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR);
runInfo = string.Format("在{0}车间，向{1}门运行,再到双层线入料口", SettingString.RoomC_Name, SettingString.RoomD_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(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
runInfo = "无负载，准备运动到入料口" + FullShelfStationPlace;
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, FullShelfStationPlace);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
}
}
}
else if (jobStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_AIR_DOOR))
{
CurTaskState = MissionSys.GetTakJobState(CurTaskID);
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR);
runInfo = string.Format("过风淋门，向{0}门运行，再到双层线入料口{1}", SettingString.RoomD_Name,FullShelfStationPlace);
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(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_DOOR))
{
CurTaskState = MissionSys.GetTakJobState(CurTaskID);
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
runInfo = string.Format("到达{0}门，准备运动到双层线入料口{1}", SettingString.RoomD_Name, FullShelfStationPlace);
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, FullShelfStationPlace);
UpdateJobTaskInfo(agv.CurTarName, agv.CurTaskID);
}
}
else if (jobStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6))
{
CurTaskState = MissionSys.GetTakJobState(CurTaskID);
if (MissionSys.CheckTaskFinished(agv, FullShelfStationPlace, CurTaskState))
{
ClientNode node = AGVManager.nodeInfo.Find(s => s.Name.Equals(SettingString.A6)
&& (s.StateEquals(eNodeStatus.NeedLeave) || s.StateEquals(eNodeStatus.NeedEnterLeave)) && !s.RFID.StartsWith("0"));
if (node != null && node.Name.Equals(SettingString.A6))
{
if (HttpManager.FindFullShelfTarget(node.RFID, out FullShelfDestInfo))
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_DOUBLE_LINE_RESPONSE);
if (FullShelfDestInfo != null)
{
AGVManager.GetLineNameByNodeName(FullShelfDestInfo.location, out string line);
agv.BoxDestInfo = FullShelfDestInfo.ShowInfo(line);
}
runInfo = "AGV到达 " + FullShelfStationPlace + "，并发送出料架请求[ReadyLeave]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
AGVManager.server.ReadyLeave(FullShelfStationPlace);
}
else
{
if (FullShelfDestInfo != null)
{
AGVManager.GetLineNameByNodeName(FullShelfDestInfo.location, out string line);
runInfo = "AGV到达 " + FullShelfStationPlace + "，查询满料架目的地:" + FullShelfDestInfo.ShowInfo(line);
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo); ;
jobStep.Msg = msg;
}
else
{
//[{"msg":"0料车已解绑或未发新料"}]
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_REACH_STANDBY);
runInfo = "从产线" + 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 (jobStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_REACH_STANDBY))
{
CurTaskState = MissionSys.GetTakJobState(CurTaskID);
if (MissionSys.CheckTaskFinished(agv, SettingString.Standby, CurTaskState))
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END);
runInfo = "到达待机位";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
}
}
else if (jobStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT_DOUBLE_LINE_RESPONSE))
{
int id = AGVManager.FindNode(FullShelfStationPlace);
if (id == -1)
{
runInfo = "未找到节点：" + FullShelfStationPlace;
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
return this;
}
ClientNode node = AGVManager.nodeInfo[id];
if (node.StateEquals(eNodeStatus.MayLeave))
{
if (!agv.CurTarName.Equals("Enter"))
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT__FULL_SHELF_IN_AGV);
runInfo = "收到双层线出料架请求[ReadyLeave]的响应 " + FullShelfStationPlace + "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.CurTarName, agv.CurTaskID);
}
}
else if (jobStep.IsTimeOut(15000, out double timeOutValue))
{
jobStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.WAIT_AGV_REACH_A6);
}
}
else if (jobStep.IsStep(GO_FULL_SHELF_STATION_STEP.WAIT__FULL_SHELF_IN_AGV))
{
CurTaskState = MissionSys.GetTakJobState(CurTaskID);
if (MissionSys.CheckTaskFinished(agv, SettingString.Enter, CurTaskState))
{
//GoFullShelfStationStep.ToNextStep(GO_FULL_SHELF_STATION_STEP.END);
runInfo = FullShelfStationPlace + "满料架进入小车完成";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
return new SendFullShelfToLineJob(FullShelfDestInfo);
}
else if (jobStep.IsTimeOut(60000, out double timeOutValue))
{
//链条停止
runInfo = "满料架在[" + FullShelfStationPlace + "]进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况";
//msg +=runInfo;
//GoFullShelfStationStep.Msg = msg;
}
}
return this;
}
}
/// <summary>
/// 出满料步骤
/// </summary>
public enum GO_FULL_SHELF_STATION_STEP
{
/// <summary>
/// 负载检查
/// </summary>
NONE,
/// <summary>
/// 负载检查结果
/// </summary>
WAIT_CHECK_RESULT,
/// <summary>
/// 等待到达4C风淋门
/// </summary>
WAIT_AGV_REACH_AIR_DOOR,
/// <summary>
/// 等待AGV到达门
/// </summary>
WAIT_AGV_REACH_DOOR,
/// <summary>
/// 等待到达A6
/// </summary>
WAIT_AGV_REACH_A6,
/// <summary>
/// 等待双层线回应
/// </summary>
WAIT_DOUBLE_LINE_RESPONSE,
/// <summary>
/// 等待料架进入小车
/// </summary>
WAIT__FULL_SHELF_IN_AGV,
/// <summary>
/// 等待AGV到达待机位
/// </summary>
WAIT_REACH_STANDBY,
/// <summary>
/// 送上双层线
/// </summary>
END
}
}