EnterLeaveShelfJob.cs
8.9 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
using Common;
using System;
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;
//StartJobTime = curJobStep.startTime;
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);
}
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);
}
}
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);
}
else if (jobStep.IsTimeOut(15000, out TimeSpan 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);
}
else if (jobStep.IsTimeOut(15000, out TimeSpan 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(agv);
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 TimeSpan 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(agv);
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 TimeSpan 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
}
}