GoEmptyShelfLineJob.cs
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using Common;
namespace DeviceLibrary
{
/// <summary>
/// 去空料架任务点
/// </summary>
public class GoEmptyShelfLineJob : Job
{
/// <summary>
/// 去空料架任务点
/// </summary>
/// <param name="agvPlae">小车当前位置，空表示在待机位</param>
/// <param name="palce">空料架位置点</param>
public GoEmptyShelfLineJob(string agvPlae, string palce, string rfid)
{
EmptyShelfPlace = palce;
this.agvPlae = agvPlae;
RFID = rfid;
}
public string RFID { get; set; }
/// <summary>
/// 空料架位置点
/// </summary>
public string EmptyShelfPlace { get; set; }
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlae { get; set; }
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return string.Format("回收空料架[RFID={0}][{1}]：{2}",RFID, CurTaskID, runInfo); }
}
private JobStep<TAKE_EMPTY_STEP> jobStep = new JobStep<TAKE_EMPTY_STEP>(TAKE_EMPTY_STEP.NONE);
/// <summary>
/// 空架任务执行,去目的地
/// </summary>
/// <param name="agv"></param>
public override Job Execute(Agv_Info agv)
{
string msg = string.Format("{0} 回收空料架[RFID={1}]： ", agv.Name, RFID);
//bool rtn = false;
int nodeIdx = AGVManager.FindNode(EmptyShelfPlace);
if (jobStep.IsStep(TAKE_EMPTY_STEP.NONE))
{
if (agvPlae.StartsWith(SettingString.RoomC_Name_Prefix) && AGVManager.CheckIsInAirDoor(agvPlae) && !AGVManager.CheckIsInAirDoor(EmptyShelfPlace))//4C风淋门内->风淋门外
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_OUT_DOOR);
runInfo = "去产线" + EmptyShelfPlace + "，先过风淋门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.DoorAirOut);
UpdateJobTaskInfo(agv);
}
else if (!AGVManager.CheckIsInAirDoor(agvPlae) && AGVManager.CheckIsInAirDoor(EmptyShelfPlace))//4C风淋门外->风淋门内
{
if (agvPlae.StartsWith(SettingString.RoomC_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.RoomC_Name_Prefix))//4C->4C
{
if (AGVManager.CheckRoomCTarget(agv, EmptyShelfPlace))//被占用
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
AGVManager.MoveToRoomCStandy(agv);
UpdateJobTaskInfo(agv);
}
else
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_IN_DOOR);
runInfo = "去产线" + EmptyShelfPlace + "，先过风淋门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.DoorAirIn);
UpdateJobTaskInfo(agv);
}
}
else if ((agvPlae.StartsWith(SettingString.RoomD_Name_Prefix) || agvPlae.StartsWith(SettingString.DoubleLine_Name_Prefix) || agvPlae.Equals(SettingString.Standby) ||
agvPlae.Equals(SettingString.AutoCharge))
&& EmptyShelfPlace.StartsWith(SettingString.RoomC_Name_Prefix))//4D->4C
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4C_DOOR);
runInfo = "去产线" + EmptyShelfPlace + "，先过4C门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.DoorDToC);
UpdateJobTaskInfo(agv);
}
}
else//起始与目的地在风淋门同一侧
{
if (agvPlae.StartsWith(SettingString.RoomC_Name_Prefix) && AGVManager.CheckIsInAirDoor(agvPlae) && AGVManager.CheckIsInAirDoor(EmptyShelfPlace))//都在风淋门内
{
if (AGVManager.CheckRoomCTarget(agv, EmptyShelfPlace))//被占用
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_OUT_DOOR);
runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先过风淋门，再到临时待机位" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.DoorAirOut);
UpdateJobTaskInfo(agv);
}
else
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
}
}
else if (agvPlae.Equals("") || (!AGVManager.CheckIsInAirDoor(agvPlae)) && !AGVManager.CheckIsInAirDoor(EmptyShelfPlace))//都在风淋门外
{
if (agvPlae.StartsWith(SettingString.RoomC_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.RoomC_Name_Prefix))//4C->4C
{
if (AGVManager.CheckRoomCTarget(agv, EmptyShelfPlace))//被占用
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
AGVManager.MoveToRoomCStandy(agv);
UpdateJobTaskInfo(agv);
}
else
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
}
}
else if (agvPlae.StartsWith(SettingString.RoomC_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.RoomD_Name_Prefix))//4C->4D
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR);
runInfo = "去产线" + EmptyShelfPlace + "，先过4D门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv);
}
else if ((agvPlae.StartsWith(SettingString.RoomD_Name_Prefix) || agvPlae.StartsWith(SettingString.DoubleLine_Name_Prefix) || agvPlae.Equals(SettingString.Standby) ||
agvPlae.Equals(SettingString.AutoCharge))
&& EmptyShelfPlace.StartsWith(SettingString.RoomC_Name_Prefix))//4D->4C
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4C_DOOR);
runInfo = "去产线" + EmptyShelfPlace + "，先过4C门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.DoorDToC);
UpdateJobTaskInfo(agv);
}
else//4D->4D
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
}
}
}
}
else if (jobStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_OUT_DOOR))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorAirOut, CurTaskState))
{
//4C风淋门内->风淋门外,到达风淋门外
if (agvPlae.StartsWith(SettingString.RoomC_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.RoomC_Name_Prefix))//4C->4C
{
if (AGVManager.CheckRoomCTarget(agv, EmptyShelfPlace))//被占用
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
runInfo = "到风淋门外，目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
AGVManager.MoveToRoomCStandy(agv);
UpdateJobTaskInfo(agv);
}
else
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "到风淋门外，开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
}
}
else if (agvPlae.StartsWith(SettingString.RoomC_Name_Prefix) && EmptyShelfPlace.StartsWith(SettingString.RoomD_Name_Prefix))//4C->4D
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR);
runInfo = "到风淋门外，去产线" + EmptyShelfPlace + "，先过4D门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv);
}
//都在风淋门内，到达风淋门外
else
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
runInfo = "到风淋门外，目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
AGVManager.MoveToRoomCStandy(agv);
UpdateJobTaskInfo(agv);
}
}
}
else if (jobStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_IN_DOOR))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorAirIn, CurTaskState))
{
//4C风淋门外->风淋门内
jobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "到达风淋门内，开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
}
}
else if (jobStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4C_DOOR))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorDToC, CurTaskState))
{
if (AGVManager.CheckRoomCTarget(agv, EmptyShelfPlace))//被占用
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE);
runInfo = "目的地" + EmptyShelfPlace + "有小车占用，先到临时待机位" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
AGVManager.MoveToRoomCStandy(agv);
UpdateJobTaskInfo(agv);
}
else
{
if (AGVManager.CheckIsInAirDoor(EmptyShelfPlace))
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_AIR_IN_DOOR);
runInfo = "去产线" + EmptyShelfPlace + "，先过风淋门[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.DoorAirIn);
UpdateJobTaskInfo(agv);
}
else
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
}
}
}
}
else if (jobStep.IsStep(TAKE_EMPTY_STEP.WAIT_REACH_TEMP_PLACE))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.C4_STANDBY1, CurTaskState) || MissionSys.CheckTaskFinished(agv, SettingString.C4_STANDBY2, CurTaskState))
{
if (!AGVManager.CheckRoomCTarget(agv, EmptyShelfPlace))//未占用
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
//AGVManager.DeleteStandyInfo(agv);
}
}
}
else if (jobStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_REACH_4D_DOOR))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.DoorCToD, CurTaskState))
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = "开始执行回收空料架任务[" + agvPlae + "->" + EmptyShelfPlace + "]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
}
}
else if (jobStep.IsStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK))
{
if (nodeIdx > -1)
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TASK);
runInfo = "AGV 添加任务：移动到" + EmptyShelfPlace + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
MissionSys.AssignMission(agv, EmptyShelfPlace);
UpdateJobTaskInfo(agv);
}
else
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.ASSIGN_AGV_TASK);
runInfo = EmptyShelfPlace + " 不存在或未开启调用";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
}
}
else if (jobStep.IsStep(TAKE_EMPTY_STEP.WAIT_AGV_START_TASK))
{
if (agv.CurTaskState.Equals(SettingString.Executing))
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE);
runInfo = "AGV开始向目的地[" + EmptyShelfPlace + "]移动" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
}
}
else if (jobStep.IsStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, EmptyShelfPlace, CurTaskState))
{
//if (EmptyShelfPlace.Equals(SettingString.C4FeederOut))
//{
// runInfo = "AGV到达 " + EmptyShelfPlace;
// msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
// TakeEmptyStep.Msg = msg;
// return new EnterLeaveShelfJob(EmptyShelfPlace, eEnterLeaveType.Enter);
//}
//else
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE);
runInfo = "AGV到达 " + EmptyShelfPlace + " 向产线发送出料架请求[ReadyLeave]" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
if (nodeIdx == -1)
{
runInfo = EmptyShelfPlace + " 未开启调用";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
return this;
}
ClientNode node = AGVManager.nodeInfo[nodeIdx];
agv.RFID = node.RFID;
AGVManager.server.ReadyLeave(EmptyShelfPlace);
}
}
}
else if (jobStep.IsStep(TAKE_EMPTY_STEP.WAIT_LINE_RESPONSE))
{
if (nodeIdx == -1)
{
runInfo = EmptyShelfPlace + " 未开启调用";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
return this;
}
ClientNode node = AGVManager.nodeInfo[nodeIdx];
agv.RFID = node.RFID;
if (node.StateEquals(eNodeStatus.MayLeave))
{
if (!agv.CurTarName.Equals("Enter"))
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF);
runInfo = "收到产线出料请求[ReadyLeave]的响应 " + EmptyShelfPlace + "出料架，小车链条运行" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
//agv.RFID = node.RFID;
MissionSys.AssignMission(agv, SettingString.Enter);
UpdateJobTaskInfo(agv);
}
}
else if (jobStep.IsTimeOut(15000, out double timeOutValue))
{
jobStep.ToNextStep(TAKE_EMPTY_STEP.WAIT_REACH_PLACE);
}
}
else if (jobStep.IsStep(TAKE_EMPTY_STEP.WAIT_TAKE_EMPTY_SHELF))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, SettingString.Enter, CurTaskState))
{
ClientNode node = AGVManager.nodeInfo[nodeIdx];
//回收空料架数量减少1
AGVManager.unlockManager.DelMission(EmptyShelfPlace, RFID);
if (!agvPlae.Equals(SettingString.RoomDFeederOut) && !agvPlae.Equals(SettingString.RoomCFeederOut))
HttpManager.ClearRFID(EmptyShelfPlace, RFID);
runInfo = "空料架在[" + EmptyShelfPlace + "]进入小车完成" + "[RFID=" + RFID + "]";
msg += string.Format("[{0}] {1}", jobStep.CurStep(), runInfo);
jobStep.Msg = msg;
//4DfeederOut默认大料架
if (agv.Place.Equals(SettingString.RoomDFeederOut))
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
else if (agv.RFID.StartsWith("D"))
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.SmallShelf);
else if (agv.RFID.StartsWith("C"))
{
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.BigShelf);
}
else
return new EmptyShelfBackJob(EmptyShelfPlace, eShelfType.SmallShelf);
}
else if (jobStep.IsTimeOut(60000, out double timeOutValue))
{
//链条停止
runInfo = "空料架在[" + EmptyShelfPlace + "]进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况" + "[RFID=" + RFID + "]";
// msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
//TakeEmptyStep.Msg = msg;
}
}
else if (jobStep.IsStep(TAKE_EMPTY_STEP.END))
{
}
return this;
}
/// <summary>
/// AGV回收空料架流程
/// </summary>
private enum TAKE_EMPTY_STEP
{
/// <summary>
/// 准备，发送给AGV
/// </summary>
NONE,
/// <summary>
/// 等待到达4C风淋门内
/// </summary>
WAIT_AGV_REACH_AIR_IN_DOOR,
/// <summary>
/// 等待到达4C风淋门外
/// </summary>
WAIT_AGV_REACH_AIR_OUT_DOOR,
/// <summary>
/// 等待到达4C门
/// </summary>
WAIT_AGV_REACH_4C_DOOR,
/// <summary>
/// 等待到达4D门
/// </summary>
WAIT_AGV_REACH_4D_DOOR,
/// <summary>
/// 给AGV分配任务
/// </summary>
ASSIGN_AGV_TASK,
/// <summary>
/// 等待AGV开始执行去取架点任务
/// </summary>
WAIT_AGV_START_TASK,
/// <summary>
/// 等待AGV到达取架点
/// </summary>
WAIT_REACH_PLACE,
/// <summary>
/// 等待AGV到达临时停车位
/// </summary>
WAIT_REACH_TEMP_PLACE,
/// <summary>
/// 等待产线回应
/// </summary>
WAIT_LINE_RESPONSE,
/// <summary>
/// 等待料架进入小车
/// </summary>
WAIT_TAKE_EMPTY_SHELF,
/// <summary>
/// 料架进入小车完成
/// </summary>
END
}
}
}