EmptyShelfBackJob.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Web.ModelBinding;
using System.Windows.Forms;
using Common;
namespace DeviceLibrary
{
/// <summary>
/// 载空料架返回任务,A5,A6需要则直接去，否则在待机位等待
/// </summary>
public class EmptyShelfBackJob : Job
{
/// <summary>
/// 载空料架返回任务
/// </summary>
/// <param name="lineName">产线的节点名称</param>
public EmptyShelfBackJob(string lineName, eShelfType shelfType)
{
EmptyShelfPlace = lineName;
this.shelfType = shelfType;
JobName = $"空料架{shelfType.ToString()}返回任务";
}
/// <summary>
/// 空料架的产线位置
/// </summary>
private string EmptyShelfPlace { get; set; }
/// <summary>
/// 空料架目的地
/// </summary>
public string EmptyShelfTargetPlace { get; set; } = "";
private int tryTimes = 0;
private eShelfType shelfType;
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return string.Format("空料架[{0}][{1}]返回：{2} ",shelfType.ToString(), CurTaskID, runInfo); }
}
private JobStep<EMPTY_SHELF_BACK_STEP> curJobStep = new JobStep<EMPTY_SHELF_BACK_STEP>(EMPTY_SHELF_BACK_STEP.NONE);
/// <summary>
/// 空架任务执行
/// </summary>
/// <param name="agv"></param>
public override Job Execute(Agv_Info agv)
{
string msg = string.Format("{0} 空料架[{1}]返回： ", agv.Name, shelfType.ToString());
//bool rtn = false;
//runInfo = "空料架返回：";
StartJobTime = curJobStep.startTime;
if (curJobStep.IsStep(EMPTY_SHELF_BACK_STEP.NONE))
{
if (AGVManager.CheckIsInAirDoor(EmptyShelfPlace))//车间风淋门
{
curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.OUT_AIR_DOOR_1);
runInfo = $"从产线{EmptyShelfPlace}去{SettingString.RoomD_Name}风淋门停留点";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, $"{SettingString.DoorAirOut}-1");
UpdateJobTaskInfo(agv);
}
else
{
if (AGVManager.CheckA5A6State(agv, shelfType, out string nodeName))
{
EmptyShelfTargetPlace = nodeName;
curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
runInfo = "从产线 [" + EmptyShelfPlace + "]送往双层线" + EmptyShelfTargetPlace;
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
curJobStep.Msg = msg;
if (!EmptyShelfTargetPlace.Equals(""))
{
MissionSys.AssignMission(agv, EmptyShelfTargetPlace);
UpdateJobTaskInfo(agv);
}
}
else
{
curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
runInfo = "双层线暂不需要空料架，从产线[" + EmptyShelfPlace + "]到待机位";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.Standby);
UpdateJobTaskInfo(agv);
}
}
}
else if (curJobStep.IsStep(EMPTY_SHELF_BACK_STEP.OUT_AIR_DOOR_1))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, $"{SettingString.DoorAirOut}-1", CurTaskState))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.OUT_AIR_DOOR_2);
runInfo = string.Format("{0}到达风淋门停留点，进入{1}风淋门", agv.Place, SettingString.RoomD_Name);
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, $"{SettingString.DoorAirOut}-2");
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(EMPTY_SHELF_BACK_STEP.OUT_AIR_DOOR_2))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, $"{SettingString.DoorAirOut}-2", CurTaskState))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.OUT_AIR_DOOR_3);
runInfo = string.Format("{0}进入风淋门，准备出{1}风淋门", agv.Place, SettingString.RoomD_Name);
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, $"{SettingString.DoorAirOut}-3");
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(EMPTY_SHELF_BACK_STEP.OUT_AIR_DOOR_3))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, $"{SettingString.DoorAirOut}-3", CurTaskState))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
if (AGVManager.CheckA5A6State(agv, shelfType, out string nodeName))
{
EmptyShelfTargetPlace = nodeName;
curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
runInfo = string.Format("送往双层线{1}", SettingString.RoomD_Name, EmptyShelfTargetPlace);
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, EmptyShelfTargetPlace);
UpdateJobTaskInfo(agv);
}
else
{
curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
runInfo = string.Format("双层线暂不需要空料架，到待机位", SettingString.RoomD_Name);
runInfo = "双层线暂不需要空料架，到待机位";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(), runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.Standby);
UpdateJobTaskInfo(agv);
}
}
}
else if (curJobStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (AGVManager.CheckA5A6State(agv, shelfType, out string nodeName))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
EmptyShelfTargetPlace = nodeName;
curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6);
runInfo = "待机位检测到双层线需要料架,送往双层线 " + EmptyShelfTargetPlace;
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, EmptyShelfTargetPlace);
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_A5A6))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv, EmptyShelfTargetPlace, CurTaskState) && EmptyShelfTargetPlace.StartsWith(SettingString.DoubleLine_Name_Prefix))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_DOUBLE_LINE_RESPONSE);
runInfo = "AGV到达 " + EmptyShelfTargetPlace + "，并发送入料架请求[ReadyEnter]";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
curJobStep.Msg = msg;
AGVManager.server.ReadyEnter(EmptyShelfTargetPlace);
}
}
else if (curJobStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT_DOUBLE_LINE_RESPONSE))
{
int id = AGVManager.FindNode(EmptyShelfTargetPlace);
ClientNode node = AGVManager.nodeInfo[id];
if (node.StateEquals(eNodeStatus.MayEnter))
{
if (!agv.CurTarName.Equals(SettingString.Leave))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_DOUBLE_LINE);
runInfo = "收到双层线入料架请求[ReadyEnter]的响应 " + EmptyShelfTargetPlace + "入料架，小车链条运行";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.Leave);
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsTimeOut(15000, out TimeSpan timeOutValue))
{
tryTimes++;
if (tryTimes < 3)
return this;
tryTimes = 0;
curJobStep.ToNextStep(EMPTY_SHELF_BACK_STEP.WAIT_AGV_REACH_STANDBY);
runInfo = "双层线" + EmptyShelfTargetPlace + "暂不需要空料架，从[" + EmptyShelfTargetPlace + "]到待机位";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
curJobStep.Msg = msg;
MissionSys.AssignMission(agv, SettingString.Standby);
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(EMPTY_SHELF_BACK_STEP.WAIT__EMPTY_SHELF_IN_DOUBLE_LINE))
{
CurTaskState = MissionSys.GetTakJobState(agv);
if (MissionSys.CheckTaskFinished(agv,SettingString.Leave, CurTaskState))
{
agv.RFID = "";
agv.HasError = false;
Job job = AGVManager.control.GetJob(agv);
if (job != null)
{
runInfo = "在双层线检测到任务，执行任务";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
curJobStep.Msg = msg;
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
return job;
}
else
{
runInfo = "空料架进入" + EmptyShelfTargetPlace + "完成,暂无任务，回充电位";
msg += string.Format("[{0}] {1}", curJobStep.CurStep(),runInfo);
curJobStep.Msg = msg;
agv.RFID = "";
agv.BoxDestInfo = "";
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
return new ChargeJob(SettingString.DoubleLine_Name_Prefix);
}
}
else if (curJobStep.IsTimeOut(60000, out TimeSpan timeOutValue1))
{
runInfo = "空料架在[" + EmptyShelfTargetPlace + "]离开小车超时,请检查料架离开小车的情况";
agv.HasError = true;
agv.SetErrorMsg("空料架在[" + EmptyShelfTargetPlace + "]进入小车超时", timeOutValue1.TotalMinutes.ToString("f2"));
}
}
else if (curJobStep.IsStep(EMPTY_SHELF_BACK_STEP.END))
{
}
return this;
}
/// <summary>
/// AGV载空料架回收流程
/// </summary>
private enum EMPTY_SHELF_BACK_STEP
{
/// <summary>
/// 料架已进入小车，寻找目的地
/// </summary>
NONE,
/// <summary>
/// 去出3D风淋门等待位
/// </summary>
OUT_AIR_DOOR_1,
/// <summary>
/// 进风淋门
/// </summary>
OUT_AIR_DOOR_2,
/// <summary>
/// 出风淋门
/// </summary>
OUT_AIR_DOOR_3,
/// <summary>
/// 等待小车到达A5,A6
/// </summary>
WAIT_AGV_REACH_A5A6,
/// <summary>
/// 等待双层线回应
/// </summary>
WAIT_DOUBLE_LINE_RESPONSE,
/// <summary>
/// 等待料架进入双层线
/// </summary>
WAIT__EMPTY_SHELF_IN_DOUBLE_LINE,
/// <summary>
/// A5,A6暂时不需要，等待AGV到达待机位
/// </summary>
WAIT_AGV_REACH_STANDBY,
/// <summary>
/// 送上双层线
/// </summary>
END
}
}
}