GetShelfJob.cs
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using Common;
namespace DeviceLibrary
{
/// <summary>
/// 取料串
/// </summary>
public class GetShelfJob : Job
{
/// <summary>
///取料串
/// </summary>
/// <param name="agvPlae">agv当前位置</param>
/// <param name="tarPlace">目的地</param>
/// <param name="RFID">RFID</param>
/// <param name="fullShelf">是否是满料串</param>
public GetShelfJob(string agvPlae, string tarPlace, string RFID = "", bool fullShelf = false)
{
this.agvPlace = agvPlae;
TargetPlace = tarPlace;
this.isFullShelf = fullShelf;
this.RFID = RFID;
}
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlace = "";
/// <summary>
/// 是否是满料串
/// </summary>
private bool isFullShelf = false;
/// <summary>
/// 目的地
/// </summary>
public string TargetPlace { get; private set; }
private string runInfo = "";
private string RFID = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get
{
int t1 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
string from = "";
if (t1 > -1)
from = CommonVar.nodeInfo[t1].AliceName;
else
from = agvPlace;
int t2 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
string to = "";
if (t2 > -1)
to = CommonVar.nodeInfo[t2].AliceName;
else
to = TargetPlace;
return string.Format("取{5}料串任务[RFID={4}]: {0}[目的地={1}][任务名称={2}][任务状态={3}]", runInfo,to, CurTaskName, CurTaskState, RFID, isFullShelf ? "满" : "空");
}
}
private JobStep<EXECUTE_STEP> curJobStep = new JobStep<EXECUTE_STEP>(EXECUTE_STEP.P1_NONE);
private string GetShowInfo()
{
int t1 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
string from = "";
if (t1 > -1)
from = CommonVar.nodeInfo[t1].AliceName;
else
from = agvPlace;
int t2 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
string to = "";
if (t2 > -1)
to = CommonVar.nodeInfo[t2].AliceName;
else
to = TargetPlace;
return string.Format("取料串任务[RFID={3}]: {0}[{1}->{2}]", runInfo, from, to, RFID); ;
}
/// <summary>
/// 任务执行
/// </summary>
/// <param name="agv"></param>
public override Job Execute(Agv_Info agv)
{
string msg = agv.Name + " ";
bool rtn = false;
agv.Msg = GetShowInfo();
CurTaskState = CommonVar.GetTakJobState(agv);
if (curJobStep.IsStep(EXECUTE_STEP.P1_NONE))
{
if ((agvPlace.Equals(SettingString.Standby) || agvPlace.Equals(SettingString.AutoCharge)) && !TargetPlace.StartsWith(SettingString.C4_Name_Prefix))//D D
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_SHELF_PLACE);
runInfo = "待机位/充电位收到任务，开始执行";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix) && !TargetPlace.StartsWith(SettingString.C4_Name_Prefix))//C D
{
curJobStep.ToNextStep(EXECUTE_STEP.P3_WAIT_REACH_4D_DOOR);
runInfo = "3C车间收到任务，先到3D门";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv);
}
else if (!agvPlace.StartsWith(SettingString.C4_Name_Prefix) && TargetPlace.StartsWith(SettingString.C4_Name_Prefix))// D C
{
curJobStep.ToNextStep(EXECUTE_STEP.P3_WAIT_REACH_4C_DOOR);
runInfo = "3D车间收到任务，先到3C门";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.DoorMission(agv, SettingString.DoorDToC);
UpdateJobTaskInfo(agv);
}
else
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_SHELF_PLACE);
runInfo = "默认位置收到任务，开始执行";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P3_WAIT_REACH_4D_DOOR))
{
if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_SHELF_PLACE);
runInfo = "到达3D门，去料架处" + TargetPlace;
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P3_WAIT_REACH_4C_DOOR))
{
if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorDToC, CurTaskState))
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_SHELF_PLACE);
runInfo = "到达3C门，去料架处" + TargetPlace;
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P2_WAIT_REACH_SHELF_PLACE))
{
if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
{
curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE);
runInfo = "到达料架处" + TargetPlace + "，并向线体发送出料请求";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.server.Ready(TargetPlace, "");
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE))
{
int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) );//&& s.StateEquals(eNodeStatus.MayLeave)
if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_AGV);
runInfo = "线体" + TargetPlace + "出料，链条运行";
msg += runInfo;
curJobStep.Msg = msg;
if (IsPlace(SettingString.A1) || IsPlace(SettingString.A7))//两位置出的架子需判断类型
{
RFID = CommonVar.nodeInfo[i].RFID;
}
rtn = agv.AssignTask(Common.SettingString.Enter);
UpdateJobTaskInfo(agv);
}
if (curJobStep.IsTimeOut(15000, out double timeOutTime))
{
if (TargetPlace.Equals(SettingString.D3) || TargetPlace.Equals(SettingString.D4))
{
runInfo = string.Format("线体[{0}]允许出料信号[{1}]超时{2}秒，该处料串可能被手动干预,回待机位", TargetPlace, eNodeStatus.MayLeave, timeOutTime.ToString("f2"));
msg += string.Format("线体[{0}]允许出料信号[{1}]超时15S，该处料串可能被手动干预，回待机位", TargetPlace, eNodeStatus.MayLeave);
curJobStep.Msg = msg;
return new ChargeJob(TargetPlace);
}
else
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_SHELF_PLACE);
runInfo = string.Format("线体[{0}]允许出料信号[{1}]超时{2}秒，重发出料请求", TargetPlace, eNodeStatus.MayLeave, timeOutTime.ToString("f2"));
msg += string.Format("线体[{0}]允许出料信号[{1}]超时15S，重发出料请求", TargetPlace, eNodeStatus.MayLeave);
curJobStep.Msg = msg;
//去待机位
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_AGV))
{
if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Enter, CurTaskState))
{
CommonVar.server.CloseDoor(TargetPlace);
if (IsPlace(SettingString.A1) || IsPlace(SettingString.A7))//两位置出的架子需判断类型
{
string tarNodeName1 = TargetPlace.Equals(SettingString.A1) ? SettingString.A2 : SettingString.A8;
if (RFID.StartsWith(SettingString.Packing_RFID_Prefix) || RFID.StartsWith("0"))//料串任务接到包装料架，任务取消
{
runInfo = "料架进入小车完成,由于该小车任务为料串任务，将该料架送回" + tarNodeName1;
msg += runInfo;
curJobStep.Msg = msg;
return new SendShelfJob(TargetPlace, tarNodeName1, RFID);
}
}
if (FindShelfTarget(agv, out string tarNodeName))
{
runInfo = "料串进入小车完成,任务结束";
msg += runInfo;
curJobStep.Msg = msg;
return new SendShelfJob(TargetPlace, tarNodeName, RFID);
}
else
{
if (TargetPlace.Equals(SettingString.D24_Out))
{
curJobStep.ToNextStep(EXECUTE_STEP.P7_WAIT_REACH_4D_DOOR);
runInfo = "在3C车间，去待机位先到3D门";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv);
}
else
{
curJobStep.ToNextStep(EXECUTE_STEP.P6_WAIT_REACH_STANDBY);
runInfo = "料串进入小车完成，当前无节点需要料串，去待机位";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv);
}
}
}
else if (curJobStep.IsTimeOut(60000, out double timeOutTime))
{
runInfo = string.Format("线体[{0}]出料超时{1}秒，请检查出料情况", TargetPlace, timeOutTime.ToString("f2"));
msg += string.Format("线体[{0}]出料超时，请检查出料情况", TargetPlace);
curJobStep.Msg = msg;
//去待机位
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P7_WAIT_REACH_4D_DOOR))
{
if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
{
curJobStep.ToNextStep(EXECUTE_STEP.P6_WAIT_REACH_STANDBY);
runInfo = "到达3D门，待机位";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P6_WAIT_REACH_STANDBY))
{
if (CommonVar.CheckTaskMoveFinished(agv, SettingString.Standby, CurTaskState))
{
runInfo = "到达待机位并搜索任务";
msg += runInfo;
curJobStep.Msg = msg;
if (FindShelfTarget(agv, out string tarNodeName))
{
runInfo = "搜索到料串目的地,任务结束";
msg += runInfo;
curJobStep.Msg = msg;
return new SendShelfJob(SettingString.Standby, tarNodeName, RFID);
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P8_END))
{
return null;
}
return this;
}
private bool FindShelfTarget(Agv_Info currentAgv, out string tarPlace)
{
tarPlace = "";
if (currentAgv.IP.Equals(SettingString.SingleMission_IP1))
{
//检查入料口1的C5是否需要满料串
//if (isFullShelf)
//{
// if (!CommonVar.control.limitArea.Available)
// return false;
// if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T1_1))
// {
// tarPlace = SettingString.T1_1;
// return true;
// }
//}
//else
//{
// //检查入料口1的C6是否有空料串要出
// if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.D1))
// {
// tarPlace = SettingString.D1;
// return true;
// }
// if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.A2))
// {
// tarPlace = SettingString.A2;
// return true;
// }
//}
}
else//其他小车
{
if (isFullShelf)
{
//检查紧急出料口的C8出满料串
if (IsPlace(SettingString.T4_2))
{
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.A8))
{
tarPlace = SettingString.A8;
return true;
}
}
if (IsPlace(SettingString.D2) || IsPlace(SettingString.A1) || IsPlace(SettingString.A9))
{
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T5_1))
{
tarPlace = SettingString.T5_1;
return true;
}
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T3_1))
{
tarPlace = SettingString.T3_1;
return true;
}
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T2_1))
{
tarPlace = SettingString.T2_1;
return true;
}
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T1_1))
{
tarPlace = SettingString.T1_1;
return true;
}
}
//退料线
if (IsPlace(SettingString.D24_Out))
{
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.D3))
{
tarPlace = SettingString.D3;
return true;
}
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.D4))
{
tarPlace = SettingString.D4;
return true;
}
}
}
else//空料串
{
if (IsPlace(SettingString.A7) || IsPlace(SettingString.T5_2) || IsPlace(SettingString.T3_2)||
IsPlace(SettingString.T2_2)|| IsPlace(SettingString.T1_2))
{
//检查紧急出料口C7需要空料串
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.T4_1))
{
tarPlace = SettingString.T4_1;
return true;
}
//检查点料机D1是否需要空料串
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.D1))
{
tarPlace = SettingString.D1;
return true;
}
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.A2))
{
tarPlace = SettingString.A2;
return true;
}
}
//退料线
if (IsPlace(SettingString.D3) || IsPlace(SettingString.D4))
{
if (ReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.D23_In))
{
tarPlace = SettingString.D23_In;
return true;
}
}
}
}
return false;
}
private bool IsPlace(string place)
{
return TargetPlace.Equals(place);
}
/// <summary>
/// 执行流程
/// </summary>
private enum EXECUTE_STEP
{
/// <summary>
/// 接收到任务
/// </summary>
P1_NONE,
/// <summary>
/// 等待到达包装料架处
/// </summary>
P2_WAIT_REACH_SHELF_PLACE,
/// <summary>
/// 等待到达4D
/// </summary>
P3_WAIT_REACH_4D_DOOR,
/// <summary>
/// 等待到达4C
/// </summary>
P3_WAIT_REACH_4C_DOOR,
/// <summary>
/// 等待线体回复
/// </summary>
P4_WAIT_LINE_RESPONSE,
/// <summary>
/// 等待料架进入AGV
/// </summary>
P5_WAIT_SHELF_IN_AGV,
/// <summary>
/// 等待到达待机位
/// </summary>
P6_WAIT_REACH_STANDBY,
/// <summary>
/// 等待到达4D
/// </summary>
P7_WAIT_REACH_4D_DOOR,
/// <summary>
/// 任务结束
/// </summary>
P8_END
}
}
}