PackingJob_SendShelf.cs
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using Common;
namespace DeviceLibrary
{
/// <summary>
/// 包装仓任务:将包装料架送往包装仓
/// </summary>
public class PackingJob_SendShelf : Job
{
/// <summary>
/// 将包装料架送往包装仓
/// </summary>
/// <param name="agvPlae">agv当前位置</param>
/// <param name="tarPlace">目的地</param>
/// <param name="mark">标志：出库任务则显示mark；入库任务显示Mark=InStore</param>
public PackingJob_SendShelf(string agvPlae, string tarPlace, string mark,string RFID= "")
{
this.agvPlace = agvPlae;
TargetPlace = tarPlace;
this.mark = mark;
this.RFID = RFID;
if (PackingJobType.IsInStoreMark(mark))
{
}
else
{
//修改mark状态
PackingJobType.ChangeMarkState(mark, eMarkState.Executing);
}
}
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlace = "";
private string RFID = "";
/// <summary>
/// 目的地
/// </summary>
public string TargetPlace { get; private set; }
/// <summary>
/// 标记
/// </summary>
public string mark = "";
private string runInfo = "";
/// <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("送包装料架任务:{0} [RFID={5}][Mark={2}][目的地={1}][任务名称={3}][任务状态={4}]", runInfo, to, mark,CurTaskName,CurTaskState,RFID);
}
}
private JobStep<EXECUTE_STEP> curJobStep = new JobStep<EXECUTE_STEP>(EXECUTE_STEP.P1_NONE);
/// <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 = runInfo;
CurTaskState = CommonVar.GetTakJobState(agv);
if (curJobStep.IsStep(EXECUTE_STEP.P1_NONE))
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_STATION);
runInfo = "收到任务,向包装仓" + TargetPlace + "运行";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
else if (curJobStep.IsStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_STATION))
{
if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
{
if (PackingJobType.IsInStoreMark(mark))
{
curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_PACKING_STATION_RESPONSE);
runInfo = "到达包装仓" + TargetPlace + "，并发送到达信号";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.server.Arrive(TargetPlace, RFID);
}
else
{
curJobStep.ToNextStep(EXECUTE_STEP.P3_CHECK_PACKING_STATION_STATE);
runInfo = "到达包装仓" + TargetPlace;
msg += runInfo;
curJobStep.Msg = msg;
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P3_CHECK_PACKING_STATION_STATE))
{
if (PackingJobType.CheckNodeMark(mark, TargetPlace))
{
curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_PACKING_STATION_RESPONSE);
runInfo = "到达包装仓" + TargetPlace + "，并发送到达信号";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.server.Arrive(TargetPlace, RFID);
}
else
{
if (PackingJobType.IsInStoreMark(mark))
{
runInfo = "包装仓" + TargetPlace + "无入库任务，回收该料架";
msg += runInfo;
curJobStep.Msg = msg;
return new SendShelfJob(TargetPlace,SettingString.A2,RFID);
}
else
{
runInfo = "包装仓" + TargetPlace + "无任务，回收该料架";
msg += runInfo;
curJobStep.Msg = msg;
return new RecycleEmptyShelf(agvPlace, "", true, ShelfType.PackingShelf);
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P4_WAIT_PACKING_STATION_RESPONSE))
{
int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.MayEnter));
if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.P5_WAIT_AGV_DOCK_FINISH);
runInfo = "收到线体对接请求，开始停靠";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.DockToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
else if (curJobStep.IsTimeOut(6000, out double timeOutTime))
{
runInfo = string.Format("线体[{0}]允许对接信号[{1}]超时{2}秒", TargetPlace, eNodeStatus.MayEnter, timeOutTime.ToString("f2"));
msg += string.Format("线体[{0}]允许对接信号[{1}]超时", TargetPlace, eNodeStatus.MayEnter);
curJobStep.Msg = msg;
curJobStep.ToNextStep(EXECUTE_STEP.P3_CHECK_PACKING_STATION_STATE);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P5_WAIT_AGV_DOCK_FINISH))
{
if (CommonVar.CheckTaskDockFinished(agv, TargetPlace, CurTaskState))
{
CommonVar.server.Ready(TargetPlace);
curJobStep.ToNextStep(EXECUTE_STEP.P6_WAIT_SHELF_IN_STATION);
runInfo = "停靠包装仓完成,链条运行";
msg += runInfo;
curJobStep.Msg = msg;
rtn = agv.AssignTask(SettingString.Leave);
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P6_WAIT_SHELF_IN_STATION))
{
if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Leave, CurTaskState))
{
CommonVar.server.CloseDoor(TargetPlace);
//int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.FinishEnter));
//if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.P7_END);
runInfo = "包装料架进入包装仓"+TargetPlace+"完成";
msg += runInfo;
curJobStep.Msg = msg;
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P7_END))
{
//Job job = CommonVar.control.GetJob(agv);
//if (job != null)
//{
// runInfo = "送料架任务完成，检测到任务，开始执行";
// msg += runInfo;
// curJobStep.Msg = msg;
// return job;
//}
return null;
}
return this;
}
/// <summary>
/// 执行流程
/// </summary>
private enum EXECUTE_STEP
{
/// <summary>
/// 接收到任务
/// </summary>
P1_NONE,
/// <summary>
/// 等待到达包装仓
/// </summary>
P2_WAIT_REACH_PACKING_STATION,
/// <summary>
/// 到达包装仓，再次确认是否有任务，防止该任务被手动出掉
/// </summary>
P3_CHECK_PACKING_STATION_STATE,
/// <summary>
/// 等待包装仓回复
/// </summary>
P4_WAIT_PACKING_STATION_RESPONSE,
/// <summary>
/// 等待AGV停靠完成
/// </summary>
P5_WAIT_AGV_DOCK_FINISH,
/// <summary>
/// 等待料架进入包装仓
/// </summary>
P6_WAIT_SHELF_IN_STATION,
/// <summary>
/// 任务结束
/// </summary>
P7_END
}
}
}