PackingJob_GetShelf.cs
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using Common;
namespace DeviceLibrary
{
/// <summary>
/// 包装仓任务:取包装料架
/// </summary>
public class PackingJob_GetShelf : Job
{
/// <summary>
/// 接料架:空料架目的为出库；满料架目的为入库
/// </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_GetShelf(string agvPlae, string tarPlace, string mark)
{
this.agvPlace = agvPlae;
TargetPlace = tarPlace;
this.mark = mark;
if (PackingJobType.IsInStoreMark(mark))
{
}
else
{
//修改mark状态
PackingJobType.ChangeMarkState(mark, eMarkState.Assigned);
}
}
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlace = "";
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("取包装料架任务:{0} [Mark={2}][目的地={1}][任务名称={3}][任务状态={4}]", runInfo,to, mark, CurTaskName, CurTaskState);
}
}
private JobStep<EXECUTE_STEP> curJobStep = new JobStep<EXECUTE_STEP>(EXECUTE_STEP.P1_NONE);
/// <summary>
/// 包装仓任务执行
/// </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(CurTaskID);
if (curJobStep.IsStep(EXECUTE_STEP.P1_NONE))
{
if (agvPlace.Equals(SettingString.Standby) || agvPlace.Equals(SettingString.AutoCharge))
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_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.CurTaskName, agv.CurTaskID);
}
else if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
{
curJobStep.ToNextStep(EXECUTE_STEP.P1_1_WAIT_REACH_4D_DOOR);
runInfo = "4C车间收到任务，先到4D门";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
else
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_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.CurTaskName, agv.CurTaskID);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P1_1_WAIT_REACH_4D_DOOR))
{
if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_SHELF_PLACE);
runInfo = "到达4D门，去包装料架处" + TargetPlace;
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_SHELF_PLACE))
{
if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
{
if (PackingJobType.IsInStoreMark(mark))
{
curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE);
runInfo = "到达包装料架处" + TargetPlace + "，并向线体发送出料请求";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.server.Ready(TargetPlace, "");
}
else
{
curJobStep.ToNextStep(EXECUTE_STEP.P3_CHECK_PACKING_STATION_STATE);
runInfo = "到达包装料架处" + TargetPlace;
msg += runInfo;
curJobStep.Msg = msg;
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P3_CHECK_PACKING_STATION_STATE))
{
if (PackingJobType.CheckNodeMark(mark))
{
curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE);
runInfo = "当前任务" + mark + "确认存在，并向线体" + TargetPlace + "发送出料请求";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.server.Ready(TargetPlace, "");
}
else//
{
PackingJobType.DelMark(mark);
int nodeId = PackingJobType.CheckOutStroePackingJob();
if (nodeId == -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.P12_END);
runInfo = "当前任务" + mark + "不存在，且无其他包装任务";
msg += runInfo;
curJobStep.Msg = msg;
}
else if (nodeId > -1)
{
mark = CommonVar.nodeInfo[nodeId].Mark;
//修改mark状态
PackingJobType.ChangeMarkState(mark, eMarkState.Assigned);
curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE);
runInfo = "切换任务为" + mark + "，并向线体" + TargetPlace + "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));
if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_AGV);
runInfo = "线体" + TargetPlace + "允许出料，链条运行";
msg += runInfo;
curJobStep.Msg = msg;
RFID = CommonVar.nodeInfo[i].RFID;
rtn = MiR_API.Add_Mission_Fleet(agv, CommonVar.agvMission[SettingString.Enter]);
UpdateJobTaskInfo(agv.CurTaskName, agv.CurTaskID);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_AGV))
{
if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Enter, CurTaskState))
{
CommonVar.server.CloseDoor(TargetPlace);
if (PackingJobType.IsInStoreMark(mark))
{
if (RFID.StartsWith(SettingString.ReelString_RFID_Prefix) || RFID.StartsWith("0"))
{
runInfo = "料串进入小车完成，由于当前任务是料架任务，将该料串送回,修改mark状态"+ mark+"="+eMarkState.None.ToString();
msg += runInfo;
curJobStep.Msg = msg;
//return new PackingJob_SendShelf(TargetPlace, SettingString.A2, mark, RFID);
PackingJobType.ChangeMarkState(mark, eMarkState.None);
return new SendShelfJob(TargetPlace, SettingString.A2, RFID);
}
}
if (FindPackingPlace(agv, out string packingPlace, out string rfid))
{
runInfo = "包装料架进入小车完成";
msg += runInfo;
curJobStep.Msg = msg;
return new PackingJob_SendShelf(TargetPlace, packingPlace, mark, rfid);
}
else
{
runInfo = "包装料架进入小车完成,包装仓无剩余任务," + packingPlace + "回收该料架";
msg += runInfo;
curJobStep.Msg = msg;
return new RecycleEmptyShelf(agvPlace, packingPlace, true, ShelfType.PackingShelf);
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P12_END))
{
return null;
}
return this;
}
/// <summary>
/// 查找包装仓目的地
/// </summary>
/// <param name="agv"></param>
/// <param name="packPlace"></param>
/// <returns></returns>
private bool FindPackingPlace(Agv_Info agv, out string packPlace, out string rfid)
{
if (mark.Equals(SettingString.InStore_Mark))
{
packPlace = SettingString.A2;//
rfid = "A#";
int i = CommonVar.nodeInfo.FindIndex(s => s.Mark.Equals("0") && s.StateEquals(eNodeStatus.NeedEnter) && s.IsUse);
if (i > -1)
{
packPlace = CommonVar.nodeInfo[i].Name;
LogUtil.info(string.Format("{0} 查找包装仓目的地{1}[Mark={2}][Marks={3}]", agv.Name, packPlace, mark, PackingJobType.GetMarks()));
return true;
}
else
{
PackingJobType.DelMark(mark);
//int nodeIdx = PackingJobType.CheckOutStroePackingJob();
//if (nodeIdx > -1)
//{
// string _mark = CommonVar.nodeInfo[nodeIdx].Mark;
// //PackingJobType.ChangeMarkState(_mark, eMarkState.Executing);
// packPlace = CommonVar.nodeInfo[nodeIdx].Name;
// rfid = CommonVar.nodeInfo[nodeIdx].RFID;
// CommonVar.log.Info(string.Format("{0} 找不到Mark={1}任务，切换为包装仓{2}的Mark={3}的任务[Marks={4}]", agv.Name, mark, packPlace, _mark, PackingJobType.GetMarks()));
// mark = _mark;
// return true;
//}
}
}
else
{
packPlace = SettingString.A3;//默认为回收料架处
rfid = "00";
int i = CommonVar.nodeInfo.FindIndex(s => s.Mark.Equals(mark) && s.StateEquals(eNodeStatus.NeedEnter) && s.IsUse);
if (i > -1)
{
packPlace = CommonVar.nodeInfo[i].Name;
LogUtil.info(string.Format("{0} 查找包装仓目的地{1}[Mark={2}][Marks={3}]", agv.Name, packPlace, mark, PackingJobType.GetMarks()));
return true;
}
else
{
PackingJobType.DelMark(mark);
int nodeIdx = PackingJobType.CheckOutStroePackingJob();
if (nodeIdx > -1)
{
string _mark = CommonVar.nodeInfo[nodeIdx].Mark;
//PackingJobType.ChangeMarkState(_mark, eMarkState.Executing);
packPlace = CommonVar.nodeInfo[nodeIdx].Name;
LogUtil.info(string.Format("{0} 找不到Mark={1}任务，切换为包装仓{2}的Mark={3}的任务[Marks={4}]", agv.Name, mark, packPlace, _mark, PackingJobType.GetMarks()));
mark = _mark;
return true;
}
}
}
LogUtil.info(string.Format("{0} 找不到Mark={1}任务及其他包装任务,将该料架送往回收处。[{2}]", agv.Name, mark, PackingJobType.GetMarks()));
return false;
}
/// <summary>
/// 执行流程
/// </summary>
private enum EXECUTE_STEP
{
/// <summary>
/// 接收到任务
/// </summary>
P1_NONE,
/// <summary>
/// 等待到达4D
/// </summary>
P1_1_WAIT_REACH_4D_DOOR,
/// <summary>
/// 等待到达包装料架处
/// </summary>
P2_WAIT_REACH_PACKING_SHELF_PLACE,
/// <summary>
/// 确认包装仓是否有该任务，防止该任务被手动出掉
/// </summary>
P3_CHECK_PACKING_STATION_STATE,
/// <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>
/// 等待到达包装仓
/// </summary>
P6_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>
P7_CHECK_PACKING_STATION_STATE,
/// <summary>
/// 等待包装仓回复
/// </summary>
P8_WAIT_PACKING_STATION_RESPONSE,
/// <summary>
/// 等待AGV停靠完成
/// </summary>
P9_WAIT_AGV_DOCK_FINISH,
/// <summary>
/// 等待料架进入包装仓
/// </summary>
P10_WAIT_SHELF_IN_STATION,
/// <summary>
/// 等待到达空料架回收处
/// </summary>
P11_WAIT_REACH_RECYCLE_STATION,
/// <summary>
/// 任务结束
/// </summary>
P12_END
}
}
}