ChargeJob.cs
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using Common;
using System;
namespace DeviceLibrary
{
/// <summary>
/// 充电任务
/// </summary>
public class ChargeJob : Job
{
/// <summary>
/// 出完满料后-空车返回任务
/// </summary>
/// <param name="agvPlae">小车当前位置，空表示在待机位</param>
public ChargeJob(string agvPlae)
{
this.agvPlace = agvPlae;
StartJobTime = DateTime.Now;
}
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlace = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return string.Format("{0}", runInfo); }
}
private JobStep<CHARGE_STEP> curJobStep = new JobStep<CHARGE_STEP>(CHARGE_STEP.NONE);
/// <summary>
/// 空车返回执行
/// </summary>
/// <param name="agv"></param>
public override Job Execute(Agv_Info agv)
{
string msg = "";
bool rtn = false;
agv.Msg = runInfo;
JobName = "充电任务";
StartJobTime = curJobStep.startTime;
CurTaskState = CommonVar.GetTakJobState(agv);
if (curJobStep.IsStep(CHARGE_STEP.NONE))
{
agv.HasError = false;
if (agvPlace.StartsWith(SettingString.C4_Name_Prefix))
{
curJobStep.ToNextStep(CHARGE_STEP.WAIT_AGV_REACH_3D_DOOR);
runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + CommonVar.Charge.BatteryMax + "%],从当前位置" + agvPlace + "回到充电位，先到3D门";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv);
}
else
{
if (!CommonVar.Charge.StartCharge(agv))
{
runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + CommonVar.Charge.BatteryMax + "%],由于充电桩有小车，从当前位置" + agvPlace + "回到待机位";
msg += runInfo;
curJobStep.Msg = msg;
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
return new StandyJob(agv.Place);
}
else
{
curJobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION);
runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + CommonVar.Charge.BatteryMax + "%],从当前位置" + agvPlace + "去到充电位";
msg += runInfo;
curJobStep.Msg = msg;
UpdateJobTaskInfo(agv);
}
}
}
else if (curJobStep.IsStep(CHARGE_STEP.WAIT_AGV_REACH_3D_DOOR))
{
if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
{
if (agv.Battery > CommonVar.Charge.BatteryMax)
{
runInfo = "电量充足[" + agv.Battery + "%],从当前位置" + agvPlace + "去到待机位";
msg += runInfo;
curJobStep.Msg = msg;
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
return new StandyJob(agv.Place);
}
else
{
if (!CommonVar.Charge.StartCharge(agv))
{
runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + CommonVar.Charge.BatteryMax + "%],充电桩有小车，从当前位置" + agvPlace + "回到待机位";
msg += runInfo;
curJobStep.Msg = msg;
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
return new StandyJob(agv.Place);
}
else
{
curJobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION);
runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + CommonVar.Charge.BatteryMax + "%],从当前位置" + agvPlace + "去到充电位";
msg += runInfo;
curJobStep.Msg = msg;
UpdateJobTaskInfo(agv);
}
}
}
}
else if (curJobStep.IsStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION))
{
if (CommonVar.CheckChargeIsStarting(agv))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
curJobStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK);
runInfo = "充电任务分配完成，去充电且等待任务";
msg += runInfo;
curJobStep.Msg = msg;
}
}
else if (curJobStep.IsStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK))
{
if (agv.Battery > CommonVar.Charge.BatteryMax)
{
runInfo = "充电完成，回待机位";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.Charge.DelOccupyInfoByAGV(agv);
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
return new StandyJob(agv.Place);
}
else if(agv.Battery > CommonVar.Charge.BatteryMin)
{
Job job = CommonVar.control.GetJob(agv);
if (job != null && !(job is ChargeJob) && !(job is StandyJob))
{
runInfo = "在充电位检测到任务，电量[" + agv.Battery + " %]大于最小电量[" + CommonVar.Charge.BatteryMin + " %],可执行任务";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.Charge.DelOccupyInfoByAGV(agv);
RecordRunLog(agv, curJobStep.CurStep(), runInfo, agv.Place);
return job;
}
}
}
else if (curJobStep.IsStep(CHARGE_STEP.END))
{
}
return this;
}
/// <summary>
/// AGV充电流程
/// </summary>
private enum CHARGE_STEP
{
/// <summary>
///
/// </summary>
NONE,
/// <summary>
/// 等待到达4D门
/// </summary>
WAIT_AGV_REACH_3D_DOOR,
/// <summary>
/// 等待AGV到达充电位
/// </summary>
WAIT_REACH_CHARGE_STATION,
/// <summary>
/// 等待充电完成
/// </summary>
WAIT_REACH_CHARGE_OK,
/// <summary>
/// 充电完成去待机位
/// </summary>
WAIT_REACH_STANDBY,
/// <summary>
///
/// </summary>
END
}
}
}