RecycleEmptyShelf.cs
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using Common;
using System;
namespace DeviceLibrary
{
public enum ShelfType
{
/// <summary>
/// 包装料架
/// </summary>
PackingShelf,
/// <summary>
/// 料串
/// </summary>
ReelString
}
/// <summary>
/// 回收空料架
/// </summary>
public class RecycleEmptyShelf : Job
{
/// <summary>
/// 回收空料架
/// </summary>
/// <param name="agvPlae">小车当前位置，空表示在待机位</param>
public RecycleEmptyShelf(string agvPlae, string tarPlace, bool hasLoad=false,ShelfType type = ShelfType.ReelString)
{
this.agvPlace = agvPlae;
TargetPlace = tarPlace;
shelfType = type;
this.hasLoad = hasLoad;
JobName = "回收空料架任务";
StartJobTime = DateTime.Now;
}
/// <summary>
/// 车上有负载
/// </summary>
private bool hasLoad = false;
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlace = "";
/// <summary>
/// 目的地
/// </summary>
public string TargetPlace { get; private set; }
/// <summary>
/// 料架类型
/// </summary>
public ShelfType shelfType;
/// <summary>
/// 回收料架处
/// </summary>
public string RecycleStation = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get
{
int t1 = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
string from = "";
if (t1 > -1)
from = NodeManager.nodeInfo[t1].AliceName;
else
from = agvPlace;
int t2 = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
string to = "";
if (t2 > -1)
to = NodeManager.nodeInfo[t2].AliceName;
else
to = TargetPlace;
return string.Format("回收空料架任务:{0} [ShelfType={1}][任务名称={2}][任务状态={3}]", runInfo, shelfType.ToString(),CurTaskName,CurTaskState);
}
}
private JobStep<EXECUTE_STEP> curJobStep = new JobStep<EXECUTE_STEP>(EXECUTE_STEP.R1_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;
StartJobTime = curJobStep.startTime;
CurTaskState = CommonVar.GetTakJobState(agv);
if (curJobStep.IsStep(EXECUTE_STEP.R1_NONE))
{
agv.HasError = false;
if (hasLoad)
{
if (FindRecycleStation())
{
curJobStep.ToNextStep(EXECUTE_STEP.R5_WAIT_REACH_RECYCLE_STATION);
runInfo = "车上已有空料架,向" + RecycleStation + "运行";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, RecycleStation);
UpdateJobTaskInfo(agv);
}
else
{
curJobStep.ToNextStep(EXECUTE_STEP.R8_WAIT_REACH_STANDY);
runInfo = "车上已有空料架,由于未找到接收空料架处，先回待机位";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv);
}
}
else//车上无料
{
if (agvPlace.Equals(SettingString.Standby) || agvPlace.Equals(SettingString.AutoCharge))
{
curJobStep.ToNextStep(EXECUTE_STEP.R2_WAIT_REACH_EMPTY_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
{
curJobStep.ToNextStep(EXECUTE_STEP.R2_WAIT_REACH_EMPTY_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.R2_WAIT_REACH_EMPTY_SHELF_PLACE))
{
if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
curJobStep.ToNextStep(EXECUTE_STEP.R3_WAIT_LINE_RESPONSE);
runInfo = "到达空料架处"+TargetPlace+",向线体发送出料请求";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.server.Ready(TargetPlace, "");
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.R3_WAIT_LINE_RESPONSE))
{
//int i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.MayLeave));
//if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.R4_WAIT_SHELF_IN_AGV);
runInfo = "线体"+TargetPlace+"允许出料，链条运行";
msg += runInfo;
curJobStep.Msg = msg;
rtn = agv.AssignTask(SettingString.Enter);
UpdateJobTaskInfo(agv);
}
//else if(curJobStep.IsTimeOut(6000,out double timeOutTime))
//{
// runInfo = string.Format("线体[{0}]允许出料信号[{1}]超时{2}秒",TargetPlace,eNodeStatus.MayLeave,timeOutTime.ToString("f2"));
// msg += string.Format("线体[{0}]允许出料信号[{1}]超时", TargetPlace, eNodeStatus.MayLeave);;
// curJobStep.Msg = msg;
//}
}
else if (curJobStep.IsStep(EXECUTE_STEP.R4_WAIT_SHELF_IN_AGV))
{
if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Enter, CurTaskState))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
CommonVar.server.CloseDoor(TargetPlace);
if (FindRecycleStation())
{
curJobStep.ToNextStep(EXECUTE_STEP.R5_WAIT_REACH_RECYCLE_STATION);
runInfo = "空料架进入小车完成,向"+TargetPlace+"运行";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, RecycleStation);
UpdateJobTaskInfo(agv);
}
else
{
curJobStep.ToNextStep(EXECUTE_STEP.R8_WAIT_REACH_STANDY);
runInfo = "空料架进入小车完成,由于未找到接收空料架处，先回待机位";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, SettingString.Standby);
UpdateJobTaskInfo(agv);
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.R5_WAIT_REACH_RECYCLE_STATION))
{
if (CommonVar.CheckTaskMoveFinished(agv, RecycleStation, CurTaskState))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
curJobStep.ToNextStep(EXECUTE_STEP.R6_WAIT_RECYCLE_STATION_RESPONSE);
runInfo = "到达"+TargetPlace+"，发送入料请求";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.server.Ready(RecycleStation,"00");
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.R6_WAIT_RECYCLE_STATION_RESPONSE))
{
//int i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(RecycleStation) && s.StateEquals(eNodeStatus.MayEnter));
//if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.R7_WAIT_SHELF_IN_LINE);
runInfo = "收到线体入料请求，链条运行";
msg += runInfo;
curJobStep.Msg = msg;
rtn = agv.AssignTask(SettingString.Leave);
UpdateJobTaskInfo(agv);
}
//else if (curJobStep.IsTimeOut(6000, out double timeOutTime))
//{
// runInfo = string.Format("线体[{0}]允许入料信号[{1}]超时{2}秒", RecycleStation, eNodeStatus.MayEnter, timeOutTime.ToString("f2"));
// msg += string.Format("线体[{0}]允许入料信号[{1}]超时", RecycleStation, eNodeStatus.MayEnter);
// curJobStep.Msg = msg;
//}
}
else if (curJobStep.IsStep(EXECUTE_STEP.R7_WAIT_SHELF_IN_LINE))
{
if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Leave, CurTaskState))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
CommonVar.server.CloseDoor(RecycleStation);
//int i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(RecycleStation) && s.StateEquals(eNodeStatus.FinishEnter));
//if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.R9_END);
runInfo = "空料架进入"+RecycleStation+"完成";
msg += runInfo;
curJobStep.Msg = msg;
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.R8_WAIT_REACH_STANDY))
{
if (CommonVar.CheckTaskMoveFinished(agv, SettingString.Standby, CurTaskState))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
if (FindRecycleStation())
{
curJobStep.ToNextStep(EXECUTE_STEP.R5_WAIT_REACH_RECYCLE_STATION);
runInfo = "检测到"+RecycleStation+"需要空料架,向" + RecycleStation + "运行";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, RecycleStation);
UpdateJobTaskInfo(agv);
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.R9_END))
{
//Job job = CommonVar.control.GetJob(agv);
//if (job != null)
//{
// runInfo = "回收空料架任务完成，检测到任务，开始执行";
// msg += runInfo;
// curJobStep.Msg = msg;
// return job;
//}
RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
return null;
}
return this;
}
/// <summary>
/// 搜索接收空料架的地方
/// </summary>
/// <returns></returns>
private bool FindRecycleStation()
{
if(shelfType.Equals(ShelfType.ReelString))
{
int i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.T4_1) && s.StateEquals(eNodeStatus.NeedEnter));
if(i==-1) i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.D1) && s.StateEquals(eNodeStatus.NeedEnter));
if (i == -1) i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A2) && s.StateEquals(eNodeStatus.NeedEnter));
if(i>-1)
{
RecycleStation = NodeManager.nodeInfo[i].Name;
return true;
}
}
else if(shelfType.Equals(ShelfType.PackingShelf))
{
int i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A3) && s.StateEquals(eNodeStatus.NeedEnter));
if (i == -1) i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A2) && s.StateEquals(eNodeStatus.NeedEnter));
if (i == -1) i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(SettingString.A8) && s.StateEquals(eNodeStatus.NeedEnter));
if (i > -1)
{
RecycleStation = NodeManager.nodeInfo[i].Name;
return true;
}
}
return false;
}
/// <summary>
/// 执行流程
/// </summary>
private enum EXECUTE_STEP
{
/// <summary>
/// 接收到任务
/// </summary>
R1_NONE,
/// <summary>
/// 等待到达空料架处
/// </summary>
R2_WAIT_REACH_EMPTY_SHELF_PLACE,
/// <summary>
/// 等待线体回复
/// </summary>
R3_WAIT_LINE_RESPONSE,
/// <summary>
/// 等待料架进入AGV
/// </summary>
R4_WAIT_SHELF_IN_AGV,
/// <summary>
/// 等待到达空料架回收处
/// </summary>
R5_WAIT_REACH_RECYCLE_STATION,
/// <summary>
/// 等待回收线体回复
/// </summary>
R6_WAIT_RECYCLE_STATION_RESPONSE,
/// <summary>
/// 等待料架进入线体
/// </summary>
R7_WAIT_SHELF_IN_LINE,
/// <summary>
/// 等待到达待机位
/// </summary>
R8_WAIT_REACH_STANDY,
/// <summary>
/// 任务结束
/// </summary>
R9_END
}
}
}