SendShelfJob.cs
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using Common;
using System;
namespace DeviceLibrary
{
/// <summary>
///送料串
/// </summary>
public class SendShelfJob : Job
{
/// <summary>
/// 送料串
/// </summary>
/// <param name="agvPlae">agv当前位置</param>
/// <param name="tarPlace">目的地</param>
public SendShelfJob(string agvPlae, string tarPlace, string RFID = "")
{
this.agvPlace = agvPlae;
TargetPlace = tarPlace;
this.RFID = RFID;
StartJobTime = DateTime.Now;
JobName = "送料串任务";
}
/// <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>
/// 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("送料串任务[RFID={4}]:{0} [目的地={1}][任务名称={2}][任务状态={3}]", runInfo, to, CurTaskName, CurTaskState, RFID);
}
}
private JobStep<EXECUTE_STEP> curJobStep = new JobStep<EXECUTE_STEP>(EXECUTE_STEP.P1_NONE);
private string GetShowInfo()
{
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("{0} [{1}->{2}]", runInfo, from, to);
}
/// <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();
agv.RFID = RFID;
StartJobTime = curJobStep.startTime;
CurTaskState = CommonVar.GetTakJobState(agv);
if (curJobStep.IsStep(EXECUTE_STEP.P1_NONE))
{
agv.HasError = false;
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 = "收到任务,在3D车间,向" + TargetPlace + "运行,先过门";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.DoorMission(agv, SettingString.DoorDToC);
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 = "收到任务,在3C车间,向" + TargetPlace + "运行,先过门";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.DoorMission(agv, SettingString.DoorCToD);
UpdateJobTaskInfo(agv);
}
else//DD CC
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_STATION);
runInfo = "收到任务,向" + TargetPlace + "运行";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P2_WAIT_REACH_STATION))
{
if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_STATION_RESPONSE);
runInfo = "到达" + TargetPlace + "，并发送进料请求";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.server.Ready(TargetPlace, RFID);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P3_WAIT_REACH_4D_DOOR))
{
if (CommonVar.CheckTaskMoveFinished(agv, SettingString.DoorCToD, CurTaskState))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_STATION);
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))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_STATION);
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.P4_WAIT_STATION_RESPONSE))
{
int i = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.MayEnter));
if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_STATION);
//curJobStep.ToNextStep(EXECUTE_STEP.P6_TURN_DIRECTION);
runInfo = "收到线体允许进料信号，链条运行";
msg += runInfo;
curJobStep.Msg = msg;
rtn = agv.AssignTask(SettingString.Leave);
UpdateJobTaskInfo(agv);
}
else if (curJobStep.IsTimeOut(20000, out TimeSpan timeOutTime))
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_STATION);
runInfo = string.Format("线体[{0}]允许进料信号[{1}]超时{2}秒，重发进料请求", TargetPlace, eNodeStatus.MayEnter, timeOutTime.TotalSeconds.ToString("f2"));
msg += string.Format("线体[{0}]允许进料信号[{1}]超时15S，重发进料请求", TargetPlace, eNodeStatus.MayEnter);
curJobStep.Msg = msg;
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_STATION))
{
int idx = NodeManager.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.FinishEnter));
if (idx > -1)
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
curJobStep.ToNextStep(EXECUTE_STEP.P6_TURN_DIRECTION);
runInfo = "料架进入" + TargetPlace + "完成";
agv.HasError = false;
msg += runInfo;
curJobStep.Msg = msg;
}
else if (curJobStep.IsTimeOut(30000, out TimeSpan timeSpan))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
curJobStep.ToNextStep(EXECUTE_STEP.P6_TURN_DIRECTION);
runInfo = "料架进入" + TargetPlace + "完成";
agv.HasError = false;
msg += runInfo;
curJobStep.Msg = msg;
//runInfo = string.Format("等待线体[{0}]进料完成信号[FinishEnter]超时", TargetPlace);
//msg += runInfo;
//curJobStep.Msg = msg;
//agv.HasError = true;
//agv.SetErrorMsg($"等待线体[{TargetPlace}]进料完成信号[FinishEnter]超时", timeSpan.TotalMinutes.ToString("f2"));
}
if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Leave, CurTaskState))
CommonVar.server.CloseDoor(TargetPlace);
}
else if (curJobStep.IsStep(EXECUTE_STEP.P6_TURN_DIRECTION))
{
if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Leave, CurTaskState))
{
RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
curJobStep.ToNextStep(EXECUTE_STEP.P7_END);
runInfo = "AGV在" + TargetPlace + "出料完成，开始转向";
agv.HasError = false;
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.server.CloseDoor(TargetPlace);
rtn = agv.AssignTask(SettingString.Turn);
UpdateJobTaskInfo(agv);
}
else if (curJobStep.IsTimeOut(120000, out TimeSpan timeSpan))
{
runInfo = string.Format("线体[{0}]出料超时，请检查料架情况", TargetPlace);
msg += runInfo;
curJobStep.Msg = msg;
agv.HasError = true;
agv.SetErrorMsg($"线体[{TargetPlace}]出料超时，请检查料架情况", timeSpan.TotalMinutes.ToString("f2"));
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P7_END))
{
if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Turn, CurTaskState))
{
if (IsPlace(SettingString.D23_In) && FindReturnShelf(agv))
{
runInfo = "AGV在" + TargetPlace + "转向完成,去退料线出口取一个料串回点料机";
msg += runInfo;
curJobStep.Msg = msg;
RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
return new GetShelfJob(TargetPlace, SettingString.D24_Out, "B#", true);
}
else
{
if (agv.IP.Equals(SettingString.SingleMission_IP1))
{
if (IsPlace(SettingString.A2) && !CommonVar.control.limitArea.Available)
{
runInfo = "料架进入" + TargetPlace + "完成,等待限制区域无车";
msg += runInfo;
curJobStep.Msg = msg;
}
else
{
runInfo = "AGV在" + TargetPlace + "转向完成";
msg += runInfo;
curJobStep.Msg = msg;
}
}
else
{
runInfo = "AGV在" + TargetPlace + "转向完成";
msg += runInfo;
curJobStep.Msg = msg;
RecordRunLog(agv, curJobStep.CurStep(), runInfo, TargetPlace);
return null;
}
}
}
}
return this;
}
private bool IsPlace(string place)
{
return TargetPlace.Equals(place);
}
private bool FindReturnShelf(Agv_Info currentAgv)
{
string rfid = "";
if (BoxReelStringJobType.FindNeedLeaveMission(currentAgv, SettingString.D24_Out, out rfid))
{
if (BoxReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.D3))
{
LogUtil.info(string.Format("{0} 在退料线生成任务（D3需要满料串，D24出满料串）：Place={1},rfid={2}", currentAgv.Name, SettingString.D3, rfid));
return true;
}
}
if (BoxReelStringJobType.FindNeedLeaveMission(currentAgv, SettingString.D4, out rfid))
{
if (BoxReelStringJobType.FindNeedEnterMission(currentAgv, SettingString.D23_In))
{
LogUtil.info(string.Format("{0} 在退料线生成任务（D4需要满料串，D24出满料串）：Place={1},rfid={2}", currentAgv.Name, SettingString.D4, rfid));
return true;
}
}
return false;
}
/// <summary>
/// 执行流程
/// </summary>
private enum EXECUTE_STEP
{
/// <summary>
/// 接收到任务
/// </summary>
P1_NONE,
/// <summary>
/// 等待到达目的地
/// </summary>
P2_WAIT_REACH_STATION,
/// <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_STATION_RESPONSE,
/// <summary>
/// 等待料架进入线体
/// </summary>
P5_WAIT_SHELF_IN_STATION,
/// <summary>
/// 转向
/// </summary>
P6_TURN_DIRECTION,
/// <summary>
/// 任务结束
/// </summary>
P7_END
}
}
}