SteelLineToLiftJob.cs
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using Common;
using DeviceLibrary.bean;
using DeviceLibrary.lift;
using DeviceLibrary.manager;
using DeviceLibrary.service.model;
using System;
namespace DeviceLibrary
{
/// <summary>
/// 3D钢网任务 线体到电梯
/// </summary>
public class SteelLineToLiftJob : Job
{
/// <summary>
/// 3D钢网任务 线体到电梯
/// </summary>
public SteelLineToLiftJob(JobParam jobParam) : base(jobParam)
{
}
public SteelLineToLiftJob() : base()
{
}
public override Job Run(AgvInfo agv)
{
Job job = this;
agv.SetJobContext(new bean.agv.JobContext()
{
MissionId = JobParam.GetMissionInfo().missionId,
AgvTask = agv.TaskRunState.Task,
JobFullName = this.ToString(),
JobStep = JobRunStep.PreStep(),
Name = agv.Name,
JobParam = JobParam
});
if (JobRunStep.IsStep(RunStep.NONE))
{
JobRunStep.ToNextStep(RunStep.LineToLift_01_ToLine);
runInfo = $"任务开始：去{JobParam.SteelShelfNode.AliceName}的取料点";
ToPutShelfOn(agv, JobParam.SteelShelfNode.Name);
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsStep(RunStep.LineToLift_01_ToLine))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.LineToLift_02_PutShelfOn);
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.接料, out string msg);
//上报状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{JobParam.SrcNode.Name}"));
runInfo = $"到达{JobParam.SrcNode.AliceName}的取料点，开始拾取料车";
JobRunStep.Msg = runInfo;
PutShelfOn(agv);
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_02_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
//if(JobParam.GetMissionInfo().projectType.Equals(ProjectType.钢网入库))
//{
// JobRunStep.ToNextStep(RunStep.LineToLift_ToSteelSrc);
// //上报状态
// manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
// service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
// $"取车"));
// runInfo = $"在{JobParam.SrcNode.AliceName}拾取料车完成，去{JobParam.SrcNode.AliceName}放料点";
// ToTakeShelfOff(agv, JobParam.SrcNode.Name);
// JobRunStep.Msg = runInfo;
//}
//else
{
JobRunStep.ToNextStep(RunStep.LineToLift_WaitConfirm);
runInfo = $"钢网领用任务，直接去电梯口";
JobRunStep.Msg = runInfo;
}
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_ToSteelSrc))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.LineToLift_PlaySound);
//确认按钮生效
JobParam.SrcNode.ExtendEquip.AllowConfirm();
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{JobParam.SrcNode.Name}"));
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的放料点";
JobRunStep.Msg = runInfo;
PlaySound(agv);
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_PlaySound))
{
if (OpManager.WaitConfirm.Line(JobParam.SrcNode))
{
JobRunStep.ToNextStep(RunStep.LineToLift_WaitConfirm);
runInfo = $"在{JobParam.SrcNode.AliceName}确认完成";
JobRunStep.Msg = runInfo;
//重置确认信息
JobParam.CurTargetNode.ExtendEquip.Reset();
StopSound(agv);
}
else if (JobRunStep.IsTimeOut(WaitTimeOut, out double timeoutval))
{
//报警，$"等待{JobParam.CurTargetNode.AliceName}的人员确认超时{timeoutval}分"
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.error, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
$"等待{JobParam.SrcNode.Name}确认超时{timeoutval}分"));
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_WaitConfirm))
{
if(TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.LineToLift_ToStandby);
runInfo = $"{JobParam.CurTargetNode.AliceName}有小车，去待机点";
ToStandby(agv);
}
else
{
JobRunStep.ToNextStep(RunStep.LineToLift_03_ToLift);
runInfo = $"在{JobParam.SrcNode.AliceName}确认完成，去{JobParam.CurTargetNode.AliceName}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.前往电梯, out string msg);
ToLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_ToStandby))
{
if (TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
{
}
else
{
JobRunStep.ToNextStep(RunStep.LineToLift_03_ToLift);
runInfo = $"{JobParam.CurTargetNode.AliceName}已空闲";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.前往电梯, out string msg);
ToLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_03_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.LineToLift_04_CheckLiftStatus);
//上报状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{JobParam.CurTargetNode.Name}"));
runInfo = $"到达{JobParam.CurTargetNode.AliceName}，请求电梯并等待开门";
JobRunStep.Msg = runInfo;
//开始请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(), agv);
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_04_CheckLiftStatus))
{
if (lift.LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo().sourceFloor))
{
if (lift.LiftContext.HasShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out JobParam.LiftStatus))
{
MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId ?? "");
if (missionInfo != null)
{
MissionManager.SetMissionOccupied(missionInfo, agv);
job = new SwitchShelfJob(JobParam);
}
else
{
JobRunStep.ToNextStep(RunStep.LineToLift_05_01_ToStandby);
//设置电梯占用
//SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有送料的料车但无工单信息，去待机点，需要手动清空电梯缓存并关闭电梯门";//
ToStandby(agv);
JobRunStep.Msg = runInfo;
}
}
else
{
JobRunStep.ToNextStep(RunStep.LineToLift_06_01_EnterLift);
runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，到放料点";
JobRunStep.Msg = runInfo;
ToTakeShelfOff(agv, JobParam.CurTargetNode.Name);
}
}
else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo()))
{
JobRunStep.ToNextStep(RunStep.LineToLift_04_CheckLiftStatus);
//请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(), agv);
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.error, agv.Name, JobParam.CurTargetNode.Name, service.model.TransportStatus.ModeStr.auto,
$"等待电梯到达超时"));
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_05_01_ToStandby))
{
if (!TargetIsOccupied(agv, JobParam.CurTargetNode.Name) && !LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.LineToLift_03_ToLift);
runInfo = $"{JobParam.CurTargetNode.AliceName}已空闲";
ToLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
#region 电梯内无料车
else if (JobRunStep.IsStep(RunStep.LineToLift_06_01_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}放料点，准备卸下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}_{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.LineToLift_06_03_LeaveLift);
//上报状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.auto,
$"电梯卸车"));
if (JobParam.GetMissionInfo().projectType.Equals(service.model.ProjectType.成品入库))
{
//设置该电梯内的产品是成品入库
lift.LiftContext.SetFinishedState(JobParam.CurTargetNode.Name, true);
}
runInfo = $"料车在{JobParam.CurTargetNode.AliceName}卸下完成，准备离开";
ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.到达电梯, out string msg);
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_06_03_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.END);
bool rtn = false;
if (JobParam.GetMissionInfo().projectType.Equals(service.model.ProjectType.成品入库))
{
//AGV离开
rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, false);
}
else
{
//AGV离开
rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv);
}
runInfo = $"任务结束：离开{JobParam.CurTargetNode.AliceName}完成并发送离开信号:{rtn}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.电梯运行, out string msg);
JobRunStep.Msg = runInfo;
}
}
#endregion
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return job;
}
}
}