StoreToLinesWithBackJob.cs
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using Common;
using DeviceLibrary.manager;
namespace DeviceLibrary.bean.job
{
/// <summary>
/// 库房到线体,（空架返回）
/// </summary>
public class StoreToLinesWithBackJob : Job
{
/// <summary>
/// 库房分发料任务
/// </summary>
public StoreToLinesWithBackJob(JobParam jobParam) : base(jobParam)
{
}
lift.LiftStatus liftStatus;
public override Job Run(AgvInfo agv)
{
if (JobRunStep.IsStep(RunStep.NONE))
{
JobRunStep.ToNextStep(RunStep.SD_StoreToLine_01_ToPickUpPosition);
runInfo = $"任务开始，去{JobParam.SrcNode.AliceName}的取料点";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.接料, out string msg);
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
}
else if (JobRunStep.IsStep(RunStep.SD_StoreToLine_01_ToPickUpPosition))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_StoreToLine_02_PutShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}的取料点,准备拾取料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_StoreToLine_02_PutShelfOn))
{
JobRunStep.ToNextStep(RunStep.SD_StoreToLine_03_ToLine);
runInfo = $"在{JobParam.SrcNode.AliceName}拾取料车完成，去{JobParam.CurTargetNode.AliceName}的放料点";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
AllocateTask(agv,$"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
}
else if (JobRunStep.IsStep(RunStep.SD_StoreToLine_03_ToLine))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
//确认按钮生效
JobParam.CurTargetNode.ExtendEquip.AllowConfirm();
JobRunStep.ToNextStep(RunStep.SD_StoreToLine_04_UpdateLocation);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的放料点，上报位置给ITS";
JobRunStep.Msg = runInfo;
//上报位置
manager.UploadManager.UploadPosition(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 }"));
System.Threading.Thread.Sleep(2000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_StoreToLine_04_UpdateLocation))
{
JobRunStep.ToNextStep(RunStep.SD_StoreToLine_05_WaitConfirm);
runInfo = $"等待{JobParam.CurTargetNode.AliceName}的人员确认";
JobRunStep.Msg = runInfo;
manager.UploadManager.UploadPosition(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
$"等待{ JobParam.CurTargetNode.Name }确认"));
System.Threading.Thread.Sleep(2000);
}
else if (JobRunStep.IsStep(RunStep.SD_StoreToLine_05_WaitConfirm))
{
if (OpManager.WaitConfirm.Line(JobParam.CurTargetNode))
{
//关闭按钮确认
JobParam.CurTargetNode.ExtendEquip.Reset();
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_10_CheckNextLine);
runInfo = $"{JobParam.CurTargetNode.AliceName}的人员确认完成";
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsTimeOut(WaitTimeOut, out double timeoutval))
{
//报警，$"等待{JobParam.CurTargetNode.AliceName}的人员确认超时{timeoutval}分"
manager.UploadManager.UploadPosition(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.CurTargetNode.Name }确认超时{timeoutval}分"));
System.Threading.Thread.Sleep(2000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_StoreToLine_06_CheckNextLine))
{
if (JobParam.TargetNodes.Count > 0)
{
JobRunStep.ToNextStep(RunStep.SD_StoreToLine_03_ToLine);
JobParam.CurTargetNode = JobParam.TargetNodes[0];
JobParam.TargetNodes.RemoveAt(0);
System.Threading.Thread.Sleep(1000);
runInfo = $"去下一线体{JobParam.CurTargetNode.AliceName}的放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
}
else
{
JobRunStep.ToNextStep(RunStep.SD_StoreToLine_07_BackToPickUpPosition);
runInfo = $"{JobParam.CurTargetNode.AliceName}是最后一个线体，分发结束，返回{JobParam.SrcNode.Name}的放料点";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回起始地, out string msg);
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_StoreToLine_07_BackToPickUpPosition))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_StoreToLine_08_TakeShelfOff);
runInfo = $"到达{JobParam.SrcNode.AliceName}的放料点，准备卸下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.TakeShelfOff);
}
}
else if (JobRunStep.IsStep(RunStep.SD_StoreToLine_08_TakeShelfOff))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.END);
runInfo = $"料车在{JobParam.SrcNode.AliceName}放下完成，任务结束";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.完成, out string msg);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return this;
}
}
}