LiftToLinesJob.cs
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using Common;
using DeviceLibrary.manager;
namespace DeviceLibrary.bean.job
{
/// <summary>
/// 电梯到线体,（空架返回）
/// </summary>
public class LiftToLinesJob : Job
{
/// <summary>
/// 满料车任务
/// </summary>
public LiftToLinesJob(JobParam jobParam) : base(jobParam)
{
}
public LiftToLinesJob() : base()
{
}
lift.LiftStatus liftStatus;
public override Job Run(AgvInfo agv)
{
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.SD_LiftToLine_01_ToLift);
runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.SrcNode.Name);
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_01_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_02_WaitLiftDoorOpen);
//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, JobParam.SrcNode.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{ JobParam.SrcNode.Name }"));
runInfo = $"到达{JobParam.SrcNode.AliceName},等待门开启";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_02_WaitLiftDoorOpen))
{
if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_03_EnterLift);
lift.LiftContext.SetLiftOccupiedAgv(JobParam.SrcNode.Name, agv.IP);
runInfo = $"{JobParam.SrcNode.AliceName}门已开启，进电梯取料点";
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.电梯到达, out string msg);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_03_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_04_PutShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，准备拾取料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.PutShelfOn}_{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_04_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_05_LeaveLift);
//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, JobParam.SrcNode.Name, service.model.TransportStatus.ModeStr.auto,
$"电梯取车"));
runInfo = $"在{JobParam.SrcNode.AliceName}拾取料车完成，准备离开";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_05_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_06_CloseLiftDoor);
//关门
bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv, false);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关闭门:{rtn}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.离开电梯, out string msg);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_06_CloseLiftDoor))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_07_ToLine);
runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}的放料点";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
AllocateTask(agv, $"{GetTargetName(JobParam.CurTargetNode)}_{SettingString.TakeShelfOff}");
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_07_ToLine))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
//确认按钮生效
JobParam.CurTargetNode.ExtendEquip.AllowConfirm();
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_08_UpdateLocation);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}";
JobRunStep.Msg = runInfo;
//上报位置
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, JobParam.CurTargetNode.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{ JobParam.CurTargetNode.Name }"));
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_08_UpdateLocation))
{
if (NeedConfirm())
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_09_WaitConfirm);
runInfo = $"等待{JobParam.CurTargetNode.AliceName}的人员确认";
JobRunStep.Msg = runInfo;
PlaySound(agv);
}
else
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_10_CheckNextLine);
runInfo = $"{JobParam.CurTargetNode.AliceName}无需人员确认";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_09_WaitConfirm))
{
if (OpManager.WaitConfirm.Line(JobParam.CurTargetNode))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_10_CheckNextLine);
runInfo = $"{JobParam.CurTargetNode.AliceName}的人员确认完成";
JobRunStep.Msg = runInfo;
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, JobParam.CurTargetNode.Name, service.model.TransportStatus.ModeStr.agvButton,
$"卸货{ JobParam.CurTargetNode.Name }"));
//重置确认信息
JobParam.CurTargetNode.ExtendEquip.Reset();
StopSound(agv);
}
else if (JobRunStep.IsTimeOut(WaitTimeOut, out double timeoutval))
{
//报警，$"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, JobParam.CurTargetNode.Name, service.model.TransportStatus.ModeStr.agvButton,
$"等待{ JobParam.CurTargetNode.Name }确认超时{timeoutval}分"));
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_10_CheckNextLine))
{
if (JobParam.TargetNodes != null && JobParam.TargetNodes.Count > 0)
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_07_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, $"{GetTargetName(JobParam.CurTargetNode)}_{SettingString.TakeShelfOff}");
}
else
{
if (JobParam.GetMissionInfo() != null && JobParam.GetMissionInfo().needBack)
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_BackToLift);
runInfo = $"{JobParam.CurTargetNode.AliceName}是最后一个线体，分发结束，料车需返回，去电梯口";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
AllocateTask(agv, JobParam.SrcNode.Name);
JobRunStep.Msg = runInfo;
}
else if (JobParam.GetMissionInfo() != null && !JobParam.GetMissionInfo().needBack)
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_15_TakeShelfOff);
runInfo = $"{JobParam.CurTargetNode.AliceName}是最后一个线体，分发结束，料车无需返回，准备卸车";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.完成, out string msg);
AllocateTask(agv, SettingString.TakeShelfOff);
JobRunStep.Msg = runInfo;
}
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_11_BackToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_12_WaitDoorOpen);
runInfo = $"到达{JobParam.SrcNode.AliceName}，请求使用电梯并等待电梯门开";
JobRunStep.Msg = runInfo;
//上报位置
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, JobParam.SrcNode.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{ JobParam.SrcNode.Name }"));
//请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true);
System.Threading.Thread.Sleep(1000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_12_WaitDoorOpen))
{
if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_13_CheckLiftStatus);
runInfo = $"{JobParam.SrcNode.AliceName}门已开，检查电梯内该层是否有料车";
JobRunStep.Msg = runInfo;
//上报位置
System.Threading.Thread.Sleep(1000);
}
else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_12_WaitDoorOpen);
//请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true);
//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.SrcNode.Name, service.model.TransportStatus.ModeStr.auto,
$"等待电梯到达超时"));
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_13_CheckLiftStatus))
{
if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor))
{
if (lift.LiftContext.HasShelfNeedLeave(JobParam.SrcNode.Name, agv.Client, out liftStatus))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_01_ToTemp1);
runInfo = $"{JobParam.SrcNode.AliceName}内有料车，去临时点1放料点";
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
JobRunStep.Msg = runInfo;
}
else
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_01_EnterLift);
lift.LiftContext.SetLiftOccupiedAgv(JobParam.SrcNode.Name, agv.IP);
runInfo = $"{JobParam.SrcNode.AliceName}无料车，去放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_12_WaitDoorOpen);
//请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true);
}
}
#region 电梯内无料车
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_01_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_02_TakeShelfOffAtLift);
runInfo = $"到达{JobParam.SrcNode.AliceName}放料点，准备卸下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}_{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_02_TakeShelfOffAtLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_03_LeaveLift);
runInfo = $"在{JobParam.SrcNode.AliceName}卸下料车完成，准备离开";
JobRunStep.Msg = runInfo;
ResetOccupiedAgv(JobParam.GetMissionInfo());
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
//上报位置
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, JobParam.SrcNode.Name, service.model.TransportStatus.ModeStr.auto,
$"电梯卸车"));
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回到达电梯内, out string msg);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_03_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_04_CloseLiftDoor);
bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关门: {rtn}";
JobRunStep.Msg = runInfo;
System.Threading.Thread.Sleep(1000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_04_CloseLiftDoor))
{
if (!lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().sourceFloor))
{
JobRunStep.ToNextStep(RunStep.END);
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯运行, out string msg);
runInfo = $"{JobName}结束：{JobParam.SrcNode.AliceName}已关门";
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsTimeOut(0.5, out double time))
{
lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
System.Threading.Thread.Sleep(1000);
}
}
#endregion
#region 电梯内有料车
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_01_ToTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_02_WaitLiftIdle);
runInfo = $"到达{JobParam.SrcNode.AliceName}的临时点1的放料点，等待电梯空闲";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_02_WaitLiftIdle))
{
if (!lift.LiftContext.HasShelfNeedLeave(JobParam.SrcNode.Name, agv.Client, out liftStatus))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_03_RequestLift);
runInfo = $"请求使用{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
//请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_03_RequestLift))
{
if (!lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_BackToLift);
runInfo = $"请求使用{JobParam.SrcNode.AliceName}成功，去电梯口";
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.SrcNode.Name);
}
else if (JobRunStep.IsTimeOut(20))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_03_RequestLift);
//请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true);
}
}
#endregion
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return this;
}
}
}