F1StoreToLiftJob.cs
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using Common;
using DeviceLibrary.bean;
using DeviceLibrary.manager;
using System;
namespace DeviceLibrary
{
/// <summary>
/// 1F,库房到电梯（满料运送）
/// </summary>
public class F1StoreToLiftJob : Job
{
/// <summary>
/// 1F满架运送任务
/// </summary>
public F1StoreToLiftJob(JobParam jobParam) : base(jobParam)
{
}
public F1StoreToLiftJob() : 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.S1F_StoreToLift_01_ToStore);
runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}的取料点";
//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}");
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_01_ToStore))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_02_PutShelfOn);
//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;
AllocateTask(agv, SettingString.PutShelfOn);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_02_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_03_ToLift);
//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.CurTargetNode.AliceName}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.前往电梯, out string msg);
AllocateTask(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_03_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_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.S1F_StoreToLift_04_CheckLiftStatus))
{
if (lift.LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo().sourceFloor))
{
if (lift.LiftContext.HasShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out lift.LiftStatus liftStatus))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_01_ToTemp1);
runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有料车，去临时点1的卸料点，准备卸下车上料车";
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回电梯到达, out string msg);
}
JobRunStep.Msg = runInfo;
}
else
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_06_01_EnterLift);
runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，到放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
}
}
else if (!lift.LiftContext.CheckIfRequestOk(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo()))
{
//请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(),agv);
System.Threading.Thread.Sleep(2000);
}
}
#region 电梯内有料车
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_01_ToTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_02_TakeShelfOffAtTemp1);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的临时点1，将车上料车卸下";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_02_TakeShelfOffAtTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_03_ToLift);
runInfo = $"在{JobParam.CurTargetNode.AliceName}将车上料车卸在临时点1完成，去电梯口";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_03_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_04_EnterLift);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}，去取料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_04_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_05_PutShelfOn);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的取料点，准备拾取料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_05_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_06_LeaveLift);
runInfo = $"拾取{JobParam.CurTargetNode.AliceName}的料车完成，准备离开";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_06_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_07_CloseDoor);
//AGV离开
bool rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv);
runInfo = $"离开{JobParam.CurTargetNode.AliceName}完成，发送离开信号:{rtn}";
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回离开电梯, out string msg);
}
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_07_CloseDoor))
{
if(lift.LiftContext.CheckAgvLeaveSig(JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_08_ToStore);
runInfo = $"{JobParam.CurTargetNode.AliceName}关门完成，将料车送到{liftStatus.destinationPoint}的放料点";
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回起始地, out string msg);
}
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{liftStatus.destinationPoint}_{SettingString.TakeShelfOff}");
}
else if(JobRunStep.IsTimeOut(0.5,out double val))
{
//AGV离开
lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv);
runInfo = $"{JobParam.CurTargetNode.AliceName}离开信号超时重发";
JobRunStep.Msg = runInfo;
System.Threading.Thread.Sleep(3000);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_08_ToStore))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_09_TakeShelfOff);
runInfo = $"到达{liftStatus.destinationPoint}的放料点，准备卸下";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_09_TakeShelfOff))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_10_ToTemp1);
runInfo = $"料车在{liftStatus.destinationPoint}卸下完成， 返回{JobParam.CurTargetNode.AliceName}的临时点1的取料点";
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.完成, out string msg);
}
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_10_ToTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_11_PutTemp1ShelfOn);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的临时点1的取料点，准备拾取料架";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_11_PutTemp1ShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_12_ToLift);
runInfo = $"拾取料架完成，去{JobParam.CurTargetNode.AliceName}";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_12_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_04_CheckLiftStatus);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}，请求电梯";
JobRunStep.Msg = runInfo;
//请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(),agv);
System.Threading.Thread.Sleep(2000);
}
}
#endregion
#region 电梯内无料车
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_06_01_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_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}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_06_02_TakeShelfOffAtLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_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"));
runInfo = $"料车在{JobParam.CurTargetNode.AliceName}卸下完成，准备离开";
//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.S1F_StoreToLift_06_03_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.END);
//AGV离开
bool 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}";
JobRunStep.Msg = runInfo;
}
}
#endregion
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return this;
}
}
}