LineToLineJob.cs
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using Common;
using DeviceLibrary.manager;
namespace DeviceLibrary.bean.job
{
/// <summary>
/// 同一层间线体到线体
/// </summary>
public class LineToLineJob : Job
{
/// <summary>
/// 料车取送任务
/// </summary>
public LineToLineJob(JobParam jobParam) : base(jobParam)
{
}
public LineToLineJob() : base()
{
}
lift.LiftStatus liftStatus;
public override Job Run(AgvInfo agv)
{
if (JobRunStep.IsStep(RunStep.NONE))
{
JobRunStep.ToNextStep(RunStep.SD_LineToLine_01_ToPickUpPosition);
runInfo = $"{JobName}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.SD_LineToLine_01_ToPickUpPosition))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LineToLine_02_PutShelfOn);
//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.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_LineToLine_02_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LineToLine_03_ToLine);
//上报位置
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，准备去线体{JobParam.CurTargetNode.Name}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, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_03_ToLine))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LineToLine_04_WaitConfirm);
//确认按钮生效
JobParam.CurTargetNode.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.CurTargetNode.Name }"));
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的放料点";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_04_WaitConfirm))
{
if (OpManager.WaitConfirm.Line(JobParam.CurTargetNode))
{
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.agvButton,
$"卸货{ JobParam.CurTargetNode.Name }"));
if (JobParam.GetMissionInfo() != null && JobParam.GetMissionInfo().needBack)
{
JobRunStep.ToNextStep(RunStep.SD_LineToLine_05_BackToSrcLine);
runInfo = $"{JobParam.CurTargetNode.AliceName}的人员确认完成,准备返回{JobParam.SrcNode.AliceName}";
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.TakeShelfOff}");
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回起始地, out string msg);
JobRunStep.Msg = runInfo;
}
else if(JobParam.GetMissionInfo() != null && !JobParam.GetMissionInfo().needBack)
{
JobRunStep.ToNextStep(RunStep.SD_LineToLine_06_TakeShelfOff);
runInfo = $"将料车在{JobParam.CurTargetNode.AliceName}卸下";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
else
{
LogUtil.error(JobParam.GetMissionInfo().ToString());
}
//关闭按钮确认
JobParam.CurTargetNode.ExtendEquip.Reset();
}
else if (JobRunStep.IsTimeOut(WaitTimeOut, out double timeoutval))
{
//报警，$"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.CurTargetNode.Name }确认超时{timeoutval}分"));
}
}
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_05_BackToSrcLine))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LineToLine_06_TakeShelfOff);
//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.SrcNode.AliceName}并将料车卸下";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LineToLine_06_TakeShelfOff))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.END);
if (JobParam.GetMissionInfo() != null && JobParam.GetMissionInfo().needBack)
{
//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,
$"还车"));
}
else if (JobParam.GetMissionInfo() != null && !JobParam.GetMissionInfo().needBack)
{
//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,
$"卸车"));
}
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.完成, out string msg);
runInfo = $"料车在{JobParam.CurTargetNode.AliceName}卸下完成，任务结束";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
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
});
return this;
}
}
}