ShelfBackLiftToStoreJob.cs
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using Common;
using DeviceLibrary.manager;
namespace DeviceLibrary.bean.job
{
/// <summary>
/// 1F,电梯到库房,中间一个电梯（空架返回）
/// </summary>
public class ShelfBackLiftToStoreJob : Job
{
/// <summary>
/// 1F空架返回任务
/// </summary>
public ShelfBackLiftToStoreJob(JobParam jobParam) : base(jobParam)
{
}
public ShelfBackLiftToStoreJob() : base()
{
}
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))
{
if(TargetIsOccupied(agv, JobParam.SrcNode.Name))
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_01_ToStandby);
runInfo = $"{JobParam.SrcNode.AliceName}有小车，去待机点";
JobRunStep.Msg = runInfo;
MoveToNode(agv, $"{SettingString.Standby}");
}
else
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_01_ToLift);
runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
ToLift(agv, $"{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_01_ToStandby))
{
if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
{
}
else
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_01_ToLift);
runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_01_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_02_01_WaitLiftDoorOpen);
//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},等待门开启";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_02_01_WaitLiftDoorOpen))
{
if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().sourceFloor))
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_02_02_EnterLift);
runInfo = $"{JobParam.SrcNode.AliceName}门已开启，去取料点";
//任务状态变更
lift.LiftContext.SetLiftOccupiedAgv(JobParam.SrcNode.Name, agv.IP);
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯到达, out string msg);
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_02_02_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_03_PutShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，开始取料车";
JobRunStep.Msg = runInfo;
PutLiftShelfOn(agv, JobParam.SrcNode.Name);
//AllocateTask(agv, $"{SettingString.PutShelfOn}_{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_03_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_04_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,
$"电梯取车"));
runInfo = $"在{JobParam.SrcNode.AliceName}取料车完成，准备离开";
JobRunStep.Msg = runInfo;
//AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
LeaveLift(agv, JobParam.SrcNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_04_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_05_CloseLiftDoor);
//关门
bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv, false);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关闭电梯门:{rtn}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回离开电梯, out string msg);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_05_CloseLiftDoor))
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_06_ToStore);
runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}放料点";
//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.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_06_ToStore))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_07_TakeShelfOff);
//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}放料点，卸下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.TakeShelfOff);
}
}
else if (JobRunStep.IsStep(RunStep.ShelfBack_LiftToStore_07_TakeShelfOff))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.END);
runInfo = $"任务结束：在{JobParam.CurTargetNode.AliceName}卸下料车完成";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.完成, out string msg);
JobRunStep.Msg = runInfo;
//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,
$"还车"));
}
}
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return this;
}
}
}