CrossDoorJob.cs
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using Common;
using DeviceLibrary.bean;
using DeviceLibrary.manager;
using System.Text;
namespace DeviceLibrary
{
/// <summary>
/// 过门任务
/// </summary>
public class CrossDoorJob : Job
{
/// <summary>
/// 待机任务
/// </summary>
/// <param name="agvPlae"></param>
public CrossDoorJob(JobParam jobParam) : base(jobParam)
{
JobName = "过门任务";
}
public CrossDoorJob() : base()
{
JobName = "过门任务";
}
/// <summary>
/// 过门任务
/// </summary>
/// <param name="agv"></param>
public override Job Run(AgvInfo agv)
{
Job job = this;
agv.SetJobContext(new bean.agv.JobContext()
{
AgvTask = agv.TaskRunState.Task,
JobFullName = this.ToString(),
JobStep = JobRunStep.PreStep(),
Name = agv.Name,
JobParam = JobParam
});
if (JobRunStep.IsStep(RunStep.NONE))
{
JobRunStep.ToNextStep(RunStep.CrossDoor_01_ToCurDoor);
runInfo = $"去{JobParam.CrossDoor.CurNode.AliceName}侧门前";
JobRunStep.Msg = runInfo;
tocurDoor(agv);
}
else if (JobRunStep.IsStep(RunStep.CrossDoor_01_ToCurDoor))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.CrossDoor_02_OpenCurDoor);
runInfo = $"到达{JobParam.CrossDoor.CurNode.AliceName}侧门前，开门";
JobRunStep.Msg = runInfo;
openCurDoor(agv);
}
}
else if (JobRunStep.IsStep(RunStep.CrossDoor_02_OpenCurDoor))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.CrossDoor_03_Enter);
runInfo = $"从{JobParam.CrossDoor.CurNode.AliceName}侧进门";
JobRunStep.Msg = runInfo;
enterDoor(agv);
}
}
else if (JobRunStep.IsStep(RunStep.CrossDoor_03_Enter))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.CrossDoor_04_CloseCurDoor);
runInfo = $"关闭{JobParam.CrossDoor.CurNode.AliceName}侧的门";
JobRunStep.Msg = runInfo;
closeCurDoor(agv);
}
}
else if (JobRunStep.IsStep(RunStep.CrossDoor_04_CloseCurDoor))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.CrossDoor_05_OpenAntherDoor);
runInfo = $"打开{JobParam.CrossDoor.NextNode.AliceName}侧门";
JobRunStep.Msg = runInfo;
openNextDoor(agv);
}
}
else if (JobRunStep.IsStep(RunStep.CrossDoor_05_OpenAntherDoor))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.CrossDoor_06_LeaveDoor);
runInfo = $"离开门，进入{JobParam.CrossDoor.NextNode.AliceName}侧";
JobRunStep.Msg = runInfo;
leaveDoor(agv);
}
}
else if (JobRunStep.IsStep(RunStep.CrossDoor_06_LeaveDoor))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.CrossDoor_07_CloseAntherDoor);
runInfo = $"关闭{JobParam.CrossDoor.NextNode.AliceName}侧门";
JobRunStep.Msg = runInfo;
closeNextDoor(agv);
}
}
else if (JobRunStep.IsStep(RunStep.CrossDoor_07_CloseAntherDoor))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.CrossDoor_08_Finish);
runInfo = $"到达{JobParam.CrossDoor.NextNode.AliceName}的车间";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.CrossDoor_08_Finish))
{
job = GetCallBackJob();
job.JobRunStep.ToNextStep(GetCallBackStep());
JobRunStep.Msg = $"从{JobParam.CrossDoor.CurNode.AliceName}-》{JobParam.CrossDoor.NextNode.AliceName}完成";
}
return job;
}
//默认 4D->4C
//4C外-》4C风淋门内
//3D风淋门外-》3D风淋门内
/// <summary>
/// 获取任务名
/// </summary>
/// <returns></returns>
string getTaskName(string name)
{
StringBuilder sb = new StringBuilder();
if (JobParam.CrossDoor?.IsAir??false)
sb.Append(SettingString.CrossAirDoor);
else
{
sb.Append(SettingString.CrossDoor);
}
sb.Append("_");
if (JobParam.CrossDoor?.IsIn??true)
sb.Append(SettingString.In);
else
sb.Append(SettingString.Out);
sb.Append("_");
sb.Append(name);
return sb.ToString();
}
/// <summary>
/// 去当前车间门前
/// </summary>
void tocurDoor(AgvInfo agv)
{
AllocateTask(agv, getTaskName(SettingString.ToDoor));
}
/// <summary>
/// 开当前门
/// </summary>
void openCurDoor(AgvInfo agv)
{
AllocateTask(agv, getTaskName(SettingString.OpenDoor));
}
/// <summary>
/// 进入门里
/// </summary>
void enterDoor(AgvInfo agv)
{
AllocateTask(agv, getTaskName(SettingString.EnterDoor));
}
/// <summary>
/// 关闭当前门
/// </summary>
void closeCurDoor(AgvInfo agv)
{
AllocateTask(agv, getTaskName(SettingString.CloseDoor));
}
/// <summary>
/// 开另一个门
/// </summary>
void openNextDoor(AgvInfo agv)
{
AllocateTask(agv, getTaskName(SettingString.OpenOtherDoor));
}
/// <summary>
/// 离开门
/// </summary>
void leaveDoor(AgvInfo agv)
{
AllocateTask(agv, getTaskName(SettingString.LeaveDoor));
}
/// <summary>
/// 关闭另一个门
/// </summary>
void closeNextDoor(AgvInfo agv)
{
AllocateTask(agv, getTaskName(SettingString.CloseOtherDoor));
}
}
}