F1LiftC1ToLiftD2Job.cs
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using Common;
using DeviceLibrary.lift;
using DeviceLibrary.manager;
using DeviceLibrary.service.model;
using System.Runtime.InteropServices;
using System.Security.Cryptography.X509Certificates;
using System.Threading;
namespace DeviceLibrary.bean.job
{
/// <summary>
/// 1F,电梯C1到D2 成品入库任务
/// </summary>
public class F1LiftC1ToLiftD2Job : Job
{
/// <summary>
/// 1F 成品入库任务
/// </summary>
public F1LiftC1ToLiftD2Job(JobParam jobParam) : base(jobParam)
{
}
public F1LiftC1ToLiftD2Job() : base()
{
}
public override Job Run(AgvInfo agv)
{
Job job = this;
agv.SetJobContext(new agv.JobContext()
{
MissionId = JobParam.GetMissionInfo().missionId,
AgvTask = agv.TaskRunState.Task,
JobFullName = ToString(),
JobStep = JobRunStep.PreStep(),
Name = agv.Name,
JobParam = JobParam
});
if (JobRunStep.IsStep(RunStep.NONE))
{
if(TargetIsOccupied(agv, JobParam.SrcNode.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_00_ToStandby);
runInfo = $"已有小车在{JobParam.SrcNode.AliceName}，先去待机点";
JobRunStep.Msg = runInfo;
ToStandby(agv);
}
else
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_01_ToLiftC1);
runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
ToLift(agv, JobParam.SrcNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_Buff))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_ToLine);
runInfo = $"去{JobParam.SrcNode.AliceName}的取料点";
ToPutShelfOn(agv, $"{JobParam.SrcNode.Name}");
JobRunStep.Msg = runInfo;
}
else if(JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_ToLine))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_PutShelf);
runInfo = $"到达{JobParam.SrcNode.AliceName}的取料点，开始拾取料车";
JobRunStep.Msg = runInfo;
PutShelfOn(agv);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_PutShelf))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
if (TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_ToStandby);
runInfo = $"已有小车在{JobParam.CurTargetNode.AliceName}，先去待机点";
JobRunStep.Msg = runInfo;
ToStandby(agv);
}
else
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_07_ToLiftD2);
runInfo = $"在料架缓存点取料完成，去{JobParam.CurTargetNode.AliceName}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
//AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
ToLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_00_ToStandby))
{
if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
{
}
else
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_01_ToLiftC1);
runInfo = $"已空闲，去{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
ToLift(agv, JobParam.SrcNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_01_ToLiftC1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_02_WaitDoorOpen);
//上报状态
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}"));
//lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, false, false);
runInfo = $"到达{JobParam.SrcNode.AliceName},等待门开启";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_02_WaitDoorOpen))
{
if (LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_03_EnterLift);
runInfo = $"{JobParam.SrcNode.AliceName}门已开启，去取料点";
//任务状态变更
SetLiftOccupied(JobParam.SrcNode.Name, agv);
ToPutShelfOn(agv, $"{JobParam.SrcNode.Name}");
JobRunStep.Msg = runInfo;
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.电梯到达, out string msg);
}
else if (JobRunStep.IsTimeOut(20) && !LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_02_WaitDoorOpen);
//请求电梯
LiftContext.Request(JobParam.GetMissionInfo(), agv, true, true);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_03_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_04_PutShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，开始取料车";
JobRunStep.Msg = runInfo;
// PutLiftShelfOn(agv, JobParam.SrcNode.Name);
PutYiYuanC1LiftShelfOn(agv);
//AllocateTask(agv, $"{SettingString.PutShelfOn}_{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_04_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_05_LeaveLift);
//上报状态
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;
LeaveLift(agv, JobParam.SrcNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_05_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_06_CloseLiftDoor);
//关门
bool rtn = LiftContext.AGVLeave(JobParam.SrcNode.Name, agv, false);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关闭电梯门:{rtn}";
JobRunStep.Msg = runInfo;
ClearLiftNodeOccupied(agv);
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.离开电梯, out string msg);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_06_CloseLiftDoor))
{
if(TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_ToStandby);
runInfo = $"已有小车在{JobParam.CurTargetNode.AliceName}，先去待机点";
JobRunStep.Msg = runInfo;
ToStandby(agv);
}
else
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_07_ToLiftD2);
runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
//AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
ToLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_ToStandby))
{
if (TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
{
}
else
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_07_ToLiftD2);
runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
//AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
ToLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_07_ToLiftD2))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_08_CheckD2Status);
//上报状态
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
LiftContext.FinishedRequest(JobParam.GetMissionInfo(), agv);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_08_CheckD2Status))
{
if (LiftContext.CheckHasEmptyFinished(agv, JobParam.CurTargetNode.Name, out JobParam.LiftStatus))
{
MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId ?? "");
if (missionInfo != null)
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_13_ToShelfBuff);
SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，内有成品空料车{JobParam?.LiftStatus?.missionId}，去料架缓存点";//
ToTakeShelfOff(agv, SettingString.ShelfBuff);
JobRunStep.Msg = runInfo;
}
else
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_12_ToStandby);
//设置电梯占用
//SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，内有成品空料车但无工单信息，去待机点,需要手动清空电梯缓存并关闭电梯门";//
ToStandby(agv);
JobRunStep.Msg = runInfo;
}
}
else if (LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo().destinationFloor))
{
if (LiftContext.HasShelfNeedLeaveFinished(JobParam.CurTargetNode.Name, agv.Client, out JobParam.LiftStatus))
{
MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId ?? "");
if (missionInfo != null)
{
MissionManager.SetMissionOccupied(JobParam.GetMissionInfo().missionId, agv);
job = new SwitchShelfJob(JobParam);
}
else
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_12_ToStandby);
//设置电梯占用
//SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，内有料车但无工单信息，去待机点,需要手动清空电梯缓存并关闭电梯门";//
ToStandby(agv);
JobRunStep.Msg = runInfo;
}
}
else //if (!TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_09_EnterLift);
SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，到放料点";
JobRunStep.Msg = runInfo;
ToTakeShelfOff(agv, $"{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsTimeOut(20) && !LiftContext.CheckIfRequestOk(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo()))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_08_CheckD2Status);
//请求电梯
LiftContext.FinishedRequest(JobParam.GetMissionInfo(), agv);
}
}
#region 电梯内无料车
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_09_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_10_TakeShelfOffAtLift);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}放料点，准备卸下料车";
JobRunStep.Msg = runInfo;
//AllocateTask(agv, $"{SettingString.TakeShelfOff}_{JobParam.CurTargetNode.Name}");
TakeYiYuanLiftShelfOff(agv, JobParam.CurTargetNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_10_TakeShelfOffAtLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_11_LeaveLift);
//上报状态
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";
LeaveLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_11_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.END);
//发送该料是成品
bool rtn1 = LiftContext.FinishedProduct(JobParam.CurTargetNode.Name, agv);
Thread.Sleep(5000);
//AGV离开
bool rtn = LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, false);
Thread.Sleep(2000);
bool rtn2 = LiftContext.CloseFinishedProduct(JobParam.CurTargetNode.Name, agv);
runInfo = $"任务结束：离开{JobParam.CurTargetNode.AliceName}完成并发送离开信号和送成品信号:{rtn}，{rtn1},{rtn2}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.等待成品回收, out string msg);
JobRunStep.Msg = runInfo;
ClearLiftNodeOccupied(agv);
}
}
#endregion
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_12_ToStandby))
{
// if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
if (!TargetIsOccupied(agv,JobParam.CurTargetNode.Name) && !LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_07_ToLiftD2);
runInfo = $"{JobParam.CurTargetNode.AliceName}空闲，去目的地";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
//AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
ToLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
}
#region 电梯内有料车
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_13_ToShelfBuff))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_14_TakeShelfOff);
runInfo = $"到达料架缓存点，将车上料车卸下";
JobRunStep.Msg = runInfo;
TakeShelfOff(agv);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_14_TakeShelfOff))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
//设置任务状态为料架换缓存
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.料架缓存, out string msg);
ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
//执行取空成品任务
Node src = manager.NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);
Node dest = manager.NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift);
MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId);
if (missionInfo != null)
{
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
MissionManager.SetMissionOccupied(missionInfo, agv);
job = new F1LiftD2ToLiftC1Job(jobParam);
}
else
{
JobRunStep.ToNextStep(RunStep.END);
runInfo = $"未搜索到电梯内的料车任务信息【{JobParam.LiftStatus?.missionId ?? ""}】，结束任务";
JobRunStep.Msg = runInfo;
}
}
}
#region 送往库房的料车
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_18_CloseDoor))
{
if (LiftContext.CheckAgvLeaveSig(JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_19_01_ToStore);
runInfo = $"{JobParam.CurTargetNode.AliceName}关门完成，将料车送到{JobParam.LiftStatus.destinationPoint}的放料点";
service.model.MissionInfo missionInfo = MissionManager.GetMission(JobParam.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;
ToTakeShelfOff(agv, $"{JobParam.LiftStatus.destinationPoint}");
}
else if (JobRunStep.IsTimeOut(0.5, out double val))
{
//AGV离开
LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, false);
runInfo = $"{JobParam.CurTargetNode.AliceName}离开信号超时重发";
JobRunStep.Msg = runInfo;
Thread.Sleep(3000);
}
}
#region 库房的料车
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_19_01_ToStore))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_19_02_TakeShelfOff);
runInfo = $"到达{JobParam.LiftStatus.destinationPoint}的放料点，准备卸下";
JobRunStep.Msg = runInfo;
TakeShelfOff(agv);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_19_02_TakeShelfOff))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_19_03_ToTemp1);
runInfo = $"料车在{JobParam.LiftStatus.destinationPoint}卸下完成， 返回{JobParam.CurTargetNode.AliceName}的临时点1的取料点";
service.model.MissionInfo missionInfo = MissionManager.GetMission(JobParam.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;
ToTmp1PutOn(agv, $"{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_19_03_ToTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_19_04_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;
PutShelfOn(agv);
//AllocateTask(agv, $"{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_19_04_PutTemp1ShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_19_05_ToLift);
runInfo = $"拾取料架完成，去{JobParam.CurTargetNode.AliceName}";
JobRunStep.Msg = runInfo;
//AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
ToLift(agv, JobParam.CurTargetNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_19_05_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_08_CheckD2Status);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}，请求电梯";
JobRunStep.Msg = runInfo;
//请求电梯
LiftContext.Request(JobParam.GetMissionInfo(), agv, false, true);
Thread.Sleep(2000);
}
}
#endregion
#endregion
#region 成品入库的料车
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_20_01_ToTemp2))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_02_TakeShelfOff);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}临时点2的放料点，准备放下料车";
JobRunStep.Msg = runInfo;
TakeShelfOff(agv);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_20_02_TakeShelfOff))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_03_ToTemp1);
runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点2放下料车完成，去临时点1的取料点";
JobRunStep.Msg = runInfo;
ToTmp1PutOn(agv, $"{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_20_03_ToTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_04_PutShelfOn);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}临时点1的取料点，准备取料";
JobRunStep.Msg = runInfo;
//AllocateTask(agv, $"{SettingString.PutShelfOn}");
PutShelfOn(agv);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_20_04_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_05_ToLiftC1);
runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点1取料完成，去电梯";
JobRunStep.Msg = runInfo;
ToLift(agv, $"{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_20_05_ToLiftC1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_06_EnterLiftC1);
runInfo = $"进入{JobParam.CurTargetNode.AliceName}的放料点";
JobRunStep.Msg = runInfo;
ToTakeShelfOff(agv, $"{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_20_06_EnterLiftC1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_07_TakeShelfOff);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的放料点，准备放下料架";
JobRunStep.Msg = runInfo;
//AllocateTask(agv, $"{SettingString.TakeShelfOff}");
TakeYiYuanLiftShelfOff(agv, JobParam.CurTargetNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_20_07_TakeShelfOff))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_08_LeaveLiftC1);
runInfo = $"在{JobParam.CurTargetNode.AliceName}放下料架完成，准备离开";
JobRunStep.Msg = runInfo;
//AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
LeaveLift(agv, JobParam.CurTargetNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_20_08_LeaveLiftC1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_09_CloseDoor);
LiftContext.FinishedProduct(JobParam.CurTargetNode.Name, agv);
Thread.Sleep(2000);
//AGV离开
bool rtn = LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, true);
Thread.Sleep(2000);
LiftContext.CloseFinishedProduct(JobParam.CurTargetNode.Name, agv);
runInfo = $"离开{JobParam.CurTargetNode.AliceName}完成，发送离开信号:{rtn}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.等待成品回收, out string msg);
JobRunStep.Msg = runInfo;
ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
ClearLiftNodeOccupied(agv);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_20_09_CloseDoor))
{
if (LiftContext.CheckAgvLeaveSig(JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_10_ToTemp2);
runInfo = $"去{JobParam.CurTargetNode.AliceName}临时点2的取料点";
JobRunStep.Msg = runInfo;
ToTmp2PutOn(agv, $"{JobParam.CurTargetNode.Name}");
}
//else if (JobRunStep.IsTimeOut(0.5, out double val))
//{
// //AGV离开
// LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, false);
// runInfo = $"{JobParam.CurTargetNode.AliceName}离开信号超时重发";
// JobRunStep.Msg = runInfo;
// Thread.Sleep(3000);
//}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_20_10_ToTemp2))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_11_TakeShelfOn);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}临时点2的取料点，准备取料架";
JobRunStep.Msg = runInfo;
// AllocateTask(agv, $"{SettingString.PutShelfOn}");
PutShelfOn(agv);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_20_11_TakeShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_20_12_Switch);
runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点2取料架完成";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftC1ToLiftD2_20_12_Switch))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
//去C1
Node src = NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);
Node dest = NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift);
JobParam jobParam = new JobParam(src, dest, null, MissionManager.GetMission(JobParam.LiftStatus.missionId));
F1LiftD2ToLiftC1Job d2ToLiftC1Job = new F1LiftD2ToLiftC1Job(jobParam);
d2ToLiftC1Job.JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_07_ToLiftC1);
runInfo = $"准备去{SettingString.LIFT_C1}送空成品料车";
d2ToLiftC1Job.JobRunStep.Msg = runInfo;
service.model.MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus.missionId);
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回电梯, out string msg);
}
d2ToLiftC1Job.AllocateTask(agv, $"{SettingString.LIFT_C1}");
JobRunStep.EndJob();
return d2ToLiftC1Job;
}
}
#endregion
#endregion
else if (JobRunStep.IsStep(RunStep.END))
{
ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
JobRunStep.EndJob();
return null;
}
return job;
}
}
}