LineToLiftJob.cs
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using Common;
using DeviceLibrary.bean;
using DeviceLibrary.bean.job;
using DeviceLibrary.lift;
using DeviceLibrary.manager;
using DeviceLibrary.service.model;
using System;
using System.Threading;
namespace DeviceLibrary
{
/// <summary>
/// 线体取料车送到电梯任务
/// </summary>
public class LineToLiftJob : Job
{
/// <summary>
/// 1F满架运送任务
/// </summary>
public LineToLiftJob(JobParam jobParam) : base(jobParam)
{
}
public LineToLiftJob() : base()
{
}
public override Job Run(AgvInfo agv)
{
Job job = this;
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))
{
JobParam.CrossDoor.CurNode = agv.Place;
JobParam.CrossDoor.NextNode = JobParam.SrcNode;
if (NodeManager.NeedCrossDoor(agv,JobParam.CrossDoor.CurNode,JobParam.CrossDoor.NextNode, out bool isin, out bool isair))
{
JobParam.CrossDoor.IsIn = isin;
JobParam.CrossDoor.IsAir = isair;
GenJobCallBack(this.GetType(), RunStep.LineToLift_00_CrossDoor, JobParam);
job = new CrossDoorJob(JobParam);
}
else
{
JobRunStep.ToNextStep(RunStep.LineToLift_00_CrossDoor);
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_00_CrossDoor))
{
JobRunStep.ToNextStep(RunStep.LineToLift_01_ToLine);
runInfo = $"去{JobParam.SrcNode.AliceName}的取料点";
ToPutShelfOn(agv, $"{JobParam.SrcNode.Name}");
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsStep(RunStep.LineToLift_01_ToLine))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.LineToLift_02_PutShelfOn);
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.接料, out string msg);
//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;
PutShelfOn(agv);
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_02_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
//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"));
JobParam.CrossDoor.CurNode = JobParam.SrcNode;
JobParam.CrossDoor.NextNode = JobParam.CurTargetNode;
if (NodeManager.NeedCrossDoor(agv, JobParam.CrossDoor.CurNode,JobParam.CrossDoor.NextNode, out bool isin, out bool isair))
{
JobParam.CrossDoor.IsIn = isin;
JobParam.CrossDoor.IsAir = isair;
GenJobCallBack(this.GetType(), RunStep.LineToLift_02_CrossDoor, JobParam);
job = new CrossDoorJob(JobParam);
}
else
{
JobRunStep.ToNextStep(RunStep.LineToLift_02_CrossDoor);
}
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_02_CrossDoor))
{
if (TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.LineToLift_ToStandby);
if (agv.Scope.Workshop.Equals("1F"))
{
ToStandby(agv);
runInfo = $"{JobParam.CurTargetNode.AliceName}有小车，先去待机点";
}
else
runInfo = $"{JobParam.CurTargetNode.AliceName}有小车，等待空闲";
JobRunStep.Msg = runInfo;
}
else
{
JobRunStep.ToNextStep(RunStep.LineToLift_03_ToLift);
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);
ToLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_ToStandby))
{
if (!TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.LineToLift_03_ToLift);
runInfo = $"{JobParam.CurTargetNode.AliceName}已空闲,前往目的地";
//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);
ToLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_03_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.LineToLift_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}"));
//任务状态变更
// MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.到达电梯, out string msg);
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.LineToLift_04_CheckLiftStatus))
{
if (LiftContext.CheckHasEmptyFinished(agv, JobParam.CurTargetNode.Name, out JobParam.LiftStatus))
{
MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId ?? "");
if (missionInfo != null)
{
JobRunStep.ToNextStep(RunStep.LineToLift_05_13_ToShelfPlace);
runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，内有成品空料车{missionInfo.missionId}，去料架缓存点";//
ToTakeShelfOff(agv, SettingString.ShelfBuff);
JobRunStep.Msg = runInfo;
}
else
{
JobRunStep.ToNextStep(RunStep.LineToLift_05_01_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 (lift.LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo().sourceFloor))
{
if (lift.LiftContext.HasShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out JobParam.LiftStatus))
{
MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId ?? "");
if (missionInfo != null)
{
MissionManager.SetMissionOccupied(missionInfo, agv);
job = new SwitchShelfJob(JobParam);
}
else
{
JobRunStep.ToNextStep(RunStep.LineToLift_05_01_ToStandby);
//设置电梯占用
//SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有送料的料车但无工单信息，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.LineToLift_06_01_EnterLift);
//设置电梯占用
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) && !lift.LiftContext.CheckIfRequestOk(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo()))
{
JobRunStep.ToNextStep(RunStep.LineToLift_04_CheckLiftStatus);
//请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(), agv);
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.error, agv.Name, JobParam.CurTargetNode.Name, service.model.TransportStatus.ModeStr.auto,
$"等待电梯到达超时"));
}
Thread.Sleep(2000);
}
else if (JobRunStep.IsStep(RunStep.LineToLift_05_01_ToStandby))
{
if (!TargetIsOccupied(agv, JobParam.CurTargetNode.Name) && !LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.LineToLift_03_ToLift);
runInfo = $"{JobParam.CurTargetNode.AliceName}已空闲";
ToLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
#region 电梯内有空成品料车
else if (JobRunStep.IsStep(RunStep.LineToLift_05_13_ToShelfPlace))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.LineToLift_05_14_TakeShelfOff);
runInfo = $"到达料架缓存点，准备卸下料车";
TakeShelfOff(agv);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_05_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;
}
}
}
#endregion
#region 电梯内无料车
else if (JobRunStep.IsStep(RunStep.LineToLift_06_01_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}放料点，准备卸下料车";
JobRunStep.Msg = runInfo;
TakeShelfOffAtLift(agv, JobParam.CurTargetNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_06_02_TakeShelfOffAtLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
//清除任务占用
ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
JobRunStep.ToNextStep(RunStep.LineToLift_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);
LeaveLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.LineToLift_06_03_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.END);
bool rtn = false;
{
//AGV离开
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}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.电梯运行, out string msg);
JobRunStep.Msg = runInfo;
ClearLiftNodeOccupied(agv);
}
}
#endregion
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return job;
}
}
}