LineToLiftJob.cs
17.3 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
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))
{
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))
{
//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))
{
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))
{
ChargePileManager.StopCharge(agv);
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, agv))
{
ChargePileManager.StopCharge(agv);
if (lift.LiftContext.HasShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out JobParam.LiftStatus))
{
ChargePileManager.StopCharge(agv);
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()))
{
if (agv?.Battery <= 10 && !agv.IsInCharge)
{
if (ChargePileManager.HasEmpty(agv, out ChargePile charge))
{
ChargePileManager.StartCharge(agv, charge.Name);
AllocateTask(agv, charge);
return job;
}
}
else if (agv.Battery > 50 && agv.IsInCharge)
{
ChargePileManager.StopCharge(agv);
ToStandby(agv); return job;
}
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"));
}
}
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))
{
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))
{
//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))
{
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))
{
//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))
{
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;
}
}
}