F1LiftToStoreJob.cs
5.5 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
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 F1LiftToStoreJob : Job
{
/// <summary>
/// 1F空架返回任务
/// </summary>
public F1LiftToStoreJob(JobParam jobParam) : base(jobParam)
{
}
public override Job Run(AgvInfo agv)
{
if (JobRunStep.IsStep(RunStep.NONE))
{
JobRunStep.ToNextStep(RunStep.S1F_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.S1F_LiftToStore_01_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftToStore_02_01_WaitLiftDoorOpen);
runInfo = $"到达{JobParam.SrcNode.AliceName},等待门开启";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftToStore_02_01_WaitLiftDoorOpen))
{
if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name,JobParam.GetMissionInfo().destinationFloor))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftToStore_02_02_EnterLift);
runInfo = $"{JobParam.SrcNode.AliceName}门已开启，去取料点";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯到达, out string msg);
AllocateTask(agv,$"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
}
}
else if(JobRunStep.IsStep(RunStep.S1F_LiftToStore_02_02_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftToStore_03_PutShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，开始取料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv,SettingString.PutShelfOn);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftToStore_03_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftToStore_04_LeaveLift);
runInfo = $"在{JobParam.SrcNode.AliceName}取料车完成，准备离开";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftToStore_04_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftToStore_05_CloseLiftDoor);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关闭电梯门";
//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;
//关门
lift.LiftContext.CloseDoor(JobParam.SrcNode.Name,agv);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftToStore_05_CloseLiftDoor))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftToStore_06_ToStore);
runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}放料点";
JobRunStep.Msg = runInfo;
//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}");
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftToStore_06_ToStore))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftToStore_07_TakeShelfOff);
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.S1F_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;
}
}
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return this;
}
}
}