F1StoreToLiftJob.cs
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using Common;
using DeviceLibrary.bean;
using DeviceLibrary.manager;
using System;
namespace DeviceLibrary
{
/// <summary>
/// 1F,库房到电梯（满料运送）
/// </summary>
public class F1StoreToLiftJob : Job
{
/// <summary>
/// 1F满架运送任务
/// </summary>
public F1StoreToLiftJob(JobParam jobParam) : base(jobParam)
{
}
lift.LiftStatus liftStatus;
public override Job Run(AgvInfo agv)
{
if (JobRunStep.IsStep(RunStep.NONE))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_01_ToStore);
runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}取料点";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.接料, out string msg);
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_01_ToStore))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_02_PutShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，拾取料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.PutShelfOn);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_02_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_03_ToLift);
runInfo = $"在{JobParam.SrcNode.AliceName}拾取料车完成，去{JobParam.CurTargetNode.AliceName}";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.前往电梯, out string msg);
//开始请求电梯
lift.LiftContext.Request(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo());
AllocateTask(agv, JobParam.CurTargetNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_03_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_04_CheckLiftStatus);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}，等待开门";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_04_CheckLiftStatus))
{
if (lift.LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name,JobParam.GetMissionInfo().sourceFloor))
{
if (lift.LiftContext.HasShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out lift.LiftStatus liftStatus))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_01_ToTemp1);
runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有料车，去临时点1的卸料点，准备卸下车上料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
if(missionInfo!=null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回电梯到达, out string msg);
}
}
else
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_06_01_EnterLift);
runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，到放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
}
}
else if (!lift.LiftContext.CheckIfRequestOk(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo()))
{
//请求电梯
lift.LiftContext.Request(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo());
System.Threading.Thread.Sleep(2000);
}
}
#region 电梯内有料车
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_01_ToTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_02_TakeShelfOffAtTemp1);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的临时点1，将车上料车卸下";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_02_TakeShelfOffAtTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_03_ToLift);
runInfo = $"在{JobParam.CurTargetNode.AliceName}将车上料车卸在临时点1完成，去电梯口";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_03_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_04_EnterLift);
runInfo = $"到{JobParam.CurTargetNode.AliceName}的取料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_04_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_05_PutShelfOn);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的取料点，准备拾取料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_05_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_06_LeaveLift);
runInfo = $"拾取{JobParam.CurTargetNode.AliceName}的料车完成，准备离开";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_06_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_07_ToTemp2);
runInfo = $"离开{JobParam.CurTargetNode.AliceName}完成，前往临时点2的放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp2}_{SettingString.TakeShelfOff}");
//电梯空，切换电梯控制权
lift.LiftContext.SwitchControl(JobParam.CurTargetNode.Name,JobParam.GetMissionInfo());
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_07_ToTemp2))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_08_TakeShelfOffAtTemp2);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}临时点2，准备放下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_08_TakeShelfOffAtTemp2))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_09_ToTemp1);
runInfo = $"将料车放到{JobParam.CurTargetNode.AliceName}的临时点2完成，去临时点1的取料点";
JobRunStep.Msg = runInfo;
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(liftStatus.missionId);
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.返回离开电梯, out string msg);
}
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_09_ToTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_10_PutTemp1ShelfOn);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的临时点1的取料点，准备取料";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_10_PutTemp1ShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_11_ToLift);
runInfo = $"取临时点1的料车完成，去{JobParam.CurTargetNode.AliceName}";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_11_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_12_EnterLift);
runInfo = $"到达{JobParam.CurTargetNode.AliceName},准备到放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_12_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_13_TakeShelfOffAtLift);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的放料点，准备卸下";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_13_TakeShelfOffAtLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_14_LeaveLift);
runInfo = $"料车在{JobParam.CurTargetNode.AliceName}卸下完成，离开电梯";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.到达电梯, out string msg);
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_14_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_15_ToTemp2);
runInfo = $"离开{JobParam.CurTargetNode.AliceName}完成,去临时点2的取料点";
JobRunStep.Msg = runInfo;
//关电梯门
//lift.LiftContext.CloseDoor(JobParam.CurTargetNode.Name);
//去指定层
lift.LiftContext.RunTo(JobParam.CurTargetNode.Name, int.Parse(JobParam.GetMissionInfo().destinationWorkshop.Substring(0, 1)));
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.电梯运行, out string msg);
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp2}_{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_15_ToTemp2))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_16_PutTemp2ShelfOn);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的临时点2，准备拾取料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_16_PutTemp2ShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
Node node = NodeManager.GetNode(liftStatus.destinationPoint);
if (node != null)
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_17_ToStore);
JobParam.SrcNode = node;
runInfo = $"拾取{JobParam.CurTargetNode.AliceName}临时点2的料车完成，将该料车送回{JobParam.SrcNode.AliceName}的放料点";
JobRunStep.Msg = runInfo;
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(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);
}
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.TakeShelfOff}");
}
else
{
runInfo = $"拾取{JobParam.CurTargetNode.AliceName}临时点2的料车完成，获取料车目的地不存在：{liftStatus.destinationPoint}";
JobRunStep.Msg = runInfo;
}
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_17_ToStore))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_05_18_TakeShelfOff);
runInfo = $"到达{JobParam.SrcNode.AliceName}的放料点,准备卸下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_05_18_TakeShelfOff))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.END);
runInfo = $"任务结束：在{JobParam.SrcNode.AliceName}卸下料车完成";
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(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;
}
}
#endregion
#region 电梯内无料车
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_06_01_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_06_02_TakeShelfOffAtLift);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}放料点，准备卸下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_06_02_TakeShelfOffAtLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_StoreToLift_06_03_LeaveLift);
runInfo = $"料车在{JobParam.CurTargetNode.AliceName}卸下完成，准备离开";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.到达电梯, out string msg);
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_StoreToLift_06_03_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.END);
runInfo = $"任务结束：离开{JobParam.CurTargetNode.AliceName}完成";
JobRunStep.Msg = runInfo;
lift.LiftContext.RunTo(JobParam.CurTargetNode.Name,JobParam.GetMissionInfo().destinationFloor);
}
}
#endregion
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return this;
}
}
}