SendToLinesWithBackJob.cs
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using Common;
using DeviceLibrary.manager;
namespace DeviceLibrary.bean.job
{
/// <summary>
/// 电梯到线体,（空架返回）
/// </summary>
public class SendToLinesWithBackJob : Job
{
/// <summary>
/// 满料车任务
/// </summary>
public SendToLinesWithBackJob(JobParam jobParam) : base(jobParam)
{
}
lift.LiftStatus liftStatus;
public override Job Run(AgvInfo agv)
{
if (JobRunStep.IsStep(RunStep.NONE))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_01_ToLift);
runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.SrcNode.Name);
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_01_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_02_WaitLiftDoorOpen);
runInfo = $"到达{JobParam.SrcNode.AliceName},等待门开启";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_02_WaitLiftDoorOpen))
{
if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name,JobParam.GetMissionInfo().destinationFloor))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_03_EnterLift);
runInfo = $"{JobParam.SrcNode.AliceName}门已开启，进电梯取料点";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.电梯到达, out string msg);
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_03_EnterLift))
{
if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_04_PutShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，准备拾取料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.PutShelfOn);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_04_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_05_LeaveLift);
runInfo = $"在{JobParam.SrcNode.AliceName}拾取料车完成，准备离开";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_05_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_06_CloseLiftDoor);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关闭门";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.离开电梯, out string msg);
//关门
lift.LiftContext.CloseDoor(JobParam.SrcNode.Name,agv);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_06_CloseLiftDoor))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_07_ToLine);
runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}的放料点";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_07_ToLine))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
//确认按钮生效
JobParam.CurTargetNode.ExtendEquip.AllowConfirm();
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_08_UpdateLocation);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}，上报位置给ITS";
JobRunStep.Msg = runInfo;
//上报位置
manager.UploadManager.UploadPosition(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 }"));
System.Threading.Thread.Sleep(2000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_08_UpdateLocation))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_09_WaitConfirm);
runInfo = $"等待{JobParam.CurTargetNode.AliceName}的人员确认";
JobRunStep.Msg = runInfo;
manager.UploadManager.UploadPosition(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
$"等待{ JobParam.CurTargetNode.Name }确认"));
System.Threading.Thread.Sleep(2000);
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_09_WaitConfirm))
{
if (OpManager.WaitConfirm.Line(JobParam.CurTargetNode))
{
//关闭按钮确认
JobParam.CurTargetNode.ExtendEquip.Reset();
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_10_CheckNextLine);
runInfo = $"{JobParam.CurTargetNode.AliceName}的人员确认完成";
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsTimeOut(WaitTimeOut, out double timeoutval))
{
//报警，$"等待{JobParam.CurTargetNode.AliceName}的人员确认超时{timeoutval}分"
manager.UploadManager.UploadPosition(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.error, agv.Name, agv.Place.Name, service.model.TransportStatus.ModeStr.agvButton,
$"等待{ JobParam.CurTargetNode.Name }确认超时{timeoutval}分"));
System.Threading.Thread.Sleep(2000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_10_CheckNextLine))
{
if (JobParam.TargetNodes.Count > 0)
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_07_ToLine);
JobParam.CurTargetNode = JobParam.TargetNodes[0];
JobParam.TargetNodes.RemoveAt(0);
System.Threading.Thread.Sleep(1000);
runInfo = $"去下一线体{JobParam.CurTargetNode.AliceName}的放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
}
else
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_BackToLift);
runInfo = $"{JobParam.CurTargetNode.AliceName}是最后一个线体，分发结束，返回电梯口";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
//请求电梯
lift.LiftContext.Request(JobParam.SrcNode.Name,JobParam.GetMissionInfo());
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.SrcNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_11_BackToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_12_WaitDoorOpen);
runInfo = $"到达{JobParam.SrcNode.AliceName}，等待电梯门开";
JobRunStep.Msg = runInfo;
//上报位置
System.Threading.Thread.Sleep(1000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_12_WaitDoorOpen))
{
if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name,JobParam.GetMissionInfo().sourceFloor))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_13_CheckLiftStatus);
runInfo = $"{JobParam.SrcNode.AliceName}门已开，检查电梯内该层是否有料车";
JobRunStep.Msg = runInfo;
//上报位置
System.Threading.Thread.Sleep(1000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_13_CheckLiftStatus))
{
if (lift.LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo().sourceFloor))
{
if (lift.LiftContext.HasShelfNeedLeave(JobParam.SrcNode.Name, agv.Client, out liftStatus))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_01_ToTemp1);
runInfo = $"{JobParam.SrcNode.AliceName}内有料车，去临时点1放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.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.SD_LiftToLine_14_01_EnterLift);
runInfo = $"{JobParam.SrcNode.AliceName}无料车，去放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.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 电梯内无料车
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_01_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_02_TakeShelfOffAtLift);
runInfo = $"到达{JobParam.SrcNode.AliceName}放料点，准备卸下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_02_TakeShelfOffAtLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_03_LeaveLift);
runInfo = $"在{JobParam.SrcNode.AliceName}卸下料车完成，准备离开";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_03_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_04_CloseLiftDoor);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关门";
JobRunStep.Msg = runInfo;
lift.LiftContext.CloseDoor(JobParam.SrcNode.Name,agv);
System.Threading.Thread.Sleep(1000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_04_CloseLiftDoor))
{
if (!lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name,JobParam.GetMissionInfo().sourceFloor))
{
JobRunStep.ToNextStep(RunStep.END);
runInfo = $"{JobName}结束：{JobParam.SrcNode.AliceName}已关门";
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsTimeOut(1, out double time))
{
lift.LiftContext.CloseDoor(JobParam.SrcNode.Name,agv);
System.Threading.Thread.Sleep(1000);
}
}
#endregion
#region 电梯内有料车
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_01_ToTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_02_TakeShelfOffAtTemp1);
runInfo = $"到达{JobParam.SrcNode.AliceName}的临时点1的放料点，准备卸料";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_02_TakeShelfOffAtTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_03_ToLift);
runInfo = $"料车卸到临时点1完成，去{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_03_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_04_EnterLift);
runInfo = $"到达{JobParam.SrcNode.AliceName}，去取料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_04_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_05_PutLiftShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，准备拾取料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_05_PutLiftShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_06_LeaveLift);
runInfo = $"拾取料车完成，离开{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_06_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_07_ToTemp2);
runInfo = $"离开{JobParam.SrcNode.AliceName}完成，去临时点2放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.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.SD_LiftToLine_14_07_ToTemp2))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_08_TakeShelfOffAtTemp2);
runInfo = $"到达{JobParam.SrcNode.AliceName}的临时点2放料点，准备卸下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_08_TakeShelfOffAtTemp2))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_09_ToTemp1);
runInfo = $"将{JobParam.SrcNode.AliceName}料车放到临时点2完成，去临时点1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.SrcNode.Name}_{SettingString.Temp1}_{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_09_ToTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_10_PutTemp1ShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}临时点1的取料点，准备拾取料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_10_PutTemp1ShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_11_ToLift);
runInfo = $"拾取{JobParam.SrcNode.AliceName}临时点1的料车完成，去电梯口";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_11_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_12_EnterLift);
runInfo = $"到达{JobParam.SrcNode.AliceName}，准备去放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_12_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_13_TakeShelfOffAtLift);
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.SD_LiftToLine_14_13_TakeShelfOffAtLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_14_LeaveLift);
runInfo = $"料车在{JobParam.SrcNode.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.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_14_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_15_CloseLiftDoor);
runInfo = $"离开{JobParam.SrcNode.AliceName}完成，关门";
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);
System.Threading.Thread.Sleep(1000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_15_CloseLiftDoor))
{
if (!lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name,JobParam.GetMissionInfo().sourceFloor))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_16_ToTemp2);
runInfo = $"已关门，去{JobParam.SrcNode.AliceName}的临时点2取料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.Temp2}_{SettingString.PutShelfOn}");
}
else if (JobRunStep.IsTimeOut(1, out double time))
{
lift.LiftContext.CloseDoor(JobParam.SrcNode.Name,agv);
System.Threading.Thread.Sleep(1000);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_16_ToTemp2))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_17_PutTemp2ShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}的临时点2的取料点，准备拾取";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_17_PutTemp2ShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_07_ToLine);
string[] nodes = liftStatus.destinationPoint.Split(',');
JobParam.CurTargetNode = manager.NodeManager.GetNode(nodes[0]);
JobParam.TargetNodes.Clear();
JobParam.SetMissionInfo(manager.MissionManager.GetReceiveMission(agv));
if (nodes.Length > 1)
{
for (int i = 1; i < nodes.Length; i++)
{
Node node = manager.NodeManager.GetNode(nodes[i]);
if (node != null)
JobParam.TargetNodes.Add(node);
}
}
runInfo = $"去{JobParam.CurTargetNode.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.送料, out string msg);
}
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
}
}
#endregion
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return this;
}
}
}