F1LiftD2ToLiftC1Job.cs
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using Common;
using DeviceLibrary.lift;
using DeviceLibrary.manager;
using DeviceLibrary.service.model;
using System.Reflection;
namespace DeviceLibrary.bean.job
{
/// <summary>
/// 1F,电梯D2到C1 成品空架返回任务
/// </summary>
public class F1LiftD2ToLiftC1Job : Job
{
/// <summary>
/// 1F 成品空架返回任务
/// </summary>
public F1LiftD2ToLiftC1Job(JobParam jobParam) : base(jobParam)
{
}
public F1LiftD2ToLiftC1Job() : 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))
{
if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_00_ToStandby);
runInfo = $"在{JobParam.SrcNode.AliceName}小车，先去待机点";
JobRunStep.Msg = runInfo;
ToStandby(agv);
}
else
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_01_ToLiftD2);
runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
ToLift(agv, $"{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_00_ToStandby))
{
if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
{
}
else
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_01_ToLiftD2);
runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
ToLift(agv, $"{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_01_ToLiftD2))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_02_WaitDoorOpen);
//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}"));
// lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, false, false);
runInfo = $"到达{JobParam.SrcNode.AliceName},等待门开启";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_02_WaitDoorOpen))
{
//if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_03_EnterLift);
runInfo = $"{JobParam.SrcNode.AliceName}门已开启，去取料点";
//任务状态变更
SetLiftOccupied(JobParam.SrcNode.Name, agv);
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
JobRunStep.Msg = runInfo;
}
//else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
//{
// JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_02_WaitDoorOpen);
// //请求电梯
// lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true, true);
//}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_03_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_04_PutShelfOn);
runInfo = $"到达{JobParam.SrcNode.AliceName}取料点，开始取料车";
JobRunStep.Msg = runInfo;
PutYiYuanD2LiftShelfOn(agv, JobParam.SrcNode.Name);
//AllocateTask(agv, $"{SettingString.PutShelfOn}_{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_04_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_05_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,
$"电梯取车"));
runInfo = $"在{JobParam.SrcNode.AliceName}取料车完成，准备离开";
JobRunStep.Msg = runInfo;
//AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
LeaveLift(agv, JobParam.SrcNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_05_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_06_CloseLiftDoor);
//关门
bool rtn = lift.LiftContext.EmptyFinishedAGVLeave(JobParam.SrcNode.Name, agv);//lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv, false);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关闭电梯门:{rtn}";
JobRunStep.Msg = runInfo;
ClearLiftNodeOccupied(agv);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_06_CloseLiftDoor))
{
if (TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_07_ToStandby);
runInfo = $"在{JobParam.CurTargetNode.AliceName}有小车，去待机点";
ToStandby(agv);
JobRunStep.Msg = runInfo;
}
else
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_07_ToLiftC1);
runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
ToLift(agv, $"{JobParam.CurTargetNode.Name}");
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_07_ToStandby))
{
if (TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
{
}
else
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_07_ToLiftC1);
runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
ToLift(agv, $"{JobParam.CurTargetNode.Name}");
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_07_ToLiftC1))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_08_CheckC1Status);
//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}"));
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, true, true);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_08_CheckC1Status))
{
if (lift.LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo().destinationFloor, agv))
{
if (lift.LiftContext.HasFinishedShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out JobParam.LiftStatus))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_12_ToTemp1);
//SetLiftOccupied(JobParam.CurTargetNode.Name, agv);
runInfo = $"{JobParam.CurTargetNode.AliceName}已开门。电梯内有成品料车，去临时点1的卸料点，准备卸下车上料车";//
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.TakeShelfOff}");
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(JobParam.LiftStatus.missionId);
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.电梯到达, out string msg);
}
JobRunStep.Msg = runInfo;
}
else if (lift.LiftContext.HasShelfNeedLeave(JobParam.CurTargetNode.Name, agv.Client, out JobParam.LiftStatus))
{
MissionManager.SetMissionOccupied(JobParam.GetMissionInfo().missionId, agv);
job = new SwitchShelfJob(JobParam);
}
else //if (!TargetIsOccupied(agv, JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_09_EnterLift);
runInfo = $"{JobParam.CurTargetNode.AliceName}已开门，到放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.CurTargetNode.Name, JobParam.GetMissionInfo()))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_08_CheckC1Status);
//请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true, true);
}
}
#region 电梯内无料车
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_09_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_10_TakeShelfOffAtLift);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}放料点，准备卸下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}_{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_10_TakeShelfOffAtLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_11_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";
ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回到达电梯内, out string msg);
// AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
LeaveLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_11_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.END);
//AGV离开
bool 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.返回电梯运行, out string msg);
JobRunStep.Msg = runInfo;
}
}
#endregion
#region 电梯内有料车
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_12_ToStandby))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
if (!LiftContext.OtherAGVIsInLift(agv, JobParam.CurTargetNode.Name) && !LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_08_CheckC1Status);
runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点1请求电梯";
JobRunStep.Msg = runInfo;
//请求电梯
lift.LiftContext.FinishedRequest(JobParam.GetMissionInfo(), agv);
System.Threading.Thread.Sleep(2000);
}
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_12_ToTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_13_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_LiftD2ToLiftC1_13_TakeShelfOffAtTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_14_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_LiftD2ToLiftC1_14_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_15_EnterLift);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}，去取料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_15_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_16_PutShelfOn);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的取料点，准备拾取料车";
JobRunStep.Msg = runInfo;
PutLiftShelfOn(agv, JobParam.CurTargetNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_16_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_17_LeaveLift);
runInfo = $"拾取{JobParam.CurTargetNode.AliceName}的料车完成，准备离开电梯";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_17_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
//电梯里的是成品入库料
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_01_ToTemp2);
runInfo = $"离开{JobParam.CurTargetNode.AliceName}完成,去临时点2的放料点";
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(JobParam.LiftStatus.missionId);
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.离开电梯, out string msg);
}
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp2}_{SettingString.TakeShelfOff}");
JobRunStep.Msg = runInfo;
}
}
}
#region 成品入库的料车
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_20_01_ToTemp2))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_02_TakeShelfOff);
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(JobParam.LiftStatus.missionId);
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.离开电梯, out string msg);
}
runInfo = $"到达{JobParam.CurTargetNode.AliceName}临时点2的放料点，准备放下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_20_02_TakeShelfOff))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_03_ToTemp1);
runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点2放下料车完成，去临时点1的取料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp1}_{SettingString.PutShelfOn}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_20_03_ToTemp1))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_04_PutShelfOn);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}临时点1的取料点，准备取料";
JobRunStep.Msg = runInfo;
//AllocateTask(agv, $"{SettingString.PutShelfOn}");
PutShelfOn(agv);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_20_04_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_05_ToLiftC1);
runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点1取料完成，去电梯";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_20_05_ToLiftC1))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_06_EnterLiftC1);
runInfo = $"进入{JobParam.CurTargetNode.AliceName}的放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_20_06_EnterLiftC1))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_07_TakeShelfOff);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的放料点，准备放下料架";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}");
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_20_07_TakeShelfOff))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_08_LeaveLiftC1);
runInfo = $"在{JobParam.CurTargetNode.AliceName}放下料架完成，更新电梯信息并准备离开";
LiftContext.UpdateRequestInfo(JobParam.GetMissionInfo(), agv, true);
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回到达电梯内, out string msg);
//AllocateTask(agv, $"{SettingString.Leave}_{JobParam.CurTargetNode.Name}");
LeaveLift(agv, JobParam.CurTargetNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_20_08_LeaveLiftC1))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_09_CloseDoor);
//AGV离开
bool rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, true);
runInfo = $"离开{JobParam.CurTargetNode.AliceName}完成，发送离开信号:{rtn}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯运行, out string msg);
JobRunStep.Msg = runInfo;
ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(JobParam.LiftStatus.missionId);
if (missionInfo != null)
{
//设置任务占用
MissionManager.SetMissionOccupied(missionInfo, agv);
}
ClearLiftNodeOccupied(agv);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_20_09_CloseDoor))
{
if (lift.LiftContext.CheckAgvLeaveSig(JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_10_ToTemp2);
runInfo = $"去{JobParam.CurTargetNode.AliceName}临时点2的取料点";
JobRunStep.Msg = runInfo;
ToTmp2PutOn(agv, JobParam.CurTargetNode.Name);
//AllocateTask(agv, $"{JobParam.CurTargetNode.Name}_{SettingString.Temp2}_{SettingString.PutShelfOn}");
}
else if (JobRunStep.IsTimeOut(0.5, out _))
{
//AGV离开
lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, true);
runInfo = $"{JobParam.CurTargetNode.AliceName}离开信号超时重发";
JobRunStep.Msg = runInfo;
System.Threading.Thread.Sleep(3000);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_20_10_ToTemp2))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_11_TakeShelfOn);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}临时点2的取料点，准备取料架";
JobRunStep.Msg = runInfo;
//AllocateTask(agv, $"{SettingString.PutShelfOn}");
PutShelfOn(agv);
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_20_11_TakeShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_20_12_Switch);
runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点2取料架完成";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.S1F_LiftD2ToLiftC1_20_12_Switch))
{
if (agv.TaskRunState.CheckTaskFinished(agv) && !TargetIsOccupied(agv, SettingString.LIFT_D2))
{
//去D2
Node src = manager.NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift);
Node dest = manager.NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);
JobParam jobParam = new JobParam(src, dest, null, MissionManager.GetMission(JobParam.LiftStatus.missionId));
F1LiftC1ToLiftD2Job c1ToLiftD2Job = new F1LiftC1ToLiftD2Job(jobParam);
c1ToLiftD2Job.JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_07_ToLiftD2);
runInfo = $"准备去{SettingString.LIFT_D2}送成品料车";
c1ToLiftD2Job.JobRunStep.Msg = runInfo;
service.model.MissionInfo missionInfo = manager.MissionManager.GetMission(JobParam.LiftStatus.missionId);
if (missionInfo != null)
{
//任务状态变更
MissionManager.SetMissionState(missionInfo.missionId, service.model.MissionState.送料, out string msg);
}
//设置电梯占用
LiftContext.SetLiftNodeOccupied(agv, SettingString.LIFT_D2);
c1ToLiftD2Job.AllocateTask(agv, $"{SettingString.LIFT_D2}");
JobRunStep.EndJob();
return c1ToLiftD2Job;
}
}
#endregion
#endregion
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return job;
}
}
}