LiftToLinesJob.cs
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using Common;
using DeviceLibrary.bean;
using DeviceLibrary.bean.job;
using DeviceLibrary.lift;
using DeviceLibrary.manager;
using DeviceLibrary.service.model;
using System.Web.UI;
namespace DeviceLibrary
{
/// <summary>
/// 电梯到线体
/// </summary>
public class LiftToLinesJob : Job
{
/// <summary>
/// 满料车任务
/// </summary>
public LiftToLinesJob(JobParam jobParam) : base(jobParam)
{
}
public LiftToLinesJob() : 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.SD_LiftToLine_00_ToStandby);
runInfo = $"在{JobParam.SrcNode.AliceName}有小车，去待机点";
JobRunStep.Msg = runInfo;
ToStandby(agv);
}
else
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_01_ToLift);
runInfo = $"去{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
ToLift(agv, JobParam.SrcNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_00_ToStandby))
{
if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
{
}
else
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_01_ToLift);
runInfo = $"任务开始：去{JobParam.SrcNode.AliceName}";
JobRunStep.Msg = runInfo;
ToLift(agv, JobParam.SrcNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_01_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_02_WaitLiftDoorOpen);
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, JobParam.SrcNode.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{JobParam.SrcNode.Name}"));
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, agv))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_03_EnterLift);
SetLiftOccupied(JobParam.SrcNode.Name, agv);
runInfo = $"{JobParam.SrcNode.AliceName}门已开启，进电梯取料点";
ToPutShelfOn(agv, JobParam.SrcNode.Name);
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.电梯到达, out string msg);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_03_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
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;
PutLiftShelfOn(agv, JobParam.SrcNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_04_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_05_LeaveLift);
//上报运输状态
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, JobParam.SrcNode.Name, service.model.TransportStatus.ModeStr.auto,
$"电梯取车"));
runInfo = $"在{JobParam.SrcNode.AliceName}拾取料车完成，准备离开";
JobRunStep.Msg = runInfo;
LeaveLift(agv, JobParam.SrcNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_05_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_06_CloseLiftDoor);
//关门
bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv, false);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关闭门:{rtn}";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.离开电梯, out string msg);
JobRunStep.Msg = runInfo;
ClearLiftNodeOccupied(agv);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_06_CloseLiftDoor))
{
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
//是否需要跨两个门
if (NodeManager.NeedCrossTwoDoor(agv, JobParam.SrcNode, JobParam.CurTargetNode))
{
JobParam.CrossDoor.CurNode = JobParam.SrcNode;
JobParam.CrossDoor.NextNode = JobParam.CurTargetNode;
JobParam.CrossDoor.IsIn = true;
JobParam.CrossDoor.IsAir = false;
GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_07_CrossTwoDoor, JobParam);
job = new CrossDoorJob(JobParam);
}
//是否需要跨门
else if (NodeManager.NeedCrossDoor(agv, JobParam.SrcNode, JobParam.CurTargetNode, out bool isin, out bool isair))
{
JobParam.CrossDoor.CurNode = JobParam.SrcNode;
JobParam.CrossDoor.NextNode = JobParam.CurTargetNode;
JobParam.CrossDoor.IsIn = isin;
JobParam.CrossDoor.IsAir = isair;
GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_07_CrossDoor, JobParam);
job = new CrossDoorJob(JobParam);
}
else
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_07_CrossDoor);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_07_CrossTwoDoor))
{
JobParam.CrossDoor.CurNode = JobParam.SrcNode;
JobParam.CrossDoor.NextNode = JobParam.CurTargetNode;
JobParam.CrossDoor.IsIn = true;
JobParam.CrossDoor.IsAir = true;
GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_07_CrossDoor, JobParam);
job = new CrossDoorJob(JobParam);
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_07_CrossDoor))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_07_ToLine);
runInfo = $"去{JobParam.CurTargetNode.AliceName}的放料点";
ToTakeShelfOff(agv, GetTargetName(JobParam.CurTargetNode));
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_07_ToLine))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
//确认按钮生效
JobParam.CurTargetNode.ExtendEquip.AllowConfirm();
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_08_UpdateLocation);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}";
JobRunStep.Msg = runInfo;
//上报位置
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, JobParam.CurTargetNode.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{JobParam.CurTargetNode.Name}"));
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_08_UpdateLocation))
{
if (NeedConfirm())
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_09_WaitConfirm);
runInfo = $"等待{JobParam.CurTargetNode.AliceName}的人员确认";
JobRunStep.Msg = runInfo;
PlaySound(agv);
}
else
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_10_CheckNextLine);
runInfo = $"{JobParam.CurTargetNode.AliceName}无需人员确认";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_09_WaitConfirm))
{
if (OpManager.WaitConfirm.Line(JobParam.CurTargetNode))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_10_CheckNextLine);
runInfo = $"{JobParam.CurTargetNode.AliceName}的人员确认完成";
JobRunStep.Msg = runInfo;
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, JobParam.CurTargetNode.Name, service.model.TransportStatus.ModeStr.agvButton,
$"卸货{JobParam.CurTargetNode.Name}"));
//重置确认信息
JobParam.CurTargetNode.ExtendEquip.Reset();
StopSound(agv);
}
else if (JobRunStep.IsTimeOut(WaitTimeOut, out double timeoutval))
{
// //报警，$"等待{JobParam.CurTargetNode.AliceName}的人员确认超时{timeoutval}分"
// manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
//service.model.TransportStatus.TypeStr.error, agv.Name, JobParam.CurTargetNode.Name, service.model.TransportStatus.ModeStr.agvButton,
// $"等待{JobParam.CurTargetNode.Name}确认超时{timeoutval.ToString("f2")}分"),true);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_10_CheckNextLine))
{
if (JobParam.TargetNodes != null && JobParam.TargetNodes.Count > 0)
{
JobParam.CurTargetNode = JobParam.TargetNodes[0];
JobParam.TargetNodes.RemoveAt(0);
if (NodeManager.NeedCrossDoor(agv, agv.Place, JobParam.CurTargetNode, out bool isin, out bool isair))
{
JobParam.CrossDoor.CurNode = agv.Place;
JobParam.CrossDoor.NextNode = JobParam.CurTargetNode;
JobParam.CrossDoor.IsIn = isin;
JobParam.CrossDoor.IsAir = isair;
GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_07_CrossDoor, JobParam);
job = new CrossDoorJob(JobParam);
}
else
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_07_CrossDoor);
runInfo = $"去下一线体";
JobRunStep.Msg = runInfo;
}
}
else
{
if (JobParam.GetMissionInfo() != null && JobParam.GetMissionInfo().needBack)
{
if (NodeManager.NeedCrossTwoDoor(agv, agv.Place, JobParam.SrcNode))
{
JobParam.CrossDoor.CurNode = agv.Place;
JobParam.CrossDoor.NextNode = JobParam.SrcNode;
JobParam.CrossDoor.IsIn = false;
JobParam.CrossDoor.IsAir = true;
GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_11_CrossTwoDoor, JobParam);
job = new CrossDoorJob(JobParam);
}
else if (NodeManager.NeedCrossDoor(agv, agv.Place, JobParam.SrcNode, out bool isin, out bool isair))
{
JobParam.CrossDoor.CurNode = agv.Place;
JobParam.CrossDoor.NextNode = JobParam.SrcNode;
JobParam.CrossDoor.IsIn = isin;
JobParam.CrossDoor.IsAir = isair;
GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_11_CrossTDoor, JobParam);
job = new CrossDoorJob(JobParam);
}
else if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_ToStandby);
runInfo = $"{JobParam.SrcNode.AliceName}有车，去停留点";
JobRunStep.Msg = runInfo;
ToStandby(agv);
}
else
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_BackToLift);
runInfo = $"{JobParam.CurTargetNode.AliceName}是最后一个线体，分发结束，料车需返回，去电梯口";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
ToLift(agv, JobParam.SrcNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobParam.GetMissionInfo() != null && !JobParam.GetMissionInfo().needBack)
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_16_TakeShelfOff);
runInfo = $"{JobParam.CurTargetNode.AliceName}是最后一个线体，料车无需返回，直接卸车";
TakeShelfOff(agv);
JobRunStep.Msg = runInfo;
}
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_11_CrossTwoDoor))
{
JobParam.CrossDoor.CurNode = JobParam.CurTargetNode;
JobParam.CrossDoor.NextNode = JobParam.SrcNode;
JobParam.CrossDoor.IsIn = false;
JobParam.CrossDoor.IsAir = false;
GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_11_CrossTDoor, JobParam);
job = new CrossDoorJob(JobParam);
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_11_CrossTDoor))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_BackToLift);
runInfo = $"过门完成，分发结束，料车需返回，去电梯口";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
ToLift(agv, JobParam.SrcNode.Name);
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_11_BackToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_ToStandby);
runInfo = $"{JobParam.SrcNode.AliceName}有车，去停留点";
JobRunStep.Msg = runInfo;
ToStandby(agv);
}
else
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_12_WaitDoorOpen);
runInfo = $"到达{JobParam.SrcNode.AliceName}，请求使用电梯并等待电梯门开";
JobRunStep.Msg = runInfo;
//上报位置
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, JobParam.SrcNode.Name, service.model.TransportStatus.ModeStr.auto,
$"到达{JobParam.SrcNode.Name}"));
//请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true);
System.Threading.Thread.Sleep(1000);
}
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_11_ToStandby))
{
if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
{
}
else
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_BackToLift);
runInfo = $"分发结束，料车需返回，电梯口无料车，去电梯口";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
ToLift(agv, JobParam.SrcNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_12_WaitDoorOpen))
{
if (LiftContext.CheckHasEmptyFinished(agv, JobParam.SrcNode.Name, out JobParam.LiftStatus))
{
MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId ?? "");
if (missionInfo != null)
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_23_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.SD_LiftToLine_22_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;
}
//JobParam.CurTargetNode = JobParam.SrcNode;
//MissionManager.SetMissionOccupied(JobParam.GetMissionInfo().missionId, agv);
//job = new SwitchShelfJob(JobParam);
}
else if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor, agv))
{
ChargePileManager.StopCharge(agv);
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.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.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 && HasMultiAgvs(agv))
{
ChargePileManager.StopCharge(agv);
ToStandby(agv); return job;
}
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_12_WaitDoorOpen);
//请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true);
////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.SrcNode.Name, service.model.TransportStatus.ModeStr.auto,
// $"等待电梯到达超时"));
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_13_CheckLiftStatus))
{
if (LiftContext.CheckHasEmptyFinished(agv, JobParam.SrcNode.Name, out JobParam.LiftStatus))
{
MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId ?? "");
if (missionInfo != null)
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_23_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.SD_LiftToLine_22_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.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor, agv))
{
if (lift.LiftContext.HasShelfNeedLeave(JobParam.SrcNode.Name, agv.Client, out JobParam.LiftStatus))
{
JobParam.CurTargetNode = JobParam.SrcNode;
MissionManager.SetMissionOccupied(JobParam.GetMissionInfo().missionId, agv);
job = new SwitchShelfJob(JobParam);
}
else
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_01_EnterLift);
LiftContext.SetLiftNodeOccupied(agv, JobParam.SrcNode.Name);
runInfo = $"{JobParam.SrcNode.AliceName}无料车，去放料点";
JobRunStep.Msg = runInfo;
ToTakeShelfOff(agv, JobParam.SrcNode.Name);
}
}
else if (JobRunStep.IsTimeOut(20) && !lift.LiftContext.CheckIfRequestOk(JobParam.SrcNode.Name, JobParam.GetMissionInfo()))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_12_WaitDoorOpen);
//请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(), agv, true);
}
}
#region 电梯内无料车
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_01_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
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;
TakeShelfOffAtLift(agv, JobParam.SrcNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_02_TakeShelfOffAtLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
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;
ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
//AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
LeaveLift(agv, JobParam.SrcNode.Name);
//上报位置
manager.UploadManager.UploadTransportStatus(new service.model.TransportStatus(agv.CurJob.JobParam.GetMissionInfo().missionId,
service.model.TransportStatus.TypeStr.status, agv.Name, JobParam.SrcNode.Name, service.model.TransportStatus.ModeStr.auto,
$"电梯卸车"));
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回到达电梯内, out string msg);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_03_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_14_04_CloseLiftDoor);
bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关门: {rtn}";
JobRunStep.Msg = runInfo;
ClearLiftNodeOccupied(agv);
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_14_04_CloseLiftDoor))
{
//if (!lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().sourceFloor))
{
JobRunStep.ToNextStep(RunStep.END);
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯运行, out string msg);
runInfo = $"{JobName}结束：{JobParam.SrcNode.AliceName}已关门";
JobRunStep.Msg = runInfo;
}
//else if (JobRunStep.IsTimeOut(0.5, out double time))
//{
// lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
// System.Threading.Thread.Sleep(1000);
//}
}
#endregion
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_16_TakeShelfOff))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车完成";
JobRunStep.Msg = runInfo;
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.完成, 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, JobParam.CurTargetNode.Name, service.model.TransportStatus.ModeStr.auto,
$"卸货{JobParam.CurTargetNode.Name}"));
if (NodeManager.NeedCrossTwoDoor(agv, agv.Place, JobParam.SrcNode))
{
JobParam.CrossDoor.CurNode = agv.Place;
JobParam.CrossDoor.NextNode = JobParam.SrcNode;
JobParam.CrossDoor.IsIn = false;
JobParam.CrossDoor.IsAir = true;
GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_16_CrossTwoDoor, JobParam);
job = new CrossDoorJob(JobParam);
}
else if (NodeManager.NeedCrossDoor(agv, agv.Place, JobParam.SrcNode, out bool isin, out bool isair))
{
JobParam.CrossDoor.CurNode = agv.Place;
JobParam.CrossDoor.NextNode = JobParam.SrcNode;
JobParam.CrossDoor.IsIn = isin;
JobParam.CrossDoor.IsAir = isair;
GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_16_CrossTDoor, JobParam);
job = new CrossDoorJob(JobParam);
}
else
{
JobRunStep.ToNextStep(RunStep.END);
}
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_16_CrossTwoDoor))
{
JobParam.CrossDoor.CurNode = JobParam.CurTargetNode;
JobParam.CrossDoor.NextNode = JobParam.SrcNode;
JobParam.CrossDoor.IsIn = false;
JobParam.CrossDoor.IsAir = false;
GenJobCallBack(this.GetType(), RunStep.SD_LiftToLine_16_CrossTDoor, JobParam);
job = new CrossDoorJob(JobParam);
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_16_CrossTDoor))
{
JobRunStep.ToNextStep(RunStep.END);
}
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
#region 有移远空成品料架
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_22_ToStandby))
{
if (!TargetIsOccupied(agv, JobParam.SrcNode.Name) && !LiftContext.IsDoorOpen(JobParam.SrcNode.Name))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_11_BackToLift);
runInfo = $"{JobParam.SrcNode.AliceName}已空闲";
ToLift(agv, JobParam.SrcNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.SD_LiftToLine_23_ToShelfPlace))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.SD_LiftToLine_24_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.SD_LiftToLine_24_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_返回, 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
return job;
}
}
}