SteelLiftToStorageJob.cs
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using Common;
using DeviceLibrary.manager;
using DeviceLibrary.service.model;
using System.Windows.Forms;
namespace DeviceLibrary.bean.job
{
/// <summary>
/// 钢网，电梯到立库
/// </summary>
public class SteelLiftToStorageJob : Job
{
/// <summary>
/// 钢网，电梯到立库
/// </summary>
public SteelLiftToStorageJob(JobParam jobParam) : base(jobParam)
{
}
public SteelLiftToStorageJob() : base()
{
}
lift.LiftStatus liftStatus;
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))
{
JobRunStep.ToNextStep(RunStep.Steel_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.Steel_LiftToLine_01_ToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Steel_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.Steel_LiftToLine_02_WaitLiftDoorOpen))
{
if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().destinationFloor, agv))
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_03_EnterLift);
SetLiftOccupied(JobParam.SrcNode.Name, agv);
runInfo = $"{JobParam.SrcNode.AliceName}门已开启，进电梯取料点";
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.PutShelfOn}");
//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.Steel_LiftToLine_03_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Steel_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);
//AllocateTask(agv, $"{SettingString.PutShelfOn}_{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_04_PutShelfOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Steel_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;
AllocateTask(agv, $"{SettingString.Leave}_{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_05_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Steel_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;
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_06_CloseLiftDoor))
{
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_13_ToLiku);
runInfo = $"关闭{JobParam.SrcNode.AliceName}门完成，去{JobParam.CurTargetNode.AliceName}的放料点";
//任务状态变更
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.送料, out string msg);
AllocateTask(agv, $"{GetTargetName(JobParam.CurTargetNode)}_{SettingString.TakeShelfOff}");
JobRunStep.Msg = runInfo;
}
}
#region 未使用
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_07_ToLine))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
//确认按钮生效
JobParam.CurTargetNode.ExtendEquip.AllowConfirm();
JobRunStep.ToNextStep(RunStep.Steel_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.Steel_LiftToLine_08_UpdateLocation))
{
if (NeedConfirm())
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_09_WaitConfirm);
runInfo = $"等待{JobParam.CurTargetNode.AliceName}的人员确认";
JobRunStep.Msg = runInfo;
PlaySound(agv);
}
else
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_10_CheckNextLine);
runInfo = $"{JobParam.CurTargetNode.AliceName}无需人员确认";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_09_WaitConfirm))
{
if (OpManager.WaitConfirm.Line(JobParam.CurTargetNode))
{
JobRunStep.ToNextStep(RunStep.Steel_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.Steel_LiftToLine_10_CheckNextLine))
{
if (JobParam.TargetNodes != null && JobParam.TargetNodes.Count > 0)
{
JobRunStep.ToNextStep(RunStep.Steel_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, $"{GetTargetName(JobParam.CurTargetNode)}_{SettingString.TakeShelfOff}");
}
else
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_11_ToShelfPlace);
runInfo = $"{JobParam.CurTargetNode.AliceName}是最后一个线体，分发结束，去{JobParam.SteelShelfNode.AliceName}的放料点";
AllocateTask(agv, $"{GetTargetName(JobParam.SteelShelfNode)}_{SettingString.TakeShelfOff}");
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_11_ToShelfPlace))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_12_TakeShelfOff);
runInfo = $"到达{JobParam.SteelShelfNode.AliceName}，准备卸车";
//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.SteelShelfNode.Name}"));
AllocateTask(agv, SettingString.TakeShelfOff);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_12_TakeShelfOff))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.END);
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,
$"卸车"));
}
}
#endregion
#region 钢网入库
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_13_ToLiku))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_14_Dock);
runInfo = $"到达{JobParam.CurTargetNode.AliceName}的放料点";//，开始停靠
//AllocateTask(agv, $"{SettingString.Docking}");
DataBufferManager.SteelAgvInStorage = true;
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_14_Dock))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_15_CheckState);
runInfo = "等待立库停靠完成信号";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_15_CheckState))
{
if (manager.DataBufferManager.DockingOk)
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_16_TakeOff);
runInfo = $"在{JobParam.CurTargetNode.AliceName}停靠完成";//，卸下料架
//AllocateTask(agv, $"{SettingString.TakeShelfOff}");
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_16_TakeOff))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
manager.DataBufferManager.DetachShelf = true;
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_17_WaitShelfLeave);
runInfo = $"在{JobParam.CurTargetNode.AliceName}等待立库发送离开信号";//卸下料架,
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_17_WaitShelfLeave))
{
if (DataBufferManager.LeaveLiku)
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_18_PutOn);
runInfo = $"收到立库{JobParam.CurTargetNode.AliceName}发送的允许离开信号";//，拾取料架
// PutShelfOn(agv);
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsTimeOut(60))
{
//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.CurTargetNode.Name, service.model.TransportStatus.ModeStr.auto,
$"等待立库离开信号超时"));
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_18_PutOn))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_19_BackToLift);
MissionManager.ChangeSteelSrcNodes(JobParam.GetMissionInfo().missionId, "storage");
if (!string.IsNullOrEmpty(DataBufferManager.SteelTarget))
{
runInfo = $"收到钢网出库点：{DataBufferManager.SteelTarget}";
MissionManager.ChangeSteelTarNodes(JobParam.GetMissionInfo().missionId, DataBufferManager.SteelTarget);
}
else
{
runInfo = $"未收到钢网出库点";
MissionManager.ChangeSteelTarNodes(JobParam.GetMissionInfo().missionId, JobParam.GetMissionInfo().sourcePoint);
}
DataBufferManager.ResetSteelInfo();
if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_19_ToStandby);
runInfo += $",{JobParam.SrcNode.AliceName}有车，去停留点";
AllocateTask(agv, $"{SettingString.Standby}");
}
else
{
runInfo += $",返回{JobParam.SrcNode.AliceName}";
MissionManager.SetMissionState(JobParam.GetMissionInfo().missionId, service.model.MissionState.返回电梯, out string msg);
JobParam.SetMissionInfo(MissionManager.GetMission(JobParam.GetMissionInfo().missionId));
AllocateTask(agv, JobParam.SrcNode.Name);
}
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_19_BackToLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_20_Request);
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);
System.Threading.Thread.Sleep(1000);
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_19_ToStandby))
{
if (TargetIsOccupied(agv, JobParam.SrcNode.Name))
{
}
else
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_19_BackToLift);
runInfo = $"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);
AllocateTask(agv, JobParam.SrcNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_20_Request))
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_21_WaitDoorOpen);
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_21_WaitDoorOpen))
{
if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().sourceFloor, agv))
{
ChargePileManager.StopCharge(agv);
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_22_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.Steel_LiftToLine_21_WaitDoorOpen);
//请求电梯
lift.LiftContext.Request(JobParam.GetMissionInfo(), agv);
//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.Steel_LiftToLine_22_CheckLiftStatus))
{
if (lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().sourceFloor, agv))
{
ChargePileManager.StopCharge(agv);
if (lift.LiftContext.HasShelfNeedLeave(JobParam.SrcNode.Name, agv.Client, out liftStatus))
{
MissionInfo missionInfo = MissionManager.GetMission(JobParam.LiftStatus?.missionId ?? "");
if (missionInfo != null)
{
MissionManager.SetMissionOccupied(missionInfo, agv);
job = new SwitchShelfJob(JobParam);
}
}
else
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_24_01_EnterLift);
lift.LiftContext.SetLiftNodeOccupied(agv, JobParam.SrcNode.Name);
runInfo = $"{JobParam.SrcNode.AliceName}无料车，去放料点";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{JobParam.SrcNode.Name}_{SettingString.TakeShelfOff}");
}
}
}
#region 电梯内无料车
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_24_01_EnterLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_24_02_TakeShelfOffAtLift);
runInfo = $"到达{JobParam.SrcNode.AliceName}放料点，准备卸下料车";
JobRunStep.Msg = runInfo;
AllocateTask(agv, $"{SettingString.TakeShelfOff}_{JobParam.SrcNode.Name}");
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_24_02_TakeShelfOffAtLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_24_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}");
//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.Steel_LiftToLine_24_03_LeaveLift))
{
if (agv.TaskRunState.CheckTaskFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_24_04_CloseLiftDoor);
bool rtn = lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
runInfo = $"离开{JobParam.SrcNode.AliceName}，关门: {rtn}";
JobRunStep.Msg = runInfo;
System.Threading.Thread.Sleep(1000);
}
}
else if (JobRunStep.IsStep(RunStep.Steel_LiftToLine_24_04_CloseLiftDoor))
{
if (!lift.LiftContext.IsDoorOpen(JobParam.SrcNode.Name, JobParam.GetMissionInfo().sourceFloor, agv))
{
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 _))
{
lift.LiftContext.AGVLeave(JobParam.SrcNode.Name, agv);
System.Threading.Thread.Sleep(1000);
}
}
#endregion
#endregion
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return job;
}
}
}