SwitchShelfJob.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;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using static System.Windows.Forms.AxHost;
namespace DeviceLibrary
{
public class SwitchShelfJob : Job
{
/// <summary>
/// 电梯交换料车任务
/// </summary>
/// <param name="agvPlae">小车当前位置</param>
public SwitchShelfJob(JobParam jobParam) : base(jobParam)
{
JobName = "电梯交换料车任务";
MissionInfo info = manager.MissionManager.GetMission(JobParam?.LiftStatus?.missionId ?? "");
liftMission = new MissionInfo()
{
missionId = info.missionId,
state = info.state,
liftName = info.liftName,
sourcePoint = info.sourcePoint,
destinationPoint = info.destinationPoint,
needBack = info.needBack,
shelfType = info.shelfType
};
}
public SwitchShelfJob() : base() { JobName = "电梯交换料车任务"; }
/// <summary>
/// 电梯内料车的任务信息
/// </summary>
service.model.MissionInfo liftMission;
private string missionInfo()
{
try
{
return $"【当前任务：{JobParam?.GetMissionInfo()?.missionId ?? ""}," +
$"{MissionManager.GetMission(JobParam?.GetMissionInfo()?.missionId ?? "")?.state.ToString() ?? ""}】" +
$"【电梯内任务：{liftMission?.missionId ?? ""}," +
$"{MissionManager.GetMission(liftMission?.missionId ?? "")?.state.ToString() ?? ""}】";
}
catch
{
return "";
}
}
public override Job Run(AgvInfo agv)
{
Job job = this;
agv.SetJobContext(new bean.agv.JobContext()
{
AgvTask = agv.TaskRunState.Task,
JobFullName = this.ToString(),
JobStep = JobRunStep.PreStep(),
Name = agv.Name,
JobParam = JobParam
});
if (JobRunStep.IsStep(RunStep.NONE))
{
JobRunStep.ToNextStep(RunStep.Switch_01_ToTmp1);
runInfo = $"去{JobParam.CurTargetNode.AliceName}临时点1,{missionInfo()}";
ToTmp1TakeOff(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsStep(RunStep.Switch_01_ToTmp1))
{
if (AGVTaskIsFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Switch_02_TakeShelfOffAtTmp1);
runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点1将待送料车卸下,,{missionInfo()}";
TakeShelfOff(agv);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Switch_02_TakeShelfOffAtTmp1))
{
if (AGVTaskIsFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Switch_03_ToLift);
runInfo = $"去{JobParam.CurTargetNode.AliceName},{missionInfo()}";
//MoveToNode(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Switch_03_ToLift))
{
if (AGVTaskIsFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Switch_04_EnterLift);
if (setMissionState(liftMission))
{
runInfo = $"到{JobParam.CurTargetNode.AliceName}的取料点,并设置任务状态,,{missionInfo()}";
}
else
runInfo = $"到{JobParam.CurTargetNode.AliceName}的取料点,未找到电梯内料架任务";
MoveToNodePutShelf(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Switch_04_EnterLift))
{
if (AGVTaskIsFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Switch_05_PutLiftShelfOn);
runInfo = $"在{JobParam.CurTargetNode.AliceName}的取料点拾取电梯内的料车,,{missionInfo()}";
PutLiftShelfOn(agv, JobParam.CurTargetNode.Name, liftMission);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Switch_05_PutLiftShelfOn))
{
if (AGVTaskIsFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Switch_06_LeaveLift);
runInfo = $"拾取完成，离开{JobParam.CurTargetNode.AliceName},{missionInfo()}";
LeaveLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Switch_06_LeaveLift))
{
if (AGVTaskIsFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Switch_07_ToTmp2);
if (setMissionState(liftMission))
{
runInfo = $"去{JobParam.CurTargetNode.AliceName}临时点2放料点,并设置任务状态,{missionInfo()}";
}
else
runInfo = $"去{JobParam.CurTargetNode.AliceName}临时点2放料点,未找到电梯内的料架任务";
ToTmp2TakeOff(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Switch_07_ToTmp2))
{
if (AGVTaskIsFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Switch_08_TakeShelfOffAtTpm2);
runInfo = $"将{JobParam.CurTargetNode.AliceName}内的料车卸在临时点2,{missionInfo()}";
TakeShelfOff(agv);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Switch_08_TakeShelfOffAtTpm2))
{
if (AGVTaskIsFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Switch_09_ReToTmp1);
runInfo = $"去{JobParam.CurTargetNode.AliceName}临时点1取料点,{missionInfo()}";
ToTmp1PutOn(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Switch_09_ReToTmp1))
{
if (AGVTaskIsFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Switch_10_PutShelfOnAtTmp1);
runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点1拾取待送料车,{missionInfo()}";
PutShelfOn(agv);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Switch_10_PutShelfOnAtTmp1))
{
if (AGVTaskIsFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Switch_11_ToLift);
runInfo = $"去{JobParam.CurTargetNode.AliceName},{missionInfo()}";
//MoveToNode(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Switch_11_ToLift))
{
if (AGVTaskIsFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Switch_12_EnterLift);
runInfo = $"去{JobParam.CurTargetNode.AliceName}的放料点,{missionInfo()}";
MoveToNodeTakeOff(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Switch_12_EnterLift))
{
if (AGVTaskIsFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Switch_13_TakeLiftShelfOff);
runInfo = $"在{JobParam.CurTargetNode.AliceName}卸下料车,{missionInfo()}";
TakeShelfOffAtLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Switch_13_TakeLiftShelfOff))
{
if (AGVTaskIsFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Switch_14_LeaveLift);
MissionInfo mission = MissionManager.GetMission(JobParam.GetMissionInfo().missionId);
MissionState state = getNextState(mission.state);
if (mission.projectType.Equals(ProjectType.移远成品入库) && SettingString.LIFT_D2.Equals(JobParam.CurTargetNode.Name))
{
state = MissionState.等待成品回收;
}
setMissionState(state);
ResetMissionOccupiedAgv(JobParam.GetMissionInfo());
runInfo = $"离开{JobParam.CurTargetNode.AliceName},设置任务状态,并清空任务占用,{missionInfo()}";
LeaveLift(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Switch_14_LeaveLift))
{
if (AGVTaskIsFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Switch_15_CloseDoor);
MissionInfo mission = MissionManager.GetMission(JobParam.GetMissionInfo().missionId);
if (mission.projectType.Equals(ProjectType.移远成品入库) && SettingString.LIFT_D2.Equals(JobParam.CurTargetNode.Name))
{
runInfo = $"关闭{JobParam.CurTargetNode.AliceName}";
}
else
{
runInfo = $"关闭{JobParam.CurTargetNode.AliceName}，并更新电梯运行信息";
LiftContext.UpdateRequestInfo(mission, agv, MissionIsBackState(mission));
}
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Switch_15_CloseDoor))
{
JobRunStep.ToNextStep(RunStep.Switch_15_WaitDoorClose);
MissionInfo mission = MissionManager.GetMission(JobParam.GetMissionInfo().missionId);
if (mission.projectType.Equals(ProjectType.移远成品入库) && SettingString.LIFT_D2.Equals(JobParam.CurTargetNode.Name))
{
LiftContext.FinishedProduct(JobParam.CurTargetNode.Name, agv);
Thread.Sleep(5000);
}
else
{
MissionState state = getNextState(mission.state);
setMissionState(state);
}
bool continueUse = false;
if ((mission.state >= MissionState.到达电梯 && mission.state <= MissionState.电梯运行) ||
(mission.state >= MissionState.返回到达电梯内 && mission.state <= MissionState.返回电梯运行))
continueUse = true;
//关门
bool rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv, continueUse);
if (mission.projectType.Equals(ProjectType.移远成品入库) && SettingString.LIFT_D2.Equals(JobParam.CurTargetNode.Name))
{
LiftContext.CloseFinishedProduct(JobParam.CurTargetNode.Name, agv);
}
ClearLiftNodeOccupied(agv);
runInfo = $"离开{JobParam.CurTargetNode.AliceName}，关闭门:{rtn}，continueUse={continueUse}";
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsStep(RunStep.Switch_15_WaitDoorClose))
{
//if (!lift.LiftContext.IsDoorOpen(JobParam.CurTargetNode.Name))
{
JobRunStep.ToNextStep(RunStep.Switch_16_ReToTmp2);
runInfo = $"去{JobParam.CurTargetNode.AliceName}临时点2取料点,{missionInfo()}";
ToTmp2PutOn(agv, JobParam.CurTargetNode.Name);
JobRunStep.Msg = runInfo;
}
//else if (JobRunStep.IsTimeOut(5))
//{
// JobRunStep.ToNextStep(RunStep.Switch_15_WaitDoorClose);
// bool rtn = lift.LiftContext.AGVLeave(JobParam.CurTargetNode.Name, agv);
// runInfo = $"重新发送关闭门{JobParam.CurTargetNode.AliceName}，{rtn}";
//}
}
else if (JobRunStep.IsStep(RunStep.Switch_16_ReToTmp2))
{
if (AGVTaskIsFinished(agv))
{
JobRunStep.ToNextStep(RunStep.Switch_17_PutShelfOnAtTmp2);
runInfo = $"在{JobParam.CurTargetNode.AliceName}临时点2拾取电梯内的料车,{missionInfo()}";
PutShelfOn(agv, liftMission);
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.Switch_17_PutShelfOnAtTmp2))
{
if (AGVTaskIsFinished(agv))
{
if (CheckMIssionInlift(MissionManager.GetMission(liftMission.missionId)))
{
JobRunStep.ToNextStep(RunStep.Switch_19_ReturnShelf);
}
else
{
JobRunStep.ToNextStep(RunStep.Switch_18_SendShelf);
}
}
}
else if (JobRunStep.IsStep(RunStep.Switch_18_SendShelf))
{
JobRunStep.ToNextStep(RunStep.END);
MissionInfo missionInfo = MissionManager.GetMission(liftMission.missionId);
//if(missionInfo ==null)
//{
// job = null;
// runInfo = $"未查询到任务信息，结束任务：{liftMission.missionId}";
// JobRunStep.Msg = runInfo;
//}
//else
if (service.model.MissionInfo.IsFinishedProdcut(missionInfo))
{
if (JobParam.CurTargetNode.Name.Equals(SettingString.LIFT_D2))//电梯内的料架为移远成品空料车
{
Node src = manager.NodeManager.GetNode(SettingString.LIFT_D2, NodeType.Lift);
Node dest = manager.NodeManager.GetNode(SettingString.LIFT_C1, NodeType.Lift);
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
MissionManager.SetMissionOccupied(missionInfo, agv);
job = new F1LiftD2ToLiftC1Job(jobParam);
job.JobRunStep.ToNextStep(RunStep.S1F_LiftD2ToLiftC1_06_CloseLiftDoor);
job.JobRunStep.Msg = $"从{JobParam.CurTargetNode.AliceName}取料完成,继续执行任务：{JsonHelper.SerializeObject(missionInfo)}";
}
else//电梯内的料架为移远成品满料车
{
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, missionInfo);
MissionManager.SetMissionOccupied(missionInfo, agv);
job = new F1LiftC1ToLiftD2Job(jobParam);
job.JobRunStep.ToNextStep(RunStep.S1F_LiftC1ToLiftD2_06_CloseLiftDoor);
job.JobRunStep.Msg = $"从{JobParam.CurTargetNode.AliceName}取料完成,继续执行任务：{JsonHelper.SerializeObject(missionInfo)}";
}
}
else
{
if (missionInfo.projectType.Equals(ProjectType.钢网入库) || missionInfo.projectType.Equals(ProjectType.钢网领用))
{
MissionManager.SetMissionOccupied(missionInfo, agv);
Node src = manager.NodeManager.GetNode(missionInfo.liftName, NodeType.Lift);
Node dest = manager.NodeManager.GetNode(missionInfo.destinationPoint, NodeType.Node);
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
job = new SteelLiftToStorageJob(jobParam);
job.JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_06_CloseLiftDoor);
job.JobRunStep.Msg = $"从{JobParam.CurTargetNode.AliceName}取料完成,继续执行任务：{JsonHelper.SerializeObject(missionInfo)}";
}
else
{
Node src = manager.NodeManager.GetNode(missionInfo.liftName, NodeType.Lift);
string[] destTmp = missionInfo.destinationPoint.Split(',');
string[] dests = destTmp.Distinct().ToArray();
Node dest = manager.NodeManager.GetNode(dests.Length > 1 ? dests[0] : missionInfo.destinationPoint, NodeType.Node);
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
if (dests.Length > 1)
{
for (int i = 1; i < dests.Length; i++)
{
Node node = manager.NodeManager.GetNode(dests[i], NodeType.Node);
if (node != null)
jobParam.TargetNodes.Add(node);
else
{
LogUtil.error($"无法生成任务，因不存在的节点：{dests[i]}");
job = null;
}
}
}
MissionManager.SetMissionOccupied(missionInfo, agv);
job = new LiftToLinesJob(jobParam);
job.JobRunStep.ToNextStep(RunStep.SD_LiftToLine_06_CloseLiftDoor);
job.JobRunStep.Msg = $"从{JobParam.CurTargetNode.AliceName}取料完成,继续执行任务：{JsonHelper.SerializeObject(missionInfo)}";
}
}
}
else if (JobRunStep.IsStep(RunStep.Switch_19_ReturnShelf))
{
JobRunStep.ToNextStep(RunStep.END);
MissionInfo missionInfo = MissionManager.GetMission(liftMission.missionId);
if (missionInfo.projectType.Equals(ProjectType.钢网入库) || missionInfo.projectType.Equals(ProjectType.钢网领用))
{
Node src = manager.NodeManager.GetNode(missionInfo.liftName, NodeType.Lift);
string[] dests = missionInfo.destinationPoint.Split(',');
Node dest = manager.NodeManager.GetNode(dests.Length > 1 ? dests[0] : missionInfo.destinationPoint, NodeType.Node);
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
jobParam.SteelShelfNode = NodeManager.GetNode(Common.AppConfigHelper.GetValue("SteelShelfPos", "3dwash"), NodeType.Node);
if (dests.Length > 1)
{
for (int i = 1; i < dests.Length; i++)
{
Node node = manager.NodeManager.GetNode(dests[i], NodeType.Node);
if (node != null)
{
Node tmp = jobParam.TargetNodes.Find(s => s.Name.Equals(node.Name));
if (tmp == null)
{
jobParam.TargetNodes.Add(node);
}
}
}
}
MissionManager.SetMissionOccupied(missionInfo, agv);
job = new SteelLiftToLinesJob(jobParam);
job.JobRunStep.ToNextStep(RunStep.Steel_LiftToLine_05_LeaveLift);
job.JobRunStep.Msg = $"从{JobParam.CurTargetNode.AliceName}取料完成,继续执行任务：{JsonHelper.SerializeObject(missionInfo)}";
}
else
{
Node src = manager.NodeManager.GetNode(missionInfo.liftName, NodeType.Lift);
Node dest = manager.NodeManager.GetNode(missionInfo.sourcePoint, NodeType.Node);
JobParam jobParam = new JobParam(src, dest, null, missionInfo);
MissionManager.SetMissionOccupied(missionInfo, agv);
job = new ShelfBackLiftToStoreJob(jobParam);
job.JobRunStep.ToNextStep(RunStep.ShelfBack_LiftToStore_05_CloseLiftDoor);
job.JobRunStep.Msg = $"从{JobParam.CurTargetNode.AliceName}取料完成,继续执行任务：{JsonHelper.SerializeObject(missionInfo)}";
}
}
else if (JobRunStep.IsStep(RunStep.END))
{
}
return job;
}
}
}