PickShelfJob.cs
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using DeviceLib.Model.AGV;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLib.BLL
{
internal class PickShelfJob : ImpJob
{
public PickShelfJob(JobParam jobParam) : base(jobParam)
{
}
public override Job Run(Robot robot)
{
Job job = this;
switch (JobRunStep.CurStep)
{
case RunStep.None:
ToNextStep(RunStep.PickAction_01_ReadyToPick, "开始拾取料架");
PickUp(robot);
break;
case RunStep.PickAction_01_ReadyToPick:
if (JobRunStep.IsTimeOut(60))
{
ToNextStep(RunStep.PickAction_02_PickTimeout, "拾取料架超时");
}
else if (MissionIsOk())
{
ToNextStep(RunStep.PickAction_03_PickSuccess, "拾取料架完成");
}
break;
case RunStep.PickAction_02_PickTimeout:
if (MissionIsOk())
{
ToNextStep(RunStep.PickAction_03_PickSuccess, "结束拾取料架");
}
break;
case RunStep.PickAction_03_PickSuccess:
job = new DeliverShelfJob(JobParam);
job.ToNextStep(RunStep.DeliveryShelf_15_ActionSuccess, "拾取料架完成");
break;
}
return job;
}
}
}