ToShelfPlaceJob.cs
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using DeviceLib.Model.AGV;
namespace DeviceLib.BLL
{
public class ToShelfPlaceJob : ImpJob
{
/// <summary>
/// 运送任务
/// </summary>
public ToShelfPlaceJob(JobParam jobParam) : base(jobParam)
{
JobName = "运输任务";
}
public override Job Run(Robot robot)
{
Job job = this;
switch (JobRunStep.CurStep)
{
case RunStep.None:
ToNextStep(RunStep.DeliverShelf_01_Start, $"开始运输任务");
SetRobotState(robot, RobotState.忙碌中);
break;
case RunStep.DeliverShelf_01_Start:
ToNextStep(RunStep.DeliverShelf_02_CrossDoor, $"准备去目标车间");
GenJobCallBack(this.GetType(), RunStep.DeliverShelf_03_CrossDoorSuccess, JobParam);
job = new CrossDoorJob(JobParam);
break;
//case RunStep.DeliverShelf_02_CrossDoor:
// break;
case RunStep.DeliverShelf_03_CrossDoorSuccess:
ToNextStep(RunStep.DeliverShelf_04_ToTmpPlace, $"准备去临时点");
GenJobCallBack(this.GetType(), RunStep.DeliverShelf_05_ToTmpPlaceSuccess, JobParam);
job = new TmpPlaceJob(JobParam);
break;
//case RunStep.DeliverShelf_04_ToTmpPlace:
// break;
case RunStep.DeliverShelf_05_ToTmpPlaceSuccess:
ToNextStep(RunStep.DeliverShelf_07_ToDst, $"在临时点停留完成");
break;
case RunStep.DeliverShelf_06_ReadyToDst:
ToNextStep(RunStep.DeliverShelf_07_ToDst, $"去目标点");
MoveToNode(robot, JobParam.CurDstNode);
break;
case RunStep.DeliverShelf_07_ToDst:
ToNextStep(RunStep.DeliverShelf_08_CheckAction, $"到达目标点");
GenJobCallBack(this.GetType(), RunStep.DeliveryShelf_15_ActionSuccess, JobParam);
break;
case RunStep.DeliverShelf_08_CheckAction:
switch (JobParam.CurAction.ActionType)
{
case ActionType.PickShelf:
ToNextStep(RunStep.DeliverShelf_09_PickAction, $"执行拾取任务");
break;
case ActionType.PutShelf:
ToNextStep(RunStep.DeliverShelf_10_PutAction, $"执行放下任务");
break;
case ActionType.ManaulConfirm:
ToNextStep(RunStep.DeliverShelf_12_ManualConfirmAction, $"执行手动确认任务");
break;
case ActionType.GetShelfFromLift:
ToNextStep(RunStep.DeliverShelf_13_GetShelfFromLiftAction, $"执行从电梯取料任务");
break;
case ActionType.SendShelfToLift:
ToNextStep(RunStep.DeliverShelf_14_SendShelfToLiftAction, $"执行向电梯送料任务");
break;
case ActionType.CommonToLine:
ToNextStep(RunStep.DeliverShelf_11_CommLineAction, $"执行向线体通讯任务");
break;
}
break;
case RunStep.DeliverShelf_09_PickAction:
job = new PickShelfJob(JobParam);
break;
case RunStep.DeliverShelf_10_PutAction:
job = new PutShelfJob(JobParam);
break;
case RunStep.DeliverShelf_11_CommLineAction:
job = new CommLineJob(JobParam);
break;
case RunStep.DeliverShelf_12_ManualConfirmAction:
job = new ManualConfirmJob(JobParam);
break;
case RunStep.DeliverShelf_13_GetShelfFromLiftAction:
job = new GetShelfFromLiftJob(JobParam);
break;
case RunStep.DeliverShelf_14_SendShelfToLiftAction:
job = new SendShelfToLiftJob(JobParam);
break;
case RunStep.DeliveryShelf_15_ActionSuccess:
JobParam.SetCurNodeFinished();
if (JobParam.HasNextDst())
ToNextStep(RunStep.DeliveryShelf_16_CheckNextDst, $"有下一个目的地");
else
ToNextStep(RunStep.DeliverShelf_17_CheckNextStep, $"无下一个目的地");
break;
case RunStep.DeliveryShelf_16_CheckNextDst:
ToNextStep(RunStep.DeliverShelf_01_Start, $"去下一个目的地");
break;
case RunStep.DeliverShelf_17_CheckNextStep:
if (JobParam.JobGoal.Equals(JobGoal.Get))
{
ToNextStep(RunStep.DeliverShelf_18_SendShelf, $"取料任务完成，准备执行送料任务");
}
else if (JobParam.JobGoal.Equals(JobGoal.Send))
{
if (JobParam.ReturnDstNode != null)
{
ToNextStep(RunStep.DeliverShelf_19_ReturnShelf, $"送料任务完成，准备执行料架返回任务");
}
else
{
ToNextStep(RunStep.DeliveryShelf_20_End, $"送料任务完成");
}
}
else if (JobParam.JobGoal.Equals(JobGoal.Return))
{
ToNextStep(RunStep.DeliveryShelf_20_End, $"料架返回任务完成");
}
else
{
ToNextStep(RunStep.DeliveryShelf_20_End, $"不存在的任务类型，直接结束");
}
break;
case RunStep.DeliverShelf_18_SendShelf:
ToNextStep(RunStep.None, "执行送料任务");
SetOrderState(JobParam.OrderId, 3);
JobParam.JobGoal = JobGoal.Send;
break;
case RunStep.DeliverShelf_19_ReturnShelf:
ToNextStep(RunStep.None, "执行料架返回任务");
SetOrderState(JobParam.OrderId, 4);
JobParam.JobGoal = JobGoal.Return;
break;
case RunStep.DeliveryShelf_20_End:
SetOrderState(JobParam.OrderId, 100);
SetRobotState(robot, RobotState.空闲);
job = null;
break;
}
return job;
}
}
}