PutBoxToLineTask.cs
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using Mushiny;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using OnlineStore.Common;
using AGVLib;
using CtuDeviceLib;
using TaskStatus = CtuDeviceLib.TaskStatus;
namespace DeviceLibrary.CtuService
{
/// <summary>
/// 手动线放满箱-v1
/// </summary>
public class PutBoxToLineTask : PutBoxBase
{
public PutBoxToLineTask(CTU ctu, string dst, string boxCode) : base(ctu, dst, boxCode)
{
Name = "出库线体放箱";
}
public override void Excute()
{
//当前位置不是目的地,就重新规划路线
if (MoveInfo.MoveStep != RunStep.Wait && MoveInfo.MoveStep != RunStep.Outstore_PutBoxToLine_01_MoveToDst)
{
if (ctu.CurLandMark != destination)
{
MoveInfo.NextMoveStep(RunStep.Wait);
MoveInfo.Info($"当前点位不在目标点【{DstName}】【{destination}】,重新进入出库线体放箱流程");
}
}
switch (MoveInfo.MoveStep)
{
case RunStep.Wait:
if (targetIsCurPos)
{
MoveInfo.NextMoveStep(RunStep.Outstore_PutBoxToLine_02_AtDst);
MoveInfo.Info($"已在【{DstName}】【{destination}】");
return;
}
if (!CalcDst())
{
Msg.add($"规划去【{DstName}】失败，请检查", MsgLevel.warning);
return;
}
MoveInfo.NextMoveStep(RunStep.Outstore_PutBoxToLine_01_MoveToDst);
MoveInfo.Info($"去【{DstName}】【{destination}】");
break;
case RunStep.Outstore_PutBoxToLine_01_MoveToDst:
if (IsFinished)
{
MoveInfo.NextMoveStep(RunStep.Outstore_PutBoxToLine_02_AtDst);
MoveInfo.Info($"到达【{DstName}】【{destination}】");
}
else
{
Move();
}
break;
case RunStep.Outstore_PutBoxToLine_02_AtDst:
MoveInfo.NextMoveStep(RunStep.Outstore_PutBoxToLine_03_RequestEnter);
RequestEnter();
MoveInfo.Info($"向【{DstName}】请求放料箱【{boxCode}】");
break;
case RunStep.Outstore_PutBoxToLine_03_RequestEnter:
if (MayEnter())
{
MoveInfo.NextMoveStep(RunStep.Outstore_PutBoxToLine_04_PutContainer);
BasketToShelfOrEquip();
MoveInfo.Info($"放料箱【{boxCode}】");
}
else if (MoveInfo.IsTimeOut(RequestTimeOut))
{
MoveInfo.NextMoveStep(RunStep.Outstore_PutBoxToLine_03_RequestEnter);
RequestEnter();
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(1000));
MoveInfo.Info($"向【{DstName}】请求放料箱【{boxCode}】");
}
break;
case RunStep.Outstore_PutBoxToLine_04_PutContainer:
if (IsFinished)
{
MoveInfo.NextMoveStep(RunStep.Outstore_PutBoxToLine_05_CheckFinishEnter);
MoveInfo.Info($"料箱【{boxCode}】放入【{DstName}】完成");
}
break;
case RunStep.Outstore_PutBoxToLine_05_CheckFinishEnter:
var rtn = UpdateLocInfo(TaskStatus.FINISHED, SmfTaskType.OutStore);
if (!rtn)
{
MoveInfo.NextMoveStep(RunStep.Outstore_PutBoxToLine_06_FinishEnterRtnComplete);
MoveInfo.LastSetpTime = DateTime.Now;
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
string errmsg = $"上报【{boxCode}】状态为【{TaskStatus.FINISHED}】失败";
MoveInfo.Error(errmsg);
Msg.add(errmsg, MsgLevel.warning);
return;
}
MoveInfo.NextMoveStep(RunStep.Outstore_PutBoxToLine_06_FinishEnterRtnComplete);
MoveInfo.Info($"上报【{boxCode}】放入【{DstName}】状态为【{TaskStatus.FINISHED}】");
break;
case RunStep.Outstore_PutBoxToLine_06_FinishEnterRtnComplete:
if (!Complete())
{
MoveInfo.NextMoveStep(RunStep.Outstore_PutBoxToLine_06_FinishEnterRtnComplete);
MoveInfo.WaitList.Add(WaitResultInfo.WaitTime(2000));
MoveInfo.LastSetpTime = DateTime.Now;
string errmsg = $"上报【{boxCode}】放入【{DstName}】完成失败";
MoveInfo.Error(errmsg);
Msg.add(errmsg, MsgLevel.warning);
return;
}
MoveInfo.NextMoveStep(RunStep.Outstore_PutBoxToLine_07_UpdateContainerLoc);
UpdateBoxLoc(DstName);
MoveInfo.Info($"上报【{boxCode}】放入【{DstName}】完成");
break;
case RunStep.Outstore_PutBoxToLine_07_UpdateContainerLoc:
MoveInfo.NextMoveStep(RunStep.CtuTask_ProcessFinished);
break;
case RunStep.CtuTask_ProcessFinished:
var curbasket = ctu.GetFullBaskets()?.Find(s => Setting_Init.rawLine_in.Equals(s.DstName));
if (curbasket == null)
{
var otherCtuHasTakeLineTask = CTUManager.GetOhterEnabledCTUs(ctu)?.Find(s => s.CtuTask != null && (s.CtuTask is TakeBoxFromLineTask));
if (otherCtuHasTakeLineTask != null)
{
MoveInfo.Info($"无剩余可放料箱，有车去取料箱，回待机点");
ctu.CtuTask = new StandbyTask(ctu);
}
else //无车去取料箱
{
if (TaskManager.HasInstoreBoxReady(out RobotTask task))
{
ctu.CtuTask = new TakeBoxFromLineTask(ctu);
ctu.CtuTask.CurTask = task;
MoveInfo.Info($"无剩余可放料箱，去线体取料箱：{JsonHelper.SerializeObject(task)}");
}
else if(TaskManager.HasInstoreTask(out task))
{
ctu.CtuTask = new TakeBoxFromLineTask(ctu);
MoveInfo.Info($"无剩余可放料箱，有入库任务");
}
else
{
MoveInfo.Info($"无剩余可放料箱，有车去取料箱，回待机点");
ctu.CtuTask = new StandbyTask(ctu);
}
}
return;
}
ctu.CtuTask = new PutBoxToLineTask(ctu, Setting_Init.rawLine_in, curbasket.BoxCode);
MoveInfo.Info($"背篓【{curbasket.Row}】还有可放料箱【{curbasket.BoxCode}】，继续放料箱");
break;
}
}
}
}