TakeBoxFromLineTask.cs
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using AGVLib;
using CtuDeviceLib;
using Mushiny;
using OnlineStore.Common;
using System.Collections.Generic;
using System.Linq;
using System.Windows.Forms;
namespace DeviceLibrary.CtuService
{
/// <summary>
/// 手动线取空箱-v1
/// </summary>
public class TakeBoxFromLineTask : TakeBoxBase
{
public TakeBoxFromLineTask(CTU ctu) : base(ctu)
{
Name = "入库线体取料箱";
setDstName(Setting_Init.rawLine_out);
}
int ctuWaitSeconds { get { return ConfigAppSettings.GetIntValue("ManualNextInTaskWaitSeconds", 30); } }
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.Instore_TakeBoxFromLine_01_MoveToSrc)
{
if (ctu.CurLandMark != destination)
{
MoveInfo.NextMoveStep(RunStep.Wait);
MoveInfo.Info($"当前点位不在目标点【{DstName}】【{destination}】,重新进入入库线体取料箱");
}
}
switch (MoveInfo.MoveStep)
{
case RunStep.Wait:
if (targetIsCurPos)
{
MoveInfo.NextMoveStep(RunStep.Instore_TakeBoxFromLine_02_AtSrc);
MoveInfo.Info($"已在【{DstName}】【{destination}】");
return;
}
if (!CalcDst())
{
Msg.add($"规划去【{DstName}】失败，请检查", MsgLevel.warning);
return;
}
MoveInfo.NextMoveStep(RunStep.Instore_TakeBoxFromLine_01_MoveToSrc);
MoveInfo.Info($"去【{DstName}】【{destination}】");
break;
case RunStep.Instore_TakeBoxFromLine_01_MoveToSrc:
if (IsFinished)
{
MoveInfo.NextMoveStep(RunStep.Instore_TakeBoxFromLine_02_AtSrc);
MoveInfo.Info($"到达【{DstName}】【{destination}】");
}
else
{
Move();
}
break;
case RunStep.Instore_TakeBoxFromLine_02_AtSrc:
if (CurTask != null)
{
TaskManager.SetTaskState(CurTask, RobotTaskState.执行中);
MoveInfo.NextMoveStep(RunStep.Instore_TakeBoxFromLine_03_RequestLeave);
setBoxCode(CurTask.BoxCode);
UpdateLocInfo(TaskStatus.EXECUTING, SmfTaskType.Instore);
RequestLeave();
MoveInfo.Info($"请求取料箱【{boxCode}】");
return;
}
if (TaskManager.HasInstoreBoxReady(out RobotTask robotTask))
{
CurTask = robotTask;
TaskManager.SetTaskState(robotTask, RobotTaskState.执行中);
var dstPosInfo = PosInfos.GetPosInfoByName(CurTask.DestPoint);
if (dstPosInfo != null)
{
if (TaskUtil.disabledLancode.Contains(dstPosInfo.Lanway))
{
Msg.add($"【{DstName}】处的料箱【{boxCode}】所在库位巷道【{dstPosInfo.Lanway}】被屏蔽，请手动处理", MsgLevel.warning);
return;
}
}
MoveInfo.NextMoveStep(RunStep.Instore_TakeBoxFromLine_03_RequestLeave);
setBoxCode(CurTask.BoxCode);
UpdateLocInfo(TaskStatus.EXECUTING, SmfTaskType.Instore);
RequestLeave();
MoveInfo.Info($"请求取料箱【{boxCode}】");
}
else if (MoveInfo.IsTimeOut(ctuWaitSeconds)) //超时未等到下一个任务
{
if (ctu.AllBasketIsEmpty())
{
ctu.CtuTask = null;
MoveInfo.Info($"背篓为空，等待[{ctuWaitSeconds}s]超时无下一入库任务,结束");
}
else //有背篓不为空
{
MoveInfo.Info($"背篓不为空，等待[{ctuWaitSeconds}s]超时无下一入库任务");
var task = OutTaskHelper.GetNearestPutBoxToShelfTask(ctu, out _);
if (task != null)
{
ctu.CtuTask = task;
MoveInfo.Info($"找到任务【{task.Name}】【{task.DstName}】【{task.destination}】");
return;
}
task = new StandbyTask(ctu);
ctu.CtuTask = task;
MoveInfo.Info($"未找到入库任务，去待命点【{task.Name}】【{task.DstName}】【{task.destination}】");
}
}
break;
case RunStep.Instore_TakeBoxFromLine_03_RequestLeave:
if (TaskManager.InstoreBoxReady(boxCode))
{
MoveInfo.NextMoveStep(RunStep.Instore_TakeBoxFromLine_04_GetContainer);
ShelfOrEquipToBasket();
MoveInfo.Info($"取料箱【{boxCode}】");
}
else
{
Msg.add($"等待料箱【{boxCode}】到达", MsgLevel.info);
}
break;
case RunStep.Instore_TakeBoxFromLine_04_GetContainer:
if (IsFinished)
{
MoveInfo.NextMoveStep(RunStep.Instore_TakeBoxFromLine_05_FinishLeave);
FinishLeave();
MoveInfo.Info($"取料箱【{boxCode}】完成");
}
break;
case RunStep.Instore_TakeBoxFromLine_05_FinishLeave:
if (Complete())
{
MoveInfo.NextMoveStep(RunStep.Instore_TakeBoxFromLine_06_CheckComplete);
MoveInfo.Info("收到Complete，出料完成");
}
else
{
Msg.add($"等待料箱【{boxCode}】放入线体通知完成", MsgLevel.info);
}
break;
case RunStep.Instore_TakeBoxFromLine_06_CheckComplete:
if (UpdateLocInfo(TaskStatus.IN_ON_AGV, SmfTaskType.Instore))
{
MoveInfo.NextMoveStep(RunStep.Instore_TakeBoxFromLine_07_UpdateContainerLoc);
MoveInfo.Info($"料箱【{boxCode}】放入背篓完成"); ;
UpdateBoxLoc(GenCtuLoc());
MoveInfo.Info($"上报已从【{DstName}】取料箱【{boxCode}】");
}
else
{
Msg.add($"等待料箱【{boxCode}】放入背篓通知完成", MsgLevel.info);
}
break;
case RunStep.Instore_TakeBoxFromLine_07_UpdateContainerLoc:
MoveInfo.NextMoveStep(RunStep.CtuTask_ProcessFinished);
break;
case RunStep.CtuTask_ProcessFinished:
if (ctu.HasEmptyBasket())
{
ctu.CtuTask = new TakeBoxFromLineTask(ctu);
MoveInfo.Info($"等待下一空箱入库任务");
}
else //无空背篓
{
var task = OutTaskHelper.GetNearestPutBoxToShelfTask(ctu, out _);
if (task != null)
{
ctu.CtuTask = task;
MoveInfo.Info($"无空余背篓，去放空箱");
}
else
{
ctu.CtuTask = new StandbyTask(ctu);
MoveInfo.Info($"无空余背篓，未找到去放空箱,去待机点");
}
}
break;
}
}
//protected override bool FindNearInTaskInPath()
//{
// var pointCodes = new List<PointCode>(planedPoints);
// var map = new Dictionary<int, byte>();//key=编号，value=层
// foreach (var item in ctu.Baskets)
// {
// if (string.IsNullOrEmpty(item.BoxCode)) continue;
// if (item.BoxCode == boxCode) continue;
// if (string.IsNullOrEmpty(item.DstName))
// {
// if (SMFManager.GetBoxTarget(item.BoxCode, out string dst))
// {
// item.DstName = dst;
// }
// else
// {
// continue;
// }
// }
// var pos = PosInfos.GetPosInfoByName(item.DstName);
// if (pos != null)
// {
// if (pos.Name == pos.ShelveCode)//库位号
// {
// var findIdx = pointCodes.FindIndex(s => s.Id.Equals(pos.PointCode));
// if (findIdx != -1)
// {
// map[findIdx] = item.Row;
// }
// }
// }
// }
// if (map.Count > 0)
// {
// var minIdx = map.Keys.Min();
// var basket = ctu.GetBasket(map[minIdx]);
// CurTask = TaskManager.GenRobotTask(basket);
// setBoxCode(basket.BoxCode);
// setDstName(basket.DstName);
// CalcDst();
// return true;
// }
// return false;
//}
//protected override bool FindNearOutTaskInPath()
//{
// var pointCodes = new List<PointCode>(planedPoints);
// var outTask = TaskUtil.Outlet_GetNearestOutBoxInPath(pointCodes);
// if (outTask != null)
// {
// CurTask = TaskManager.GenRobotTask(outTask);
// setBoxCode(CurTask.BoxCode);
// setDstName(CurTask.SrcPoint);
// CalcDst();
// return true;
// }
// return false;
//}
}
}