PutBoxBase.cs
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using AGVLib;
using CtuDeviceLib;
using Mushiny;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace DeviceLibrary.CtuService
{
/// <summary>
/// 放箱类
/// </summary>
public abstract class PutBoxBase : CtuTaskBase
{
public PutBoxBase(CTU ctu) : base(ctu)
{
}
public PutBoxBase(CTU ctu, RobotTask robotTask) : base(ctu, robotTask)
{
}
public PutBoxBase(CTU ctu, string dst, string boxCode) : base(ctu, dst, boxCode)
{
}
public override void Excute() { }
protected void NeedEnter()
{
//var clientNodes = RobotManager.AllClientNodes;
//if (clientNodes != null)
//{
// var node = clientNodes.Find(s => s.name.Equals(DstName));
// if (node == null)
// {
// Msg.add($"未查询到【{DstName}】，无法发送{NodeStatus.NeedEnter}", MsgLevel.warning);
// }
// else
// {
// node.status = NodeStatus.NeedEnter;
// RobotManager.SendToClientWitAPI(node);
// }
//}
//else
//{
// Msg.add($"无法获取节点信息，请检查AGV调度软件是否开启", MsgLevel.warning);
//}
}
/// <summary>
/// 向设备请求入料箱
/// </summary>
protected void RequestEnter()
{
mayenter = RobotManager.unloadContainerReq(new ESS.EssModel()
{
containerAttribute = DateTime.Now,
containerCode = boxCode,
slotCode = DstName
}, out errmsg);
//var clientNodes = RobotManager.AllClientNodes;
//if (clientNodes != null)
//{
// var node = clientNodes.Find(s => s.name.Equals(DstName));
// if (node == null)
// {
// Msg.add($"未查询到【{DstName}】，无法发送{NodeStatus.RequestEnter}", MsgLevel.warning);
// }
// else
// {
// node.status = NodeStatus.RequestEnter;
// node.shelf_id = boxCode;
// RobotManager.SendToClientWitAPI(node);
// }
//}
//else
//{
// Msg.add($"无法获取节点信息，请检查AGV调度软件是否开启", MsgLevel.warning);
//}
}
bool mayenter = false;
string errmsg = "";
/// <summary>
/// 设备允许入料箱
/// </summary>
/// <returns></returns>
protected bool MayEnter()
{
if (mayenter == false)
{
Msg.add($"请求放容器失败:{errmsg}", MsgLevel.warning);
}
return mayenter;
//var clientNodes = RobotManager.AllClientNodes;
//if (clientNodes != null)
//{
// var node = clientNodes.Find(s => s.name.Equals(DstName));
// if (node == null)
// {
// Msg.add($"未查询到【{DstName}】，无法检查{NodeStatus.MayEnter}", MsgLevel.warning);
// }
// else
// {
// return node.status == NodeStatus.MayEnter;
// }
//}
//else
//{
// Msg.add($"无法获取节点信息，请检查AGV调度软件是否开启", MsgLevel.warning);
//}
//return false;
}
protected bool RejectEnter()
{
var clientNodes = RobotManager.AllClientNodes;
if (clientNodes != null)
{
var node = clientNodes.Find(s => s.name.Equals(DstName));
if (node == null)
{
Msg.add($"未查询到【{DstName}】，无法检查{NodeStatus.RejectEnter}", MsgLevel.warning);
}
else
{
return node.status == NodeStatus.RejectEnter;
}
}
else
{
Msg.add($"无法获取节点信息，请检查AGV调度软件是否开启", MsgLevel.warning);
}
return false;
}
/// <summary>
/// 检查料箱是否到达设备
/// </summary>
/// <returns></returns>
protected bool CheckFinishEnter()
{
var clientNodes = RobotManager.AllClientNodes;
if (clientNodes != null)
{
var node = clientNodes.Find(s => s.name.Equals(DstName));
if (node == null)
{
Msg.add($"未查询到【{DstName}】，无法检查{NodeStatus.FinishEnter}", MsgLevel.warning);
}
else
{
return node.status == NodeStatus.FinishEnter;
}
}
else
{
Msg.add($"无法获取节点信息，请检查AGV调度软件是否开启", MsgLevel.warning);
}
return false;
}
/// <summary>
/// 对接完成-收到FinishEnter回复
/// </summary>
protected bool Complete()
{
return RobotManager.unloadContainerFinish(new ESS.EssModel()
{
containerAttribute = DateTime.Now,
containerCode = boxCode,
slotCode = DstName
});
//var clientNodes = RobotManager.AllClientNodes;
//if (clientNodes != null)
//{
// var node = clientNodes.Find(s => s.name.Equals(DstName));
// if (node == null)
// {
// Msg.add($"未查询到【{DstName}】，无法发送{NodeStatus.Complete}", MsgLevel.warning);
// }
// else
// {
// node.status = NodeStatus.Complete;
// node.shelf_id = boxCode;
// RobotManager.SendToClientWitAPI(node);
// }
//}
//else
//{
// Msg.add($"无法获取节点信息，请检查AGV调度软件是否开启", MsgLevel.warning);
//}
}
}
}