ChargeJob.cs
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using Common;
namespace DeviceLibrary
{
/// <summary>
/// 充电任务
/// </summary>
public class ChargeJob : Job
{
/// <summary>
/// 出完满料后-空车返回任务
/// </summary>
/// <param name="agvPlae">小车当前位置，空表示在待机位</param>
public ChargeJob(string agvPlae)
{
this.agvPlace = agvPlae;
}
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlace = "";
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return string.Format("充电任务:{0}", runInfo); }
}
private JobStep<CHARGE_STEP> ChargeStep = new JobStep<CHARGE_STEP>(CHARGE_STEP.NONE);
/// <summary>
/// 空车返回执行
/// </summary>
/// <param name="agv"></param>
public override Job Execute(Agv_Info agv)
{
string msg = agv.Name + " ";
bool rtn = false;
agv.Msg = RunInfo;
CurTaskState = Context.GetTakJobState(agv);
if (ChargeStep.IsStep(CHARGE_STEP.NONE))
{
if (!Context.Charge.StartCharge(agv))
{
runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + Context.Charge.BatteryMax + "%],由于充电桩有小车，从当前位置" + agvPlace + "回到待机位";
msg += runInfo;
ChargeStep.Msg = msg;
return new StandyJob(agv.Place);
}
else
{
ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION);
runInfo = "电量[" + agv.Battery + "%]小于最大电量[" + Context.Charge.BatteryMax + "%],从当前位置" + agvPlace + "去到充电位";
msg += runInfo;
ChargeStep.Msg = msg;
UpdateJobTaskInfo(agv);
}
}
else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_REACH_CHARGE_STATION))
{
if (Context.CheckTaskFinished(agv, CurTaskName))
{
ChargeStep.ToNextStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK);
runInfo = "充电任务分配完成，去充电且等待任务";
msg += runInfo;
ChargeStep.Msg = msg;
}
}
else if (ChargeStep.IsStep(CHARGE_STEP.WAIT_REACH_CHARGE_OK))
{
if (agv.Battery > Context.Charge.BatteryMax)
{
runInfo = "充电完成，回待机位";
msg += runInfo;
ChargeStep.Msg = msg;
Context.Charge.DelOccupyInfoByAGV(agv);
return new StandyJob(agv.Place);
}
else if (agv.Battery > Context.Charge.BatteryMin)
{
Job job = Context.control.GetJob(agv);
if (job != null && !(job is ChargeJob) && !(job is StandyJob))
{
runInfo = "在充电位检测到任务，电量[" + agv.Battery + " %]大于最小电量[" + Context.Charge.BatteryMin + " %],可执行任务";
msg += runInfo;
ChargeStep.Msg = msg;
Context.Charge.DelOccupyInfoByAGV(agv);
return job;
}
}
}
else if (ChargeStep.IsStep(CHARGE_STEP.END))
{
}
return this;
}
/// <summary>
/// AGV充电流程
/// </summary>
private enum CHARGE_STEP
{
/// <summary>
///
/// </summary>
NONE,
/// <summary>
/// 等待到达4D门
/// </summary>
WAIT_AGV_REACH_3D_DOOR,
/// <summary>
/// 等待AGV到达充电位
/// </summary>
WAIT_REACH_CHARGE_STATION,
/// <summary>
/// 等待充电完成
/// </summary>
WAIT_REACH_CHARGE_OK,
/// <summary>
/// 充电完成去待机位
/// </summary>
WAIT_REACH_STANDBY,
/// <summary>
///
/// </summary>
END
}
}
}