EnterLeaveShelfJob.cs
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using System.Threading.Tasks;
namespace DeviceLibrary
{
/// <summary>
/// 小车进出料类型
/// </summary>
public enum eEnterLeaveType
{
/// <summary>
/// 小车进料
/// </summary>
Enter,
/// <summary>
/// 小车出料
/// </summary>
Leave,
}
/// <summary>
/// 进出料任务
/// </summary>
public class EnterLeaveShelfJob : Job
{
/// <summary>
/// 进出料任务
/// </summary>
/// <param name="curNode">位置点</param>
/// <param name="rfid">RFID</param>
public EnterLeaveShelfJob(ClientNode curNode, eEnterLeaveType type,string rfid="")
{
CurNode = curNode;
RFID = rfid;
ActionType = type;
runInfo = type.Equals(eEnterLeaveType.Enter) ? "小车进料任务:" : "小车出料任务:" +curNode.AliceName+" ";
}
/// <summary>
/// 位置点信息
/// </summary>
public ClientNode CurNode { get; set; }
public string RFID { get; set; }
/// <summary>
/// 动作类型
/// </summary>
public eEnterLeaveType ActionType { get; set; }
private string runInfo;
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get { return runInfo; }
}
private JobStep<ENTER_LEAVE_SHELF_STEP> EnterLeaveShelfStep = new JobStep<ENTER_LEAVE_SHELF_STEP>(ENTER_LEAVE_SHELF_STEP.NONE);
public override Job Execute(Agv_Info agv)
{
string msg = agv.Name+ " ";
bool rtn = false;
agv.Msg = runInfo;
if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.NONE))
{
if (ActionType.Equals(eEnterLeaveType.Leave))
{
EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_IN_LINE);
runInfo += "小车链条运行";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg;
rtn = agv.AssignTask(Common.SettingString.Leave);
UpdateJobTaskInfo(agv);
}
else if(ActionType.Equals(eEnterLeaveType.Enter))
{
EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_OUT_LINE);
runInfo +="小车链条运行";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg;
rtn = agv.AssignTask(Common.SettingString.Enter);
UpdateJobTaskInfo(agv);
}
}
else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_IN_LINE))
{
CurTaskState = CommonVar.GetTakJobState(agv);
if (CommonVar.CheckEnterOrLeaveFinished(agv, "Leave", CurTaskState))
{
//EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.END);
runInfo+= "料架/料串进入完成 [" + RFID + "]";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg;
agv.RFID = "";
// return new EmptyAGVBackJob(LineName);
}
else if (EnterLeaveShelfStep.IsTimeOut(60000, out double timeOutValue))
{
runInfo= "料架离开小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架离开小车的情况";
//msg += runInfo;
//EnterLeaveShelfStep.Msg = msg;
}
}
else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.WAIT__SHELF_OUT_LINE))
{
CurTaskState = CommonVar.GetTakJobState(agv);
if (CommonVar.CheckEnterOrLeaveFinished(agv, "Enter", CurTaskState))
{
//EnterLeaveShelfStep.ToNextStep(ENTER_LEAVE_SHELF_STEP.END);
runInfo = "料架/料串出去完成 [" + RFID + "]";
msg += runInfo;
EnterLeaveShelfStep.Msg = msg;
//return new EmptyShelfBackJob(LineName,eShelfType.BigShelf);
}
else if (EnterLeaveShelfStep.IsTimeOut(60000, out double timeOutValue))
{
//链条停止
runInfo= "料架进入小车超时[" + timeOutValue.ToString("f1") + "秒]，请检查料架进入小车的情况";
//msg += runInfo;
//EnterLeaveShelfStep.Msg = msg;
}
}
else if (EnterLeaveShelfStep.IsStep(ENTER_LEAVE_SHELF_STEP.END))
{
}
return this;
}
}
/// <summary>
/// AGV进出料
/// </summary>
public enum ENTER_LEAVE_SHELF_STEP
{
/// <summary>
///
/// </summary>
NONE,
/// <summary>
/// 等待料架离开产线
/// </summary>
WAIT__SHELF_OUT_LINE,
/// <summary>
/// 等待料架进入产线
/// </summary>
WAIT__SHELF_IN_LINE,
/// <summary>
/// 进入/离开完成
/// </summary>
END
}
}