GetFullShelfJob.cs
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using Common;
namespace DeviceLibrary
{
/// <summary>
/// 送满料任务:取满料架
/// </summary>
public class GetFullShelfJob : Job
{
/// <summary>
/// 送满料任务:取满料架
/// </summary>
/// <param name="agvPlae">agv当前位置</param>
/// <param name="tarPlace">目的地</param>
public GetFullShelfJob(string agvPlae, string tarPlace, string rfid)
{
this.agvPlace = agvPlae;
TargetPlace = tarPlace;
RFID = rfid;
}
bool recyMark = false;
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlace = "";
string RFID = "";
/// <summary>
/// 目的地
/// </summary>
public string TargetPlace { get; private set; }
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get
{
int t1 = Context.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
string from = "";
if (t1 > -1)
from = Context.nodeInfo[t1].AliceName;
else
from = agvPlace;
int t2 = Context.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
string to = "";
if (t2 > -1)
to = Context.nodeInfo[t2].AliceName;
else
to = TargetPlace;
return string.Format("取满料架任务:{0}[RFID={1}][目的地={2}][任务名称={3}][任务状态={4}]", runInfo, RFID, to, CurTaskName, CurTaskState);
}
}
private JobStep<EXECUTE_STEP> curJobStep = new JobStep<EXECUTE_STEP>(EXECUTE_STEP.P1_NONE);
/// <summary>
/// 包装仓任务执行
/// </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 (curJobStep.IsStep(EXECUTE_STEP.P1_NONE))
{
if (agvPlace.Equals(SettingString.Standby) || agvPlace.Equals(SettingString.AutoCharge))
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_OUT_SHELF_PLACE);
runInfo = "待机位/充电位收到任务，开始执行";
msg += runInfo;
curJobStep.Msg = msg;
Context.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
else
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_OUT_SHELF_PLACE);
runInfo = "默认位置收到任务，开始执行";
msg += runInfo;
curJobStep.Msg = msg;
Context.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P2_WAIT_REACH_OUT_SHELF_PLACE))
{
if (Context.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
{
curJobStep.ToNextStep(EXECUTE_STEP.P3_CHECK_STATION_STATE);
runInfo = "到达云仓出料口 " + TargetPlace;
msg += runInfo;
curJobStep.Msg = msg;
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P3_CHECK_STATION_STATE))
{
if (BoxOutJobType.CheckFullTask(RFID,out string tarname))
{
curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE);
runInfo = RFID + " 满料任务确认存在，目的地为"+ tarname + "，并向线体" + TargetPlace + "发送出料请求";
msg += runInfo;
curJobStep.Msg = msg;
Context.server.Ready(TargetPlace, "");
}
else
{
string rfid = "";
if (JobType.FindNeedLeave(agv, TargetPlace, out rfid, false))
{
if (rfid.Equals(RFID))
{
curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE);
runInfo = RFID + " 无满料任务，转为回收任务，向线体" + TargetPlace + "发送出料请求";
msg += runInfo;
curJobStep.Msg = msg;
recyMark = true;
Context.server.Ready(TargetPlace, "");
}
else
{
if (BoxOutJobType.CheckFullTask(rfid,out string tarname1))
{
curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE);
RFID=rfid;
runInfo = RFID + " 满料任务存在，目的地为"+ tarname1 + "，并向线体" + TargetPlace + "发送出料请求";
msg += runInfo;
curJobStep.Msg = msg;
Context.server.Ready(TargetPlace, "");
}
else
{
curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE);
runInfo = RFID + " 无满料任务，转为 " + rfid + " 回收任务，向线体" + TargetPlace + "发送出料请求";
msg += runInfo;
curJobStep.Msg = msg;
recyMark = true;
Context.server.Ready(TargetPlace, "");
}
}
}
else
{
curJobStep.ToNextStep(EXECUTE_STEP.P12_END);
runInfo = "任务 " + RFID + " 在" + TargetPlace + "不存在,任务结束";
msg += runInfo;
curJobStep.Msg = msg;
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P4_WAIT_LINE_RESPONSE))
{
curJobStep.ToNextStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_AGV);
runInfo = "线体" + TargetPlace + "允许出料，链条运行";
msg += runInfo;
curJobStep.Msg = msg;
rtn = agv.AssignTask(SettingString.Enter);
UpdateJobTaskInfo(agv);
}
else if (curJobStep.IsStep(EXECUTE_STEP.P5_WAIT_SHELF_IN_AGV))
{
if (Context.CheckEnterOrLeaveFinished(agv, SettingString.Enter, CurTaskState))
{
//Context.server.CloseDoor(TargetPlace);
if (recyMark)
{
runInfo = RFID + " 进入小车完成，回收该料架";
msg += runInfo;
curJobStep.Msg = msg;
return new SendShelfJob(TargetPlace, SettingString.A2, RFID);
}
if (BoxOutJobType.CheckFullTask(RFID,out string tarname))
{
runInfo = RFID+"料架进入小车完成";
msg += runInfo;
curJobStep.Msg = msg;
RequestManager.AgvRemoveRfid(RFID);
return new SendFullShelfJob(TargetPlace,tarname,"",RFID);
}
else
{
runInfo = "料架进入小车完成,回收该料架";
msg += runInfo;
curJobStep.Msg = msg;
return new RecycleEmptyShelf(agvPlace, SettingString.A2, true);
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P12_END))
{
return null;
}
return this;
}
/// <summary>
/// 执行流程
/// </summary>
private enum EXECUTE_STEP
{
/// <summary>
/// 接收到任务
/// </summary>
P1_NONE,
/// <summary>
/// 等待到达设备出料口
/// </summary>
P2_WAIT_REACH_OUT_SHELF_PLACE,
/// <summary>
/// 确认云仓是否有该出满料任务，防止该任务被手动出掉
/// </summary>
P3_CHECK_STATION_STATE,
/// <summary>
/// 等待线体回复
/// </summary>
P4_WAIT_LINE_RESPONSE,
/// <summary>
/// 等待料架进入AGV
/// </summary>
P5_WAIT_SHELF_IN_AGV,
/// <summary>
/// 等待到达包装仓
/// </summary>
P6_WAIT_REACH_PACKING_STATION,
/// <summary>
/// 到达包装仓，再次确认是否有任务，防止该任务被手动出掉
/// </summary>
P7_CHECK_PACKING_STATION_STATE,
/// <summary>
/// 等待包装仓回复
/// </summary>
P8_WAIT_PACKING_STATION_RESPONSE,
/// <summary>
/// 等待AGV停靠完成
/// </summary>
P9_WAIT_AGV_DOCK_FINISH,
/// <summary>
/// 等待料架进入包装仓
/// </summary>
P10_WAIT_SHELF_IN_STATION,
/// <summary>
/// 等待到达空料架回收处
/// </summary>
P11_WAIT_REACH_RECYCLE_STATION,
/// <summary>
/// 任务结束
/// </summary>
P12_END
}
}
}