PackingJob_TransferShelf.cs
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using Common;
using System.Collections.Generic;
using System.Threading;
namespace DeviceLibrary
{
/// <summary>
/// 包装仓任务:在包装仓间转移包装料架，
/// </summary>
public class PackingJob_TransferShelf : Job
{
/// <summary>
/// 包装仓任务
/// </summary>
/// <param name="agvPlae">小车当前位置</param>
public PackingJob_TransferShelf(string agvPlae, string tarPlace, string RFID, string mark)
{
this.agvPlace = agvPlae;
TargetPlace = tarPlace;
this.mark = mark;
this.RFID = RFID;
}
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlace = "";
/// <summary>
/// 料架RFID
/// </summary>
public string RFID = "";
/// <summary>
/// 目的地
/// </summary>
public string TargetPlace { get; private set; }
/// <summary>
/// 标记
/// </summary>
public string mark = "";
private string runInfo = "";
/// <summary>
/// 运行信息
/// </summary>
public override string RunInfo
{
get
{
int t1 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(agvPlace));
string from = "";
if (t1 > -1)
from = CommonVar.nodeInfo[t1].AliceName;
else
from = agvPlace;
int t2 = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));
string to = "";
if (t2 > -1)
to = CommonVar.nodeInfo[t2].AliceName;
else
to = TargetPlace;
return string.Format("包装料架转移任务:{0} [RFID={1}][Mark={2}][目的地={3}][任务名称={4}][任务状态={5}]", runInfo, RFID, mark,to,CurTaskName,CurTaskState);
}
}
private JobStep<EXECUTE_STEP> curJobStep = new JobStep<EXECUTE_STEP>(EXECUTE_STEP.P1_NONE);
/// <summary>
/// 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 = CommonVar.GetTakJobState(agv);
if (curJobStep.IsStep(EXECUTE_STEP.P1_NONE))
{
agv.RFID = RFID;
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_STATION);
runInfo = "收到任务,向包装仓" + TargetPlace + "运行";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
else if (curJobStep.IsStep(EXECUTE_STEP.P2_WAIT_REACH_PACKING_STATION))
{
if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
{
curJobStep.ToNextStep(EXECUTE_STEP.P3_CHECK_PACKING_STATION_STATE);
runInfo = "到达包装仓" + TargetPlace;
msg += runInfo;
curJobStep.Msg = msg;
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P3_CHECK_PACKING_STATION_STATE))
{
if (PackingJobType.IsInStoreMark(mark))
{
curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_PACKING_STATION_RESPONSE);
runInfo = "到达包装仓" + TargetPlace + "，并发送到达信号";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.server.Arrive(TargetPlace, RFID);
}
else
{
if (PackingJobType.CheckNodeMark(mark, TargetPlace))
{
curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_PACKING_STATION_RESPONSE);
runInfo = "到达包装仓" + TargetPlace + "，并发送到达信号";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.server.Arrive(TargetPlace, RFID);
}
else
{
curJobStep.ToNextStep(EXECUTE_STEP.P15_END);
runInfo = "包装仓" + TargetPlace + "无任务，任务结束";
msg += runInfo;
curJobStep.Msg = msg;
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P4_WAIT_PACKING_STATION_RESPONSE))
{
int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.MayLeave));
if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.P5_WAIT_AGV_DOCK_FINISH);
runInfo = "收到线体对接请求，开始停靠";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.DockToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
//else if (curJobStep.IsTimeOut(6000, out double timeOutTime))
//{
// runInfo = string.Format("线体[{0}]允许对接信号[{1}]超时{2}秒", TargetPlace, eNodeStatus.MayLeave, timeOutTime.ToString("f2"));
// msg += string.Format("线体[{0}]允许对接信号[{1}]超时", TargetPlace, eNodeStatus.MayLeave);
// curJobStep.Msg = msg;
//}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P5_WAIT_AGV_DOCK_FINISH))
{
if (CommonVar.CheckTaskDockFinished(agv, TargetPlace, CurTaskState))
{
CommonVar.server.Ready(TargetPlace);
curJobStep.ToNextStep(EXECUTE_STEP.P6_WAIT_SHELF_IN_AGV);
runInfo = "停靠包装仓完成,链条运行";
msg += runInfo;
curJobStep.Msg = msg;
rtn = agv.AssignTask(SettingString.Enter);
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P6_WAIT_SHELF_IN_AGV))
{
if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Enter, CurTaskState))
{
CommonVar.server.CloseDoor(TargetPlace);
int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.FinishLeave));
if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.P7_FIND_LEFT_TASK);
runInfo = "包装料架进入小车完成";
msg += runInfo;
curJobStep.Msg = msg;
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P7_FIND_LEFT_TASK))
{
if(PackingJobType.IsInStoreMark(mark))//入库任务
{
if(CheckShelfLockInfo(agv,out string nodeName,out string lockedNodeNames))
{
if(nodeName.Equals(""))//有锁定节点，但目前忙碌，无法入料，去待机位
{
curJobStep.ToNextStep(EXECUTE_STEP.P14_WAIT_REACH_STANDBY);
runInfo = "入库任务Mark=" + mark + "有剩余任务，但包装仓忙碌，去待机位";
msg += runInfo+";锁定的节点："+ lockedNodeNames;
curJobStep.Msg = msg;
agvPlace = agv.Place;
TargetPlace = SettingString.Standby;
CommonVar.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
else//有锁定节点
{
curJobStep.ToNextStep(EXECUTE_STEP.P8_TRANSFER_SHELF);
runInfo = "入库任务Mark=" + mark + "存在剩余任务，到下一包装仓执行任务";
msg += runInfo;
curJobStep.Msg = msg;
agvPlace = agv.Place;
TargetPlace = nodeName;
CommonVar.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
}
else//无锁定节点，去A2
{
curJobStep.ToNextStep(EXECUTE_STEP.P12_SEND_FULL_SHELF);
TargetPlace = SettingString.A2;
agvPlace = agv.Place;
runInfo = "入库任务Mark=" + mark + "完成， 去" + TargetPlace;
msg += runInfo;
curJobStep.Msg = msg;
PackingJobType.DelMark(mark);
CommonVar.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
}
else
{
if (FindNextTask(agv, out int nodeIdx))
{
if (nodeIdx > -1)//该mark还有剩余任务
{
curJobStep.ToNextStep(EXECUTE_STEP.P8_TRANSFER_SHELF);
runInfo = "任务Mark=" + mark + "到下一包装仓执行任务";
msg += runInfo;
curJobStep.Msg = msg;
agvPlace = agv.Place;
TargetPlace = CommonVar.nodeInfo[nodeIdx].Name;
CommonVar.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
else //pack任务还有剩余，但目前包装仓还未生成任务，去待机位
{
curJobStep.ToNextStep(EXECUTE_STEP.P14_WAIT_REACH_STANDBY);
runInfo = "任务Mark=" + mark + "有剩余任务，但包装仓还未生成，去待机位";
msg += runInfo;
curJobStep.Msg = msg;
agvPlace = agv.Place;
TargetPlace = SettingString.Standby;
CommonVar.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
}
else//出库任务完成
{
string name;
string[] ss = mark.Split(',');
switch (ss[1])
{
case "urgent": name = SettingString.A8; break; //紧急
case "cut": name = SettingString.A8; break; //分盘
case "pack": name = SettingString.A3; break; //包装
default: name = SettingString.A8; break;
}
curJobStep.ToNextStep(EXECUTE_STEP.P12_SEND_FULL_SHELF);
TargetPlace = name;
agvPlace = agv.Place;
runInfo = "任务Mark=" + mark + "出库完成， 去" + TargetPlace;
msg += runInfo;
curJobStep.Msg = msg;
PackingJobType.DelMark(mark);
CommonVar.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P8_TRANSFER_SHELF))
{
if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
{
curJobStep.ToNextStep(EXECUTE_STEP.P9_WAIT_LINE_RESPONSE);
runInfo = "到达包装仓,发送到达信号";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.server.Arrive(TargetPlace, RFID);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P9_WAIT_LINE_RESPONSE))
{
int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.MayEnter));
if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.P10_WAIT_AGV_DOCK_FINISH);
runInfo = "收到线体对接请求，开始停靠";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.DockToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
else if (curJobStep.IsTimeOut(6000, out double timeOutTime))
{
runInfo = string.Format("线体[{0}]允许对接信号[{1}]超时{2}秒", TargetPlace, eNodeStatus.MayEnter, timeOutTime.ToString("f2"));
msg += string.Format("线体[{0}]允许对接信号[{1}]超时", TargetPlace, eNodeStatus.MayEnter);
curJobStep.Msg = msg;
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P10_WAIT_AGV_DOCK_FINISH))
{
if (CommonVar.CheckTaskDockFinished(agv, TargetPlace, CurTaskState))
{
CommonVar.server.Ready(TargetPlace, RFID);
curJobStep.ToNextStep(EXECUTE_STEP.P11_WAIT_SHELF_IN_LINE);
runInfo = "停靠包装仓完成,链条运行";
msg += runInfo;
curJobStep.Msg = msg;
rtn = agv.AssignTask(SettingString.Leave);
UpdateJobTaskInfo(agv);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P11_WAIT_SHELF_IN_LINE))
{
if (CommonVar.CheckEnterOrLeaveFinished(agv, SettingString.Leave, CurTaskState))
{
CommonVar.server.CloseDoor(TargetPlace);
//int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.FinishEnter));
//if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.P15_END);
runInfo = "包装料架进入" + TargetPlace + "完成,任务结束";
msg += runInfo;
curJobStep.Msg = msg;
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P12_SEND_FULL_SHELF))
{
if (CommonVar.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
{
curJobStep.ToNextStep(EXECUTE_STEP.P13_WAIT_TARGET_RESPONSE);
runInfo = "到达目的地" + TargetPlace + ",并发送准备信号";
msg += runInfo;
curJobStep.Msg = msg;
CommonVar.server.Ready(TargetPlace, RFID);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P13_WAIT_TARGET_RESPONSE))
{
//int i = CommonVar.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace) && s.StateEquals(eNodeStatus.MayEnter));
//if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.P11_WAIT_SHELF_IN_LINE);
runInfo = "收到线体入料请求，链条运行";
msg += runInfo;
curJobStep.Msg = msg;
rtn = agv.AssignTask(SettingString.Leave);
UpdateJobTaskInfo(agv);
}
//else if (curJobStep.IsTimeOut(6000, out double timeOutTime))
//{
// runInfo = string.Format("线体[{0}]允许入料信号[{1}]超时{2}秒", TargetPlace, eNodeStatus.MayEnter, timeOutTime.ToString("f2"));
// msg += string.Format("线体[{0}]允许入料信号[{1}]超时", TargetPlace, eNodeStatus.MayEnter);
// curJobStep.Msg = msg;
//}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P14_WAIT_REACH_STANDBY))
{
if (CommonVar.CheckTaskMoveFinished(agv, SettingString.Standby, CurTaskState))
{
if (FindNextTask(agv, out int nodeIdx))
{
if (nodeIdx > -1)//该mark还有剩余任务
{
curJobStep.ToNextStep(EXECUTE_STEP.P8_TRANSFER_SHELF);
runInfo = "任务Mark=" + mark + "到下一包装仓执行任务";
msg += runInfo;
curJobStep.Msg = msg;
TargetPlace = CommonVar.nodeInfo[nodeIdx].Name;
agvPlace = agv.Place;
CommonVar.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
}
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P15_END))
{
agv.RFID = "";
return null;
//Job job = CommonVar.control.GetJob(agv);
//if (job != null)
//{
// runInfo = "包装仓转移料架任务完成，检测到任务，开始执行";
// msg += runInfo;
// curJobStep.Msg = msg;
// return job;
//}
}
return this;
}
/// <summary>
/// 根据mark查找下一个任务
/// </summary>
/// <returns></returns>
private bool FindNextTask(Agv_Info agv, out int nodeIdx)
{
//寻找下一个任务点
nodeIdx = CommonVar.nodeInfo.FindIndex(s => s.StateEquals(eNodeStatus.NeedEnter) && s.Mark == mark && s.AgvName == "" && s.IsUse);
if (nodeIdx > -1)
return true;
else
{
if (!mark.Split(',')[1].Equals("pack"))
{
string log = " [Mark=" + mark + "] 出库任务完成";
LogUtil.info(log);
return false;
}
bool rtn = AGVManager.LeaveCheck(agv, out int taskCount);
Thread.Sleep(1000);
if (!rtn)//出库任务还未完成
{
string log = agv.Name + " [Mark=" + mark + "] 出库任务未完成，[taskCount=" + taskCount.ToString() + "]";
LogUtil.info(log);
return true;
}
else
{
string log = agv.Name + " [Mark=" + mark + "] [taskCount = " + taskCount.ToString() + "] 出库任务完成";
LogUtil.info(log);
return false;
}
}
}
private bool CheckShelfLockInfo(Agv_Info agv, out string nodeName,out string lockedNodeNames)
{
List<string> shelfLockedNodeNames = new List<string>();
nodeName = "";
lockedNodeNames = "";
//获取料架锁定信息
AGVManager.GetShelfLockInfo(TargetPlace, RFID, shelfLockedNodeNames);
Thread.Sleep(1000);
if (shelfLockedNodeNames != null && shelfLockedNodeNames.Count > 0)
{
foreach (string item in shelfLockedNodeNames)
{
int nodeIdx = CommonVar.nodeInfo.FindIndex(s => s.Name == item && s.StateEquals(eNodeStatus.NeedEnter) && s.Mark.Equals("") && (s.AgvName == "" || s.AgvName == agv.Name) && s.IsUse);
if (nodeIdx > -1)
{
nodeName = item;
shelfLockedNodeNames.Remove(item);
return true;
}
}
lockedNodeNames = string.Join(";", shelfLockedNodeNames);
return true;
}
return false;
}
/// <summary>
/// 执行流程
/// </summary>
private enum EXECUTE_STEP
{
/// <summary>
/// 接收到任务
/// </summary>
P1_NONE,
/// <summary>
/// 等待到达包装仓
/// </summary>
P2_WAIT_REACH_PACKING_STATION,
/// <summary>
/// 到达包装仓
/// </summary>
P3_CHECK_PACKING_STATION_STATE,
/// <summary>
/// 等待包装仓回复
/// </summary>
P4_WAIT_PACKING_STATION_RESPONSE,
/// <summary>
/// 等待AGV停靠完成
/// </summary>
P5_WAIT_AGV_DOCK_FINISH,
/// <summary>
/// 等待料架进入AGV
/// </summary>
P6_WAIT_SHELF_IN_AGV,
/// <summary>
/// 查询剩余任务
/// </summary>
P7_FIND_LEFT_TASK,
/// <summary>
/// 转移料架
/// </summary>
P8_TRANSFER_SHELF,
/// <summary>
/// 等待线体回复
/// </summary>
P9_WAIT_LINE_RESPONSE,
/// <summary>
/// 等待AGV停靠完成
/// </summary>
P10_WAIT_AGV_DOCK_FINISH,
/// <summary>
/// 等待料架进入线体
/// </summary>
P11_WAIT_SHELF_IN_LINE,
/// <summary>
/// 运送满料架
/// </summary>
P12_SEND_FULL_SHELF,
/// <summary>
/// 等待满料目的地回复
/// </summary>
P13_WAIT_TARGET_RESPONSE,
/// <summary>
/// 等待到达待机位
/// </summary>
P14_WAIT_REACH_STANDBY,
/// <summary>
/// 任务结束
/// </summary>
P15_END
}
}
}