SendFullShelfJob.cs
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using Common;
namespace DeviceLibrary
{
/// <summary>
/// 将满料架送往线体
/// </summary>
public class SendFullShelfJob : Job
{
/// <summary>
/// 将满料架送往线体
/// </summary>
/// <param name="agvPlae">agv当前位置</param>
/// <param name="tarPlace">目的地</param>
/// <param name="mark">标志：出库任务则显示mark；入库任务显示Mark=InStore</param>
public SendFullShelfJob(string agvPlae, string tarPlace, string mark,string RFID= "")
{
this.agvPlace = agvPlae;
TargetPlace = tarPlace;
this.RFID = RFID;
}
/// <summary>
/// 接收任务时，agv的位置
/// </summary>
private string agvPlace = "";
private 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("送满料架任务:{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>
/// 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))
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_FEEDER);
runInfo = "收到送满料任务,向" + "Feeder" + "运行";
msg += runInfo;
curJobStep.Msg = msg;
Context.MoveToNode(agv, "Feeder");
UpdateJobTaskInfo(agv);
}
else if (curJobStep.IsStep(EXECUTE_STEP.P2_WAIT_REACH_FEEDER))
{
CurTaskState = Context.GetTakJobState(agv);
if (Context.CheckTaskMoveFinished(agv, "Feeder", CurTaskState))
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_OPERATION_ON_FEEDER);
runInfo = "到达" + "Feeder" + "，等待挑拣首套料";
msg += runInfo;
curJobStep.Msg = msg;
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P2_WAIT_OPERATION_ON_FEEDER))
{
MiR_API.Get_IO_Status(agv, out bool[] input, out bool[] output);
System.Threading.Thread.Sleep(500);
if ((input != null && input[0]))
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_LINE);
runInfo = "料架上的首套料在" + TargetPlace + "挑拣完成";//，向线体"+TargetPlace+"运行
msg += runInfo;
curJobStep.Msg = msg;
//Context.MoveToNode(agv, TargetPlace);
//UpdateJobTaskInfo(agv);
RequestManager.AgvRemoveRfid(RFID);
return new RecycleEmptyShelf(TargetPlace, "", true);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P2_WAIT_REACH_LINE))
{
CurTaskState = Context.GetTakJobState(agv);
if (Context.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
{
curJobStep.ToNextStep(EXECUTE_STEP.P3_WAIT_MANNUAL_OPERATION);
runInfo = "到达线体" + TargetPlace + "，等待卸料";
msg += runInfo;
curJobStep.Msg = msg;
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P3_WAIT_MANNUAL_OPERATION))
{
MiR_API.Get_IO_Status(agv, out bool[] input, out bool[] output);
System.Threading.Thread.Sleep(500);
if ((input != null && input[0]))
{
runInfo = "料架上的料在" + TargetPlace + "卸料完成.";
msg += runInfo;
curJobStep.Msg = msg;
RequestManager.AgvRemoveRfid(RFID);
return new RecycleEmptyShelf(TargetPlace,"",true);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P4_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>
/// 先到Feeder
/// </summary>
P2_WAIT_REACH_FEEDER,
/// <summary>
/// 等待feeder人员操作
/// </summary>
P2_WAIT_OPERATION_ON_FEEDER,
/// <summary>
/// 等待到达线体
/// </summary>
P2_WAIT_REACH_LINE,
/// <summary>
/// 到达线体,等待卸料
/// </summary>
P3_WAIT_MANNUAL_OPERATION,
/// <summary>
/// 任务结束
/// </summary>
P4_END
}
}
}