SendShelfJob.cs
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using Common;
namespace DeviceLibrary
{
/// <summary>
///送料串
/// </summary>
public class SendShelfJob : Job
{
/// <summary>
/// 送料串
/// </summary>
/// <param name="agvPlae">agv当前位置</param>
/// <param name="tarPlace">目的地</param>
public SendShelfJob(string agvPlae, string tarPlace, 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("送料串任务[RFID={4}]:{0} [目的地={1}][任务名称={2}][任务状态={3}]", runInfo, to, CurTaskName, CurTaskState, RFID);
}
}
private JobStep<EXECUTE_STEP> curJobStep = new JobStep<EXECUTE_STEP>(EXECUTE_STEP.P1_NONE);
private string GetShowInfo()
{
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("送料串任务: {0} [{1}->{2}]", runInfo, from, to);
}
/// <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 = GetShowInfo();
agv.RFID = RFID;
CurTaskState = Context.GetTakJobState(agv);
if (curJobStep.IsStep(EXECUTE_STEP.P1_NONE))
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_STATION);
runInfo = "收到任务,向" + TargetPlace + "运行";
msg += runInfo;
curJobStep.Msg = msg;
Context.MoveToNode(agv, TargetPlace);
UpdateJobTaskInfo(agv);
}
else if (curJobStep.IsStep(EXECUTE_STEP.P2_WAIT_REACH_STATION))
{
CurTaskState = Context.GetTakJobState(agv);
if (Context.CheckTaskMoveFinished(agv, TargetPlace, CurTaskState))
{
curJobStep.ToNextStep(EXECUTE_STEP.P3_WAIT_STATION_RESPONSE);
runInfo = "到达" + TargetPlace + "，并发送进料请求";
msg += runInfo;
curJobStep.Msg = msg;
Context.server.Ready(TargetPlace, RFID);
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P3_WAIT_STATION_RESPONSE))
{
int i = Context.nodeInfo.FindIndex(s => s.Name.Equals(TargetPlace));//&& s.StateEquals(eNodeStatus.MayEnter)
if (i > -1)
{
curJobStep.ToNextStep(EXECUTE_STEP.P4_WAIT_SHELF_IN_STATION);
runInfo = "收到线体允许进料信号，链条运行";
msg += runInfo;
curJobStep.Msg = msg;
rtn = agv.AssignTask(SettingString.Leave);
UpdateJobTaskInfo(agv);
}
if (curJobStep.IsTimeOut(15000, out double timeOutTime))
{
curJobStep.ToNextStep(EXECUTE_STEP.P2_WAIT_REACH_STATION);
runInfo = string.Format("线体[{0}]允许进料信号[{1}]超时{2}秒，重发进料请求", TargetPlace, Agv.ClientAction.MayEnter, timeOutTime.ToString("f2"));
msg += string.Format("线体[{0}]允许进料信号[{1}]超时15S，重发进料请求", TargetPlace, Agv.ClientAction.MayEnter);
curJobStep.Msg = msg;
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P4_WAIT_SHELF_IN_STATION))
{
CurTaskState = Context.GetTakJobState(agv);
if (Context.CheckEnterOrLeaveFinished(agv, SettingString.Leave, CurTaskState))
{
//Context.server.CloseDoor(TargetPlace);
curJobStep.ToNextStep(EXECUTE_STEP.P5_END);
runInfo = "料架进入" + TargetPlace + "完成";
msg += runInfo;
curJobStep.Msg = msg;
}
else if (curJobStep.IsTimeOut(60000, out double timeOutTime))
{
runInfo = string.Format("线体[{0}]出料超时{1}秒,请检查料架情况", TargetPlace, timeOutTime.ToString("f2"));
msg += string.Format("线体[{0}]出料超时，请检查料架情况", TargetPlace);
curJobStep.Msg = msg;
}
}
else if (curJobStep.IsStep(EXECUTE_STEP.P5_END))
{
return null;
}
return this;
}
private bool IsPlace(string place)
{
return TargetPlace.Equals(place);
}
/// <summary>
/// 执行流程
/// </summary>
private enum EXECUTE_STEP
{
/// <summary>
/// 接收到任务
/// </summary>
P1_NONE,
/// <summary>
/// 等待到达目的地
/// </summary>
P2_WAIT_REACH_STATION,
/// <summary>
/// 等待线体回复
/// </summary>
P3_WAIT_STATION_RESPONSE,
/// <summary>
/// 等待料架进入线体
/// </summary>
P4_WAIT_SHELF_IN_STATION,
/// <summary>
/// 任务结束
/// </summary>
P5_END
}
}
}