EmptyShelfBackJob.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Web.ModelBinding;
using System.Windows.Forms;
using Common;
using DeviceLibrary.bean;
using DeviceLibrary.manager;
namespace DeviceLibrary
{
/// <summary>
/// 料架回收任务
/// </summary>
public class EmptyShelfBackJob : Job
{
/// <summary>
/// 料架回收任务
/// </summary>
public EmptyShelfBackJob(JobParam jobParam) : base(jobParam)
{
JobName = "料架回收返回任务";
}
private int tryTimes = 0;
/// <summary>
/// 料架回收任务
/// </summary>
/// <param name="agv"></param>
public override Job Run(Agv_Info agv)
{
if (JobRunStep.IsStep(RunStep.NONE))
{
if (JobParam.SrcNode.Area.Equals(Area.Air_C))//C车间风淋门
{
JobRunStep.ToNextStep(RunStep.WAIT_OUT_AIR_DOOR);
runInfo = string.Format("从{0}去风淋门", JobParam.SrcNode);
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorAirOut);
}
else if (JobParam.SrcNode.Area.Equals(Area.C))//C车间
{
JobRunStep.ToNextStep(RunStep.WAIT_IN_ROOM_D);
runInfo = string.Format("从{0}过门", JobParam.SrcNode);
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorCToD);
}
else
{
JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_REACH_RECY_ST);
runInfo = string.Format("从{0}去{1}", JobParam.SrcNode, JobParam.TargetNode);
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.TargetNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_OUT_AIR_DOOR))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.WAIT_IN_ROOM_D);
runInfo = string.Format("出风淋门，准备过门");
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorCToD);
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_IN_ROOM_D))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_REACH_RECY_ST);
runInfo = string.Format("进门，送往{0}", JobParam.TargetNode);
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.TargetNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.RECY_BACK_WAIT_REACH_STANDBY))
{
}
else if (JobRunStep.IsStep(RunStep.RECY_BACK_WAIT_REACH_RECY_ST))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_RECY_ST_RESPONSE);
runInfo = "AGV到达 " + JobParam.TargetNode + "，并发送入料架请求";
JobRunStep.Msg = runInfo;
OpManager.ServerToClient.ReadyEnter(JobParam.TargetNode.Name, JobParam.Shelf == null ? "" : JobParam.Shelf.RFID);
}
}
else if (JobRunStep.IsStep(RunStep.RECY_BACK_WAIT_RECY_ST_RESPONSE))
{
Node node = NodeManager.GetNodeByName(JobParam.TargetNode.Name);
if (node.StateEquals(NodeStatus.MayEnter))
{
{
JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_SHELF_IN_RECY_ST);
runInfo = "收到入料架请求的响应 " + JobParam.TargetNode + "入料架，小车链条运行";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.Leave);
}
}
else if (JobRunStep.IsTimeOut(15000, out TimeSpan timeOutValue))
{
tryTimes++;
if (tryTimes < 3)
return this;
tryTimes = 0;
JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_REACH_RECY_ST);
runInfo = JobParam.TargetNode + "无响应，再次发送请求";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.Standby);
}
}
else if (JobRunStep.IsStep(RunStep.RECY_BACK_WAIT_SHELF_IN_RECY_ST))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.END);
runInfo = $"料架{(JobParam.Shelf == null ? "" : JobParam.Shelf.RFID)}进入{JobParam.TargetNode}完成";
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsTimeOut(60000, out TimeSpan timeOutValue1))
{
runInfo = "空料架在[" + JobParam.TargetNode + "]离开小车超时";
agv.HasError = true;
agv.SetErrorMsg("空料架在[" + JobParam.TargetNode + "]进入小车超时", timeOutValue1.TotalMinutes.ToString("f2"));
}
}
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return this;
}
}
}