SendFullShelfToLineJob.cs
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using Common;
using DeviceLibrary.bean;
using DeviceLibrary.manager;
using System;
namespace DeviceLibrary
{
/// <summary>
/// 从云仓向线体运送料任务
/// </summary>
public class SendFullShelfToLineJob : Job
{
/// <summary>
/// 从云仓向线体运送料任务
/// </summary>
public SendFullShelfToLineJob(JobParam jobParam) : base(jobParam)
{
JobName = "送满料任务";
jobParam.OpType = OpType.Mannual;
}
public override Job Run(Agv_Info agv)
{
if (JobRunStep.IsStep(RunStep.NONE))
{
OpManager.ClientToSMDServer.RemoveRfidBufInfo(JobParam.Shelf.RFID);
if (JobParam.TargetNode.Area.Equals(Area.C) || JobParam.TargetNode.Area.Equals(Area.Air_C))
{
JobRunStep.ToNextStep(RunStep.WAIT_IN_ROOM_C);
runInfo = string.Format("前往{0}，先过门", JobParam.TargetNode);
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorDToC);
}
else
{
JobRunStep.ToNextStep(RunStep.SF_WAIT_AGV_REACH_LINE);
runInfo = string.Format("前往{0}，先过门", JobParam.TargetNode);
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.TargetNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_IN_ROOM_C))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
if (AGVManager.CheckRoomCTarget(agv, JobParam.TargetNode.Name))//被占用
{
JobRunStep.ToNextStep(RunStep.SF_WAIT_REACH_TEMP_PLACE);
runInfo = "目的地" + JobParam.TargetNode + "有小车占用，先到临时待机位";
JobRunStep.Msg = runInfo;
AGVManager.MoveToRoomCStandy(agv);
}
else
{
if (JobParam.TargetNode.Area.Equals(Area.Air_C))
{
JobRunStep.ToNextStep(RunStep.WAIT_IN_AIR_DOOR);
runInfo = "过风淋门,去" + JobParam.TargetNode;
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorAirIn);
}
else
{
JobRunStep.ToNextStep(RunStep.SF_WAIT_AGV_REACH_LINE);
runInfo = "送往" + JobParam.TargetNode;
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.TargetNode.Name);
}
}
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_IN_AIR_DOOR))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.SF_WAIT_AGV_REACH_LINE);
runInfo = "送往" + JobParam.TargetNode;
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.TargetNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.SF_WAIT_REACH_TEMP_PLACE))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
if (!AGVManager.CheckRoomCTarget(agv, JobParam.TargetNode.Name))//未占用
{
if (JobParam.TargetNode.Area.Equals(Area.Air_C))
{
JobRunStep.ToNextStep(RunStep.WAIT_IN_AIR_DOOR);
runInfo = "到临时待机位，先过风淋门，去" + JobParam.TargetNode;
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorAirIn);
}
else
{
JobRunStep.ToNextStep(RunStep.SF_WAIT_AGV_REACH_LINE);
runInfo = "从临时待机位送往" + JobParam.TargetNode;
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.TargetNode.Name);
}
}
}
}
else if (JobRunStep.IsStep(RunStep.SF_WAIT_AGV_REACH_LINE))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
if (JobParam.OpType.Equals(OpType.ComToLine))
{
JobRunStep.ToNextStep(RunStep.SF_WAIT_LINE_RESPONSE);
runInfo = "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
{
JobRunStep.ToNextStep(RunStep.SF_WAIT_Manual_Operation);
runInfo = "到达" + JobParam.TargetNode + "，并等待人员操作";
JobRunStep.Msg = runInfo;
}
}
}
else if (JobRunStep.IsStep(RunStep.SF_WAIT_Manual_Operation))
{
if (JobParam.OpType.Equals(OpType.Mannual))
{
if (agv.Input != null && agv.Input.Length == 4)
{
if (agv.Input[0].Equals(true))
{
runInfo = "人员在" + JobParam.TargetNode + "操作完成";
JobRunStep.Msg = runInfo;
JobRunStep.EndJob();
return new EmptyShelfBackJob(new JobParam(JobParam.TargetNode, null, JobParam.Shelf.ToCopy()));
}
}
}
else if (JobParam.OpType.Equals(OpType.RequestAPI))
{
if (OpManager.Info.GetUnlock(JobParam.Shelf.RFID))
{
runInfo = "人员在" + JobParam.TargetNode + "操作完成";
JobRunStep.Msg = runInfo;
JobRunStep.EndJob();
return new EmptyShelfBackJob(new JobParam(JobParam.TargetNode, null, JobParam.Shelf.ToCopy()));
}
}
else if (JobParam.OpType.Equals(OpType.MaulAndAPI))
{
if (agv.Input != null && agv.Input.Length == 4)
{
if (agv.Input[0].Equals(true) || OpManager.Info.GetUnlock(JobParam.Shelf.RFID))
{
runInfo = "人员在" + JobParam.TargetNode + "操作完成";
JobRunStep.Msg = runInfo;
JobRunStep.EndJob();
return new EmptyShelfBackJob(new JobParam(JobParam.TargetNode, null, JobParam.Shelf.ToCopy()));
}
}
}
}
else if (JobRunStep.IsStep(RunStep.SF_WAIT_LINE_RESPONSE))
{
Node node = NodeManager.GetNodeByName(JobParam.TargetNode.Name);
System.Threading.Thread.Sleep(50);
if (node.StateEquals(NodeStatus.MayEnter))
{
JobRunStep.ToNextStep(RunStep.SF_WAIT__SHELF_IN_LINE);
runInfo = "收到入料架请求的响应" + JobParam.TargetNode + "入料架";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.Leave);
}
else if (JobRunStep.IsTimeOut(15000, out TimeSpan timeOutValue))
{
JobRunStep.ToNextStep(RunStep.SF_WAIT_AGV_REACH_LINE);
runInfo = "到达" + JobParam.TargetNode + "，15秒后重新向线体发送入料架请求";
JobRunStep.Msg = runInfo;
agv.HasError = true;
agv.SetErrorMsg("到达 " + JobParam.TargetNode + "，向线体发送入料架请求异常", timeOutValue.TotalMinutes.ToString("f2"));
}
}
else if (JobRunStep.IsStep(RunStep.SF_WAIT__SHELF_IN_LINE))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
agv.HasError = false;
runInfo = "料架进入" + JobParam.TargetNode + "完成";
JobRunStep.Msg = runInfo;
OpManager.Info.UpdateShelfStatus(JobParam.Shelf == null ? "" : JobParam.Shelf.RFID, JobParam.TargetNode.Name);
JobRunStep.EndJob();
return new EmptyAGVBackJob(new JobParam(JobParam.TargetNode.ToCopy()));
}
else if (JobRunStep.IsTimeOut(60000, out TimeSpan timeOutValue))
{
//链条停止
runInfo = "料架在" + JobParam.TargetNode + "离开小车超时";
//msg += string.Format("[{0}] {1}", jobStep.CurStep(),runInfo);
//SendFullShelfStep.Msg = msg;
agv.HasError = true;
agv.SetErrorMsg("满料架在" + JobParam.TargetNode + "离开小车超时", timeOutValue.TotalMinutes.ToString("f2"));
}
}
else if (JobRunStep.IsStep(RunStep.END))
{
}
return this;
}
}
}