FixToInStoreJob.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>
/// 治具入库任务
/// </summary>
public class FixToInStoreJob : Job
{
/// <summary>
/// 料架回收任务
/// </summary>
public FixToInStoreJob(JobParam jobParam) : base(jobParam)
{
JobName = "治具入库任务";
}
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))
{
WarehouseSigManager.TargetWithFix.CurPlace = JobParam.TargetNode.Name;
JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_RECY_ST_RESPONSE);
runInfo = "AGV到达 " + JobParam.TargetNode + "，并发送治具入库请求";
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))
{
if (WarehouseSigManager.MayEnter)
{
{
JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_SHELF_IN_RECY_ST);
runInfo = "收到治具入库请求的响应 " + JobParam.TargetNode + "入治具，小车链条运行";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.Leave);
WarehouseSigManager.MayEnter = false;
}
}
else if (JobRunStep.IsTimeOut(15, out TimeSpan timeOutValue))
{
tryTimes++;
if (tryTimes < 3)
return this;
tryTimes = 0;
runInfo = JobParam.TargetNode + "无响应";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.RECY_BACK_WAIT_SHELF_IN_RECY_ST))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.RECY_BACK_CHECK_OUT_STORE);
runInfo = $"治具{(JobParam.Shelf == null ? "" : JobParam.Shelf.RFID)}进入{JobParam.TargetNode}完成";
JobRunStep.Msg = runInfo;
}
else if (WarehouseSigManager.StopEnter)
{
JobRunStep.ToNextStep(RunStep.RECY_BACK_CHECK_OUT_STORE);
runInfo = $"治具{(JobParam.Shelf == null ? "" : JobParam.Shelf.RFID)}进入{JobParam.TargetNode}完成";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.Init);
WarehouseSigManager.StopEnter = false;
}
else if (JobRunStep.IsTimeOut(120, out TimeSpan timeOutValue1))
{
runInfo = "治具在[" + JobParam.TargetNode + "]离开小车超时";
agv.HasError = true;
agv.SetErrorMsg("治具在[" + JobParam.TargetNode + "]离开小车超时", timeOutValue1.TotalMinutes.ToString("f2"));
}
}
else if (JobRunStep.IsStep(RunStep.RECY_BACK_CHECK_OUT_STORE))
{
if (WarehouseSigManager.OutStore.Has)
{
//调宽
JobRunStep.ToNextStep(RunStep.ADJUST_WIDTH);
runInfo = JobParam.TargetNode + " 有出库任务，开始调宽:"+ WarehouseSigManager.OutStore.Type;
JobRunStep.Msg = runInfo;
AdjustWidth(agv, WarehouseSigManager.OutStore.Type);
}
else if (OpManager.Info.GetTransfer(out string target))
{
JobRunStep.ToNextStep(RunStep.END);
runInfo = JobParam.TargetNode + " 无出库任务，任务结束";
JobRunStep.Msg = runInfo;
}
}
else if(JobRunStep.IsStep(RunStep.ADJUST_WIDTH))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_RESPONSE);
runInfo = $"{WarehouseSigManager.OutStore.Type}调宽完成";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.RECY_BACK_WAIT_RESPONSE))
{
if(WarehouseSigManager.MayLeave)
{
JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_FIX_IN_AGV);
runInfo = "收到出料的响应 " + JobParam.TargetNode + "出治具，小车链条运行";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.Enter);
}
}
else if(JobRunStep.IsStep(RunStep.RECY_BACK_WAIT_FIX_IN_AGV))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
agv.HasError = false;
JobRunStep.ToNextStep(RunStep.RECY_BACK_WAIT_LEAVE_SIG);
runInfo ="治具进入AGV完成";
JobRunStep.Msg = runInfo;
}
else if (JobRunStep.IsTimeOut(120, out TimeSpan timeOutValue))
{
//链条停止
runInfo = "治具在[" + JobParam.TargetNode.Name + "]进入小车超时";
//msg +=runInfo;
//GoFullShelfStationStep.Msg = msg;
agv.HasError = true;
agv.SetErrorMsg("治具在[" + JobParam.TargetNode.Name + "]进入小车超时", timeOutValue.TotalMinutes.ToString("f2"));
}
}
else if (JobRunStep.IsStep(RunStep.RECY_BACK_WAIT_LEAVE_SIG))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
if (OpManager.Info.GetTransfer(out string target))
{
if(!target.Equals(SettingString.Cancel))
{
agv.HasError = false;
runInfo = $"收到离开信号，开始运送出库治具到"+ target;
JobRunStep.Msg = runInfo;
JobRunStep.EndJob();
return new SendFixToLineJob(new JobParam(JobParam.TargetNode, NodeManager.GetNodeByName(target)),true);
}
else
{
agv.HasError = true;
agv.SetErrorMsg("有出库任务，但返回目的地为Cancel",(DateTime.Now-StartJobTime).TotalMinutes.ToString("f2"));
}
}
}
}
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return this;
}
}
}