GoWarehouseForOutStoreJob.cs
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using Common;
using DeviceLibrary.bean;
using DeviceLibrary.manager;
using System;
namespace DeviceLibrary
{
/// <summary>
/// 去立库接出库的治具
/// </summary>
public class GoWarehouseForOutStoreJob : Job
{
/// <summary>
/// 去云仓接满料
/// </summary>
public GoWarehouseForOutStoreJob(JobParam jobParam) : base(jobParam)
{
JobName = "出库任务";
}
bool IsLoadOnAGV = false;
public override Job Run(Agv_Info agv)
{
if (JobRunStep.IsStep(RunStep.NONE))
{
JobRunStep.ToNextStep(RunStep.ADJUST_WIDTH);
runInfo = "准备去" + JobParam.TargetNode + "，先调宽";
JobRunStep.Msg = runInfo;
AdjustWidth(agv, JobParam.FixMissionInfo.Type);
}
else if (JobRunStep.IsStep(RunStep.ADJUST_WIDTH))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.WAIT_CHECK_RESULT);
runInfo = "检查AGV负载情况";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.CheckShelf);
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_CHECK_RESULT))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
if (agv.IsExistShelf)
{
JobRunStep.ToNextStep(RunStep.END);
runInfo = "车上有负载，无法运行出库任务";
JobRunStep.Msg = runInfo;
IsLoadOnAGV = true;
}
else if (!agv.IsExistShelf)
{
if (JobParam.SrcNode.Area.Equals(Area.D))
{
JobRunStep.ToNextStep(RunStep.WAIT_AGV_REACH_A6);
runInfo = $"车上无负载，准备去{JobParam.TargetNode.Name}接料";
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.TargetNode.Name);
}
else if (JobParam.SrcNode.Area.Equals(Area.Air_C))
{
JobRunStep.ToNextStep(RunStep.WAIT_AGV_REACH_AIR_DOOR);
runInfo = "去接料，先过风淋门";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorAirOut);
}
else if (JobParam.SrcNode.Area.Equals(Area.C))//4C车间
{
JobRunStep.ToNextStep(RunStep.WAIT_AGV_REACH_DOOR);
runInfo = "先过门，再接料";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorCToD);
}
else
{
JobRunStep.ToNextStep(RunStep.WAIT_AGV_REACH_A6);
runInfo = $"车上无负载，准备去{JobParam.TargetNode.Name}接料";
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.TargetNode.Name);
}
}
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_AGV_REACH_AIR_DOOR))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.WAIT_AGV_REACH_DOOR);
runInfo = $"去{JobParam.TargetNode.Name},先过门";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorCToD);
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_AGV_REACH_DOOR))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.WAIT_AGV_REACH_A6);
runInfo = $"去{JobParam.TargetNode.Name}接料";
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.TargetNode.Name);
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_AGV_REACH_A6))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
WarehouseSigManager.TargetWithFix.CurPlace = JobParam.TargetNode.Name;
JobRunStep.ToNextStep(RunStep.WAIT_DOUBLE_LINE_RESPONSE);
runInfo = "到达 " + JobParam.TargetNode.Name + "，并发送出库请求";
JobRunStep.Msg = runInfo;
OpManager.ServerToClient.ReadyLeave(JobParam.TargetNode.Name, JobParam.Shelf == null ? "" : JobParam.Shelf.RFID);
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_DOUBLE_LINE_RESPONSE))
{
if (WarehouseSigManager.MayLeave)
{
agv.HasError = false;
JobRunStep.ToNextStep(RunStep.WAIT__FULL_SHELF_IN_AGV);
runInfo = "收到出库请求的响应," + JobParam.TargetNode.Name + "出治具";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.Enter);
WarehouseSigManager.MayLeave = false;
}
else if (OpManager.Info.GetTransfer(out string target))
{
if (target.Equals(SettingString.Cancel))
{
agv.HasError = false;
runInfo = $"收到离开信号,出库任务取消";
JobRunStep.Msg = runInfo;
JobRunStep.EndJob();
return null;
}
}
else if (JobRunStep.IsTimeOut(15, out TimeSpan timeOutValue))
{
//JobRunStep.ToNextStep(RunStep.WAIT_AGV_REACH_A6);
agv.HasError = true;
agv.SetErrorMsg($"{JobParam.TargetNode.Name}回复出料请求超时", timeOutValue.TotalMinutes.ToString("f2"));
}
}
else if (JobRunStep.IsStep(RunStep.WAIT__FULL_SHELF_IN_AGV))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
agv.HasError = false;
JobRunStep.ToNextStep(RunStep.WAIT_LEAVE_SIG);
runInfo = JobParam.TargetNode.Name + "治具进入小车完成";
JobRunStep.Msg = runInfo;
//JobRunStep.EndJob();
// return new SendFixToLineJob(new JobParam(JobParam.TargetNode.ToCopy()),true);
}
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.WAIT_LEAVE_SIG))
{
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;
}
}
}