GoLineForRecyJob.cs
18.2 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
using Common;
using DeviceLibrary.bean;
using DeviceLibrary.manager;
using System;
namespace DeviceLibrary
{
/// <summary>
/// 去产线回收治具
/// </summary>
public class GoLineForRecyJob : Job
{
/// <summary>
/// 去空料架任务点
/// </summary>
public GoLineForRecyJob(JobParam jobParam) : base(jobParam)
{
JobName = "治具回收任务";
}
/// <summary>
/// 料架回收任务
/// </summary>
/// <param name="agv"></param>
public override Job Run(Agv_Info agv)
{
Node node = NodeManager.GetNodeByName(JobParam.TargetNode.Name);
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))
{
if (JobParam.SrcNode.Area.Equals(Area.Air_C) && !JobParam.TargetNode.Area.Equals(Area.Air_C))//4C风淋门内->风淋门外
{
JobRunStep.ToNextStep(RunStep.WAIT_OUT_AIR_DOOR);
runInfo = "去" + JobParam.TargetNode + "，先过风淋门";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorAirOut);
}
else if (!JobParam.SrcNode.Area.Equals(Area.Air_C) && JobParam.TargetNode.Area.Equals(Area.Air_C))//4C风淋门外->风淋门内
{
if (JobParam.SrcNode.Area.Equals(Area.C) && !JobParam.TargetNode.Area.Equals(Area.C))//4C->4C
{
if (AGVManager.CheckRoomCTarget(agv, JobParam.TargetNode.Name))//被占用
{
JobRunStep.ToNextStep(RunStep.RECY_TO_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
{
JobRunStep.ToNextStep(RunStep.WAIT_IN_AIR_DOOR);
runInfo = "去" + JobParam.TargetNode + "，先过风淋门";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorAirIn);
}
}
else if ((JobParam.SrcNode.Area.Equals(Area.D)) && (JobParam.TargetNode.Area.Equals(Area.C)))//4D->4C
{
JobRunStep.ToNextStep(RunStep.WAIT_IN_ROOM_C);
runInfo = "去" + JobParam.TargetNode + "，先过门";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorDToC);
}
}
else//起始与目的地在风淋门同一侧
{
if (JobParam.SrcNode.Area.Equals(Area.Air_C) && JobParam.TargetNode.Equals(Area.Air_C))//都在风淋门内
{
if (AGVManager.CheckRoomCTarget(agv, JobParam.TargetNode.Name))//被占用
{
JobRunStep.ToNextStep(RunStep.WAIT_OUT_AIR_DOOR);
runInfo = "目的地" + JobParam.TargetNode + "有小车占用，先过风淋门，再到临时待机位";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorAirOut);
}
else
{
JobRunStep.ToNextStep(RunStep.RECY_TO_ASSIGN_AGV_TASK);
runInfo = "开始回收任务";
JobRunStep.Msg = runInfo;
}
}
else if (!JobParam.SrcNode.Area.Equals(Area.Air_C) && !JobParam.TargetNode.Area.Equals(Area.Air_C))//都在风淋门外
{
if (JobParam.SrcNode.Area.Equals(Area.C) && JobParam.TargetNode.Area.Equals(Area.C))//4C->4C
{
if (AGVManager.CheckRoomCTarget(agv, JobParam.TargetNode.Name))//被占用
{
JobRunStep.ToNextStep(RunStep.RECY_TO_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
{
JobRunStep.ToNextStep(RunStep.RECY_TO_ASSIGN_AGV_TASK);
runInfo = "开始回收任务";
JobRunStep.Msg = runInfo;
}
}
else if (JobParam.SrcNode.Area.Equals(Area.C) && JobParam.TargetNode.Area.Equals(Area.D))//4C->4D
{
JobRunStep.ToNextStep(RunStep.WAIT_IN_ROOM_D);
runInfo = "去" + JobParam.TargetNode + "，先过门";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorCToD);
}
else if (JobParam.SrcNode.Area.Equals(Area.D) && JobParam.TargetNode.Area.Equals(Area.C))//4D->4C
{
JobRunStep.ToNextStep(RunStep.WAIT_IN_ROOM_C);
runInfo = "去产线" + JobParam.TargetNode + "，先过门";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorDToC);
}
else//4D->4D
{
JobRunStep.ToNextStep(RunStep.RECY_TO_ASSIGN_AGV_TASK);
runInfo = "开始回收任务";
JobRunStep.Msg = runInfo;
}
}
}
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_OUT_AIR_DOOR))
{
if (agv.TaskRunState.CheckTaskFinished())
{
//4C风淋门内->风淋门外,到达风淋门外
if (JobParam.SrcNode.Area.Equals(Area.C) && JobParam.TargetNode.Area.Equals(Area.C))//4C->4C
{
if (AGVManager.CheckRoomCTarget(agv, JobParam.TargetNode.Name))//被占用
{
JobRunStep.ToNextStep(RunStep.RECY_TO_WAIT_REACH_TEMP_PLACE);
runInfo = "到风淋门外，目的地" + JobParam.TargetNode + "有小车占用，先到临时待机位";
JobRunStep.Msg = runInfo;
AGVManager.MoveToRoomCStandy(agv);
}
else
{
JobRunStep.ToNextStep(RunStep.RECY_TO_ASSIGN_AGV_TASK);
runInfo = "到风淋门外，开始回收任务";
JobRunStep.Msg = runInfo;
}
}
else if (JobParam.SrcNode.Area.Equals(Area.C) && JobParam.TargetNode.Area.Equals(Area.D))//4C->4D
{
JobRunStep.ToNextStep(RunStep.WAIT_IN_ROOM_D);
runInfo = "到风淋门外，去" + JobParam.TargetNode + "，先过门";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorCToD);
}
//都在风淋门内，到达风淋门外
else
{
JobRunStep.ToNextStep(RunStep.RECY_TO_WAIT_REACH_TEMP_PLACE);
runInfo = "到风淋门外，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 (JobRunStep.IsStep(RunStep.WAIT_IN_AIR_DOOR))
{
if (agv.TaskRunState.CheckTaskFinished())
{
//4C风淋门外->风淋门内
JobRunStep.ToNextStep(RunStep.RECY_TO_ASSIGN_AGV_TASK);
runInfo = "到达风淋门内，开始回收任务";
JobRunStep.Msg = runInfo;
}
}
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.RECY_TO_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 = "去" + JobParam.TargetNode + "，先过风淋门";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.DoorAirIn);
}
else
{
JobRunStep.ToNextStep(RunStep.RECY_TO_ASSIGN_AGV_TASK);
runInfo = "开始回收任务";
JobRunStep.Msg = runInfo;
}
}
}
}
else if (JobRunStep.IsStep(RunStep.RECY_TO_WAIT_REACH_TEMP_PLACE))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
if (!AGVManager.CheckRoomCTarget(agv, JobParam.TargetNode.Name))//未占用
{
JobRunStep.ToNextStep(RunStep.RECY_TO_ASSIGN_AGV_TASK);
runInfo = "开始回收任务";
JobRunStep.Msg = runInfo;
//AGVManager.DeleteStandyInfo(agv);
}
}
}
else if (JobRunStep.IsStep(RunStep.WAIT_IN_ROOM_D))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
JobRunStep.ToNextStep(RunStep.RECY_TO_ASSIGN_AGV_TASK);
runInfo = "开始回收任务";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.RECY_TO_ASSIGN_AGV_TASK))
{
if (node != null)
{
JobRunStep.ToNextStep(RunStep.RECY_TO_BACK_WAIT_AGV_START_TASK);
runInfo = "移动到" + JobParam.TargetNode;
JobRunStep.Msg = runInfo;
AllocateTask(agv, JobParam.TargetNode.Name);
}
else
{
runInfo = JobParam.TargetNode + " 不存在或未开启调用";
JobRunStep.Msg = runInfo;
}
}
else if (JobRunStep.IsStep(RunStep.RECY_TO_BACK_WAIT_AGV_START_TASK))
{
if (agv.TaskRunState.CheckAllocateOk())
{
JobRunStep.ToNextStep(RunStep.RECY_TO_WAIT_REACH_PLACE);
}
}
else if (JobRunStep.IsStep(RunStep.RECY_TO_WAIT_REACH_PLACE))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
WarehouseSigManager.TargetWithFix.CurPlace = JobParam.TargetNode.Name;
if (JobParam.OpType.Equals(OpType.ComToLine))
{
JobRunStep.ToNextStep(RunStep.RECY_TO_WAIT_LINE_RESPONSE);
runInfo = "到达 " + JobParam.TargetNode + " 向线体发送出料架请求";
JobRunStep.Msg = runInfo;
if (node == null)
{
runInfo = JobParam.TargetNode + " 未开启调用";
JobRunStep.Msg = runInfo;
return this;
}
OpManager.ServerToClient.ReadyLeave(JobParam.TargetNode.Name, JobParam.Shelf == null ? "" : JobParam.Shelf.RFID);
}
else
{
JobRunStep.ToNextStep(RunStep.RECY_TO_WAIT_Manual_Operation);
runInfo = "到达" + JobParam.TargetNode + "，并等待人员操作";
JobRunStep.Msg = runInfo;
}
}
}
else if (JobRunStep.IsStep(RunStep.RECY_TO_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 FixToInStoreJob(new JobParam(JobParam.TargetNode, null, JobParam.Shelf.ToCopy()));
}
}
}
else if (JobParam.OpType.Equals(OpType.RequestAPI))
{
if (OpManager.Info.GetTransfer(out string target))
{
if(target.Equals(SettingString.Cancel))
{
JobRunStep.ToNextStep(RunStep.END);
runInfo = "到达" + JobParam.TargetNode + "，该任务被取消";
JobRunStep.Msg = runInfo;
}
else
{
runInfo = "人员在" + JobParam.TargetNode + "操作完成";
JobRunStep.Msg = runInfo;
JobRunStep.EndJob();
return new FixToInStoreJob(new JobParam(JobParam.TargetNode, NodeManager.GetNodeByName(target), 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 FixToInStoreJob(new JobParam(JobParam.TargetNode, null, JobParam.Shelf.ToCopy()));
}
}
}
}
else if (JobRunStep.IsStep(RunStep.RECY_TO_WAIT_LINE_RESPONSE))
{
if (node == null)
{
runInfo = JobParam.TargetNode + " 未开启调用";
JobRunStep.Msg = runInfo;
return this;
}
if (node.StateEquals(NodeStatus.MayLeave))
{
agv.HasError = false;
JobRunStep.ToNextStep(RunStep.RECY_TO_WAIT_TAKE_EMPTY_SHELF);
runInfo = "收到线体对出料请求的响应，" + JobParam.TargetNode + "出料架";
JobRunStep.Msg = runInfo;
AllocateTask(agv, SettingString.Enter);
}
else if (JobRunStep.IsTimeOut(15000, out TimeSpan timeOutValue))
{
agv.HasError = true;
agv.SetErrorMsg($"线体{JobParam.TargetNode}对出料请求无响应", timeOutValue.TotalMinutes.ToString("f2"));
}
}
else if (JobRunStep.IsStep(RunStep.RECY_TO_WAIT_TAKE_EMPTY_SHELF))
{
if (agv.TaskRunState.CheckTaskFinished(agv.Name))
{
agv.HasError = false;
JobRunStep.EndJob();
return new FixToInStoreJob(new JobParam(JobParam.TargetNode.ToCopy()));
}
else if (JobRunStep.IsTimeOut(60000, out TimeSpan timeOutValue))
{
//链条停止
runInfo = "空料架在[" + JobParam.TargetNode + "]进入小车超时";
agv.HasError = true;
agv.SetErrorMsg("空料架在[" + JobParam.TargetNode + "]进入小车超时", timeOutValue.TotalMinutes.ToString("f2"));
}
}
else if (JobRunStep.IsStep(RunStep.END))
{
JobRunStep.EndJob();
return null;
}
return this;
}
}
}