using System.Threading;
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using System.Threading.Tasks;
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using VirtualSrm.Common.Entity;
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using VirtualSrm.Srm.Entity;
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using VirtualSrm.Srm.EnumType;
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using VirtualSrm.Utils;
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namespace VirtualSrm.Srm.Strategy
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{
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public class 执行搬运命令:IStrategy
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{
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private StackerEntity Stacker;
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private TaskEntity Task;
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private bool XFlag;
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private bool YFlag;
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private bool ZFlag;
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public 执行搬运命令(StackerEntity stacker, TaskEntity task)
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{
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this.Stacker = stacker;
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this.Task = task;
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}
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public void DoJob()
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{
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Task.Status = (int)ETaskStatus.执行中;
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Stacker.WState = (int)ESrmState.定位到取货位;
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Stacker.WLiftFull = 0;
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Stacker.WDeliveryFinish = 0;
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Stacker.WPickFinish = 0;
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Stacker.WTaskFinish = 0;
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ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(MoveX)), Task.SourcePosX);
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ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(MoveY)), Task.SourcePosY);
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while(!XFlag || !YFlag)
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{
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Thread.Sleep(1000);
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}
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Stacker.WState = (int)ESrmState.取货中;
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XFlag = false;
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YFlag = false;
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ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(MoveZ)), Task.SourcePosZ);
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while (!ZFlag)
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{
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Thread.Sleep(1000);
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}
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ZFlag = false;
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Thread.Sleep(1000);
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ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(MoveZ)), 0);
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while (!ZFlag)
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{
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Thread.Sleep(1000);
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}
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Stacker.WState = (int)ESrmState.取货完成;
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Stacker.WLiftFull = 1;
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Stacker.WPickFinish = 1;
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Thread.Sleep(1000);
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ZFlag = false;
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Stacker.WState = (int)ESrmState.移动到放货位置;
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ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(MoveX)), Task.DestinationPosX);
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ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(MoveY)), Task.DestinationPosY);
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while (!XFlag || !YFlag)
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{
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Thread.Sleep(1000);
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}
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Stacker.WState = (int)ESrmState.放货中;
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XFlag = false;
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YFlag = false;
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Thread.Sleep(1000);
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ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(MoveZ)), Task.DestinationPosZ);
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while (!ZFlag)
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{
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Thread.Sleep(1000);
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}
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Stacker.WLiftFull = 0;
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ZFlag = false;
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Thread.Sleep(1000);
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ThreadHelper.StartThread(new Thread(new ParameterizedThreadStart(MoveZ)), 0);
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while (!ZFlag)
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{
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Thread.Sleep(1000);
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}
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Stacker.WDeliveryFinish = 1;
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Stacker.WState = (int)ESrmState.搬运完成;
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Thread.Sleep(1000);
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ZFlag = false;
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Stacker.WTaskFinish = 1;
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while(Stacker.TaskNo != 0)
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{
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Thread.Sleep(1000);
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}
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Stacker.WTaskNo = Stacker.TaskNo;
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Task.Status = (int)ETaskStatus.已结束;
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Stacker.WState = (int)ESrmState.堆垛机空闲;
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Stacker.WTaskFinish = 0;
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Stacker.WLiftFull = 0;
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Stacker.WDeliveryFinish = 0;
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Stacker.WPickFinish = 0;
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}
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private void MoveX(object x)
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{
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var xBegin = Stacker.WPosX;
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var xEnd = (int)x;
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var deleta = xBegin < xEnd ? 1 : -1;
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while(Stacker.WPosX != xEnd)
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{
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if(Stacker.EmergencyStop == 0)
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{
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Stacker.WPosXmm += 100*deleta;
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Thread.Sleep(1000);
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Stacker.WPosXmm += 100 * deleta;
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Stacker.WPosX += deleta;
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}
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Thread.Sleep(1000);
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}
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XFlag = true;
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}
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private void MoveY(object y)
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{
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var yBegin = Stacker.WPosY;
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var yEnd = (int)y;
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var deleta = yBegin < yEnd ? 1 : -1;
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while (Stacker.WPosY != yEnd)
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{
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if (Stacker.EmergencyStop == 0)
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{
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Stacker.WPosYmm += 100 * deleta;
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Thread.Sleep(1000);
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Stacker.WPosYmm += 100 * deleta;
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Stacker.WPosY += deleta;
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}
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Thread.Sleep(1000);
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}
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YFlag = true;
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}
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private void MoveZ(object z)
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{
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var zEnd = (int)z;
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if(zEnd == 2 || zEnd ==6)
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{
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Stacker.WPosZ = (int)EForkPos.货叉在右侧;
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Stacker.WPosZmm += 100;
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Thread.Sleep(1000);
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Stacker.WPosZmm += 100;
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Thread.Sleep(1000);
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}
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else if (zEnd == 1 || zEnd == 5)
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{
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Stacker.WPosZ = (int)EForkPos.货叉在右侧;
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Stacker.WPosZmm += 100;
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Thread.Sleep(1000);
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Stacker.WPosZmm += 100;
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Thread.Sleep(1000);
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Stacker.WPosZmm += 100;
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Thread.Sleep(1000);
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Stacker.WPosZmm += 100;
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Thread.Sleep(1000);
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}
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else if (zEnd == 3 || zEnd == 7)
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{
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Stacker.WPosZ = (int)EForkPos.货叉在左侧;
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Stacker.WPosZmm -= 100;
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Thread.Sleep(1000);
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Stacker.WPosZmm -= 100;
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Thread.Sleep(1000);
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}
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else if (zEnd == 4 || zEnd == 8)
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{
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Stacker.WPosZ = (int)EForkPos.货叉在左侧;
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Stacker.WPosZmm -= 100;
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Thread.Sleep(1000);
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Stacker.WPosZmm -= 100;
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Thread.Sleep(1000);
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Stacker.WPosZmm -= 100;
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Thread.Sleep(1000);
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Stacker.WPosZmm -= 100;
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Thread.Sleep(1000);
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}
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else if(zEnd == 0)
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{
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var delta = Stacker.WPosZmm > 0 ? -1 : 1;
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while(Stacker.WPosZmm != 0)
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{
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Stacker.WPosZmm += 100 * delta;
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Thread.Sleep(1000);
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}
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Stacker.WPosZ = (int)EForkPos.货叉原位;
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}
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ZFlag = true;
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}
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}
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}
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