static void safeUploadGoodThreadMain(object po)
{
object[] pa = (object[])po;
int chId = (int)pa[0];
// parameters deserialization finished
int crId = chId % 2;
lock (Locker[(int)ConveyorPart.Crossover1 + crId])
{
if (UploadCount[(chId + 2) % 4] > 0)
{
if (UploadCount[chId] == 0)
{
if (chId >= 2)
{
ConveyorBasicController.crB(crId);
ConveyorCleverController.waitForCrossover(crId, ConveyorCrState.Backward, TimeC);
}
else
{
ConveyorBasicController.crF(crId);
ConveyorCleverController.waitForCrossover(crId, ConveyorCrState.Forward, TimeC);
}
}
else
{
return;
}
}
ConveyorBasicController.crS(crId);
ConveyorCleverController.waitForCrossover(crId, ConveyorCrState.Stop, TimeA);
unsafeUploadGoodThreadMain(po);
}
}
static void onEveryWorkingUnit(int unitTime)
{
if (stopWhenNoTask && taskCount == 0)
{
ConveyorBasicController.mrS(0);
ConveyorCleverController.cleanDelegate();
RfidCleverController.cleanDelegate();
running = false;
}
else if (!stopWhenNoTask)
{
for (int t = 0; t < ChQueue.Length; t++)
{
goodPositionBetweenSpecificNumber__minLimit = ChTime[t] - TimeD;
goodPositionBetweenSpecificNumber__maxLimit = goodPositionBetweenSpecificNumber__minLimit + unitTime;
GoodOnConveyor good = Goods.Find(goodPositionBetweenSpecificNumber);
if (good != null && good.rfidTag != null && GoodsHandleMethod.ContainsKey(good.rfidTag))
{
HandleMethod handleMethod = GoodsHandleMethod[good.rfidTag];
if (handleMethod.exitPoint == t)
{
handleGood(ChQueue[t], good, handleMethod.upload);
}
}
}
}
}
private void MainForm_Load(object sender, EventArgs e)
{
Server.init(this);
ConveyorBasicController.init(this);
ConveyorCleverController.init();
RfidBasicController.init();
RfidCleverController.init();
_timer_update.Enabled = true;
}
static void chResetThreadMain(object po)
{
object[] pa = (object[])po;
int chId = (int)pa[0];
// parameters deserialization finished
ConveyorBasicController.stD(chId * 2 + (chId <= 1 ? 1 : 0));
ConveyorBasicController.chD(chId);
if (!stopWhenNoTask || taskCount != 0)
{
ConveyorBasicController.mrC(0);
}
}
static void chHoldNextGoodThreadMain(object po)
{
object[] pa = (object[])po;
int chId = (int)pa[0];
// parameters deserialization finished
int stId = (int)chId * 2 + (chId <= 1 ? 1 : 0);
int inputBitIndex = (int)ConveyorInputDevice.Senser5 + chId;
ConveyorCleverController.waitForInput(inputBitIndex, false, 1);
ConveyorCleverController.waitForInput(inputBitIndex, true, 1);
ConveyorBasicController.stU(stId);
ConveyorCleverController.waitForMainRoller(ConveyorMRState.Clockwise, TimeB);
ConveyorBasicController.mrS(chId);
ConveyorBasicController.chU(chId);
ConveyorCleverController.waitForChangeover(chId, ConveyorChState.Up, TimeA);
}
static void throwGoodThreadMain(object po)
{
object[] pa = (object[])po;
int chId = (int)pa[0];
// parameters deserialization finished
int crId = chId % 2;
if (chId >= 2)
{
ConveyorBasicController.chB(chId);
ConveyorCleverController.waitForChangeover(chId, ConveyorChState.Up | ConveyorChState.Backward, TimeC);
}
else
{
ConveyorBasicController.chF(chId);
ConveyorCleverController.waitForChangeover(chId, ConveyorChState.Up | ConveyorChState.Forward, TimeC);
}
ConveyorBasicController.chS(chId);
}
public static void start(ArtificialIntelligenceInterface artificialIntelligenceInterface)
{
if (ConveyorBasicController.connected && Server.connected && RfidBasicController.connected)
{
ArtificialIntelligence.artificialIntelligenceInterface = artificialIntelligenceInterface;
ConveyorBasicController.resetAll();
Goods.Clear();
GoodsHandleMethod.Clear();
taskCount = 0;
stopWhenNoTask = false;
for (int t = 0; t < ChQueue.Length; t++)
{
UploadCount[t] = 0;
}
for (int t = 0; t < Locker.Length; t++)
{
Locker[t] = new object();
}
ConveyorBasicController.mrC(0);
ConveyorCleverController.OnSenserTriggerOn[0] = onSenser0TriggerOn;
ConveyorCleverController.onEveryWorkingUnit = onEveryWorkingUnit;
ConveyorCleverController.OnOutputOn[(int)ConveyorOutputDevice.MainRollerClockwise] = onMainRollerClockwise;
RfidCleverController.onDetectRfid = onDetectRfid;
running = true;
}
else
{
if (!ConveyorBasicController.connected)
{
artificialIntelligenceInterface.onStartFailed("Conveyor connect fail");
}
if (!Server.connected)
{
artificialIntelligenceInterface.onStartFailed("Server connect fail");
}
if (!RfidBasicController.connected)
{
artificialIntelligenceInterface.onStartFailed("RFID reader connect fail");
}
}
}
static void unsafeUploadGoodThreadMain(object po)
{
object[] pa = (object[])po;
int chId = (int)pa[0];
// parameters deserialization finished
int crId = chId % 2;
UploadCount[chId]++;
if (chId >= 2)
{
ConveyorBasicController.chF(chId);
ConveyorBasicController.crF(crId);
ConveyorCleverController.waitForCrossover(crId, ConveyorCrState.Forward, TimeC);
}
else
{
ConveyorBasicController.chB(chId);
ConveyorBasicController.crB(crId);
ConveyorCleverController.waitForCrossover(crId, ConveyorCrState.Backward, TimeC);
}
ConveyorBasicController.chS(chId);
ConveyorBasicController.crS(crId);
}
private void MainForm_FormClosing(object sender, FormClosingEventArgs e)
{
ConveyorBasicController.stop();
}
private void _button_cr_forward_Click(object sender, EventArgs e)
{
ConveyorBasicController.crF(Convert.ToInt32(new Regex(@"\d+").Match(((Button)sender).Name).ToString()) - 1);
}
private void _button_mr_stop_Click(object sender, EventArgs e)
{
ConveyorBasicController.mrS(1);
}
private void _button_mr_anticlockwise_Click(object sender, EventArgs e)
{
ConveyorBasicController.mrA(1);
}