private bool GetLoadingFrom(CarrierSlotStatus carrierSlotStatus)
{
switch (carrierSlotStatus.EnumCarrierSlotState)
{
case EnumCarrierSlotState.Empty:
return(false);
case EnumCarrierSlotState.Loading:
return(true);
case EnumCarrierSlotState.PositionError:
case EnumCarrierSlotState.ReadFail:
return(true);
default:
return(false);
}
}
public void SetCarrierSlotStatusTo(CarrierSlotStatus carrierSlotStatus)
{
var oriLoadUnloadData = LocalPackage.MainFlowHandler.localData.LoadUnloadData;
LoadUnloadControlData tempLoadUnloadControlData = new LoadUnloadControlData()
{
CommandStatus = oriLoadUnloadData.CommandStatus,
CommnadID = oriLoadUnloadData.CommnadID,
CstID = carrierSlotStatus.CarrierId,
ErrorBit = oriLoadUnloadData.ErrorBit,
ForkHome = oriLoadUnloadData.ForkHome,
Loading = GetLoadingFrom(carrierSlotStatus),
Ready = oriLoadUnloadData.Ready
};
LocalPackage.MainFlowHandler.localData.LoadUnloadData = tempLoadUnloadControlData;
//TODO: DoCstRenameByAgvcFor(tempLoadUnloadControlData);
}
public void DoRobotCommandFor(RobotCommand robotCommand)
{
Task.Run(() =>
{
if (robotCommand.GetTransferStepType() == EnumTransferStepType.Load)
{
RobotStatus = new RobotStatus()
{
EnumRobotState = EnumRobotState.Busy, IsHome = false
};
OnUpdateRobotStatusEvent?.Invoke(this, RobotStatus);
System.Threading.Thread.Sleep(2000);
CarrierSlotStatus = new CarrierSlotStatus()
{
CarrierId = robotCommand.CassetteId, EnumCarrierSlotState = EnumCarrierSlotState.Loading, SlotNumber = robotCommand.SlotNumber
};
OnUpdateCarrierSlotStatusEvent?.Invoke(this, CarrierSlotStatus);
System.Threading.Thread.Sleep(2000);
RobotStatus = new RobotStatus()
{
EnumRobotState = EnumRobotState.Idle, IsHome = true
};
OnUpdateRobotStatusEvent?.Invoke(this, RobotStatus);
OnRobotEndEvent?.Invoke(this, EnumRobotEndType.Finished);
}
else if (robotCommand.GetTransferStepType() == EnumTransferStepType.Unload)
{
RobotStatus = new RobotStatus()
{
EnumRobotState = EnumRobotState.Busy, IsHome = false
};
OnUpdateRobotStatusEvent?.Invoke(this, RobotStatus);
System.Threading.Thread.Sleep(2000);
CarrierSlotStatus = new CarrierSlotStatus()
{
CarrierId = "", EnumCarrierSlotState = EnumCarrierSlotState.Empty, SlotNumber = robotCommand.SlotNumber
};
OnUpdateCarrierSlotStatusEvent?.Invoke(this, CarrierSlotStatus);
System.Threading.Thread.Sleep(2000);
RobotStatus = new RobotStatus()
{
EnumRobotState = EnumRobotState.Idle, IsHome = true
};
OnUpdateRobotStatusEvent?.Invoke(this, RobotStatus);
OnRobotEndEvent?.Invoke(this, EnumRobotEndType.Finished);
}
});
}
public NullObjRobotHandler(RobotStatus robotStatus, CarrierSlotStatus carrierSlotStatus)
{
this.RobotStatus = robotStatus;
this.CarrierSlotStatus = carrierSlotStatus;
}
public void SetCarrierSlotStatusTo(CarrierSlotStatus carrierSlotStatus)
{
CarrierSlotStatus = carrierSlotStatus;
OnUpdateCarrierSlotStatusEvent?.Invoke(this, CarrierSlotStatus);
}
