public void TestStopImmediately()
{
var timeout = TimeSpan.FromMilliseconds(100);
var memory = new PLCMemory();
var customerLogic = new PLCLogic(new PLCController(memory));
var mujinController = new PLCController(memory);
customerLogic.ClearAllSignals();
// indicate we are ready
mujinController.Set(new Dictionary <string, object>()
{
{ "isRunningOrderCycle", false },
{ "isRobotMoving", false },
{ "isModeAuto", true },
{ "isSystemReady", true },
{ "isCycleReady", true },
});
customerLogic.WaitUntilOrderCycleReady(timeout);
// start order cycle
mujinController.Set(new Dictionary <string, object>()
{
{ "isRunningOrderCycle", true },
{ "numLeftInOrder", 1 },
{ "numLeftInLocation1", 1 },
});
var status = customerLogic.StartOrderCycle("orderId", "orderPartType", 1, timeout);
Assert.Equal(true, status.isRunningOrderCycle);
Assert.Equal(1, status.numLeftInOrder);
Assert.Equal(1, status.numLeftInLocation1);
// stop immediately
mujinController.Set(new Dictionary <string, object>()
{
{ "isRobotMoving", false },
{ "isRunningOrderCycle", false },
{ "numLeftInOrder", 1 },
{ "numLeftInLocation1", 1 },
{ "orderCycleFinishCode", (int)PLCLogic.PLCOrderCycleFinishCode.FinishedStoppedImmediately },
});
customerLogic.StopImmediately();
// controller might reset variables
// mujinController.Set(new Dictionary<string, object>()
// {
// { "numLeftInOrder", 0 },
// { "numLeftInLocation1", 0 },
// { "orderCycleFinishCode", 0 },
// });
status = customerLogic.GetOrderCycleStatus();
Assert.Equal(false, status.isRunningOrderCycle);
Assert.Equal(false, status.isRobotMoving);
Assert.Equal(1, status.numLeftInOrder);
Assert.Equal(1, status.numLeftInLocation1);
Assert.Equal(PLCLogic.PLCOrderCycleFinishCode.FinishedStoppedImmediately, status.orderCycleFinishCode);
}
public void TestResetError()
{
var timeout = TimeSpan.FromMilliseconds(100);
var memory = new PLCMemory();
var customerLogic = new PLCLogic(new PLCController(memory));
var mujinController = new PLCController(memory);
customerLogic.ClearAllSignals();
// indicate we are ready
mujinController.Set(new Dictionary <string, object>()
{
{ "isRunningOrderCycle", false },
{ "isRobotMoving", false },
{ "isModeAuto", true },
{ "isSystemReady", true },
{ "isCycleReady", true },
});
customerLogic.WaitUntilOrderCycleReady(timeout);
// start order cycle
mujinController.Set(new Dictionary <string, object>()
{
{ "isRunningOrderCycle", true },
{ "numLeftInOrder", 1 },
{ "numLeftInLocation1", 1 },
});
var status = customerLogic.StartOrderCycle("orderId", "orderPartType", 1, timeout);
Assert.Equal(true, status.isRunningOrderCycle);
Assert.Equal(1, status.numLeftInOrder);
Assert.Equal(1, status.numLeftInLocation1);
// set error
mujinController.Set(new Dictionary <string, object>()
{
{ "isRobotMoving", false },
{ "isRunningOrderCycle", false },
{ "numLeftInOrder", 1 },
{ "numLeftInLocation1", 1 },
{ "orderCycleFinishCode", (int)PLCLogic.PLCOrderCycleFinishCode.FinishedPlanningFailure },
{ "isError", true },
{ "errorcode", (int)PLCLogic.PLCErrorCode.PlanningError },
});
var e = Assert.Throws <PLCLogic.PLCError>(() =>
{
customerLogic.WaitUntilOrderCycleFinish();
});
Assert.Equal(PLCLogic.PLCErrorCode.PlanningError, e.errorcode);
//Assert.Equal(0, e.detailedErrorCode);
status = customerLogic.GetOrderCycleStatus();
Assert.Equal(false, status.isRunningOrderCycle);
Assert.Equal(false, status.isRobotMoving);
Assert.Equal(1, status.numLeftInOrder);
Assert.Equal(1, status.numLeftInLocation1);
Assert.Equal(PLCLogic.PLCOrderCycleFinishCode.FinishedPlanningFailure, status.orderCycleFinishCode);
// reset error
mujinController.Set(new Dictionary <string, object>()
{
{ "isError", false },
{ "errorcode", 0 },
{ "orderCycleFinishCode", 0 },
});
customerLogic.ResetError();
status = customerLogic.GetOrderCycleStatus();
Assert.Equal(false, status.isRunningOrderCycle);
Assert.Equal(false, status.isRobotMoving);
Assert.Equal(1, status.numLeftInOrder);
Assert.Equal(1, status.numLeftInLocation1);
Assert.Equal(PLCLogic.PLCOrderCycleFinishCode.FinishedNotAvailable, status.orderCycleFinishCode);
}
public void TestOrderCycle(string orderId, string orderPartType, int orderNumber, int supplyNumber)
{
var timeout = TimeSpan.FromMilliseconds(100);
var memory = new PLCMemory();
var customerLogic = new PLCLogic(new PLCController(memory));
var mujinController = new PLCController(memory);
customerLogic.ClearAllSignals();
// indicate we are ready
mujinController.Set(new Dictionary <string, object>()
{
{ "isRunningOrderCycle", false },
{ "isRobotMoving", false },
{ "isModeAuto", true },
{ "isSystemReady", true },
{ "isCycleReady", true },
});
customerLogic.WaitUntilOrderCycleReady(timeout);
// start order cycle
mujinController.Set(new Dictionary <string, object>()
{
{ "isRunningOrderCycle", true },
{ "numLeftInOrder", orderNumber },
{ "numLeftInLocation1", supplyNumber },
});
var status = customerLogic.StartOrderCycle(orderId, orderPartType, orderNumber, timeout);
Assert.Equal(true, status.isRunningOrderCycle);
Assert.Equal(orderNumber, status.numLeftInOrder);
Assert.Equal(supplyNumber, status.numLeftInLocation1);
// check order status
while (true)
{
mujinController.Set(new Dictionary <string, object>()
{
{ "isRobotMoving", true },
{ "numLeftInOrder", orderNumber },
{ "numLeftInLocation1", supplyNumber },
});
status = customerLogic.GetOrderCycleStatus(timeout);
Assert.Equal(true, status.isRobotMoving);
Assert.Equal(orderNumber, status.numLeftInOrder);
Assert.Equal(supplyNumber, status.numLeftInLocation1);
if (orderNumber <= 0 || supplyNumber <= 0)
{
break;
}
orderNumber--;
supplyNumber--;
}
if (orderNumber == 0)
{
mujinController.Set(new Dictionary <string, object>()
{
{ "isRobotMoving", false },
{ "isRunningOrderCycle", false },
{ "numLeftInOrder", orderNumber },
{ "numLeftInLocation1", supplyNumber },
{ "orderCycleFinishCode", (int)PLCLogic.PLCOrderCycleFinishCode.FinishedOrderComplete },
});
status = customerLogic.WaitUntilOrderCycleFinish(timeout);
Assert.Equal(false, status.isRunningOrderCycle);
Assert.Equal(false, status.isRobotMoving);
Assert.Equal(0, status.numLeftInOrder);
Assert.Equal(supplyNumber, status.numLeftInLocation1);
Assert.Equal(PLCLogic.PLCOrderCycleFinishCode.FinishedOrderComplete, status.orderCycleFinishCode);
}
else
{
mujinController.Set(new Dictionary <string, object>()
{
{ "isRobotMoving", false },
{ "isRunningOrderCycle", false },
{ "numLeftInOrder", orderNumber },
{ "numLeftInLocation1", supplyNumber },
{ "orderCycleFinishCode", (int)PLCLogic.PLCOrderCycleFinishCode.FinishedNoMoreTargets },
});
status = customerLogic.WaitUntilOrderCycleFinish(timeout);
Assert.Equal(false, status.isRunningOrderCycle);
Assert.Equal(false, status.isRobotMoving);
Assert.Equal(orderNumber, status.numLeftInOrder);
Assert.Equal(0, status.numLeftInLocation1);
Assert.Equal(PLCLogic.PLCOrderCycleFinishCode.FinishedNoMoreTargets, status.orderCycleFinishCode);
}
}
static void Main(string[] args)
{
var memory = new PLCMemory();
PLCController controller = new PLCController(memory, TimeSpan.FromSeconds(1.0));
var logic = new PLCLogic(controller);
var server = new PLCServer(memory, "tcp://*:5555");
Console.WriteLine("Starting server to listen on {0} ...", server.Address);
server.Start();
Console.WriteLine("Waiting for controller connection ...");
logic.WaitUntilConnected();
Console.WriteLine("Controller connected.");
try
{
if (controller.GetBoolean("isError"))
{
Console.WriteLine("controller is in error 0x{0:X}, resetting", controller.Get("errorcode"));
logic.ResetError();
}
if (controller.GetBoolean("isRunningOrderCycle"))
{
Console.WriteLine("previous cycle already running, so stop and wait");
logic.StopOrderCycle();
}
Console.WriteLine("Waiting for cycle ready...");
logic.WaitUntilOrderCycleReady();
Console.WriteLine("Starting order cycle ...");
PLCLogic.PLCOrderCycleStatus status;
if (true)
{
// first work piece
controller.Set("orderRobotId", 1);
status = logic.StartOrderCycle("123", "work1", 1);
}
else
{
// for the second work piece do
controller.Set("orderRobotId", 2);
status = logic.StartOrderCycle("123", "work2_b", 1);
}
Console.WriteLine("Order cycle started. numLeftInOrder = {0}, numLeftInLocation1 = {1}.", status.numLeftInOrder, status.numLeftInLocation1);
while (true)
{
status = logic.WaitForOrderCycleStatusChange();
if (!status.isRunningOrderCycle)
{
Console.WriteLine("Cycle finished. {0}", status.orderCycleFinishCode);
break;
}
Console.WriteLine("Cycle running. numLeftInOrder = {0}, numLeftInLocation1 = {1}.", status.numLeftInOrder, status.numLeftInLocation1);
}
}
catch (PLCLogic.PLCError e)
{
Console.WriteLine("PLC Error. {0}", e.Message);
}
Console.WriteLine("Press any key to exit.");
Console.ReadKey(true);
server.Stop();
}
