public Shuttle(ShuttleInfo info) : base(info)
{
shuttleInfo = info;
//trackRail = new TrackRail(info.multiShuttleinfo, info.level, info.parent)
trackRail = new TrackRail(new TrackRailInfo()
{
level = info.level, parentMultiShuttle = info.parentMultishuttle, shuttlecarSpeed = info.parentMultishuttle.ShuttleCarSpeed
})
{
Name = "S" + info.level.ToString().PadLeft(2, '0'),
ThisShuttle = this
};
ParentMultiShuttle = info.parentMultishuttle;
Add((Core.Parts.RigidPart)trackRail);
shuttleConveyor = new StraightTransportSection(Core.Environment.Scene.DefaultColor, 0.1f, 0.1f)
{
Height = 0.05f
};
Add(shuttleConveyor, new Vector3(trackRail.Length / 2, 0, 0));
//shuttleConveyor.LocalYaw = (float)Math.PI / 2;
shuttleAP = shuttleConveyor.Route.InsertActionPoint(shuttleConveyor.Length / 2);
shuttleAP.OnEnter += shuttleAP_OnEnter;
shuttleAP2 = shuttleConveyor.Route.InsertActionPoint(shuttleConveyor.Length / 2);
shuttleAP_Zpos = (info.multiShuttleinfo.RackConveyorWidth / 2) + (info.multiShuttleinfo.carwidth / 2);
trackRail.Car.OnPositionChanged += Car_OnPositionChanged;
ShuttleTasks.CollectionChanged += ShuttleTasks_CollectionChanged;
ShuttleTasks.Clear();
shuttleConveyor.Route.Motor.Stop();
}
public TrackVehicle(TrackVehicleInfo info) : base(info)
{
ControlAssembly = info.controlAssembly;
trackVehicleInfo = info;
Length = 0.05f;
Width = 0.5f;
Height = 0.05f;
Color = Color.Yellow;
shuttleConveyor = new StraightTransportSection(Core.Environment.Scene.DefaultColor, 0.1f, 0.1f)
{
Height = 0.05f
};
shuttleAP = shuttleConveyor.Route.InsertActionPoint(shuttleConveyor.Length / 2);
shuttleAP2 = shuttleConveyor.Route.InsertActionPoint(shuttleConveyor.Length / 2);
shuttleAP.OnEnter += ShuttleAP_OnEnter;
shuttleConveyor.Route.Motor.Stop();
shuttleConveyor.Visible = false;
Track = info.trackRail;
DestAP = Track.Route.InsertActionPoint(info.moveToDistance);
Track.Route.Add(this, info.moveToDistance);
DestAP.Visible = false;
DestAP.OnEnter += MoveTo_OnEnter;
Deletable = false;
UserDeletable = false;
Embedded = true;
Stop();
Load.Items.Add(this);
Core.Environment.Scene.OnLoaded += Scene_OnLoaded;
}
private void SetTransportLocalYaw(StraightTransportSection carTransport, TransferCarSide side, Motor.Directions direction, TransferCarJob.PickDropInfo.PickDropTypes jobType)
{
if (jobType == TransferCarJob.PickDropInfo.PickDropTypes.Pick)
{
if (direction == Motor.Directions.Forward)
{
if (side == TransferCarSide.Right)
{
carTransport.LocalYaw = (float)Math.PI / 2;
}
else
{
carTransport.LocalYaw = -(float)Math.PI / 2;
}
}
else
{
if (side == TransferCarSide.Right)
{
carTransport.LocalYaw = -(float)Math.PI / 2;
}
else
{
carTransport.LocalYaw = (float)Math.PI / 2;
}
}
}
else
{
if (direction == Motor.Directions.Forward)
{
if (side == TransferCarSide.Left)
{
carTransport.LocalYaw = (float)Math.PI / 2;
}
else
{
carTransport.LocalYaw = -(float)Math.PI / 2;
}
}
else
{
if (side == TransferCarSide.Left)
{
carTransport.LocalYaw = -(float)Math.PI / 2;
}
else
{
carTransport.LocalYaw = (float)Math.PI / 2;
}
}
}
}
public static event OnLiftRaisedEvent OnLiftRaisedStatic; // This is the event that can be subscribed to in the routing script
public Lift(LiftInfo info) : base(info)
{
liftInfo = info;
info.height = info.height * 2; // assembley is placed at height/2 so that it comes out at height ?!!??
// Rail
lift = new StraightTransportSection(Color.Gray, LiftHeight, 0.1f, 0.02f);
Add(lift);
lift.Route.Motor.Speed = 1; // m/s ?
lift.LocalRoll = -(float)Math.PI / 2.0f;
// Load Vehicle
liftLoad = Core.Loads.Load.CreateBox(0.1f, 0.1f, 0.1f, Color.Red);
liftLoad.Embedded = true;
liftLoad.Deletable = false;
lift.Route.Add(liftLoad);
liftLoad.OnPositionChanged += Liftload_OnPositionChanged;
liftLoad.Stop();
liftLoad.Visible = false;
// Action point for lift rail
liftStopPoint = lift.Route.InsertActionPoint(LiftHeight);
liftStopPoint.Visible = false;
liftStopPoint.OnEnter += LiftStopPoint_OnEnter;
// Conveyor
LiftStraightInfo straightInfo = new LiftStraightInfo
{
ConveyorType = PalletConveyorType.Roller,
thickness = 0.05f,
spacing = 0.1f,
width = liftInfo.ConveyorWidth,
length = liftInfo.ConveyorLength,
height = 0.7f,
speed = 0.3f,
color = liftInfo.color,
};
LiftConveyor = new LiftStraight(straightInfo);
LiftConveyor.LineReleasePhotocell.OnPhotocellStatusChanged += LineReleasePhotocell_OnPhotocellStatusChanged;
LiftConveyor.EndFixPoint.OnSnapped += EndFixPoint_OnSnapped;
Add(LiftConveyor);
var zposition = LiftConveyor.Width / 2.0f + 0.02f;
lift.LocalPosition = new Vector3(0, LiftHeight / 2.0f, zposition);
Reset();
}
public Shuttle(ShuttleInfo info) : base(info)
{
shuttleInfo = info;
trackRail = new TrackRail(info.multiShuttleinfo, info.level, info.parent)
{
Name = "S" + info.level.ToString().PadLeft(2, '0'),
ThisShuttle = this
};
ParentMultiShuttle = info.parent;
AddPart(trackRail);
shuttleConveyor = new StraightTransportSection(Core.Environment.Scene.DefaultColor, ParentMultiShuttle.DepthDistPos2 * 2, 0.5f)
{
Height = 0.05f
};
Add(shuttleConveyor, new Vector3(trackRail.Length / 2, 0, 0));
shuttleConveyor.LocalYaw = (float)Math.PI / 2;
transferIn = shuttleConveyor.Route.InsertActionPoint(ParentMultiShuttle.DepthDistPos2 - ((info.multiShuttleinfo.RackConveyorWidth / 2) + (info.multiShuttleinfo.carwidth / 2)));
transferIn.OnEnter += transferIn_OnEnter;
transferOut = shuttleConveyor.Route.InsertActionPoint(ParentMultiShuttle.DepthDistPos2 + ((info.multiShuttleinfo.RackConveyorWidth / 2) + (info.multiShuttleinfo.carwidth / 2)));
transferOut.OnEnter += transferOut_OnEnter;
shuttleAP = shuttleConveyor.Route.InsertActionPoint(shuttleConveyor.Length / 2);
shuttleAP.OnEnter += shuttleAP_OnEnter;
enterPointDepth1 = shuttleConveyor.Route.InsertActionPoint(ParentMultiShuttle.DepthDistPos2 - ParentMultiShuttle.DepthDistPos1);
enterPointDepth1.OnEnter += enterPointDepth1_OnEnter;
enterPointDepth2 = shuttleConveyor.Route.InsertActionPoint(0);
exitPointDepth1 = shuttleConveyor.Route.InsertActionPoint(ParentMultiShuttle.DepthDistPos2 + ParentMultiShuttle.DepthDistPos1);
exitPointDepth1.OnEnter += exitPointDepth1_OnEnter;
exitPointDepth2 = shuttleConveyor.Route.InsertActionPoint(shuttleConveyor.Length);
exitPointDepth2.OnEnter += exitPointDepth2_OnEnter;
trackRail.Car.OnPositionChanged += Car_OnPositionChanged;
ShuttleTasks.Clear();
ShuttleTasks.CollectionChanged += ShuttleTasks_CollectionChanged;
// MoveShuttle(ParentMultiShuttle.workarround);
}
private void SetTransportMotorAndRoute(StraightTransportSection carTransport, Motor.Directions direction, Route next, TransferCarJob.PickDropInfo.PickDropTypes jobType, ActionPoint leaving)
{
if (direction == Motor.Directions.Forward)
{
if (carTransport.Route.Motor.Direction != direction)
{
carTransport.Route.Motor.SwitchDirection();
}
if (next.Motor.Direction != direction)
{
next.Motor.SwitchDirection();
}
if (jobType == TransferCarJob.PickDropInfo.PickDropTypes.Drop)
{
carTransport.Route.NextRoute = next;
}
else
{
next.NextRoute = carTransport.Route;
}
leaving.Distance = carTransport.Length;
carTransport.Route.Motor.Start();
}
else
{
if (carTransport.Route.Motor.Direction != direction)
{
carTransport.Route.Motor.SwitchDirection();
}
if (next.Motor.Direction != direction)
{
next.Motor.SwitchDirection();
}
if (jobType == TransferCarJob.PickDropInfo.PickDropTypes.Drop)
{
carTransport.Route.PreviousRoute = next;
}
else
{
next.PreviousRoute = carTransport.Route;
}
leaving.Distance = 0;
carTransport.Route.Motor.Start();
}
}
public TransferCar(TransferCarInfo info) : base(info)
{
transport = new StraightTransportSection(Color.Blue, info.length, 0, 0.1f);
Add(transport);
transport.LocalYaw = (float)Math.PI;
transport.LocalPosition = new Vector3(transport.Length / 2, 0, 0);
transport.Visible = false;
destination = new ActionPoint();
transport.Route.InsertActionPoint(destination);
destination.Distance = transport.Length / 2;
destination.StopMode = ActionPoint.StoppingMode.Stop;
destination.OnEnter += DestinationOnEnter;
car1Transport = new StraightTransportSection(carColor, 1.8f, carHeight, 1.0f);
Add(car1Transport);
car1Transport.LocalYaw = (float)Math.PI / 2;
car1Transport.Route.Motor.Speed = conveyorSpeed;
//Z-Position of the rails were modified
rail1 = new Cube(Color.Gray, transport.Length, 0.1f, 0.1f);
Add(rail1);
rail1.LocalPosition = new Vector3(transport.Length / 2, 0, 0.540f);
rail2 = new Cube(Color.Gray, transport.Length, 0.1f, 0.1f);
Add(rail2);
rail2.LocalPosition = new Vector3(transport.Length / 2, 0, -0.540f);
car = Load.CreateBox(0.1f, 0.1f, 0.1f, Color.Red);
transport.Route.Add(car);
car.Deletable = false;
car.Embedded = true;
car.Stop();
car.OnPositionChanged += Car_OnPositionChanged;
car.Distance = destination.Distance;
car.Visible = false;
car1OnBoard = car1Transport.Route.InsertActionPoint(car1Transport.Length / 2);
car1OnBoard.OnEnter += Car1OnBoard_OnEnter;
car1Leaving = car1Transport.Route.InsertActionPoint(car1Transport.Length);
car1Leaving.Edge = ActionPoint.Edges.Trailing;
car1Leaving.OnEnter += Car1Leaving_OnEnter;
}
public TCar(TCarInfo info) : base(info)
{
tCarInfo = info;
info.height = info.height * 2; // assembley is placed at height/2 so that it comes out at height ?!!??
Core.Environment.Scene.OnLoaded += Scene_OnLoaded;
var offCentre = TCarWidth / 2 - TCarWidth;
// Left track used to move the load
track = new StraightTransportSection(Color.Gray, TCarLength, 0.05f, 0.05f);
Add(track);
track.Route.Motor.Speed = 1; // m/s ?
track.LocalPosition = new Vector3(-TCarLength / 2, -0.05f, offCentre);
// Load Vehicle
trackLoad = Core.Loads.Load.CreateBox(0.1f, 0.1f, 0.1f, Color.BlueViolet);
trackLoad.Embedded = true;
trackLoad.Deletable = false;
track.Route.Add(trackLoad);
trackLoad.OnPositionChanged += TrackLoad_OnPositionChanged;
trackLoad.Stop();
trackLoad.Visible = false;
// Right track (visual only)
trackRight = new Cube(Color.Gray, TCarLength, 0.05f, 0.05f);
Add(trackRight);
trackRight.LocalPosition = new Vector3(-TCarLength / 2, -0.05f, -offCentre);
// Action point for lift rail
trackStopPoint = track.Route.InsertActionPoint(0);
trackStopPoint.Color = Color.Black;
trackStopPoint.Visible = false;
trackStopPoint.OnEnter += TrackStopPoint_OnEnter;
// Conveyor
PalletStraightInfo straightInfo = new PalletStraightInfo
{
ConveyorType = PalletConveyorType.Roller,
thickness = 0.05f,
spacing = 0.1f,
width = ConveyorWidth,
length = TCarWidth,
speed = 0.3f,
color = tCarInfo.color,
};
conveyor = new PalletStraight(straightInfo);
conveyor.LineReleasePhotocell.OnPhotocellStatusChanged += LineReleasePhotocell_OnPhotocellStatusChanged;
conveyor.ThisRouteStatus.OnRouteStatusChanged += ThisRouteStatus_OnRouteStatusChanged;
conveyor.Entering.Name = "EnterPoint";
conveyor.Leaving.Name = "ExitPoint";
conveyor.StartFixPoint.Visible = false;
conveyor.EndFixPoint.Visible = false;
Add(conveyor);
conveyor.LocalPosition = new Vector3(-conveyor.Width / 2, 0, 0);
conveyor.LocalYaw = Trigonometry.PI(Trigonometry.Angle2Rad(90.0f));
SetupFixPoints();
Tasks.CollectionChanged += Tasks_CollectionChanged;
Reset();
}
public Transfer(TransferInfo info) : base(info)
{
transferInfo = info;
info.height = info.height * 2; // assembley is placed at height/2 so that it comes out at height ?!!??
rightLeftCrossover = new StraightTransportSection(info.color, 1, convThickness, 0.25f);
leftRightCrossover = new StraightTransportSection(info.color, 1, convThickness, 0.25f);
rightLeftCrossover.Route.Arrow.Visible = false;
leftRightCrossover.Route.Arrow.Visible = false;
if (transferInfo.type == TransferType.TwoWay)
{
rightLeftCrossover.Route.Motor.Speed = DivertSpeed;
leftRightCrossover.Route.Motor.Speed = DivertSpeed;
}
else if (transferInfo.type == TransferType.DHDM)
{
rightLeftCrossover.Route.Motor.Speed = DHDMSpeed;
leftRightCrossover.Route.Motor.Speed = DHDMSpeed;
}
Add(rightLeftCrossover);
Add(leftRightCrossover);
rhsConveyor = new StraightConveyor(NewStraightInfo(info));
lhsConveyor = new StraightConveyor(NewStraightInfo(info));
rhsConveyor.Name = "rhs";
lhsConveyor.Name = "lhs";
if (transferInfo.type == TransferType.TwoWay)
{
crossoverOffset = info.length / 2;
}
Add(rhsConveyor);
Add(lhsConveyor);
lhsConveyor.StartFixPoint.OnSnapped += lhsStartFixPoint_OnSnapped;
lhsConveyor.StartFixPoint.OnUnSnapped += lhsStartFixPoint_OnUnSnapped;
lhsConveyor.OnNextRouteStatusAvailableChanged += lhsConveyor_OnNextRouteStatusAvailableChanged;
lhsConveyor.EndFixPoint.OnSnapped += lhsEndFixPoint_OnSnapped;
rhsConveyor.StartFixPoint.OnSnapped += rhsStartFixPoint_OnSnapped;
rhsConveyor.StartFixPoint.OnUnSnapped += rhsStartFixPoint_OnUnSnapped;
rhsConveyor.OnNextRouteStatusAvailableChanged += rhsConveyor_OnNextRouteStatusAvailableChanged;
rhsConveyor.EndFixPoint.OnSnapped += rhsEndFixPoint_OnSnapped;
lhsConveyor.RouteAvailable = RouteStatuses.Request; //We are setting this to request because the DHDM controls the release of loads from the previous conveyor onto it.
rhsConveyor.RouteAvailable = RouteStatuses.Request; //same here
rhsStartAP = rhsConveyor.TransportSection.Route.InsertActionPoint(crossoverOffset);
lhsStartAP = lhsConveyor.TransportSection.Route.InsertActionPoint(crossoverOffset);
rhsEndAP = rhsConveyor.TransportSection.Route.InsertActionPoint(DHDMLength - crossoverOffset);
lhsEndAP = lhsConveyor.TransportSection.Route.InsertActionPoint(DHDMLength - crossoverOffset);
rightToLeftStartAP = rightLeftCrossover.Route.InsertActionPoint(0);
leftToRightStartAP = leftRightCrossover.Route.InsertActionPoint(0);
rightToLeftEndAP = rightLeftCrossover.Route.InsertActionPoint(0); //Should be placed at the end this is done in UpdateCrossoverSectionAngles when we know the correct length of the crossover sections
leftToRightEndAP = leftRightCrossover.Route.InsertActionPoint(0); //Should be placed at the end this is done in UpdateCrossoverSectionAngles when we know the correct length of the crossover sections
rhsStartAP.OnEnter += rhsStartAP_OnEnter;
lhsStartAP.OnEnter += lhsStartAP_OnEnter;
rhsEndAP.OnEnter += rhsEndAP_OnEnter;
lhsEndAP.OnEnter += lhsEndAP_OnEnter;
rightToLeftEndAP.OnEnter += rightToLeftEndAP_OnEnter;
leftToRightEndAP.OnEnter += leftToRightEndAP_OnEnter;
DHDMWidth = info.width; //This will adjust the crossover conveyors so that the corossover angles are correct
DHDMLength = info.length;
InternalConvWidth = info.internalConvWidth;
ReleaseDelayTimer = new Core.Timer(ReleaseDelayTimeStraight); //loads will be only be released when the timer elapses the timer will start when a load transfers
ReleaseDelayTimer.OnElapsed += ReleaseDelayTimer_Elapsed;
ReleaseDelayTimer.AutoReset = false;
Core.Environment.Scene.OnLoaded += Scene_OnLoaded;
ControllerProperties = StandardCase.SetMHEControl(info, this);
}
public PalletCrane(PalletCraneInfo info)
: base(info)
{
palletCraneInfo = info;
if (info.PickStations == null)
{
info.PickStations = new ExpandablePropertyList <StationConfiguration>();
}
if (!info.PickStations.Any())
{
info.PickStations.Add(new StationConfiguration {
LevelHeight = 1, StationType = PalletCraneStationTypes.PickStation, Side = PalletCraneStationSides.Right, Length = 1.61f, thickness = 0.05f, Width = 0.978f, Speed = 0.7f, ConveyorType = PalletConveyorType.Roller
});
}
if (info.DropStations == null)
{
info.DropStations = new ExpandablePropertyList <StationConfiguration>();
}
if (!info.DropStations.Any())
{
info.DropStations.Add(new StationConfiguration {
LevelHeight = 1, StationType = PalletCraneStationTypes.DropStation, Side = PalletCraneStationSides.Left, Length = 1.61f, thickness = 0.05f, Width = 0.978f, Speed = 0.7f, ConveyorType = PalletConveyorType.Roller
});
}
Lift.Height = 0.05f;
Lift.Color = Color.DarkBlue;
pickConveyors = new List <PalletStation>();
foreach (var config in info.PickStations)
{
var pickConveyor = new PalletStation(config);
Add(pickConveyor);
pickConveyor.PositionAp.OnEnter += PosPd_OnEnter;
pickConveyor.StartFixPoint.OnSnapped += PickConveyorStartFixPoint_OnSnapped;
pickConveyor.StartFixPoint.OnUnSnapped += PickConveyorStartFixPoint_OnUnSnapped;
pickConveyors.Add(pickConveyor);
}
dropConveyors = new List <PalletStation>();
foreach (var config in info.DropStations)
{
var dropConveyor = new PalletStation(config);
Add(dropConveyor);
dropConveyor.ThisRouteStatus.OnRouteStatusChanged += DropConveyor_OnRouteStatusChanged;
dropConveyors.Add(dropConveyor);
}
holdingConveyor = new StraightTransportSection(Color.Black, 1, 0, 0.5f);
Add(holdingConveyor);
holdingConveyor.Route.InsertActionPoint(holdingAp, holdingConveyor.Length / 2);
holdingConveyor.Route.Motor.Speed = 0.7f;
holdingConveyor.Visible = false;
holdingAp.OnEnter += HoldingAp_OnEnter;
UpdatePalletCrane();
AllCranes.Add(this);
subMenu = new List <System.Windows.Forms.ToolStripItem>();
subMenu.Add(new System.Windows.Forms.ToolStripMenuItem("Reset", Common.Icons.Get("fault")));
subMenu[0].Click += DematicHBW_ClickReset;
//subMenu.Add(new System.Windows.Forms.ToolStripMenuItem("Set compartment occupied", Common.Icons.Get("fault")));
//subMenu[1].Click += new EventHandler(DematicHBW_ClickCompartmentOccupied);
//subMenu.Add(new System.Windows.Forms.ToolStripMenuItem("Set compartment empty", Common.Icons.Get("fault")));
//subMenu[2].Click += new EventHandler(DematicHBW_ClickCompartmentEmpty);
//subMenu.Add(new System.Windows.Forms.ToolStripMenuItem("Fault PalletCrane", Common.Icons.Get("fault")));
//subMenu[3].Click += new EventHandler(DematicHBW_ClickFault);
Control.FinishedJob += Control_FinishedJob;
Control.LoadDropped += Control_LoadDropped;
LoadingSpeed = 1;
UnloadingSpeed = 1;
ControllerProperties = StandardCase.SetMHEControl(info, this);
Core.Environment.Scene.OnLoaded += Scene_OnLoaded;
}
