private TargetPosition ConvertShieldBoxToTargetPosition(ShieldBox shieldBox)
{
switch (shieldBox.Id)
{
case 1:
return(Motion.ShieldBox1);
case 2:
return(Motion.ShieldBox2);
case 3:
return(Motion.ShieldBox3);
case 4:
return(Motion.ShieldBox4);
case 5:
return(Motion.ShieldBox5);
case 6:
return(Motion.ShieldBox6);
default:
throw new Exception("Shield box Id out of range exception.");
}
}
//public void UnloadAndLoad(TargetPosition target, RackGripper gripper)
//{
// CheckGripperAvailable(gripper);
// MoveToTargetPosition(gripper, target);
// CloseGripper(gripper);
// MoveToPointTillEnd(Motion.MotorZ, target.ApproachHeight); //Up.
// ChangeGripper(target, ref gripper); //Switch gripper.
// MoveToPointTillEnd(Motion.MotorZ, target.ZPos); //Down.
// OpenGripper(gripper);
// MoveToPointTillEnd(Motion.MotorZ, target.ApproachHeight); //Up.
// YRetractFromBox();
//}
public void UnloadAndLoad(ShieldBox box, RackGripper gripper, bool closeBox)
{
OnInfoOccured(20025, "Try unload and load box: " + box.Id + " with " + gripper + ".");
CheckGripperAvailable(gripper);
if (box.IsClosed() == true)
{
throw new Exception("Box " + box.Id + " is not opened.");
}
MoveToTargetPosition(gripper, box.Position, false);
CloseGripper(gripper);
Motion.ToPoint(Motion.MotorZ, box.Position.ZPos + 50);
Motion.WaitTillZBiggerThan(box.Position.ZPos + 30);
ChangeGripper(box.Position, ref gripper); //Switch gripper.
Motion.WaitTillEnd(Motion.MotorZ);
CheckPhoneLost(gripper);
//Slip in phone.
Task.Run(() => {
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
while (stopwatch.ElapsedMilliseconds < 5000)
{
if (Motion.GetPosition(Motion.MotorZ) < box.Position.ZPos + SlipInHeight)
{
try
{
OpenGripper(gripper);
}
catch (Exception)
{
break;
}
}
Delay(5);
}
});
MoveToPointTillEnd(Motion.MotorZ, box.Position.ZPos); //Down.
OpenGripper(gripper);
MoveToPointTillEnd(Motion.MotorZ, box.Position.ApproachHeight); //Up.
if (closeBox)
{
CloseBoxAsync(box);
}
YRetractFromBox();
OnInfoOccured(20025, "Finish unload and load box: " + box.Id + " with " + gripper + ".");
}
private void ShieldBoxSetup()
{
if (_shieldBoxInstanced == false)
{
ShieldBox1 = new ShieldBox(1);
ShieldBox2 = new ShieldBox(2);
ShieldBox3 = new ShieldBox(3);
ShieldBox4 = new ShieldBox(4);
ShieldBox5 = new ShieldBox(5);
ShieldBox6 = new ShieldBox(6);
ShieldBox1.Position = Motion.ShieldBox1;
ShieldBox2.Position = Motion.ShieldBox2;
ShieldBox3.Position = Motion.ShieldBox3;
ShieldBox4.Position = Motion.ShieldBox4;
ShieldBox5.Position = Motion.ShieldBox5;
ShieldBox6.Position = Motion.ShieldBox6;
ShieldBoxs = new ShieldBox[6] {
ShieldBox1, ShieldBox2, ShieldBox3, ShieldBox4, ShieldBox5, ShieldBox6
};
_shieldBoxInstanced = true;
}
foreach (var box in ShieldBoxs)
{
box.PortName = XmlReaderWriter.GetBoxAttribute(Files.BoxData, box.Id, ShieldBoxItem.COM);
box.Enabled = XmlReaderWriter.GetBoxAttribute(Files.BoxData, box.Id, ShieldBoxItem.State) == "Enable";
if (!Enum.TryParse(XmlReaderWriter.GetBoxAttribute(Files.BoxData, box.Id, ShieldBoxItem.Type), out ShieldBoxType type))
{
throw new Exception("ShieldBoxSetup fail due to box type convert failure");
}
box.Type = type;
if (box.Enabled)
{
try
{
box.Start();
box.GreenLight();
box.ErrorOccured -= Box_ErrorOccured;
box.ErrorOccured += Box_ErrorOccured;
}
catch (Exception e)
{
throw new Exception("Box " + box.Id + " is enabled but can't communicate: " + e.Message);
}
}
}
}
public Task CloseBoxAsync(ShieldBox box)
{
return(Task.Run(() =>
{
try
{
box.CloseBox();
}
catch (Exception e)
{
//OnErrorOccured(40008, "Can't close box due to:" + e.Message);
}
}));
}
public void Unload(RackGripper gripper, TargetPosition target)
{
ShieldBox box = ConverterTeachPosToShieldBox(target.TeachPos);
if (box != null)
{
if (box.IsClosed())
{
throw new Exception("Cant unload, box is not opened.");
}
}
CheckGripperAvailable(gripper);
MoveToTargetPosition(gripper, target, false);
CloseGripper(gripper);
MoveToPointTillEnd(Motion.MotorZ, target.ApproachHeight);
YRetractFromBox();
}
public void Load(RackGripper gripper, ShieldBox box, bool closeBox)
{
OnInfoOccured(20023, "Try loading phone to box:" + box.Id + " with " + gripper + ".");
TargetPosition target = ConvertShieldBoxToTargetPosition(box);
if (box.IsClosed() == true)
{
throw new Exception("Box " + box.Id + " is not opened");
}
MoveToTargetPosition(gripper, target, true);
OpenGripper(gripper);
MoveToPointTillEnd(Motion.MotorZ, target.ApproachHeight);
if (closeBox)
{
CloseBoxAsync(box);
}
YRetractFromBox();
OnInfoOccured(20023, "Finish loading phone to box:" + box.Id + ".");
}
/// <summary>
/// From current target position.
/// </summary>
/// <param name="gripper"></param>
/// <param name="phone"></param>
public void Unload(RackGripper gripper, Phone phone)
{
OnInfoOccured(20018, "Try unloading phone:" + phone.Id + " with " + gripper + ".");
ShieldBox box = ConverterTeachPosToShieldBox(phone.CurrentTargetPosition.TeachPos);
if (box != null)
{
if (box.IsClosed())
{
throw new Exception("Cant unload, box is not opened.");
}
}
TargetPosition pos = phone.CurrentTargetPosition;
MoveToTargetPosition(gripper, pos, false);
CloseGripper(gripper);
MoveToPointTillEnd(Motion.MotorZ, pos.ApproachHeight);
YRetractFromBox();
CheckPhoneLost(gripper);
OnInfoOccured(20018, "Finish unloading phone:" + phone.Id);
}
/// <summary>
///
/// </summary>
/// If message is not complete use: _receivedMessage += message;
/// if message is too long and wrong, empty _receivedMessage
/// <param name="message"></param>
private void MessageParser(string message)
{
Task.Run(() =>
{
if (message.Contains(";") == false)
{
OnErrorOccured(40003, "Receive unknown message " + message);
return;
}
int index = message.IndexOf(";", StringComparison.Ordinal);
if (index + 1 != message.Length)
{
OnErrorOccured(40003, "Receive unknown message " + message);
return;
}
message = message.Replace(";", string.Empty);
string[] subMessage = message.Split(',');
//Todo, is message is not continue, could lost some information.
Enum.TryParse(subMessage[0], out TesterCommand command);
switch (command)
{
case TesterCommand.GetRobotState:
OnInfoOccured(20001, "Tester " + Id + " requesting Robot state.");
SendMessage(TesterCommand.GetRobotState + "," + RobotState + ";");
OnInfoOccured(20001, "Rack response Robot state to Tester " + Id + ".");
break;
case TesterCommand.GetShieldedBoxState:
OnInfoOccured(20002, "Tester " + Id + " requesting shieldedBox State.");
int state = 0;
if (ShieldBox.ReadyForTesting)
{
state = (int)ShieldBoxState.Close;
}
else
{
state = (int)ShieldBoxState.Open;
}
if (SimulateMode)
{
SendMessage(TesterCommand.GetShieldedBoxState + ",2;");
}
else
{
SendMessage(TesterCommand.GetShieldedBoxState + "," + state + ";");
}
OnInfoOccured(20002, "Send shieldedBox state to Tester " + Id + ".");
break;
case TesterCommand.SetTestResult:
OnInfoOccured(20003, "Tester " + Id + " send test result: " + subMessage[1] + ".");
if (ShieldBox.Phone != null)
{
ShieldBox.Phone.TestCycleTimeStopWatch.Stop();
}
try
{
SendMessage(TesterCommand.SetTestResult + ",OK;");
OnInfoOccured(20003, "Rack response send test result to Tester " + Id + ".");
if (ShieldBox.Phone.AutoOpenBox)
{
ShieldBox.OpenBox();
}
switch (subMessage[1])
{
case "0":
ShieldBox.Phone.TestResult = TestResult.Pass;
break;
case "1":
ShieldBox.Phone.FailDetail = "Normal_NG";
ShieldBox.Phone.TestResult = TestResult.Fail;
ShieldBox.Phone.FailCount++;
break;
case "2":
//Battery low. NG.
ShieldBox.Phone.FailDetail = "Low_Battery";
ShieldBox.Phone.TestResult = TestResult.Fail;
ShieldBox.Phone.FailCount = 3;
break;
case "3":
//Procedure not match.
ShieldBox.Phone.FailDetail = "Procedure_wrong";
ShieldBox.Phone.TestResult = TestResult.Fail;
ShieldBox.Phone.FailCount = 3;
break;
case "4":
//Timeout match.
ShieldBox.Phone.FailDetail = "Test_timeout";
ShieldBox.Phone.TestResult = TestResult.Fail;
ShieldBox.Phone.FailCount = 3;
break;
default:
break;
}
}
catch (BoxException)
{
OnErrorOccured((int)Error.OpenBoxFail, "Open box failed.");
}
catch (Exception ex)
{
OnErrorOccured(40002, "SetTestResult error: " + ex.Message);
}
break;
case TesterCommand.GetSerialNumber:
OnInfoOccured(20028, "Tester " + Id + " requesting Serial Number.");
if (SimulateMode)
{
SendMessage(TesterCommand.GetSerialNumber + "," + SimulateSerialNumber + ";");
}
else
{
SendMessage(TesterCommand.GetSerialNumber + "," + ShieldBox.Phone.SerialNumber + ";");
}
OnInfoOccured(20028, "Send Serial Number:" + ShieldBox.Phone.SerialNumber + " to Tester " + Id + ".");
break;
default:
OnErrorOccured(40003, "Receive unknown message " + message);
break;
}
});
}
