public void Register(ProcedureItemSelected ProcedureItem, RobotUnity robot, OrderItem orderItem) { CleanUp(); switch (ProcedureItem) { case ProcedureItemSelected.PROCEDURE_FORLIFT_TO_BUFFER: { ProcedureForkLiftToBuffer procfb = new ProcedureForkLiftToBuffer(robot, doorService, trafficService); procfb.Registry(deviceService); ProcedureDataItems profbDataItems = new ProcedureDataItems(); profbDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocfb = new RegisterProcedureItem() { item = procfb, robot = robot, procedureDataItems = profbDataItems }; procfb.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procfb.ErrorProcedureHandler += ErrorApprearInProcedureItem; //RegisterProcedureItemList.Add (itemprocfb); procfb.AssignAnOrder(orderItem); robot.proRegistryInRobot.pFB = procfb; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_FORKLIFT_TO_BUFFER; procfb.Registry(robotManagementService); procfb.Start(); break; } case ProcedureItemSelected.PROCEDURE_BUFFER_TO_MACHINE: ProcedureBufferToMachine procbm = new ProcedureBufferToMachine(robot, trafficService); procbm.Registry(deviceService); ProcedureDataItems prcobmDataItems = new ProcedureDataItems(); prcobmDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocbm = new RegisterProcedureItem() { item = procbm, robot = robot, procedureDataItems = prcobmDataItems }; procbm.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procbm.ErrorProcedureHandler += ErrorApprearInProcedureItem; //RegisterProcedureItemList.Add (itemprocbm); procbm.AssignAnOrder(orderItem); robot.proRegistryInRobot.pBM = procbm; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_BUFFER_TO_MACHINE; procbm.Registry(robotManagementService); procbm.Start(); break; case ProcedureItemSelected.PROCEDURE_BUFFER_TO_RETURN: ProcedureBufferToReturn procbr = new ProcedureBufferToReturn(robot, trafficService); ProcedureDataItems prcobrDataItems = new ProcedureDataItems(); prcobrDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocbr = new RegisterProcedureItem() { item = procbr, robot = robot, procedureDataItems = prcobrDataItems }; procbr.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procbr.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocbr); procbr.AssignAnOrder(orderItem); robot.proRegistryInRobot.pBR = procbr; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_BUFFER_TO_RETURN; procbr.Registry(robotManagementService); procbr.Start(); break; case ProcedureItemSelected.PROCEDURE_PALLETEMPTY_MACHINE_TO_RETURN: ProcedureMachineToReturn procmr = new ProcedureMachineToReturn(robot, trafficService); ProcedureDataItems prcomrDataItems = new ProcedureDataItems(); prcomrDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocmr = new RegisterProcedureItem() { item = procmr, robot = robot, procedureDataItems = prcomrDataItems }; procmr.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procmr.ErrorProcedureHandler += ErrorApprearInProcedureItem; //RegisterProcedureItemList.Add (itemprocmr); procmr.AssignAnOrder(orderItem); robot.proRegistryInRobot.pMR = procmr; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_MACHINE_TO_RETURN; procmr.Registry(robotManagementService); procmr.Start(); break; case ProcedureItemSelected.PROCEDURE_RETURN_TO_GATE: ProcedureReturnToGate procrg = new ProcedureReturnToGate(robot, doorService, trafficService); ProcedureDataItems prorgDataItems = new ProcedureDataItems(); prorgDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocrg = new RegisterProcedureItem() { item = procrg, robot = robot, procedureDataItems = prorgDataItems }; procrg.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procrg.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrg); procrg.AssignAnOrder(orderItem); procrg.Registry(robotManagementService); procrg.Start(); break; case ProcedureItemSelected.PROCEDURE_ROBOT_TO_CHARGE: ProcedureRobotToCharger procrc = new ProcedureRobotToCharger(robot, chargerService, robot.properties.ChargeID); ProcedureDataItems procrcDataItems = new ProcedureDataItems(); procrcDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocrc = new RegisterProcedureItem() { item = procrc, robot = robot, procedureDataItems = procrcDataItems }; procrc.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procrc.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrc); robot.proRegistryInRobot.pRC = procrc; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_CHARGE; procrc.Start(); break; case ProcedureItemSelected.PROCEDURE_ROBOT_TO_READY: robot.ShowText(robot.properties.Label + "Add PROCEDURE_ROBOT_TO_READY ----------(--___--)---------------"); ProcedureRobotToReady procrr = new ProcedureRobotToReady(robot, robot.properties.ChargeID, trafficService, chargerService, null); ProcedureDataItems procrrDataItems = new ProcedureDataItems(); procrrDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocrr = new RegisterProcedureItem() { item = procrr, robot = robot, procedureDataItems = procrrDataItems }; procrr.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procrr.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrr); robot.proRegistryInRobot.pRR = procrr; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_READY; procrr.Registry(deviceService); procrr.Registry(robotManagementService); procrr.Registry(assigmentTask); procrr.Start(); break; case ProcedureItemSelected.PROCEDURE_ROBOT_READY_TO_READY: ProcedureRobotToReady procRrr = new ProcedureRobotToReady(robot, robot.properties.ChargeID, trafficService, chargerService, doorService.DoorMezzamineUp.config.PointCheckInGate); ProcedureDataItems procRrrDataItems = new ProcedureDataItems(); procRrrDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocRrr = new RegisterProcedureItem() { item = procRrr, robot = robot, procedureDataItems = procRrrDataItems }; procRrr.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procRrr.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add(itemprocRrr); robot.proRegistryInRobot.pRR = procRrr; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_READY; procRrr.Registry(robotManagementService); procRrr.Start(); break; case ProcedureItemSelected.PROCEDURE_FORLIFT_TO_MACHINE: ProcedureForkLiftToMachine procfm = new ProcedureForkLiftToMachine(robot, doorService, trafficService); ProcedureDataItems profmDataItems = new ProcedureDataItems(); profmDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocfm = new RegisterProcedureItem() { item = procfm, robot = robot, procedureDataItems = profmDataItems }; procfm.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procfm.ErrorProcedureHandler += ErrorApprearInProcedureItem; //RegisterProcedureItemList.Add(itemprocfm); procfm.AssignAnOrder(orderItem); robot.proRegistryInRobot.pFM = procfm; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_FORKLIFT_TO_MACHINE; procfm.Registry(robotManagementService); procfm.Start(); break; case ProcedureItemSelected.PROCEDURE_BUFFER_TO_BUFFER: ProcedureBufferReturnToBuffer401 procbb = new ProcedureBufferReturnToBuffer401(robot, trafficService); ProcedureDataItems prcobbDataItems = new ProcedureDataItems(); prcobbDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocbb = new RegisterProcedureItem() { item = procbb, robot = robot, procedureDataItems = prcobbDataItems }; procbb.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procbb.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocbr); procbb.AssignAnOrder(orderItem); robot.proRegistryInRobot.pBB = procbb; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_BUFFER_TO_BUFFER; procbb.Registry(robotManagementService); procbb.Start(); break; case ProcedureItemSelected.PROCEDURE_BUFFER_TO_GATE: ProcedureBufferToGate procbg = new ProcedureBufferToGate(robot, doorService, trafficService); ProcedureDataItems probgDataItems = new ProcedureDataItems(); probgDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocbg = new RegisterProcedureItem() { item = procbg, robot = robot, procedureDataItems = probgDataItems }; procbg.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procbg.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrg); procbg.AssignAnOrder(orderItem); robot.proRegistryInRobot.pBG = procbg; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_BUFFER_TO_GATE; procbg.Registry(robotManagementService); procbg.Start(); break; case ProcedureItemSelected.PROCEDURE_MACHINE_TO_GATE: ProcedureMachineToGate procmg = new ProcedureMachineToGate(robot, doorService, trafficService); ProcedureDataItems promgDataItems = new ProcedureDataItems(); promgDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocmg = new RegisterProcedureItem() { item = procmg, robot = robot, procedureDataItems = promgDataItems }; procmg.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procmg.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrg); procmg.AssignAnOrder(orderItem); robot.proRegistryInRobot.pMG = procmg; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_MACHINE_TO_GATE; procmg.Start(); break; case ProcedureItemSelected.PROCEDURE_MACHINE_TO_BUFFER_RETURN: ProcedureMachineToBufferReturn procmbr = new ProcedureMachineToBufferReturn(robot, trafficService); ProcedureDataItems prombrDataItems = new ProcedureDataItems(); prombrDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocmbr = new RegisterProcedureItem() { item = procmbr, robot = robot, procedureDataItems = prombrDataItems }; procmbr.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procmbr.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrg); procmbr.AssignAnOrder(orderItem); robot.proRegistryInRobot.pMBR = procmbr; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_MACHINE_TO_BUFFER_RETURN; procmbr.Registry(robotManagementService); procmbr.Start(); break; } }
public void Procedure(object ojb) { ProcedureReturnToGate ReToGate = (ProcedureReturnToGate)ojb; RobotUnity rb = ReToGate.robot; // DataReturnToGate p = ReToGate.points; ds = ReToGate.door.DoorMezzamineReturn; ds.setRb(rb); TrafficManagementService Traffic = ReToGate.Traffic; rb.mcuCtrl.lampRbOn(); robot.ShowText(" Start -> " + procedureCode); while (ProRun) { switch (StateReturnToGate) { case ReturnToGate.RETGATE_IDLE: break; case ReturnToGate.RETGATE_ROBOT_WAITTING_GOTO_CHECKIN_RETURN: // doi robot di den khu vuc checkin cua vung buffer try { if (rb.PreProcedureAs == ProcedureControlAssign.PRO_READY) { if (rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE_TURN_RIGHT)) { Stopwatch sw = new Stopwatch(); sw.Start(); do { if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE) { if (rb.SendPoseStamped(ReToGate.GetCheckInBuffer())) { resCmd = ResponseCommand.RESPONSE_NONE; StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_ZONE_RETURN_READY; robot.ShowText("RETGATE_ROBOT_WAITTING_ZONE_RETURN_READY"); break; } } else if (resCmd == ResponseCommand.RESPONSE_ERROR) { errorCode = ErrorCode.DETECT_LINE_ERROR; CheckUserHandleError(this); break; } if (sw.ElapsedMilliseconds > TIME_OUT_WAIT_GOTO_FRONTLINE) { errorCode = ErrorCode.DETECT_LINE_ERROR; CheckUserHandleError(this); break; } Thread.Sleep(100); } while (ProRunStopW); sw.Stop(); } } else { if (rb.SendPoseStamped(ReToGate.GetCheckInBuffer())) { StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_ZONE_RETURN_READY; robot.ShowText("RETGATE_ROBOT_WAITTING_ZONE_RETURN_READY"); } } } catch (System.Exception) { errorCode = ErrorCode.CAN_NOT_GET_DATA; CheckUserHandleError(this); } break; case ReturnToGate.RETGATE_ROBOT_WAITTING_ZONE_RETURN_READY: // doi khu vuc buffer san sang de di vao try { if (false == robot.CheckInZoneBehavior(ReToGate.GetFrontLineReturn().Position)) { if (rb.SendPoseStamped(ReToGate.GetFrontLineReturn())) { StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_CAME_FRONTLINE_RETURN; robot.ShowText("RETGATE_ROBOT_WAITTING_CAME_FRONTLINE_RETURN"); } } } catch (System.Exception) { errorCode = ErrorCode.CAN_NOT_GET_DATA; CheckUserHandleError(this); } break; case ReturnToGate.RETGATE_ROBOT_WAITTING_CAME_FRONTLINE_RETURN: try { if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT) { resCmd = ResponseCommand.RESPONSE_NONE; StateReturnToGate = ReturnToGate.RETGATE_ROBOT_SEND_CMD_PICKUP_PALLET; } else if (resCmd == ResponseCommand.RESPONSE_ERROR) { errorCode = ErrorCode.DETECT_LINE_ERROR; CheckUserHandleError(this); } } catch (System.Exception) { errorCode = ErrorCode.CAN_NOT_GET_DATA; CheckUserHandleError(this); } break; case ReturnToGate.RETGATE_ROBOT_SEND_CMD_PICKUP_PALLET: if (rb.SendCmdAreaPallet(ReToGate.GetInfoOfPalletReturn(PistonPalletCtrl.PISTON_PALLET_UP))) { StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_PICKUP_PALLET_RETURN; robot.ShowText("RETGATE_ROBOT_WAITTING_PICKUP_PALLET_RETURN"); } break; case ReturnToGate.RETGATE_ROBOT_WAITTING_PICKUP_PALLET_RETURN: if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP) { resCmd = ResponseCommand.RESPONSE_NONE; ReToGate.UpdatePalletState(PalletStatus.F, order.palletId_H, order.planId); StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_RETURN; robot.ShowText("RETGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_RETURN"); } else if (resCmd == ResponseCommand.RESPONSE_ERROR) { errorCode = ErrorCode.DETECT_LINE_ERROR; CheckUserHandleError(this); } break; case ReturnToGate.RETGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_RETURN: // đợi if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE) { //rb.prioritLevel.OnAuthorizedPriorityProcedure = false; if (rb.SendPoseStamped(ds.config.PointCheckInGate)) { resCmd = ResponseCommand.RESPONSE_NONE; StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_GOTO_CHECKIN_GATE; robot.ShowText("RETGATE_ROBOT_WAITTING_GOTO_CHECKIN_GATE"); } } else if (resCmd == ResponseCommand.RESPONSE_ERROR) { errorCode = ErrorCode.DETECT_LINE_ERROR; CheckUserHandleError(this); } break; // case ReturnToGate.RETGATE_ROBOT_GOTO_CHECKIN_GATE: //gui toa do di den khu vuc checkin cong // rb.SendPoseStamped(ds.config.PointCheckInGate); // StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_GOTO_CHECKIN_GATE; // break; case ReturnToGate.RETGATE_ROBOT_WAITTING_GOTO_CHECKIN_GATE: if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT) { resCmd = ResponseCommand.RESPONSE_NONE; //rb.prioritLevel.OnAuthorizedPriorityProcedure = true; StateReturnToGate = ReturnToGate.RETGATE_ROBOT_CAME_CHECKIN_GATE; robot.ShowText("RETGATE_ROBOT_CAME_CHECKIN_GATE"); } break; case ReturnToGate.RETGATE_ROBOT_CAME_CHECKIN_GATE: // đã đến vị trí, kiem tra va cho khu vuc cong san sang de di vao. if (false == robot.CheckInZoneBehavior(ds.config.PointFrontLine.Position)) { //rb.prioritLevel.OnAuthorizedPriorityProcedure = false; if (rb.SendPoseStamped(ds.config.PointFrontLine)) { StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_GOTO_GATE; robot.ShowText("RETGATE_ROBOT_WAITTING_GOTO_GATE"); } } break; case ReturnToGate.RETGATE_ROBOT_WAITTING_GOTO_GATE: if (Traffic.RobotIsInArea("GATE3", rb.properties.pose.Position)) { ds.setDoorBusy(true); ds.openDoor(DoorService.DoorType.DOOR_BACK); StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_GOTO_GATE_OPENDOOR; } break; case ReturnToGate.RETGATE_ROBOT_WAITTING_GOTO_GATE_OPENDOOR: if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT) { resCmd = ResponseCommand.RESPONSE_NONE; //rb.prioritLevel.OnAuthorizedPriorityProcedure = true; StateReturnToGate = ReturnToGate.RETGATE_ROBOT_CAME_GATE_POSITION; robot.ShowText("RETGATE_ROBOT_CAME_GATE_POSITION"); } break; case ReturnToGate.RETGATE_ROBOT_CAME_GATE_POSITION: // da den khu vuc cong , gui yeu cau mo cong. //ds.setDoorBusy(true); //ds.openDoor(DoorService.DoorType.DOOR_BACK); StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_OPEN_DOOR; robot.ShowText("RETGATE_ROBOT_WAITTING_OPEN_DOOR"); break; case ReturnToGate.RETGATE_ROBOT_WAITTING_OPEN_DOOR: //doi mo cong RetState ret = ds.checkOpen(DoorService.DoorType.DOOR_BACK); if (ret == RetState.DOOR_CTRL_SUCCESS) { if (rb.SendCmdAreaPallet(ds.config.infoPallet)) { StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_DROPDOWN_PALLET_RETURN; robot.ShowText("RETGATE_ROBOT_WAITTING_DROPDOWN_PALLET_RETURN"); } } else if (ret == RetState.DOOR_CTRL_ERROR) { robot.ShowText("RETGATE_ROBOT_WAITTING_OPEN_DOOR_ERROR__(-_-)"); Thread.Sleep(1000); ds.setDoorBusy(true); ds.openDoor(DoorService.DoorType.DOOR_BACK); } break; // case ReturnToGate.RETGATE_ROBOT_OPEN_DOOR_SUCCESS: // mo cua thang cong ,gui toa do line de robot di vao // rb.SendCmdLineDetectionCtrl(RequestCommandLineDetect.REQUEST_LINEDETECT_PALLETDOWN); // StateReturnToGate = ReturnToGate.RETGATE_ROBOT_GOTO_POSITION_PALLET_RETURN; // break; // case ReturnToGate.RETGATE_ROBOT_GOTO_POSITION_PALLET_RETURN: // if (true == rb.CheckPointDetectLine(ds.config.PointOfPallet, rb)) // { // rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_LINEDETECT_COMING_POSITION); // StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_DROPDOWN_PALLET_RETURN; // } // break; case ReturnToGate.RETGATE_ROBOT_WAITTING_DROPDOWN_PALLET_RETURN: // doi robot gap hang if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN) { resCmd = ResponseCommand.RESPONSE_NONE; // ReToGate.UpdatePalletState(PalletStatus.W); StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE; robot.ShowText("RETGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE"); } else if (resCmd == ResponseCommand.RESPONSE_ERROR) { errorCode = ErrorCode.DETECT_LINE_ERROR; CheckUserHandleError(this); } break; case ReturnToGate.RETGATE_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE: if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE) { resCmd = ResponseCommand.RESPONSE_NONE; ds.closeDoor(DoorService.DoorType.DOOR_BACK); ds.setDoorBusy(false); StateReturnToGate = ReturnToGate.RETGATE_ROBOT_WAITTING_CLOSE_GATE; robot.ShowText("RETGATE_ROBOT_WAITTING_CLOSE_GATE"); } else if (resCmd == ResponseCommand.RESPONSE_ERROR) { errorCode = ErrorCode.DETECT_LINE_ERROR; CheckUserHandleError(this); } break; case ReturnToGate.RETGATE_ROBOT_WAITTING_CLOSE_GATE: // doi dong cong. //if (true == ds.WaitClose(DoorService.DoorType.DOOR_BACK, TIME_OUT_CLOSE_DOOR)) //{ StateReturnToGate = ReturnToGate.RETGATE_ROBOT_RELEASED; //rb.prioritLevel.OnAuthorizedPriorityProcedure = false; robot.ShowText("RETGATE_ROBOT_WAITTING_CLOSE_GATE"); //} //else //{ // errorCode = ErrorCode.CLOSE_DOOR_ERROR; // CheckUserHandleError(this); //} break; case ReturnToGate.RETGATE_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới ds.removeListCtrlDoorBack(); robot.robotTag = RobotStatus.IDLE; rb.PreProcedureAs = ProcedureControlAssign.PRO_RETURN_TO_GATE; // if (errorCode == ErrorCode.RUN_OK) { ReleaseProcedureHandler(this); // } else { // ErrorProcedureHandler (this); // } ProRun = false; robot.ShowText("RELEASED"); UpdateInformationInProc(this, ProcessStatus.S); order.endTimeProcedure = DateTime.Now; order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes; KillEvent(); break; default: break; } Thread.Sleep(5); } StateReturnToGate = ReturnToGate.RETGATE_IDLE; }