// public override event Action<Object> ErrorProcedureHandler;
public ProcedureRobotToReady(RobotUnity robot, ChargerId id, TrafficManagementService trafficService, ChargerManagementService chargerService, Pose PointCheckIn) : base(robot, trafficService)
{
StateRobotGoToReady = RobotGoToReady.ROBREA_IDLE;
this.robot = robot;
this.Traffic = trafficService;
this.charger = chargerService;
this.chardgeId = id;
this.robot.ShowText("this.chardgeId" + this.chardgeId);
procedureCode = ProcedureCode.PROC_CODE_ROBOT_TO_READY;
}
public void Start(RobotGoToReady state = RobotGoToReady.ROBREA_SELECT_BEHAVIOR_ONZONE)
{
order = new OrderItem();
order.typeReq = TyeRequest.TYPEREQUEST_GOTO_READY;
errorCode = ErrorCode.RUN_OK;
robot.robotTag = RobotStatus.WORKING;
robot.ProcedureAs = ProcedureControlAssign.PRO_READY;
StateRobotGoToReady = state;
ProRobotToReady = new Thread(this.Procedure);
procedureCode = ProcedureCode.PROC_CODE_ROBOT_TO_READY;
ProRun = true;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
order.startTimeProcedure = DateTime.Now;
points.PointCheckIn = null;
points.PointFrontLine = GetFrontLineChargeStation();
points.PointOfCharger = GetPointOfCharger();
registryRobotJourney = new RegistryRobotJourney();
registryRobotJourney.robot = robot;
registryRobotJourney.traffic = Traffic;
ProRobotToReady.Start(this);
cntOrderItem = 0;
robot.bayId = -1;
}
public void Procedure(object ojb)
{
ProcedureRobotToReady RbToRd = (ProcedureRobotToReady)ojb;
RobotUnity rb = RbToRd.robot;
DataRobotToReady p = RbToRd.points;
TrafficManagementService Traffic = RbToRd.Traffic;
robot.ShowText(" start -> " + procedureCode + "_________________0000000000000000000_____________________");
while (ProRun)
{
switch (StateRobotGoToReady)
{
case RobotGoToReady.ROBREA_IDLE:
//robot.ShowText("ROBREA_IDLE");
break;
case RobotGoToReady.ROBREA_SELECT_BEHAVIOR_ONZONE:
robot.ShowText("ROBREA_SELECT_BEHAVIOR_ONZONE");
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position, TypeZone.OPZS))
{
robot.ShowText("ROBREA_ROBOT_RELEASED");
StateRobotGoToReady = RobotGoToReady.ROBREA_ROBOT_RELEASED;
}
if (rb.SendPoseStamped(p.PointFrontLine))
{
StateRobotGoToReady = RobotGoToReady.ROBREA_ROBOT_WAITTING_GOTO_READYSTATION_REG;
robot.ShowText("ROBREA_ROBOT_GOTO_FRONTLINE_READYSTATION");
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = p.PointFrontLine.Position;
}
break;
case RobotGoToReady.ROBREA_ROBOT_WAITTING_GOTO_READYSTATION_REG: // Robot dang di toi dau line ready station
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
if (DetermineHasTaskWaitingAnRobotAvailable())
{
StateRobotGoToReady = RobotGoToReady.ROBREA_ROBOT_WAITINGREADY_FORCERELEASED;
robot.ShowText("ROBREA_ROBOT_WAITINGREADY_FORCERELEASED");
break;
}
}
else
{
StateRobotGoToReady = RobotGoToReady.ROBREA_ROBOT_WAITTING_GOTO_READYSTATION;
}
break;
case RobotGoToReady.ROBREA_ROBOT_WAITTING_GOTO_READYSTATION: // Robot dang di toi dau line ready station
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
TrafficRountineConstants.DetectRelease(registryRobotJourney);
resCmd = ResponseCommand.RESPONSE_NONE;
StateRobotGoToReady = RobotGoToReady.ROBREA_ROBOT_WAIITNG_DETECTLINE_TO_READYSTATION;
robot.ShowText("ROBREA_ROBOT_WAIITNG_DETECTLINE_TO_READYSTATION");
}
break;
case RobotGoToReady.ROBREA_ROBOT_WAIITNG_DETECTLINE_TO_READYSTATION: // đang đợi dò line để đến vị trí line trong buffer
if (rb.SendCmdAreaPallet(RbToRd.points.PointOfCharger))
{
StateRobotGoToReady = RobotGoToReady.ROBREA_ROBOT_WAITTING_CAME_POSITION_READYSTATION;
robot.ShowText("ROBREA_ROBOT_WAITTING_CAME_POSITION_READYSTATION");
}
break;
case RobotGoToReady.ROBREA_ROBOT_WAITTING_CAME_POSITION_READYSTATION: // đến vị trả robot về robotmanagement để nhận quy trình mới
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOTO_POSITION)
{
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
StateRobotGoToReady = RobotGoToReady.ROBREA_ROBOT_RELEASED;
TrafficRountineConstants.RegIntZone_READY.Release(robot);
robot.robotTag = RobotStatus.IDLE;
robot.SetSafeYellowcircle(false);
robot.SetSafeBluecircle(false);
robot.SetSafeSmallcircle(false);
robot.TurnOnSupervisorTraffic(false);
rb.mcuCtrl.lampRbOff();
robot.ShowText("ROBREA_ROBOT_RELEASED");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case RobotGoToReady.ROBREA_ROBOT_RELEASED:
Global_Object.cntGoready++;
rb.PreProcedureAs = ProcedureControlAssign.PRO_READY;
// if (errorCode == ErrorCode.RUN_OK) {
ReleaseProcedureHandler(this);
// } else {
// ErrorProcedureHandler (this);
// }
robot.setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_OK);
ProRun = false;
//robot.ShowText("RELEASED");
UpdateInformationInProc(this, ProcessStatus.S);
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
KillEvent();
break;
case RobotGoToReady.ROBREA_ROBOT_WAITINGREADY_FORCERELEASED:
// add to wait task;
//robot.robotTag = RobotStatus.IDLE;
robot.setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_OK);
procedureCode = ProcedureControlServices.ProcedureCode.PROC_CODE_ROBOT_WAITINGTO_READY;
ProRun = false;
robot.ShowText("RELEASED WHEN WAITTING TO READY, HAS AN NEW TASK");
UpdateInformationInProc(this, ProcessStatus.S);
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
rb.PreProcedureAs = ProcedureControlAssign.PRO_WAIT_TASK;
ReleaseProcedureHandler(this);
KillEvent();
break;
}
Thread.Sleep(700);
}
StateRobotGoToReady = RobotGoToReady.ROBREA_IDLE;
}
