/// <summary>
/// Robot sequence task
/// </summary>
/// <param name="token"></param>
private void ExecuteRobotSequence(CancellationToken token)
{
int R1Step = 0, R2Step = 0, R3Step = 0;
int newStep = 0;
Task.Factory.StartNew(() => {
Restart();
Tuple <bool, int[]> step;
while (true)
{
try
{
if (token.IsCancellationRequested)
{
break;
}
if (robotManager.IsReadyCommand())
{
step = robotManager.GetCurrentStep();
if (!step.Item1)
{
R1Step = step.Item2[0];
R2Step = step.Item2[1];
R3Step = step.Item2[2];
step = null;
}
else
{
logger.Error("Read fail current step");
Thread.Sleep(500);
continue;
}
logger.DebugFormat("Cycle count = {0}", CycleCount);
logger.DebugFormat("R1Step={0}, R2Step={1}, R3Step={2} => lastStep={3}", R1Step, R2Step, R3Step, lastStep);
jigIndex = robotManager.GetCurrentJig(Robots.R1);
if (R1Step == 0 && R2Step == 0 && R3Step == 0 && (lastStep == 0 || lastStep == 7 || lastStep == 11))
{
if (lastStep == 11 && jigIndex == 1 && !doneCycle)
{
CycleCount++;
if (LoopCount != 0 && LoopCount <= CycleCount)
{
doneCycle = true;
logger.DebugFormat("모든 사이클을 완료 하였습니다. Cycle Count={0}", CycleCount);
Pause();
Thread.Sleep(1000);
continue;
}
}
else if (lastStep == 11 && jigIndex == 1 && doneCycle)
{
if (SetStep(1))
{
doneCycle = false;
CycleCount = 0;
lastStep = 1;
}
}
logger.DebugFormat("현재 지그 번호 : {0}", jigIndex);
switch (lastStep)
{
case 0:
case 7:
if (jigIndex == 5)
{
newStep = 8;
}
else
{
newStep = 1;
if (lastStep == 0 && jigIndex == 0)
{
if (SetJig(1))
{
jigIndex++;
}
}
else
{
if (SetJig(jigIndex + 1))
{
jigIndex++;
}
}
Thread.Sleep(500);
}
if (SetStep(newStep))
{
lastStep = newStep;
}
Thread.Sleep(500);
break;
case 11:
if (jigIndex == 0)
{
jigIndex = 1;
}
if (jigIndex == 1)
{
newStep = 1;
}
else
{
newStep = 8;
if (SetJig(jigIndex - 1))
{
jigIndex--;
}
Thread.Sleep(500);
}
if (SetStep(newStep))
{
lastStep = newStep;
}
Thread.Sleep(500);
break;
}
}
else if (R1Step == R2Step && R1Step == R3Step && R1Step == lastStep)
{
// 최종 스탭을 기준으로 다음 스탭을 설정한다.
newStep = lastStep + 1;
if (SetStep(newStep))
{
lastStep = newStep;
}
Thread.Sleep(500);
}
else if (R1Step == R2Step && R1Step == R3Step && lastStep == 0 && R1Step != 0)
{
newStep = R1Step + 1;
if (SetStep(newStep))
{
lastStep = newStep;
}
Thread.Sleep(500);
}
else if (R1Step == R2Step && R1Step == R3Step && lastStep != 0)
{
newStep = R1Step + 1;
if (SetStep(newStep))
{
lastStep = newStep;
}
Thread.Sleep(500);
}
}
}
catch (Exception ex)
{
logger.Error(ex.Message);
}
Thread.Sleep(1000);
}
});
}
