private ControllerOperationStatus Sort(TabletMagazine mag, CancellationToken ct)
{
var status = ControllerOperationStatus.Succeeded;
try
{
List<Tablet> visibleTablets = null;
while ((visibleTablets = GetVisibleTablets()).Count > 0)
{
var tablet = visibleTablets[0];
Logger.Instance.Write(String.Format("[Sorter] Seen ({0}) tablet seen at ({1},{2}) in camera space",
tablet.Color, tablet.LocationPoint.X, tablet.LocationPoint.Y));
if (mag.IsFull() || ct.IsCancellationRequested)
{
status = ControllerOperationStatus.Cancelled;
return status;
}
if (!mag.IsSlotFull(tablet.Color))
{
PlaceTablet(tablet, mag);
}
}
}
catch (Exception ex)
{
Logger.Instance.Write(new LogEntry(ex));
status = ControllerOperationStatus.Failed;
}
return status;
}
private void SortAsync(TabletMagazine mag)
{
var ct = _cancelTokenSource.Token;
Task.Run(() =>
{
var status = Sort(mag, ct);
IsRunning = false;
OnCompleted(new SorterCompletedEventArgs()
{
OperationStatus = status,
Action = SorterAction.Sort
});
}, ct);
}
private void PlaceTablet(Tablet tablet, TabletMagazine mag)
{
var p = TransformToRobotSpace(tablet.LocationPoint);
Logger.Instance.Write(String.Format("[Sorter] Picking ({0}) tablet from ({1},{2}) in robot space",
tablet.Color, p.X, p.Y));
_robot.GetTablet(p.X, p.Y, mag.GetSlotIndex(tablet.Color));
mag.AddTablet(tablet.Color);
}
public bool canCompleteOrder(TabletMagazine mag, OrderConfiguration orderConfiguration)
{
foreach (var pair in orderConfiguration.Tablets.Where(x => x.Value > 0))
{
if (pair.Value > mag.GetSlotDepth(pair.Key))
{
return false;
}
}
return true;
}
private void AssembleAsync(TabletMagazine mag, OrderConfiguration orderConfiguration)
{
var ct = _cancelTokenSource.Token;
Task.Run(() =>
{
var status = Assemble(mag, orderConfiguration, ct);
IsRunning = false;
OnCompleted(new AssemblerEventArgs()
{
OperationStatus = status,
AssemblerOperationStatus = AssemblerOperationStatus.Normal
});
}, ct);
}
private ControllerOperationStatus Assemble(TabletMagazine mag, OrderConfiguration orderConfiguration, CancellationToken ct)
{
var status = ControllerOperationStatus.Succeeded;
try
{
var tray = MapOrderToTray(orderConfiguration);
for (int i = 0; i < tray.Cells.Count; i++)
{
var tablet = tray.Cells[i];
if(tablet == null)
{
continue;
}
if (ct.IsCancellationRequested)
{
status = ControllerOperationStatus.Cancelled;
return status;
}
else
{
var slotDepth = mag.GetSlotDepth(tablet.Color);
mag.RemoveTablet(tablet.Color);
var slotIndex = mag.GetSlotIndexReversed(tablet.Color);
Logger.Instance.Write(String.Format("[Assembler] Placing ({0}) tablet from slot {1} into slot {2}",
tablet.Color, slotIndex, i));
_assemblerRobot.PlaceTablet(slotIndex, slotDepth, i);
}
}
status = ControllerOperationStatus.Succeeded;
LastOrderTray = tray;
}
catch (Exception ex)
{
var outer = new Exception("[Assembler] Assembler failed to assemble.", ex);
Logger.Instance.Write(new LogEntry(outer));
status = ControllerOperationStatus.Failed;
}
return status;
}
private bool Create(string configFile)
{
try
{
this.ClusterConfig = ClusterFactory.Instance.CreateCluster(configFile);
this.EnvironmentMonitor = new EnvironmentMonitor(this.ClusterConfig);
this.HardwareMonitor = new HardwareMonitor(this.ClusterConfig);
this.TabletMagazine = new TabletMagazine();
this.OrderConsumer = new OrderConsumer();
this._sequencer = new FSMSequencer(this);
this._eStopMonitor = new EmergencyStopMonitor(this);
}
catch (Exception ex)
{
var outer = new Exception("Unable to initialise the SCADA system", ex);
Logger.Instance.Write(new LogEntry(outer, LogType.Error));
return false;
}
this.StartAllTimers();
return true;
}
