// public override event Action<Object> ErrorProcedureHandler;
public ProcedureBufferReturnToBuffer401(RobotUnity robot, TrafficManagementService trafficService) : base(robot, trafficService)
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_IDLE;
this.robot = robot;
// this.points = new DataBufferToBuffer();
this.Traffic = trafficService;
procedureCode = ProcedureCode.PROC_CODE_BUFFER_TO_BUFFER;
}
public void Destroy()
{
robot.bayId = -1;
ProRunStopW = false;
robot.bayIdReg = false;
robot.robotTag = RobotStatus.IDLE;
robot.orderItem = null;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_DESTROY;
}
public void Start(BufferToBuffer state = BufferToBuffer.BUFTOBUF_SELECT_BEHAVIOR_ONZONE_BUFFER_A)
{
robot.bayId = -1;
robot.bayIdReg = false;
errorCode = ErrorCode.RUN_OK;
robot.robotTag = RobotStatus.WORKING;
robot.ProcedureAs = ProcedureControlAssign.PRO_BUFFER_TO_BUFFER;
StateBufferToBuffer = state;
Task ProBuferToMachine = new Task(() => this.Procedure(this));
procedureStatus = ProcedureStatus.PROC_ALIVE;
ProRun = true;
ProRunStopW = true;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
order.startTimeProcedure = DateTime.Now;
registryRobotJourney = new RegistryRobotJourney();
registryRobotJourney.robot = robot;
registryRobotJourney.traffic = Traffic;
ProBuferToMachine.Start();
}
public void Procedure(object ojb)
{
ProcedureBufferReturnToBuffer401 BfToBf = (ProcedureBufferReturnToBuffer401)ojb;
RobotUnity rb = BfToBf.robot;
TrafficManagementService Traffic = BfToBf.Traffic;
robot.ShowText(" Start -> " + procedureCode);
rb.mcuCtrl.lampRbOn();
while (ProRun)
{
switch (StateBufferToBuffer)
{
case BufferToBuffer.BUFTOBUF_IDLE:
//robot.ShowText("BUFTOBUF_IDLE");
break;
case BufferToBuffer.BUFTOBUF_SELECT_BEHAVIOR_ONZONE_BUFFER_A:
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position))
{
Pose endPose = BfToBf.GetFrontLineBufferReturn_BRB401(order.dataRequest_BufferReturn);
if (rb.PreProcedureAs == ProcedureControlAssign.PRO_READY)
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_GOTO_BACK_FRONTLINE_READY;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = endPose.Position;
}
}
else if (Traffic.RobotIsInArea("VIM", robot.properties.pose.Position))
{
Pose endPose = BfToBf.GetFrontLineBufferReturn_BRB401(order.dataRequest_BufferReturn);
if (rb.SendPoseStamped(endPose))
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A_FROM_VIM_REG;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = endPose.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
else if (Traffic.RobotIsInArea("OUTER", robot.properties.pose.Position))
{
Pose destPos1 = BfToBf.GetFrontLineBufferReturn_BRB401(order.dataRequest_BufferReturn);
String destName1 = Traffic.DetermineArea(destPos1.Position, TypeZone.MAIN_ZONE);
if (destName1.Equals("OUTER"))
{
//robot.ShowText("GO FRONTLINE IN OUTER");
if (rb.SendPoseStamped(destPos1))
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos1.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
else if (destName1.Equals("VIM"))
{
//robot.ShowText("GO FRONTLINE IN VIM");
if (rb.SendPoseStamped(destPos1))
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A_FROM_VIM_REG;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos1.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
//robot.ShowText("CHECK - REG");
}
}
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_GOTO_BACK_FRONTLINE_READY:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
if (rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE_TURN_RIGHT))
{
Stopwatch sw = new Stopwatch();
sw.Start();
do
{
robot.onFlagGoBackReady = true;
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.onFlagGoBackReady = false;
Pose destPos2 = BfToBf.GetFrontLineBufferReturn_BRB401(order.dataRequest_BufferReturn);
String destName2 = Traffic.DetermineArea(destPos2.Position, TypeZone.MAIN_ZONE);
if (destName2.Equals("OUTER"))
{
//robot.ShowText("GO FRONTLINE IN OUTER");
if (rb.SendPoseStamped(destPos2))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos2.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
else if (destName2.Equals("VIM"))
{
//robot.ShowText("GO FRONTLINE IN VIM");
if (rb.SendPoseStamped(destPos2))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A_FROM_VIM_READY;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos2.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
//robot.ShowText("CHECK - REG");
}
}
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();
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A_FROM_VIM_READY:
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
try
{
//bool onComePoint2 = robot.ReachedGoal();
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if (onComePoint2)
{
//
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER_A;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A_FROM_VIM_REG:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
else
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A_FROM_VIM;
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A_FROM_VIM:
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER_A;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_A:
try
{
//bool onComePoint2 = robot.ReachedGoal();
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if (onComePoint2)
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER_A;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER_A:
if (rb.SendCmdAreaPallet(BfToBf.GetInfoOfPalletBufferReturn_BRB401(PistonPalletCtrl.PISTON_PALLET_UP, order.dataRequest_BufferReturn)))
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_PICKUP_PALLET_BUFFER_A;
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_PICKUP_PALLET_BUFFER_A:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP)
{
resCmd = ResponseCommand.RESPONSE_NONE;
BfToBf.UpdatePalletState(PalletStatus.F, order.palletId_H, order.planId);
onUpdatedPalletState = true;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER_A;
//robot.ShowText("BUFTOBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER_A");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER_A: // đợi
try
{
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.bayId = -1;
robot.bayIdReg = false;
robot.ReleaseWorkingZone();
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_BUFFER_B_SELECT_ZONE;
// cập nhật lại điểm xuất phát
registryRobotJourney.startPoint = robot.properties.pose.Position;
//robot.ShowText("BUFTOBUF_ROBOT_WAITTING_GOTO_FRONTLINE_BUFFER_B");
}
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 BufferToBuffer.BUFTOBUF_ROBOT_BUFFER_B_SELECT_ZONE:
String startNamePoint = Traffic.DetermineArea(registryRobotJourney.startPoint, TypeZone.MAIN_ZONE);
Pose destPos = BfToBf.GetFrontLineBuffer401_BRB401(order.dataRequest_Buffer401);
String destName = Traffic.DetermineArea(destPos.Position, TypeZone.MAIN_ZONE);
if (startNamePoint.Equals("VIM"))
{
if (rb.SendPoseStamped(destPos))
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_B_FROM_VIM_REG;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
else if (startNamePoint.Equals("OUTER"))
{
if (destName.Equals("OUTER"))
{
if (rb.SendPoseStamped(destPos))
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_B;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
else if (destName.Equals("VIM"))
{
if (rb.SendPoseStamped(destPos))
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_B_FROM_VIM_REG;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos.Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_B_FROM_VIM_REG:
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
else
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_B_FROM_VIM;
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_B_FROM_VIM:
try
{
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_SEND_CMD_CAME_FRONTLINE_BUFFER_B_FROM_VIM;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_B:
try
{
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_SEND_CMD_CAME_FRONTLINE_BUFFER_B_FROM_VIM;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_SEND_CMD_CAME_FRONTLINE_BUFFER_B_FROM_VIM:
if (rb.SendCmdAreaPallet(BfToBf.GetInfoOfPalletBuffer401_BRB401(PistonPalletCtrl.PISTON_PALLET_DOWN, order.dataRequest_Buffer401)))
{
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER_B;
robot.ShowText("BUFTOBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER_B");
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER_B:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP)
{
resCmd = ResponseCommand.RESPONSE_NONE;
BfToBf.UpdatePalletState(PalletStatus.W);
//onUpdatedPalletState = true;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER_B;
//robot.ShowText("FBUFTOBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER_B");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case BufferToBuffer.BUFTOBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER_B: // đợi
try
{
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.bayId = -1;
robot.bayIdReg = false;
robot.ReleaseWorkingZone();
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_RELEASED;
//robot.ShowText("BUFTOBUF_ROBOT_RELEASED");
}
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 BufferToBuffer.BUFTOBUF_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
robot.bayId = -1;
TrafficRountineConstants.ReleaseAll(robot);
robot.orderItem = null;
robot.SwitchToDetectLine(false);
rb.PreProcedureAs = ProcedureControlAssign.PRO_BUFFER_TO_BUFFER;
ReleaseProcedureHandler(this);
ProRun = false;
UpdateInformationInProc(this, ProcessStatus.S);
order.status = StatusOrderResponseCode.FINISHED;
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
KillEvent();
break;
case BufferToBuffer.BUFTOBUF_ROBOT_DESTROY:
TrafficRountineConstants.ReleaseAll(robot);
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
robot.SwitchToDetectLine(false);
robot.ReleaseWorkingZone();
// StateBufferToBuffer = BufferToBuffer.BUFTOBUF_ROBOT_RELEASED;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
ProRun = false;
UpdateInformationInProc(this, ProcessStatus.F);
order.status = StatusOrderResponseCode.ROBOT_ERROR;
//reset status pallet Faile H->Ws
if (!onUpdatedPalletState)
{
BfToBf.UpdatePalletState(PalletStatus.F, order.palletId_P, order.planId);
}
selectHandleError = SelectHandleError.CASE_ERROR_EXIT;
procedureStatus = ProcedureStatus.PROC_KILLED;
FreeHoldBuffer(order.palletId_H);
KillEvent();
//this.robot.DestroyRegistrySolvedForm();
break;
default:
break;
}
Thread.Sleep(5);
}
StateBufferToBuffer = BufferToBuffer.BUFTOBUF_IDLE;
}