private void button4_Click_1(object sender, EventArgs e)
{
RobotAgent r = RegistrationAgent.robotAgentRegisteredList.ElementAt(0).Value;
String msg = DataTranformation.jsoncheckinPutAwayCoordinations(0);
r.sendPackageStringType(r.paramsRosSocket.publication_serverRobotGotToCheckInPutAwayArea, msg);
}
public String[] RequestPutAwayOrderLine(int area, string robotID)
{
RegistrationAgent.mainWindowPointer.LogConsole("In RequestPutAwayOrderLine", "logOrder");
String[] data = null;
try
{
string areaID = area.ToString();
string listLinePutAwayKey = RegistrationAgent.areaList[areaID].GetPutAwayLine();
if (listLinePutAwayKey != "none")
{
int agentID = Int32.Parse(listLinePutAwayKey.Split('-')[0]);
int lpospw = Int32.Parse(listLinePutAwayKey.Split('-')[1]);
if (RegistrationAgent.areaList[areaID].PUTAWAY_LINE_LIST.ContainsKey(listLinePutAwayKey))
{
data = new String[3];
data[0] = DataTranformation.jsonPutAwayLine(area, agentID, lpospw);
data[1] = agentID.ToString();
data[2] = lpospw.ToString();
RegistrationAgent.mainWindowPointer.LogConsole("PUT PUTAWAY:" + agentID + "-" + lpospw, "logOrder");
return(data);
}
RegistrationAgent.mainWindowPointer.LogConsole("No-listlineputaway-" + listLinePutAwayKey, "logOrder");
}
RegistrationAgent.mainWindowPointer.LogConsole("In RequestPutAwayOrderLine-no list line docking key-" + listLinePutAwayKey, "logOrder");
}
catch
{
RegistrationAgent.mainWindowPointer.LogConsole("Error when RequestPutAwayOrderLine: Area:" + area + "-Robot:" + robotID, "logOrder");
}
RegistrationAgent.mainWindowPointer.LogConsole("Last RequestPutAwayOrderLine", "logOrder");
return(data);
}
public String RequestPutAwayOderItem(int area, string robotID)
{
String data = "";
data = DataTranformation.jsonPutAwayCoordinations(0, 0, 0);
try
{
int numberOfArea = RegistrationAgent.areaList.Count;
string areaID = area.ToString();
string listLinePutAwayKey = RegistrationAgent.areaList[areaID].FindWorkingLinePutAway();
if (listLinePutAwayKey != "none")
{
int agentID = Int32.Parse(listLinePutAwayKey.Split('-')[0]);
int lpospw = Int32.Parse(listLinePutAwayKey.Split('-')[1]);
List<int> temp = new List<int>();
if (RegistrationAgent.areaList[areaID].LIST_LINE_PUTAWAY.ContainsKey(listLinePutAwayKey) &&
RegistrationAgent.areaList[areaID].LIST_LINE_PUTAWAY[listLinePutAwayKey].GetPallet(temp))
{
List<int> palletnumspw = temp;
data = DataTranformation.jsonPutAwayCoordinations(agentID, lpospw, palletnumspw[0]);
MessageBox.Show("PUTAWAY:" + agentID + "-" + lpospw + "-" + palletnumspw[0]);
//requestToReadyArea(DataTranformation.jsonDockingCoordinations(agentID, lposdk, palletnumsdk));
//Line sẽ tự set biến ordered = true sau khi gọi hàm GetPallet thành công lần đầu
return data;
}
}
}
catch { }
return data;
}
public String[] RequestDockingOrderPallet(int area, string robotID, string agentID, string line)
{
RegistrationAgent.mainWindowPointer.LogConsole("In RequestDockingOrderPallet", "logOrder");
String[] data = null;
try
{
string areaID = area.ToString();
List <int> palletnumsdk = new List <int>();
if (RegistrationAgent.areaList[areaID].DOCKING_LINE_LIST.ContainsKey(agentID + "-" + line) &&
RegistrationAgent.areaList[areaID].DOCKING_LINE_LIST[agentID + "-" + line].GetPallet(palletnumsdk))
{
data = new String[4];
data[0] = DataTranformation.jsonDockingPallet(area, Int32.Parse(agentID), Int32.Parse(line), palletnumsdk.First());
data[1] = agentID.ToString();
data[2] = line.ToString();
data[3] = palletnumsdk.First().ToString();
RegistrationAgent.mainWindowPointer.LogConsole("DOCKING :" + data[1] + "-" + data[2] + "-" + data[3], "logOrder");
return(data);
}
RegistrationAgent.mainWindowPointer.LogConsole("Error when RequestDockingOrderPallet1: Area:" + area + "-Robot:" + robotID + "-agentID:" + agentID + "-line:" + line, "logOrder");
}
catch
{
RegistrationAgent.mainWindowPointer.LogConsole("Error when RequestDockingOrderPallet2: Area:" + area + "-Robot:" + robotID + "-agentID:" + agentID + "-line:" + line, "logOrder");
}
return(data);
}
public void processFinishStates(int states)
{
// RegistrationAgent.mainWindowPointer.LogConsole("STATE " + states);
switch (states)
{
case CommandSetsToRobotAgent.STATE_FINISH_PALLETUP: // hoan thanh docking
{
// go to check in putaway
RegistrationAgent.mainWindowPointer.LogConsole("STATE_FINISH_PALLETUP" + states, "logRobot");
// go to check in docking or Front Ready Area
String msg = DataTranformation.jsoncheckinPutAwayCoordinations(0);
RegistrationAgent.mainWindowPointer.LogConsole(msg, "logRobot");
sendPackageStringType(paramsRosSocket.publication_serverRobotGotToCheckInPutAwayArea, msg);
}
break;
case CommandSetsToRobotAgent.STATE_FINISH_PALLETDOWN:
{
if (statusFlag.flagCharge)
{
String msg = DataTranformation.jsonFrontReadyAreaCoordinations(0);
RegistrationAgent.mainWindowPointer.LogConsole("ROBOT NEED CHARGE !!", "logRobot");
sendPackageStringType(paramsRosSocket.publication_serverRobotGotToChargeArea, msg);
return;
}
// go to check in docking or Front Ready Area
RegistrationAgent.mainWindowPointer.LogConsole("STATE_FINISH_PALLETDOWN" + states, "logRobot");
bool checkOrder = RegistrationAgent.areaList[this.AreaID.ToString()].CheckPalletInDockingArea();
RegistrationAgent.mainWindowPointer.LogConsole("Flag check order: " + checkOrder, "logRobot");
if (checkOrder)
{
String msg = DataTranformation.jsoncheckinDockingCoordinations(0);
RegistrationAgent.mainWindowPointer.LogConsole(msg, "logRobot");
sendPackageStringType(paramsRosSocket.publication_serverRobotGotToCheckInDockingArea, msg);
}
else
{
String msg = DataTranformation.jsonFrontReadyAreaCoordinations(0);
RegistrationAgent.mainWindowPointer.LogConsole(msg, "logRobot");
sendPackageStringType(paramsRosSocket.publication_serverRobotGotToFrontReadyArea, msg);
}
}
break;
case CommandSetsToRobotAgent.STATE_FINISH_GOTOLINE_READYAREA:
{
statusFlag.flagProcess = false;
/* RegistrationAgent.mainWindowPointer.LogConsole("STATE_FINISH_GOTOLINE_CHARGINGSTATION " + states);
* String msg = this.readyArea.requestRobotStandInSideReadyArea();
* RegistrationAgent.mainWindowPointer.LogConsole(msg);
* sendPackageStringType(paramsRosSocket.publication_responsedStandPosInsideReadyArea, msg);*/
}
break;
case CommandSetsToRobotAgent.STATE_FINISH_GOTO_CHECKINDOCKING:
{
try
{
RegistrationAgent.mainWindowPointer.LogConsole("STATE_FINISH_GOTO_CHECKINDOCKING " + states, "logRobot");
String[] cmddk = this.orderTask.RequestDockingOrderLine(this.AreaID, NameID);
if (cmddk == null)
{
timeOutRecallProcessing(CommandSetsToRobotAgent.STATE_FINISH_GOTO_CHECKINDOCKING, 3000);
return;
}
// orderInfo.finishCheckInDockingStore = cmddk;
orderInfo.stationNameID = cmddk[1];
orderInfo.lineIndex = cmddk[2];
//orderInfo.palletIndex = cmddk[3];
RegistrationAgent.mainWindowPointer.LogConsole(cmddk[0], "logRobot");
if (cmddk[0].Length > 0)
{
sendPackageStringType(paramsRosSocket.publication_serverRobotGotToLineDockingArea, cmddk[0]);
}
}
catch
{
Console.WriteLine("Jump Again!");
}
}
break;
case CommandSetsToRobotAgent.STATE_FINISH_GOTO_CHECKINPUTAWAY:
{
try
{
RegistrationAgent.mainWindowPointer.LogConsole("STATE_FINISH_GOTO_CHECKINPUTAWAY " + states, "logRobot");
String[] cmdpw = this.orderTask.RequestPutAwayOrderLine(this.AreaID, NameID);
if (cmdpw == null)
{
timeOutRecallProcessing(CommandSetsToRobotAgent.STATE_FINISH_GOTO_CHECKINPUTAWAY, 3000);
return;
}
// orderInfo.finishCheckinPutAwayStore = cmdpw;
orderInfo.stationNameID = cmdpw[1];
orderInfo.lineIndex = cmdpw[2];
//orderInfo.palletIndex = cmdpw[3];
RegistrationAgent.mainWindowPointer.LogConsole(cmdpw[0], "logRobot");
if (cmdpw[0].Length > 0)
{
sendPackageStringType(paramsRosSocket.publication_serverRobotGotToLinePutAwayArea, cmdpw[0]);
}
}
catch
{
Console.WriteLine("Jump Again!");
}
}
break;
case CommandSetsToRobotAgent.STATE_FINISH_GOTO_LINEPUTAWAY:
{
try
{
RegistrationAgent.mainWindowPointer.LogConsole("STATE_FINISH_GOTO_LINEPUTAWAY " + states, "logRobot");
String[] cmdpw = this.orderTask.RequestPutAwayOrderPallet(this.AreaID, NameID, orderInfo.stationNameID, orderInfo.lineIndex);
if (cmdpw == null)
{
timeOutRecallProcessing(CommandSetsToRobotAgent.STATE_FINISH_GOTO_LINEPUTAWAY, 3000);
return;
}
// orderInfo.finishLinePutAwayStore = cmdpw;
orderInfo.stationNameID = cmdpw[1];
orderInfo.lineIndex = cmdpw[2];
orderInfo.palletIndex = cmdpw[3];
RegistrationAgent.mainWindowPointer.LogConsole(cmdpw[0], "logRobot");
if (cmdpw[0].Length > 0)
{
sendPackageStringType(paramsRosSocket.publication_serverRobotGotToPalletPutAwayArea, cmdpw[0]);
}
}
catch
{
Console.WriteLine("Jump Again!");
}
}
break;
case CommandSetsToRobotAgent.STATE_FINISH_GOTO_LINEDOCKING:
{
try
{
RegistrationAgent.mainWindowPointer.LogConsole("STATE_FINISH_GOTO_LINEDOCKING " + states, "logRobot");
String[] cmddk = this.orderTask.RequestDockingOrderPallet(this.AreaID, NameID, orderInfo.stationNameID, orderInfo.lineIndex);
if (cmddk == null)
{
timeOutRecallProcessing(CommandSetsToRobotAgent.STATE_FINISH_GOTO_LINEDOCKING, 3000);
return;
}
// orderInfo.finishLineDockingStore = cmddk;
orderInfo.stationNameID = cmddk[1];
orderInfo.lineIndex = cmddk[2];
orderInfo.palletIndex = cmddk[3];
RegistrationAgent.mainWindowPointer.LogConsole(cmddk[0], "logRobot");
if (cmddk[0].Length > 0)
{
sendPackageStringType(paramsRosSocket.publication_serverRobotGotToPalletDockingArea, cmddk[0]);
}
}
catch
{
Console.WriteLine("Jump Again!");
}
}
break;
case CommandSetsToRobotAgent.STATE_FINISH_DETECTLINE_TO_READYAREA:
// reset flagGoback
RegistrationAgent.mainWindowPointer.LogConsole("STATE_FINISH_DETECTLINE_TO_CHARGINGSTATION" + states, "logRobot");
break;
case CommandSetsToRobotAgent.STATE_SELFDRIVING_WAIT_PALLETUP:
// do pallet nhap nhay truoc vi tri pallet set
{
//bool stop = RegistrationAgent.areaList[this.AreaID.ToString()].robotStopDK(orderInfo.agentID, orderInfo.lineIndex, orderInfo.palletIndex);
//if (stop)
//{
// // RegistrationAgent.mainWindowPointer.LogConsole("Robot Stop");
//}
}
break;
case CommandSetsToRobotAgent.STATE_SELFDRIVING_WAIT_PALLETDOWN:
// do pallet nhap nhay truoc vi tri pallet set
{
//bool stop = RegistrationAgent.areaList[this.AreaID.ToString()].robotStopPW(orderInfo.agentID, orderInfo.lineIndex, orderInfo.palletIndex);
//if (stop)
//{
// // RegistrationAgent.mainWindowPointer.LogConsole("Robot Stop");
//}
}
break;
case CommandSetsToRobotAgent.STATE_SELFDRIVING_REQUEST_CHARGEBATTERY:
statusFlag.flagCharge = true;
break;
case CommandSetsToRobotAgent.STATE_SELFDRIVING_FINISH_BATTERYCHARGING:
// finish charge
/* {
* bool checkOrder = RegistrationAgent.areaList[this.AreaID.ToString()].CheckPalletInDockingArea();
* if (checkOrder)
* {
* String msg = DataTranformation.jsoncheckinDockingCoordinations(0);
* RegistrationAgent.mainWindowPointer.LogConsole(msg);
* sendPackageStringType(paramsRosSocket.publication_serverRobotGotToCheckInDockingArea, msg);
*
* }
* statusFlag.flagCharge = false;
* }*/
statusFlag.flagCharge = false;
statusFlag.flagProcess = false; // khi vị trí battery va ready cung vị trí
break;
}
}
