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 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;
}
}