public void Initialize() { robotManagementService = new RobotManagementService(this.mainWindow.map); doorManagementService = new DoorManagementService(); DataReceive status = new DataReceive(); // Test door /// doorManagementService.DoorMezzamineUpNew.LampSetStateOn(DoorType.DOOR_FRONT); //while (true) //{ // doorManagementService.DoorMezzamineUpNew.LampOn(DoorType.DOOR_FRONT); // doorManagementService.DoorMezzamineUpNew.LampOff(DoorType.DOOR_FRONT); // doorManagementService.DoorMezzamineUpNew.OpenPress(DoorType.DOOR_FRONT); // doorManagementService.DoorMezzamineUpNew.GetStatus(ref status, DoorType.DOOR_FRONT); // doorManagementService.DoorMezzamineUpNew.ClosePress(DoorType.DOOR_FRONT); // doorManagementService.DoorMezzamineUpNew.GetStatus(ref status, DoorType.DOOR_FRONT); // doorManagementService.DoorMezzamineUpNew.OpenPress(DoorType.DOOR_BACK); // doorManagementService.DoorMezzamineUpNew.GetStatus(ref status, DoorType.DOOR_BACK); // doorManagementService.DoorMezzamineUpNew.ClosePress(DoorType.DOOR_BACK); // doorManagementService.DoorMezzamineUpNew.GetStatus(ref status, DoorType.DOOR_BACK); //} // End procedureManagementService = new ProcedureManagementService(); chargerService = new ChargerManagementService(); trafficService = new TrafficManagementService(); deviceRegistrationService = new DeviceRegistrationService(12000); Global_Object.doorManagementServiceCtrl = doorManagementService; assigmentTaskService = new AssigmentTaskService(); assigmentTaskService.RegistryService(robotManagementService); assigmentTaskService.RegistryService(procedureManagementService); assigmentTaskService.RegistryService(deviceRegistrationService.GetDeviceItemList()); assigmentTaskService.RegistryService(trafficService); procedureManagementService.RegistryService(trafficService); procedureManagementService.RegistryService(robotManagementService); procedureManagementService.RegistryService(doorManagementService); procedureManagementService.RegistryService(chargerService); procedureManagementService.RegistryService(deviceRegistrationService); procedureManagementService.RegistryService(assigmentTaskService); robotManagementService.Registry(trafficService); // robotManagementService.TestRobotProceure(); robotManagementService.Initialize(); //robotManagementService.robot2test(); deviceRegistrationService.listen(); deviceRegistrationService.RegistryMainWindow(this.mainWindow); //assigmentTaskService.Start(); MessageBox.Show("Bấm Start Để Bắt Đầu !"); RobotMoving robotMoving = new RobotMoving(robotManagementService.RobotUnityRegistedList); robotMoving.Show(); //assigmentTaskService.Start(); }
public ForkLiftToMachineInfo GetPriorityTaskForkLiftToMachine(int productDetailId) { ForkLiftToMachineInfo forkLiftToMachineInfo = null; try { bool onHasOrder = false; foreach (DeviceItem deviceItem in deviceService.GetDeviceItemList()) { foreach (OrderItem _order in deviceItem.PendingOrderList) { if (_order.typeReq == TyeRequest.TYPEREQUEST_BUFFER_TO_MACHINE) { if (_order.productDetailId == productDetailId) { forkLiftToMachineInfo = new ForkLiftToMachineInfo(); forkLiftToMachineInfo.frontLinePose = _order.palletAtMachine.linePos; JInfoPallet infoPallet = new JInfoPallet(); infoPallet.pallet = PistonPalletCtrl.PISTON_PALLET_DOWN; /* dropdown */ infoPallet.bay = _order.palletAtMachine.bay; infoPallet.hasSubLine = "no"; /* no */ infoPallet.dir_main = (TrafficRobotUnity.BrDirection)_order.palletAtMachine.directMain; infoPallet.dir_sub = (TrafficRobotUnity.BrDirection)_order.palletAtMachine.directSub; infoPallet.dir_out = (TrafficRobotUnity.BrDirection)_order.palletAtMachine.directOut; infoPallet.line_ord = _order.palletAtMachine.line_ord; infoPallet.row = _order.palletAtMachine.row; forkLiftToMachineInfo.infoPallet = JsonConvert.SerializeObject(infoPallet); forkLiftToMachineInfo.palletId = _order.palletId_H; forkLiftToMachineInfo.planId = _order.planId; _order.status = StatusOrderResponseCode.CHANGED_FORKLIFT; onHasOrder = true; deviceItem.PendingOrderList.Remove(_order); break; } } } if (onHasOrder) { break; } } } catch { Console.WriteLine("Error in GetPriorityTaskForkLiftToMachine"); } return(forkLiftToMachineInfo); }