// public override event Action<Object> ErrorProcedureHandler;
public ProcedureMachineToReturn(RobotUnity robot, TrafficManagementService traffiicService) : base(robot, traffiicService)
{
StateMachineToReturn = MachineToReturn.MACRET_IDLE;
this.robot = robot;
this.Traffic = traffiicService;
procedureCode = ProcedureCode.PROC_CODE_MACHINE_TO_RETURN;
}
public void Start(MachineToReturn state = MachineToReturn.MACRET_SELECT_BEHAVIOR_ONZONE)
{
robot.orderItem = null;
errorCode = ErrorCode.RUN_OK;
robot.robotTag = RobotStatus.WORKING;
robot.ProcedureAs = ProcedureControlAssign.PRO_MACHINE_TO_RETURN;
StateMachineToReturn = state;
ProMachineToReturn = new Thread(this.Procedure);
ProRun = true;
ProRunStopW = true;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
order.startTimeProcedure = DateTime.Now;
registryRobotJourney = new RegistryRobotJourney();
registryRobotJourney.robot = robot;
registryRobotJourney.traffic = Traffic;
ProMachineToReturn.Start(this);
}
public void Procedure(object ojb)
{
ProcedureMachineToReturn BfToRe = (ProcedureMachineToReturn)ojb;
RobotUnity rb = BfToRe.robot;
DataMachineToReturn p = BfToRe.points;
TrafficManagementService Traffic = BfToRe.Traffic;
rb.mcuCtrl.lampRbOn();
robot.ShowText(" Start -> " + procedureCode);
while (ProRun)
{
switch (StateMachineToReturn)
{
case MachineToReturn.MACRET_IDLE:
break;
case MachineToReturn.MACRET_SELECT_BEHAVIOR_ONZONE:
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position))
{
if (rb.PreProcedureAs == ProcedureControlAssign.PRO_READY)
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_GOTO_BACK_FRONTLINE_READY;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(BfToRe.GetFrontLineMachine().Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = BfToRe.GetFrontLineMachine().Position;
}
}
else if (Traffic.RobotIsInArea("VIM", robot.properties.pose.Position))
{
if (rb.SendPoseStamped(BfToRe.GetFrontLineMachine()))
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM_REG;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(BfToRe.GetFrontLineMachine().Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = BfToRe.GetFrontLineMachine().Position;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
else if (Traffic.RobotIsInArea("OUTER", robot.properties.pose.Position))
{
Pose destPos1 = BfToRe.GetFrontLineMachine();
String destName1 = Traffic.DetermineArea(destPos1.Position, TypeZone.MAIN_ZONE);
if (destName1.Equals("OUTER"))
{
//robot.ShowText("GO FRONTLINE IN OUTER");
if (rb.SendPoseStamped(destPos1))
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos1.Position;
//robot.ShowText("MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE");
}
}
else if (destName1.Equals("VIM"))
{
//robot.ShowText("GO FRONTLINE IN VIM");
if (rb.SendPoseStamped(destPos1))
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_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("MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE");
//robot.ShowText("CHECK - REG");
}
}
}
break;
case MachineToReturn.MACRET_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 destPos1 = BfToRe.GetFrontLineMachine();
String destName1 = Traffic.DetermineArea(destPos1.Position, TypeZone.MAIN_ZONE);
if (destName1.Equals("OUTER"))
{
//robot.ShowText("GO FRONTLINE IN OUTER");
if (rb.SendPoseStamped(destPos1))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos1.Position;
//robot.ShowText("MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE");
}
}
else if (destName1.Equals("VIM"))
{
//robot.ShowText("GO FRONTLINE IN VIM");
if (rb.SendPoseStamped(destPos1))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM_READY;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos1.Position;
//robot.ShowText("MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE");
//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 MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM_READY:
try
{
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if (robot.ReachedGoal())
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_SEND_CMD_CAME_FRONTLINE_MACHINE;
}
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 MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM_REG:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
else
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM;
}
break;
case MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM:
try
{
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if (robot.ReachedGoal())
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_SEND_CMD_CAME_FRONTLINE_MACHINE;
}
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 MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE:
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if (robot.ReachedGoal())
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_SEND_CMD_CAME_FRONTLINE_MACHINE;
}
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 MachineToReturn.MACRET_ROBOT_SEND_CMD_CAME_FRONTLINE_MACHINE:
if (rb.SendCmdAreaPallet(BfToRe.GetInfoOfPalletMachine(PistonPalletCtrl.PISTON_PALLET_UP)))
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_PICKUP_PALLET_MACHINE;
//robot.ShowText("MACRET_ROBOT_WAITTING_PICKUP_PALLET_MACHINE");
}
break;
case MachineToReturn.MACRET_ROBOT_WAITTING_PICKUP_PALLET_MACHINE:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP)
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE;
//robot.ShowText("MACRET_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case MachineToReturn.MACRET_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE: // đợi
try
{
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_GOTO_RETURN_SELECT_BEHAVIOR_ONZONE;
// cập nhật lại điểm xuất phát
registryRobotJourney.startPoint = robot.properties.pose.Position;
}
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 MachineToReturn.MACRET_ROBOT_GOTO_RETURN_SELECT_BEHAVIOR_ONZONE:
String startNamePoint = Traffic.DetermineArea(registryRobotJourney.startPoint, TypeZone.MAIN_ZONE);
Pose destPos = BfToRe.GetFrontLineReturn();
String destName = Traffic.DetermineArea(destPos.Position, TypeZone.MAIN_ZONE);
if (startNamePoint.Equals("VIM"))
{
if (rb.SendPoseStamped(destPos))
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_GOTO_FRONTLINE_RETURN_FROM_VIM;
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))
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_GOTO_FRONTLINE_RETURN_FROM_VIM;
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))
{
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_GOTO_FRONTLINE_RETURN_FROM_VIM;
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 MachineToReturn.MACRET_ROBOT_GOTO_FRONTLINE_RETURN_FROM_VIM: // dang di
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if ( robot.ReachedGoal())
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_SEND_CMD_DROPDOWN_PALLET;
}
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 MachineToReturn.MACRET_ROBOT_GOTO_FRONTLINE_RETURN: // dang di
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if ( robot.ReachedGoal())
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_SEND_CMD_DROPDOWN_PALLET;
}
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 MachineToReturn.MACRET_ROBOT_SEND_CMD_DROPDOWN_PALLET:
if (rb.SendCmdAreaPallet(BfToRe.GetInfoOfPalletReturn(PistonPalletCtrl.PISTON_PALLET_DOWN)))
{
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_DROPDOWN_PALLET;
//robot.ShowText("MACRET_ROBOT_WAITTING_DROPDOWN_PALLET");
}
break;
case MachineToReturn.MACRET_ROBOT_WAITTING_DROPDOWN_PALLET:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN)
{
resCmd = ResponseCommand.RESPONSE_NONE;
BfToRe.UpdatePalletState(PalletStatus.W, order.palletId_P, order.palletId_P);
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_GOTO_FRONTLINE;
//robot.ShowText("MACRET_ROBOT_WAITTING_GOTO_FRONTLINE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case MachineToReturn.MACRET_ROBOT_WAITTING_GOTO_FRONTLINE:
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
StateMachineToReturn = MachineToReturn.MACRET_ROBOT_RELEASED;
//robot.ShowText("MACRET_ROBOT_RELEASED");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case MachineToReturn.MACRET_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
TrafficRountineConstants.ReleaseAll(robot);
Global_Object.onFlagRobotComingGateBusy = false;
robot.orderItem = null;
rb.PreProcedureAs = ProcedureControlAssign.PRO_MACHINE_TO_RETURN;
ReleaseProcedureHandler(this);
ProRun = false;
//robot.ShowText("RELEASED");
UpdateInformationInProc(this, ProcessStatus.S);
order.status = StatusOrderResponseCode.FINISHED;
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
KillEvent();
break;
default:
break;
}
//robot.ShowText("-> " + procedureCode);
Thread.Sleep(5);
}
StateMachineToReturn = MachineToReturn.MACRET_IDLE;
}
