public void Procedure(object ojb)
{
ProcedureForkLiftToBuffer FlToBuf = (ProcedureForkLiftToBuffer)ojb;
RobotUnity rb = FlToBuf.robot;
doorServiceCtrl = getDoorService();
ds = doorServiceCtrl.doorService;
ds.setRb(rb);
TrafficManagementService Traffic = FlToBuf.Traffic;
ForkLiftToMachineInfo flToMachineInfo = new ForkLiftToMachineInfo();
rb.mcuCtrl.lampRbOn();
robot.ShowText(" Start -> " + procedureCode);
while (ProRun)
{
switch (StateForkLift)
{
case ForkLift.FORBUF_IDLE:
robot.ShowText("FORBUF_IDLE");
break;
case ForkLift.FORBUF_GET_FRONTLINE:
endPointBuffer = FlToBuf.GetFrontLineBuffer(true);
if (endPointBuffer == null)
{
if (countFrontLineNull++ < 10)
{
break;
}
countFrontLineNull = 0;
robot.bayId = -1;
Console.WriteLine("Error Data Request" + order.dataRequest);
order.status = StatusOrderResponseCode.ERROR_GET_FRONTLINE;
TrafficRountineConstants.ReleaseAll(robot);
robot.orderItem = null;
robot.SwitchToDetectLine(false);
robot.ReleaseWorkingZone();
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position))
{
TrafficRountineConstants.RegIntZone_READY.Release(robot);
robot.robotTag = RobotStatus.IDLE;
robot.SetSafeYellowcircle(false);
robot.SetSafeBluecircle(false);
robot.SetSafeSmallcircle(false);
robot.TurnOnSupervisorTraffic(false);
// rb.mcuCtrl.lampRbOff();
procedureCode = ProcedureCode.PROC_CODE_ROBOT_TO_READY;
}
else
{
procedureCode = ProcedureCode.PROC_CODE_FORKLIFT_TO_BUFFER;
}
ReleaseProcedureHandler(this);
ProRun = false;
robot.ShowText("RELEASED");
UpdateInformationInProc(this, ProcessStatus.S);
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
SaveOrderItem(order);
KillEvent();
}
else
{
order.frontLinePos = endPointBuffer.Position;
robot.bayId = bayId;
StateForkLift = ForkLift.FORBUF_SELECT_BEHAVIOR_ONZONE;
}
break;
case ForkLift.FORBUF_SELECT_BEHAVIOR_ONZONE:
order.status = StatusOrderResponseCode.GOING_AND_PICKING_UP;
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position))
{
if (rb.PreProcedureAs == ProcedureControlAssign.PRO_READY)
{
robot.ShowText("FORBUF_ROBOT_GOTO_BACK_FRONTLINE_READY");
StateForkLift = ForkLift.FORBUF_ROBOT_GOTO_BACK_FRONTLINE_READY;
}
else
{
robot.robotTag = RobotStatus.WORKING;
if (rb.SendPoseStamped(doorServiceCtrl.PointFrontLine))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOTO_GATE");
break;
}
}
}
else if (Traffic.RobotIsInArea("GATE", robot.properties.pose.Position))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY;
}
else // if (Traffic.RobotIsInArea("OUTER", robot.properties.pose.Position))
{
// public void Start (ForkLiftToBuffer state = ForkLiftToBuffer.FORBUF_ROBOT_RELEASED) {
robot.robotTag = RobotStatus.WORKING;
if (rb.SendPoseStamped(doorServiceCtrl.PointFrontLine))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_ALLOW_GOTO_GATE_FROM_OUTER;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = doorServiceCtrl.PointFrontLine.Position;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOTO_CHECKIN_GATE");
}
}
break;
case ForkLift.FORBUF_ROBOT_GOTO_BACK_FRONTLINE_READY:
// kiểm tra có robot nào đang trong vung Gate
if (Traffic.HasOtherRobotUnityinArea("GATE", robot))
{
break;
}
if (rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE_TURN_LEFT))
{
Stopwatch sw = new Stopwatch();
sw.Start();
do
{
robot.onFlagGoBackReady = true;
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.onFlagGoBackReady = false;
robot.robotTag = RobotStatus.WORKING;
if (rb.SendPoseStamped(doorServiceCtrl.PointFrontLine))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOTO_GATE");
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 ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY:
// dò ra điểm đích đến và xóa đăng ký vùng
// TrafficRountineConstants.DetectRelease(registryRobotJourney);
// if (Traffic.RobotIsInArea("OPEN_GATE", rb.properties.pose.Position)) // khu vuc mo cong
if (Traffic.RobotIsInArea("GATE", rb.properties.pose.Position)) // khu vuc mo cong
{
ds.setDoorBusy(true);
//ds.openDoor(DoorType.DOOR_BACK);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY_OPEN_DOOR;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY_OPEN_DOOR:
// dò ra điểm đích đến và xóa đăng ký vùng
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.setTrafficAllCircles(false, false, false, false);
TrafficRountineConstants.RegIntZone_READY.Release(robot);
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_CAME_GATE_POSITION;
robot.ShowText("FORBUF_ROBOT_CAME_GATE_POSITION");
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_ALLOW_GOTO_GATE_FROM_OUTER:
// kiem tra vung đăng ký tai khu vuc xac định
if (TrafficRountineConstants.DetetectInsideStationCheckGate(registryRobotJourney))
{
break;
}
else
{
// dò ra điểm đích đến và xóa đăng ký vùng
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_INSIDE_GATE_ZONE;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOTO_INSIDE_GATE_ZONE:
// kiem tra vung đăng ký tai khu vuc xac định
//TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (Traffic.RobotIsInArea("GATE", rb.properties.pose.Position))
{
ds.setDoorBusy(true);
//ds.openDoor(DoorType.DOOR_BACK);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_OPEN_DOOR;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_OPEN_DOOR:
// kiem tra vung đăng ký tai khu vuc xac định
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
// robot.setTrafficAllCircles(false, false, false, false);
TrafficRountineConstants.RegIntZone_READY.Release(robot);
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateForkLift = ForkLift.FORBUF_ROBOT_CAME_GATE_POSITION;
robot.ShowText("FORBUF_ROBOT_CAME_GATE_POSITION");
}
break;
case ForkLift.FORBUF_ROBOT_CAME_GATE_POSITION: // da den khu vuc cong , gui yeu cau mo cong.
robot.robotRegistryToWorkingZone.onRobotwillCheckInsideGate = false;
// ds.setDoorBusy(true);
//ds.openDoor(DoorService.DoorType.DOOR_BACK);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_OPEN_DOOR;
robot.ShowText("FORBUF_ROBOT_WAITTING_OPEN_DOOR");
break;
case ForkLift.FORBUF_ROBOT_WAITTING_OPEN_DOOR: //doi mo cong
DoorStatus ret = ds.getStatusDoor(DoorType.DOOR_BACK);
if (DoorStatus.DOOR_OPEN == ret)
{
//robot.onFOrceOverGate = false;
StateForkLift = ForkLift.FORBUF_ROBOT_OPEN_DOOR_SUCCESS;
robot.ShowText("FORBUF_ROBOT_OPEN_DOOR_SUCCESS");
}
//else if (RetState.DOOR_CTRL_ERROR == ret)
//{
// robot.ShowText("FORBUF_ROBOT_OPEN_DOOR_ERROR");
// ds.setDoorBusy(true);
// ds.openDoor(DoorService.DoorType.DOOR_BACK);
// Thread.Sleep(6000);
//}
break;
case ForkLift.FORBUF_ROBOT_OPEN_DOOR_SUCCESS: // mo cua thang cong ,gui toa do line de robot di vao gap hang
// rb.SendCmdLineDetectionCtrl(RequestCommandLineDetect.REQUEST_LINEDETECT_PALLETUP);
if (rb.SendCmdAreaPallet(doorServiceCtrl.infoPallet))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_PICKUP_PALLET_IN;
robot.ShowText("FORBUF_ROBOT_WAITTING_PICKUP_PALLET_IN");
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_PICKUP_PALLET_IN: // doi robot gap hang
try
{
DoorStatus ret1 = ds.getStatusDoor(DoorType.DOOR_BACK);
if (DoorStatus.DOOR_OPEN == ret1)
{
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP)
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_FINISH_PALLET_UP;
Console.WriteLine("pallet ID" + order.palletId);
robot.robotBahaviorAtGate = RobotBahaviorAtReadyGate.GOING_OUTSIDE_GATE;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
//else if (DoorStatus.DOOR_UNKNOW == ret1)
//{
//}
else /* if(DoorStatus.DOOR_CLOSE == ret1)*/
{
robot.ShowText("DOOR_ERROR_(-___-)");
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
ds.setDoorBusy(true);
ds.openDoor(DoorType.DOOR_BACK);
Thread.Sleep(6000);
}
}
catch
{
}
break;
case ForkLift.FORBUF_ROBOT_FINISH_PALLET_UP:
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE;
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE:
//kiem tra da toi vung dong cong
if (Traffic.RobotIsInArea("INSIDE-GATE", robot.properties.pose.Position))
{
DoorStatus ret2 = ds.getStatusDoor(DoorType.DOOR_BACK);
if (DoorStatus.DOOR_OPEN == ret2)
{
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
Global_Object.setGateStatus(order.gate, false);
resCmd = ResponseCommand.RESPONSE_NONE;
ds.LampSetStateOff(DoorType.DOOR_FRONT);
ds.closeDoor(DoorType.DOOR_BACK);
ds.setDoorBusy(false);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_CLOSE_GATE;
robot.ShowText("FORBUF_ROBOT_WAITTING_CLOSE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
//else if (DoorStatus.DOOR_UNKNOW == ret1)
//{
//}
else /* if(DoorStatus.DOOR_CLOSE == ret1)*/
{
robot.ShowText("DOOR_ERROR_(-___-)");
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
ds.setDoorBusy(true);
ds.openDoor(DoorType.DOOR_BACK);
Thread.Sleep(6000);
}
}
else
{
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
Global_Object.setGateStatus(order.gate, false);
resCmd = ResponseCommand.RESPONSE_NONE;
ds.LampSetStateOff(DoorType.DOOR_FRONT);
ds.closeDoor(DoorType.DOOR_BACK);
ds.setDoorBusy(false);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_CLOSE_GATE;
robot.ShowText("FORBUF_ROBOT_WAITTING_CLOSE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_CLOSE_GATE:
try
{
StateForkLift = ForkLift.FORBUF_ROBOT_CHECK_GOTO_BUFFER_OR_MACHINE;
robot.SwitchToDetectLine(false);
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_CHECK_GOTO_BUFFER_OR_MACHINE:
order.status = StatusOrderResponseCode.DELIVERING;
flToMachineInfo = GetPriorityTaskForkLiftToMachine(order.productDetailId);
if (flToMachineInfo == null)
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_ZONE_BUFFER_READY;
}
else
{
FreePlanedBuffer(order.palletId_P);
UpdatePalletState(PalletStatus.W, flToMachineInfo.palletId, flToMachineInfo.planId);
StateForkLift = ForkLift.FORMAC_ROBOT_GOTO_FRONTLINE_MACHINE;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_ZONE_BUFFER_READY:
// kiểm tra xem goal có đếm Merz
// kiểm tra goal có nằm trong vung c1
Pose destPos1 = endPointBuffer;
if (rb.SendPoseStamped(destPos1))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER;
robot.ShowText("FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER:
// kiể
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_SEND_CMD_DROPDOWN_PALLET_BUFFER;
TrafficRountineConstants.DetectRelease(registryRobotJourney);
}
else
{
if (Traffic.PositionIsInArea(endPointBuffer.Position).Equals("MERZ"))
{
if (TrafficRountineConstants.DetetectInsideStationCheckMerz(registryRobotJourney))
{
break;
}
}
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_SEND_CMD_DROPDOWN_PALLET_BUFFER:
JResult = FlToBuf.GetInfoPallet_P_InBuffer(PistonPalletCtrl.PISTON_PALLET_DOWN);
String data = JsonConvert.SerializeObject(JResult.jInfoPallet);
if (rb.SendCmdAreaPallet(data))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER;
robot.ShowText("FORBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER");
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN)
{
resCmd = ResponseCommand.RESPONSE_NONE;
FlToBuf.UpdatePalletState(PalletStatus.W, JResult.palletId, order.planId);
// rb.SendCmdPosPallet (RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
Console.WriteLine("Loi Update :ForkLift.FORBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER");
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER: // đợi
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.bayId = -1;
robot.bayIdReg = false;
robot.ReleaseWorkingZone();
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
StateForkLift = ForkLift.FORBUF_ROBOT_RELEASED;
robot.ShowText("FORBUF_ROBOT_RELEASED");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
Console.WriteLine("Loi Update :ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER");
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
rb.PreProcedureAs = ProcedureControlAssign.PRO_FORKLIFT_TO_BUFFER;
ReleaseProcedureHandler(this);
ProRun = false;
robot.ShowText("RELEASED");
UpdateInformationInProc(this, ProcessStatus.S);
order.status = StatusOrderResponseCode.FINISHED;
break;
case ForkLift.FORMAC_ROBOT_GOTO_FRONTLINE_MACHINE:
try
{
if (rb.SendPoseStamped(flToMachineInfo.frontLinePose))
{
StateForkLift = ForkLift.FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE;
robot.ShowText("FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE");
onFlagResetedGate = false;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE:
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
StateForkLift = ForkLift.FORMAC_ROBOT_SEND_CMD_DROPDOWN_PALLET_MACHINE;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_SEND_CMD_DROPDOWN_PALLET_MACHINE:
if (rb.SendCmdAreaPallet(flToMachineInfo.infoPallet))
{
StateForkLift = ForkLift.FORMAC_ROBOT_WAITTING_DROPDOWN_PALLET_MACHINE;
robot.ShowText("FORMAC_ROBOT_WAITTING_DROPDOWN_PALLET_MACHINE");
}
break;
case ForkLift.FORMAC_ROBOT_WAITTING_DROPDOWN_PALLET_MACHINE:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN)
{
resCmd = ResponseCommand.RESPONSE_NONE;
// FlToBuf.UpdatePalletState(PalletStatus.W);
// rb.SendCmdPosPallet (RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE);
StateForkLift = ForkLift.FORMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE;
robot.ShowText("FORMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE: // đợi
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
StateForkLift = ForkLift.FORMAC_ROBOT_RELEASED;
robot.ShowText("FORMAC_ROBOT_RELEASED");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
ds.removeListCtrlDoorBack();
TrafficRountineConstants.ReleaseAll(robot);
robot.orderItem = null;
// Global_Object.onFlagDoorBusy = false;
robot.SwitchToDetectLine(false);
// robot.robotTag = RobotStatus.IDLE;
robot.ReleaseWorkingZone();
rb.PreProcedureAs = ProcedureControlAssign.PRO_FORKLIFT_TO_BUFFER;
// if (errorCode == ErrorCode.RUN_OK) {
ReleaseProcedureHandler(this);
// } else {
// ErrorProcedureHandler (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;
SaveOrderItem(order);
KillEvent();
break;
case ForkLift.FORMAC_ROBOT_DESTROY: // trả robot về robotmanagement để nhận quy trình mới
ds.removeListCtrlDoorBack();
TrafficRountineConstants.ReleaseAll(robot);
robot.SwitchToDetectLine(false);
robot.ReleaseWorkingZone();
robot.robotBahaviorAtGate = RobotBahaviorAtReadyGate.IDLE;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
ProRun = false;
UpdateInformationInProc(this, ProcessStatus.F);
order.status = StatusOrderResponseCode.ROBOT_ERROR;
selectHandleError = SelectHandleError.CASE_ERROR_EXIT;
procedureStatus = ProcedureStatus.PROC_KILLED;
// RestoreOrderItem();
//FreePlanedBuffer(order.palletId_P);
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
SaveOrderItem(order);
KillEvent();
break;
//////////////////////////////////////////////////////
default:
break;
}
Thread.Sleep(100);
}
StateForkLift = ForkLift.FORBUF_IDLE;
}
public void Procedure(object ojb)
{
ProcedureBufferToMachine BfToMa = (ProcedureBufferToMachine)ojb;
RobotUnity rb = BfToMa.robot;
// DataBufferToMachine p = BfToMa.points;
TrafficManagementService Traffic = BfToMa.Traffic;
robot.ShowText(" Start -> " + procedureCode);
//GetFrontLineBuffer(false);
// ProRun = false;
rb.mcuCtrl.lampRbOn();
/* frontLinePose = BfToMa.GetFrontLineBuffer();
* if (frontLinePose == null)
* {
* robot.bayId = -1;
* TrafficRountineConstants.ReleaseAll(robot);
* robot.bayId = -1;
* robot.bayIdReg = false;
* robot.orderItem = null;
* robot.SwitchToDetectLine(false);
* if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position))
* {
* TrafficRountineConstants.RegIntZone_READY.Release(robot);
* robot.robotTag = RobotStatus.IDLE;
* robot.SetSafeYellowcircle(false);
* robot.SetSafeBluecircle(false);
* robot.SetSafeSmallcircle(false);
* robot.TurnOnSupervisorTraffic(false);
* // rb.mcuCtrl.lampRbOff();
* procedureCode = ProcedureCode.PROC_CODE_ROBOT_TO_READY;
* }
* else
* procedureCode = ProcedureCode.PROC_CODE_BUFFER_TO_MACHINE;
* ReleaseProcedureHandler(this);
* ProRun = false;
* UpdateInformationInProc(this, ProcessStatus.S);
* order.status = StatusOrderResponseCode.ERROR_GET_FRONTLINE;
* order.endTimeProcedure = DateTime.Now;
* order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
* SaveOrderItem(order);
* KillEvent();
* }
* else
* {
* order.frontLinePos = frontLinePose.Position;
* robot.bayId = bayId;
* }*/
while (ProRun)
{
switch (StateBufferToMachine)
{
case BufferToMachine.BUFMAC_IDLE:
//robot.ShowText("BUFMAC_IDLE");
break;
case BufferToMachine.BUFMAC_GET_FRONTLINE:
frontLinePose = BfToMa.GetFrontLineBuffer();
if (frontLinePose == null)
{
if (countFrontLineNull++ < 10)
{
break;
}
countFrontLineNull = 0;
robot.bayId = -1;
TrafficRountineConstants.ReleaseAll(robot);
robot.bayId = -1;
robot.bayIdReg = false;
robot.orderItem = null;
robot.SwitchToDetectLine(false);
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position))
{
TrafficRountineConstants.RegIntZone_READY.Release(robot);
robot.robotTag = RobotStatus.IDLE;
robot.SetSafeYellowcircle(false);
robot.SetSafeBluecircle(false);
robot.SetSafeSmallcircle(false);
robot.TurnOnSupervisorTraffic(false);
// rb.mcuCtrl.lampRbOff();
procedureCode = ProcedureCode.PROC_CODE_ROBOT_TO_READY;
}
else
{
procedureCode = ProcedureCode.PROC_CODE_BUFFER_TO_MACHINE;
}
ReleaseProcedureHandler(this);
ProRun = false;
UpdateInformationInProc(this, ProcessStatus.S);
order.status = StatusOrderResponseCode.ERROR_GET_FRONTLINE;
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
SaveOrderItem(order);
KillEvent();
}
else
{
order.frontLinePos = frontLinePose.Position;
robot.bayId = bayId;
StateBufferToMachine = BufferToMachine.BUFMAC_SELECT_BEHAVIOR_ONZONE;
}
//robot.ShowText("BUFMAC_IDLE");
break;
case BufferToMachine.BUFMAC_SELECT_BEHAVIOR_ONZONE:
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position, TypeZone.OPZS))
{
if (rb.PreProcedureAs == ProcedureControlAssign.PRO_READY)
{
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_GOTO_BACK_FRONTLINE_READY;
//robot.ShowText("BUFMAC_SELECT_BEHAVIOR_ONZONE : READY");
//robot.ShowText("CHECK - REG");
}
}
else if (Traffic.RobotIsInArea("GATE", robot.properties.pose.Position, TypeZone.MAIN_ZONE))
{
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER;
}
else //if (Traffic.RobotIsInArea("OUTER", robot.properties.pose.Position,TypeZone.MAIN_ZONE))
{
Point destPos1 = frontLinePose.Position;
String destName1 = Traffic.DetermineArea(destPos1, TypeZone.MAIN_ZONE);
if (rb.SendPoseStamped(frontLinePose))
{
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = destPos1;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
break;
case BufferToMachine.BUFMAC_ROBOT_GOTO_BACK_FRONTLINE_READY:
if (Traffic.HasOtherRobotUnityinArea("GATE", robot))
{
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;
Point destPos2 = frontLinePose.Position;
String destName2 = Traffic.DetermineArea(destPos2, TypeZone.MAIN_ZONE);
//robot.ShowText("GO FRONTLINE IN OUTER");
if (rb.SendPoseStamped(frontLinePose))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER;
}
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 BufferToMachine.BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER:
// nếu chưa đến goal phải check tới vùng c1
// nếu goal nằm trong C1 thì không đăng ký
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER;
}
else
{
if (!Traffic.PositionIsInArea(frontLinePose.Position).Equals("C1"))
{
if (TrafficRountineConstants.DetetectInsideStationCheckMerz(registryRobotJourney))
{
break;
}
}
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToMachine.BUFMAC_ROBOT_SEND_CMD_PICKUP_PALLET_BUFFER:
JPallet jPallet_H = BfToMa.GetInfoPallet_H_InBuffer(PistonPalletCtrl.PISTON_PALLET_UP);
jPResult = BfToMa.GetInfoOfPalletBuffer_Compare_W_H(PistonPalletCtrl.PISTON_PALLET_UP, jPallet_H);
String data = JsonConvert.SerializeObject(jPResult.jInfoPallet);
if (rb.SendCmdAreaPallet(data))
{
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_PICKUP_PALLET_BUFFER;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_PICKUP_PALLET_BUFFER");
}
break;
case BufferToMachine.BUFMAC_ROBOT_WAITTING_PICKUP_PALLET_BUFFER:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP)
{
resCmd = ResponseCommand.RESPONSE_NONE;
BfToMa.UpdatePalletState(PalletStatus.F, jPResult.palletId, order.planId);
//Reset trạng thai W cho pallet_H nếu truoc đó có cây W
if (jPResult.jInfoPallet.row < order.palletRow)
{
BfToMa.UpdatePalletState(PalletStatus.W, order.palletId_H, order.planId);
}
onUpdatedPalletState = true;
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case BufferToMachine.BUFMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER: // đợi
try
{
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.bayId = -1;
robot.bayIdReg = false;
robot.ReleaseWorkingZone();
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_GOTO_FRONTLINE_DROPDOWN_PALLET_SELECT_ZONE;
// cập nhật lại điểm xuất phát
registryRobotJourney.startPoint = robot.properties.pose.Position;
//robot.ShowText("BUFMAC_ROBOT_GOTO_FRONTLINE_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 BufferToMachine.BUFMAC_ROBOT_GOTO_FRONTLINE_DROPDOWN_PALLET_SELECT_ZONE:
String startNamePoint = Traffic.DetermineArea(registryRobotJourney.startPoint, TypeZone.MAIN_ZONE);
Pose destPos = BfToMa.GetFrontLineMachine();
String destName = Traffic.DetermineArea(destPos.Position, TypeZone.MAIN_ZONE);
if (rb.SendPoseStamped(destPos))
{
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_GOTO_FRONTLINE_DROPDOWN_PALLET;
}
break;
case BufferToMachine.BUFMAC_ROBOT_GOTO_FRONTLINE_DROPDOWN_PALLET: // tai may
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_SEND_CMD_DROPDOWN_PALLET;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToMachine.BUFMAC_ROBOT_SEND_CMD_DROPDOWN_PALLET:
if (rb.SendCmdAreaPallet(BfToMa.GetInfoOfPalletMachine(PistonPalletCtrl.PISTON_PALLET_DOWN)))
{
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_DROPDOWN_PALLET;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_DROPDOWN_PALLET");
}
break;
case BufferToMachine.BUFMAC_ROBOT_WAITTING_DROPDOWN_PALLET:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN)
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_WAITTING_GOTO_FRONTLINE;
//robot.ShowText("BUFMAC_ROBOT_WAITTING_GOTO_FRONTLINE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case BufferToMachine.BUFMAC_ROBOT_WAITTING_GOTO_FRONTLINE:
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_RELEASED;
//robot.ShowText("BUFMAC_ROBOT_RELEASED");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case BufferToMachine.BUFMAC_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
TrafficRountineConstants.ReleaseAll(robot);
robot.bayId = -1;
robot.bayIdReg = false;
robot.orderItem = null;
robot.SwitchToDetectLine(false);
// Release WorkinZone Robot
// robot.robotTag = RobotStatus.IDLE;
rb.PreProcedureAs = ProcedureControlAssign.PRO_BUFFER_TO_MACHINE;
// if (errorCode == ErrorCode.RUN_OK) {
ReleaseProcedureHandler(this);
// } else {
// ErrorProcedureHandler (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;
SaveOrderItem(order);
KillEvent();
break;
case BufferToMachine.BUFMAC_ROBOT_DESTROY:
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
SaveOrderItem(order);
robot.SwitchToDetectLine(false);
robot.ReleaseWorkingZone();
// StateBufferToMachine = BufferToMachine.BUFMAC_ROBOT_RELEASED;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
ProRun = false;
UpdateInformationInProc(this, ProcessStatus.F);
order.status = StatusOrderResponseCode.ROBOT_ERROR;
//reset status pallet Faile H->Ws
selectHandleError = SelectHandleError.CASE_ERROR_EXIT;
procedureStatus = ProcedureStatus.PROC_KILLED;
//FreeHoldBuffer(order.palletId_H);
KillEvent();
//this.robot.DestroyRegistrySolvedForm();
break;
default:
break;
}
// robot.ShowText("-> " + procedureCode);
Thread.Sleep(700);
}
StateBufferToMachine = BufferToMachine.BUFMAC_IDLE;
}
