private void AssembleMachineForCompleteTrayPickup(TransportOperationMachine machine, object sourceLockOwner)
{
// In this case, Station is the source of the tray.
var station = machine.Station as IStation;
var dockStation = machine.Station as ITransportDock;
if (station != null && dockStation != null)
{
// This machine doesn't know if Transport is safe yet or not.
machine.AddActivity(new DynamicActivity("Set machine HaltOnError", () => machine.HaltOnError = true));
// Wait for transportation to stop moving.
machine.AddContinueCondition(new DynamicConstraint <ITransport>("Transport Detects Tray?", machine.Transport,
(td) => IsTransportParkedWithTray(machine.Transport)));
if (station.Type != StationType.Stainer)
{
// This machine knows it is above the station and in elevator now, so no need for transport error.
machine.AddActivity(new DynamicActivity("Set machine HaltOnError", () => machine.HaltOnError = false));
}
// Wait for the source station IsTrayDetected trigger.
// Slide id does not have a tray present sensor, so it should always be faking it.
machine.AddContinueCondition(
new DynamicConstraint <ITrayDetector>("Tray Not Detected At Source?", machine.Station, (td) => !td.IsTrayDetected));
// Complete the handoff. Quit this machine if the CompleteHandoff fails.
machine.SetActivityTrayHandlerCompleteHandoff();
// If we just picked up from a stainer and the destination is below it, wait for CompleteHandoff to finish.
if (station.Type == StationType.Stainer)
{
var destinationZ = machine.Configuration.Data.DestinationZLocation;
// If the destination is below the source stainer,
// wait until the stainer's handoff is completed. Otherwise, transport can move on safely.
if (dockStation.DockZ > destinationZ)
{
// Pause until source station has completed its handoff.
machine.SetPauseUntilConditionOfStation("IsStationNotHandoffPrepared", IsStationNotHandoffPrepared);
}
}
// Assuming the station is no longer HandoffPrepared, TrayMover does not need to halt movements anymore.
machine.AddActivity(new DynamicActivity("Set machine HaltOnError", () => machine.HaltOnError = true));
// Reassign the tray from source to transport.
machine.SetActivityReassignTray(machine.Station, machine.Transport);
// Special activity needed only for this machine to release the lock on the source station early.
machine.SetActivityReleaseDockLock(sourceLockOwner);
}
else
{
throw new Exception("Complete tray pick-up failed to build: no source station.");
}
}
public void AssembleMachineForCompleteTrayDropoff(TransportOperationMachine machine)
{
var station = machine.Station as IStation;
if (station != null)
{
// This machine doesn't know if Transport is safe or not.
machine.AddActivity(new DynamicActivity("Set machine HaltOnError", () => machine.HaltOnError = true));
// If the prior machine was stopped, skip tray reassignment.
if (!machine.IsStopped)
{
//TODO: change this to go by interfaces once SlideId is refactored.
if (station.Type != StationType.SlideId)
{
// Wait for transportation to stop moving
machine.AddContinueCondition(new DynamicConstraint <ITransport>("Transport Missing Tray?", machine.Transport,
(td) => IsTransportParkedWithoutTray(machine.Transport)));
}
// Wait for the destination station IsTrayDetected trigger.
// Slide id does not have a tray present sensor, so it should always be faking it.
machine.AddContinueCondition(new DynamicConstraint <ITrayDetector>("Tray Detected At Destination?", machine.Station,
(td) => td.IsTrayDetected));
// Reassign the tray from transport to destination.
// Needed to reassign the Tray before performing complete handoff to ensure the tray cooling is performed.
machine.SetActivityReassignTray(machine.Transport, machine.Station);
}
if (station.Type != StationType.Stainer)
{
// This machine knows it is below the station and in elevator now, so no need for transport error.
machine.AddActivity(new DynamicActivity("Set machine HaltOnError", () => machine.HaltOnError = false));
}
// Complete the handoff. Quit this machine if the CompleteHandoff fails.
machine.SetActivityTrayHandlerCompleteHandoff();
// Pause until destination station has completed its handoff, which indicates the overall tray move is done.
machine.SetPauseUntilConditionOfStation("IsStationNotHandoffPrepared?", IsStationNotHandoffPrepared);
// If neither the destination nor the transport detect a tray when the machine exits, set tray to Lost state.
machine.UseFinalExitBehavior(new ActOnResultActivity <bool>("Set Tray Lost",
() => IsTrayLost(machine.Transport, machine.Station) && machine.Tray != null, true,
() => machine.Tray.OnDetectionLost()));
}
else
{
throw new Exception("Complete tray drop-off failed to build: no destination station.");
}
}
