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 ProcedureRobotToCharger(RobotUnity robot, ChargerManagementService charger, ChargerId id) : base(robot)
{
StateRobotToCharge = RobotGoToCharge.ROBCHAR_IDLE;
batLevel = new DataReceive();
statusCharger = new DataReceive();
this.robot = robot;
chargerCtrl = charger.ChargerStationList[id];
procedureCode = ProcedureCode.PROC_CODE_ROBOT_TO_CHARGE;
}
// public override event Action<Object> ErrorProcedureHandler;
public ProcedureRobotToReady(RobotUnity robot, ChargerId id, TrafficManagementService trafficService, ChargerManagementService chargerService, Pose PointCheckIn) : base(robot, trafficService)
{
StateRobotGoToReady = RobotGoToReady.ROBREA_IDLE;
this.robot = robot;
this.Traffic = trafficService;
this.charger = chargerService;
this.chardgeId = id;
this.robot.ShowText("this.chardgeId" + this.chardgeId);
procedureCode = ProcedureCode.PROC_CODE_ROBOT_TO_READY;
}
public ConfigureCharger(ChargerManagementService chargerManagementService, string cultureName = null)
{
try
{
InitializeComponent();
ApplyLanguage(cultureName);
Loaded += ConfigureCharger_Loaded;
this.chargerManagementService = chargerManagementService;
DataContext = chargerManagementService;
}
catch { }
}
public void RegistryService(ChargerManagementService chargerService)
{
this.chargerService = chargerService;
}
