/// <summary>
/// Reads settings from the DB or config files.
/// The files are used as a backup in case DB is not available.
/// They are: log4net.config, plc.config and App.config, located in /config
/// </summary>
public static void readAllSettings()
{
Console.WriteLine("Starting AMR Connect");
// Begins logging to the console and file
try
{
var logRepository = LogManager.GetRepository(System.Reflection.Assembly.GetEntryAssembly());
XmlConfigurator.Configure(logRepository, new FileInfo(@"config\log4net.config"));
}
catch (Exception exception)
{
Console.WriteLine("Failed To Read Logger Configuration.");
Console.WriteLine(exception);
}
try
{
connectToDB();
readSettingsFromDB();
}
catch (ConfigurationErrorsException exception)
{
logger(AREA, DEBUG, "Couldn't Read App Settings. Error: ", exception);
gracefulTermination("Failed to read application settings, on start-up. App will terminate");
}
//=========================================================|
// Initialize Siemens PLC |
//=========================================================|
SiemensPLC.initialize();
//=========================================================|
// Initialize SMS communication for alerts |
//=========================================================|
TwilioClient.Init(accountSid, authToken);
//=========================================================|
// Initialize PLC comms and REST Header |
//=========================================================|
setUpDefaultComms();
//=========================================================|
// Initialize Fleet Container |
//=========================================================|
if (fleetManagerIP != null && fleetManagerAuthToken != null)
{
logger(AREA, INFO, "Fleet Connection Details Assigned");
mirFleet = new Fleet(sizeOfFleet, fleetManagerIP, fleetManagerAuthToken);
}
else
{
logger(AREA, WARNING, "Fleet Data Missing Or Fleet Not Used");
mirFleet = new Fleet(sizeOfFleet);
}
logger(AREA, DEBUG, "Settings Obtained");
}
/// <summary>
///
/// </summary>
private static int unknownMission(int robotID)
{
logger(AREA, ERROR, "==== Unknown Mission ====");
SiemensPLC.updateTaskStatus(robotID, Globals.TaskStatus.CouldntProcessRequest);
return(Globals.TaskStatus.CouldntProcessRequest);
// Issue an alert
}
/// <summary>
///
/// </summary>
/// <returns></returns>
private static void getRobotGroups()
{
logger(AREA, DEBUG, "Saving Robot Groups In Fleet PLC Block");
// Comment out for now - we're relying on keeping track of the groups ourselves
//int restStatus = mirFleet.issueGetRequest("robots?whitelist=robot_group_id", SiemensPLC.fleetID);
fleetMemoryToPLC();
SiemensPLC.writeFleetBlock(SiemensPLC.fleetBlock.getTaskStatus());
}
/// <summary>
///
/// </summary>
private static int clearScheduler()
{
logger(AREA, INFO, "==== Clear Mission Schedule ====");
int restStatus = mirFleet.fleetManager.sendRESTdata(mirFleet.fleetManager.Missions[0].deleteRequest());
SiemensPLC.updateTaskStatus(fleetID, restStatus);
logger(AREA, DEBUG, "==== Cleared Mission Scheduler ====");
return(restStatus);
}
/// <summary>
/// Disposes default communication: HTTP Client as well as Siemens Libnodave connection.
/// </summary>
public static void closeComms()
{
logger(AREA, DEBUG, "==== Closing Connections ====");
try
{
comms.Dispose();
SiemensPLC.disconnect();
logger(AREA, INFO, "Closed Communications");
}
catch (NullReferenceException exception)
{
logger(AREA, ERROR, "Couldn't close comms as they've not been instantiated: ", exception);
}
catch (Exception exception)
{
logger(AREA, ERROR, "Couldn't close comms because of the following exception: ", exception);
}
logger(AREA, DEBUG, "==== Finished Closing Connections ====");
}
public static void readPLCSequenceBreak()
{
try
{
string sql = "SELECT * FROM plc_sequence_reset WHERE RESET = 1;";
using var cmd = new MySqlCommand(sql, db);
using MySqlDataReader rdr = cmd.ExecuteReader();
int id = 999;
while (rdr.Read())
{
id = rdr.GetInt32(0);
SiemensPLC.updateResetBits(id);
}
cmd.Dispose();
rdr.Close();
if (id < 999)
{
using var cmd1 = new MySqlCommand("UPDATE plc_sequence_reset SET RESET = 0 WHERE ID = " + id + ";", db);
issueQuery(cmd1);
cmd1.Dispose();
rdr.Close();
using var cmd2 = new MySqlCommand("UPDATE plc_reset SET RESET_REQUIRED = 0", db);
issueQuery(cmd2);
}
}
catch (Exception e)
{
logger(AREA, ERROR, "Failed Resetting Sequence Bits");
logger(AREA, ERROR, "Exception: ", e);
}
}
/// <summary>
/// Establishes default communications with the PLC and standard headers for HTTP REST traffic.
/// </summary>
public static void setUpDefaultComms()
{
logger(AREA, DEBUG, "==== Setting Up Connection Details ====");
try
{
comms = new HttpClient();
comms.DefaultRequestVersion = HttpVersion.Version11;
comms.DefaultRequestHeaders.Accept.Clear();
comms.DefaultRequestHeaders.Accept.Add(new MediaTypeWithQualityHeaderValue("application/json"));
comms.DefaultRequestHeaders.Add("Accept-Language", "en_US");
comms.Timeout = TimeSpan.FromMinutes(10);
logger(AREA, INFO, "MiR HTTP Header Created");
}
catch (Exception exception)
{
logger(AREA, ERROR, "Failed to set up an HTTP Connection. Error: ", exception);
}
SiemensPLC.establishConnection();
logger(AREA, DEBUG, "==== Connections Established ====");
}
/// <summary>
/// Used to check the mission status on both the Robot and the Fleet level
/// </summary>
private static void checkMissionAssignment(Stopwatch robotAssignment)
{
logger(AREA, DEBUG, "Checking Mission Assignment");
if (mirFleet.fleetManager.schedule.working_response)
{
// We're waiting for the Fleet to assign a robot to a mission in queue
int currentMissionRobot = 0;
int restStatus = 0;
logger(AREA, INFO, "Current Scheduler Fleet Robot ID is: " + mirFleet.fleetManager.schedule.robot_id);
logger(AREA, INFO, "Current Mission Schedule ID is: " + mirFleet.fleetManager.schedule.id);
restStatus = mirFleet.issueGetRequest("mission_scheduler/" + mirFleet.fleetManager.schedule.id, fleetID);
logger(AREA, DEBUG, "Mission Scheduler Robot ID After polling is: " + mirFleet.fleetManager.schedule.robot_id);
if (restStatus == Globals.TaskStatus.CompletedNoErrors && mirFleet.fleetManager.schedule.robot_id != 0)
{
logger(AREA, INFO, "It Took Fleet " + robotAssignment.Elapsed.TotalSeconds + " Seconds To Find An Available Robot");
robotAssignment.Stop();
//currentMissionRobot = mirFleet.fleetManager.schedule.robot_id - 3; // TODO: This is as the robots are offset by one in fleet - change to be better
currentMissionRobot = mirFleet.getInternalRobotID(mirFleet.fleetManager.schedule.robot_id);
mirFleet.returnParameter = (short)(mirFleet.robots[currentMissionRobot].plcRobotID);
logger(AREA, INFO, "Mission " + mirFleet.fleetManager.schedule.id + " Has A New Robot (Mirage: " + currentMissionRobot + ", Fleet: " + mirFleet.fleetManager.schedule.robot_id + ")");
mirFleet.robots[currentMissionRobot].schedule.id = mirFleet.fleetManager.schedule.id;
occupyRobot(currentMissionRobot);
restStatus = Globals.TaskStatus.CompletedNoErrors;
// Add a record to the robot's job ledger - this is a new mission added on top of the existing mission stack
int mission_number = mirFleet.fleetManager.schedule.mission_number;
mirFleet.robots[currentMissionRobot].currentJob.startJob(mission_number, mirFleet.fleetManager.Missions[mission_number].name);
mirFleet.fleetManager.schedule.working_response = false;
}
else
{
restStatus = Globals.TaskStatus.StartedProcessing;
mirFleet.fleetManager.schedule.working_response = true;
}
SiemensPLC.writeFleetBlock(restStatus);
}
// Check the mission status for each robot
for (int r = 0; r < sizeOfFleet; r++)
{
int restStatus = 0;
// Don't check if we're idling or if we aborted the job
// Used to be: if (mirFleet.robots[r].schedule.id != Globals.TaskStatus.Idle)
// Now we don't scan if the PLC Task Status is idle (since the mir isn't doing anything)
// && SiemensPLC.robots[r].getPLCTaskStatus() != Globals.TaskStatus.Idle
// Also changed:
// if (mirFleet.robots[r].schedule.id != Globals.TaskStatus.Idle &&
// To:
// if (mirFleet.robots[r].schedule.id != 0 &&
if (mirFleet.robots[r].schedule.id != 0 &&
(robots[r].getPLCTaskStatus() != Globals.TaskStatus.Idle ||
fleetBlock.getPLCTaskStatus() != Globals.TaskStatus.Idle ||
mirFleet.robots[r].schedule.state_id != Globals.TaskStatus.Idle))
{
// Check the status of the mission assigned to robot r
logger(AREA, INFO, "==== Robot ID: " + r + " And Mission Scheduler Robot ID is: " + mirFleet.robots[r].fleetRobotID + " ====");
logger(AREA, INFO, "Mission Schedule ID is: " + mirFleet.robots[r].schedule.id);
restStatus = mirFleet.checkMissionSchedule("mission_scheduler/" + mirFleet.robots[r].schedule.id + "?whilelist=state", fleetID, r);
logger(AREA, INFO, "Mission Status For Robot: " + r + " is: " + mirFleet.robots[r].schedule.state);
if (robots[r].getTaskParameter() == 351 || robots[r].getTaskParameter() == 352)
{
logger(AREA, INFO, "Conveyor On/Off Register In MiR is: " + mirFleet.robots[r].Registers[1].value);
logger(AREA, INFO, "Mission Status is: " + mirFleet.robots[r].schedule.state_id);
if (mirFleet.robots[r].schedule.state == "Pending")
{
mirFleet.robots[r].schedule.state_id = Globals.TaskStatus.TaskReceivedFromPLC;
}
else if (mirFleet.robots[r].schedule.state == "Executing" && (int)(mirFleet.robots[r].Registers[1].value) == 1)
{
mirFleet.robots[r].schedule.state_id = Globals.TaskStatus.StartedProcessing;
}
else if (mirFleet.robots[r].schedule.state == "Outbound")
{
mirFleet.robots[r].schedule.state_id = Globals.TaskStatus.TaskReceivedFromPLC;
}
else if (mirFleet.robots[r].schedule.state == "Aborted")
{
mirFleet.robots[r].schedule.state_id = Globals.TaskStatus.CouldntProcessRequest;
mirFleet.robots[r].schedule.id = 0;
updateTaskStatus(r, Globals.TaskStatus.CouldntProcessRequest);
//mirFleet.robots[r].currentJob.finishMission();
mirFleet.robots[r].currentJob.finishJob(r, true);
}
else if (mirFleet.robots[r].schedule.state == "Done")
{
mirFleet.robots[r].schedule.state_id = Globals.TaskStatus.CompletedNoErrors;
mirFleet.robots[r].schedule.id = 0;
mirFleet.robots[r].currentJob.finishMission();
}
}
else
{
if (mirFleet.robots[r].schedule.state == "Pending")
{
mirFleet.robots[r].schedule.state_id = Globals.TaskStatus.TaskReceivedFromPLC;
}
else if (mirFleet.robots[r].schedule.state == "Executing")
{
mirFleet.robots[r].schedule.state_id = Globals.TaskStatus.StartedProcessing;
}
else if (mirFleet.robots[r].schedule.state == "Outbound")
{
mirFleet.robots[r].schedule.state_id = Globals.TaskStatus.StartedProcessing;
}
else if (mirFleet.robots[r].schedule.state == "Aborted")
{
mirFleet.robots[r].schedule.state_id = Globals.TaskStatus.CouldntProcessRequest;
updateTaskStatus(r, Globals.TaskStatus.CouldntProcessRequest);
//mirFleet.robots[r].currentJob.finishMission();
mirFleet.robots[r].currentJob.finishJob(r, true);
mirFleet.robots[r].schedule.id = 0;
}
else if (mirFleet.robots[r].schedule.state == "Done")
{
// Used to be else if (mirFleet.robots[r].schedule.state == "Done")
// Potentially remove this condition as the dock prox checks are now done inside MiRs
if ((int)(mirFleet.robots[r].Registers[2].value) == 1)
{
mirFleet.robots[r].schedule.state_id = Globals.TaskStatus.CompletedNoErrors;
mirFleet.robots[r].schedule.id = 0;
mirFleet.robots[r].currentJob.finishMission();
}
else if (robots[r].getTaskParameter() == 353)
{
mirFleet.robots[r].schedule.state_id = Globals.TaskStatus.CompletedNoErrors;
mirFleet.robots[r].schedule.id = 0;
mirFleet.robots[r].currentJob.finishMission();
}
else
{
mirFleet.robots[r].schedule.state_id = Globals.TaskStatus.CouldntProcessRequest;
mirFleet.robots[r].schedule.id = 0;
mirFleet.robots[r].currentJob.finishMission();
}
}
else
{
mirFleet.robots[r].schedule.state_id = Globals.TaskStatus.StartedProcessing;
}
}
logger(AREA, DEBUG, "Mission Status For Robot: " + r + " State ID is: " + mirFleet.robots[r].schedule.state_id);
}
}
}
