public void ToStringTest()
{
var sc = new SimpleCommand(
"git",
new List <string> {
"reset", "--hard"
});
string expectedString = "git reset --hard";
string actualString = sc.ToString();
actualString.Should().Be(expectedString);
}
public override void CreateAndSendTOTelegram(SimpleCommand cmd)
{
try
{
if (!(cmd is SimpleConveyorCommand))
{
throw new ConveyorException(String.Format("{0} is not SimpleCoveyorCommand", cmd.ToString()));
}
SimpleConveyorCommand Cmd = cmd as SimpleConveyorCommand;
MaterialID matID = Warehouse.DBService.FindMaterialID((int)cmd.Material, true);
short task;
switch (Cmd.Task)
{
case SimpleCommand.EnumTask.Move:
task = TelegramTransportTO.ORDER_MOVE;
break;
case SimpleCommand.EnumTask.Delete:
task = TelegramTransportTO.ORDER_PALETTEDELETE;
break;
case SimpleCommand.EnumTask.Create:
task = TelegramTransportTO.ORDER_PALETTECREATE;
break;
case SimpleCommand.EnumTask.Cancel:
throw new NotImplementedException();
default:
throw new ConveyorException(String.Format("{0} has unknown Order", Cmd.ToString()));
}
if (Warehouse.Conveyor.ContainsKey(Cmd.Source))
{
Communicator.AddSendTelegram(new TelegramTransportTO
{
MFCS_ID = Cmd.ID,
Sender = Communicator.MFCS_ID,
Receiver = Communicator.PLC_ID,
Order = task,
Palette = new Palette {
Barcode = (UInt32)Cmd.Material, Type = (short)matID.Size, Weight = (ushort)matID.Weight
},
SenderTransport = Warehouse.FindConveyorBasic(Cmd.Source).ConveyorAddress,
Source = Warehouse.FindConveyorBasic(Cmd.Source).ConveyorAddress,
Target = Warehouse.FindConveyorBasic(Cmd.Target).ConveyorAddress
});
cmd.Status = SimpleCommand.EnumStatus.Written;
Warehouse.DBService.UpdateSimpleCommand(cmd);
Warehouse.AddEvent(Event.EnumSeverity.Event, Event.EnumType.Command, cmd.ToString());
if (cmd.Command_ID.HasValue)
{
Command command = Warehouse.DBService.FindCommandByID(cmd.Command_ID.Value);
if (command == null)
{
throw new ConveyorException($"Command {command.ToString()} null.");
}
if (command.Status < Database.Command.EnumCommandStatus.Active)
{
command.Status = Database.Command.EnumCommandStatus.Active;
Warehouse.DBService.UpdateCommand(command);
Warehouse.OnCommandFinish?.Invoke(command);
}
}
}
}
catch (Exception e)
{
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, e.Message);
throw new ConveyorException(String.Format("{0} Conveyor.CreateAndSendTOTelegram failed ({1}).", Name, cmd != null ? cmd.ToString() : "null"));
}
}
public override void FinishCommand(Int32 id, SimpleCommand cmd, SimpleCommand.EnumStatus s)
{
try
{
if (cmd == null)
{
Warehouse.AddEvent(Event.EnumSeverity.Event, Event.EnumType.Program, String.Format("Conveyor.FinishCommand ({0},{1},{2}) ", id, "null", s));
}
SimpleConveyorCommand cOld = null;
if (cmd == null || cmd.ID != id)
{
if (id != 0)
{
cOld = Warehouse.DBService.FindSimpleConveyorCommandByID(id);
}
}
if (cmd == null)
{
cmd = cOld;
}
if (cmd != null)
{
cmd.Status = s;
Warehouse.DBService.UpdateSimpleCommand(cmd);
if (cmd.Status == SimpleCommand.EnumStatus.Finished || cmd.Status == SimpleCommand.EnumStatus.Canceled)
{
OnSimpleCommandFinish(cmd);
}
Warehouse.AddEvent(Event.EnumSeverity.Event, Event.EnumType.Command, cmd.ToString());
}
if (cOld != null && cOld.Status < SimpleCommand.EnumStatus.Canceled)
{
cOld.Status = SimpleCommand.EnumStatus.Canceled;
cOld.Reason = SimpleCommand.EnumReason.MFCS;
Warehouse.DBService.UpdateSimpleCommand(cOld);
OnSimpleCommandFinish(cOld);
Warehouse.AddEvent(Event.EnumSeverity.Event, Event.EnumType.Command, cOld.ToString());
}
if (cmd != null && cOld == null && cmd.ID != id && id != 0)
{
throw new ConveyorException("Can't find command by Id");
}
}
catch (Exception ex)
{
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, ex.Message);
throw new ConveyorException(String.Format("{0} Conveyor.FinishCommand failed ({1},{2},{3})", Name, id, cmd != null ? cmd.ToString() : "null", s));
}
}
public override void CreateAndSendTOTelegram(SimpleCommand cmd)
{
try
{
if (!(cmd is SimpleCraneCommand))
{
throw new CraneException(String.Format("{0} is not SimpleCraneCommand.", cmd.ToString()));
}
SimpleCraneCommand Cmd = cmd as SimpleCraneCommand;
MaterialID matID = null;
if (Cmd.Material.HasValue)
{
matID = Warehouse.DBService.FindMaterialID((int)Cmd.Material, true);
}
LPosition pos = LPosition.FromString(Cmd.Source);
if (!pos.IsWarehouse())
{
if (cmd.Task == SimpleCommand.EnumTask.Pick)
{
pos = FindInConveyor(cmd.Source).CraneAddress;
}
else if (cmd.Task == SimpleCommand.EnumTask.Drop)
{
pos = FindOutConveyor(cmd.Source).CraneAddress;
}
else if (cmd.Task == SimpleCommand.EnumTask.Move)
{
pos = FindInOutConveyor(cmd.Source).CraneAddress;
}
else if (cmd.Task == SimpleCommand.EnumTask.Cancel)
{
pos = CraneAddress;
if (!cmd.CancelID.HasValue)
{
throw new CraneException(String.Format("{0} Parameter null", cmd != null ? cmd.ToString() : "null"));
}
}
else if (cmd.Task >= SimpleCommand.EnumTask.Delete)
{
pos = CraneAddress;
}
}
if (matID == null && cmd.Task != SimpleCommand.EnumTask.Move && cmd.Task != SimpleCommand.EnumTask.Cancel)
{
throw new CraneException(String.Format("Command validity fault ({0})", cmd.ToString()));
}
Communicator.AddSendTelegram(
new Telegrams.TelegramCraneTO
{
Sender = Communicator.MFCS_ID,
Receiver = Communicator.PLC_ID,
MFCS_ID = cmd.ID,
Order = (short)cmd.Task,
Buffer_ID = (cmd.Task != SimpleCommand.EnumTask.Cancel) ? (matID != null ? matID.ID : 0) : cmd.CancelID.Value,
Position = new Telegrams.Position {
R = (short)pos.Shelve, X = (short)pos.Travel, Y = (short)pos.Height, Z = (short)pos.Depth
},
Palette = new Telegrams.Palette {
Barcode = Convert.ToUInt32(matID != null ? matID.ID : 0), Type = (Int16)(matID != null ? matID.Size : 0), Weight = (UInt16)(matID != null ? matID.Weight : 0)
},
ID = PLC_ID
});
cmd.Status = SimpleCommand.EnumStatus.Written;
Warehouse.DBService.UpdateSimpleCommand(cmd);
Warehouse.AddEvent(Event.EnumSeverity.Event, Event.EnumType.Command, cmd.ToString());
// check for blocked locations
LPosition p = LPosition.FromString(cmd.Source);
string frontLoc;
if (p.Shelve > 0 && p.Depth == 2)
{
LPosition pOther = new LPosition {
Shelve = p.Shelve, Travel = p.Travel, Height = p.Height, Depth = 1
};
frontLoc = pOther.ToString();
}
else
{
frontLoc = cmd.Source;
}
if (Warehouse.DBService.FindPlaceID(cmd.Source) != null &&
(Warehouse.DBService.FindPlaceID(cmd.Source).Blocked || Warehouse.DBService.FindPlaceID(frontLoc).Blocked))
{
Warehouse.Segment[Segment].AlarmRequest(0);
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Command, string.Format("Location blocked. Command: {0}", cmd.ToString()));
}
if (cmd.Command_ID.HasValue)
{
Command command = Warehouse.DBService.FindCommandByID(cmd.Command_ID.Value);
if (command == null)
{
throw new ConveyorException($"Command {command.ToString()} null.");
}
if (command.Status < Database.Command.EnumCommandStatus.Active)
{
command.Status = Database.Command.EnumCommandStatus.Active;
Warehouse.DBService.UpdateCommand(command);
Warehouse.OnCommandFinish?.Invoke(command);
}
}
}
catch (Exception ex)
{
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, ex.Message);
throw new CraneException(String.Format("{0} Crane.CreateAndSendTOTelegram failed. ({1})", Name, cmd != null ? cmd.ToString() : "null"));
}
}
public void OnSimpleCommandFinish(SimpleCommand cmd)
{
try
{
// automatic mode
if (cmd.Command_ID.HasValue)
{
Command Command = Warehouse.DBService.FindCommandByID(cmd.Command_ID.Value);
if (Command == null)
{
throw new ConveyorBasicException(String.Format("{0} has no corresponding Command", cmd != null ? cmd.ToString() : "null"));
}
if (Command.Task == Database.Command.EnumCommandTask.Move)
{
Place p = Warehouse.DBService.FindMaterial((Command as CommandMaterial).Material.Value);
if (p != null && p.Place1 == (Command as CommandMaterial).Target)
{
Command.Status = Database.Command.EnumCommandStatus.Finished;
Warehouse.DBService.UpdateCommand(Command);
Warehouse.OnCommandFinish?.Invoke(Command);
}
else
{
Conveyor conv = Warehouse.ConveyorList.FirstOrDefault(c => c.Name == (Command as CommandMaterial).Target);
if (conv != null && conv is ConveyorOutputDefault)
{
Command.Status = Database.Command.EnumCommandStatus.Finished;
Warehouse.DBService.UpdateCommand(Command);
Warehouse.OnCommandFinish?.Invoke(Command);
}
}
}
else if (cmd.Status == SimpleCommand.EnumStatus.Finished && Warehouse.DBService.AllSimpleCommandWithCommandIDFinished(cmd.Command_ID.Value))
{
Command.Status = Database.Command.EnumCommandStatus.Finished;
Warehouse.DBService.UpdateCommand(Command);
Warehouse.OnCommandFinish?.Invoke(Command);
}
else if (cmd.Status == SimpleCommand.EnumStatus.Canceled &&
(cmd.Task == SimpleCommand.EnumTask.Create || cmd.Task == SimpleCommand.EnumTask.Delete ||
(cmd.Task == SimpleCommand.EnumTask.Move && Command.Task == Command.EnumCommandTask.SegmentHome)))
{
if ((int)cmd.Reason > 100)
{
Command.Reason = Command.EnumCommandReason.PLC;
}
else
{
Command.Reason = Command.EnumCommandReason.MFCS;
}
Command.Status = Database.Command.EnumCommandStatus.Canceled;
Warehouse.DBService.UpdateCommand(Command);
Warehouse.OnCommandFinish?.Invoke(Command);
}
}
}
catch (Exception ex)
{
Warehouse.AddEvent(Event.EnumSeverity.Error, Event.EnumType.Exception, ex.Message);
throw new ConveyorBasicException(String.Format("{0} ConveyorBasic.OnSimpleCommandFinish ({1}) fault.", Name, cmd != null ? cmd.ToString() : "null"));
}
}
