protected override int Step(RobotMode Mode, int StepIndex)
{
Thread.Sleep(10);
int NextStep = StepIndex;
string UserInfo = "";
int _i = -1;
bool _ShowResult = false;
if (StepIndex == ++_i)
{
InitCycle();
NextStep++;
}
else if (StepIndex == ++_i)
{
UserInfo = "Teil einlegen und START drücken";
if (m_BK.Ch().DI_PartInserted&& m_BK.Ch().DI_Start)
{
WTFileCollection.GetWTFile(0).SetProgram(1); //wird als Startflag für Robot2 verwendet
WTFileCollection.GetWTFile(0).SetSN(Randomize.Int(10000).ToString());
NextStep++;
}
else
{
WTFileCollection.GetWTFile(0).SetProgram(0);
}
}
else if (StepIndex == ++_i)
{
UserInfo = "Teil einschleusen " + GetParams().m_CustTypeNumber;
if (m_BK.Ch().DI_SledgeInWP)
{
NextStep++;
}
}
else if (StepIndex == ++_i)
{
UserInfo = "Teil prüfen";
if (m_BK.Ch().DI_SledgeInHP)
{
NextStep++;
}
}
else if (StepIndex == ++_i)
{
_ShowResult = true;
UserInfo = "Teil entnehmen";
if (!m_BK.Ch().DI_PartInserted)
{
WTFileCollection.GetWTFile(0).SetProgram(0);
NextStep = 0;
}
}
if (!_ShowResult && ((StepIndex != NextStep) || UserInfo.Length > 0))
{
UpdateStatDisplay(string.Format("Step {0:d} " + UserInfo, StepIndex));
}
if (_ShowResult && ((StepIndex != NextStep) || UserInfo.Length > 0))
{
UpdateStatDisplay(WTFileCollection.GetWTFile(0).GetResultDef().GetTotalResult(), UserInfo);
}
return(NextStep);
}
private void MeasureTorque()
{
WTFileCollection.GetWTFile(0).GetResultDef().SetResultValue("ButtonOK", Randomize.Int(10) > 4);
}
protected override int Step(RobotMode Mode, int StepIndex)
{
m_StepStart = System.Environment.TickCount;
Thread.Sleep(10);
int NextStep = StepIndex;
string UserInfo = "";
int _i = -1;
Thread.Sleep(5);
((DemoModuleDispl)this.m_Interface.GetModuleDisplay()).DrawState(GetEAState());
((DemoModuleDispl)this.m_Interface.GetModuleDisplay()).SetMessage(GetEAState().ToString() + " ->" + m_NextState.ToString());
///////////////////////////////////////////////////////////////////////////////////////
//Grundstellungsfahrt
if (Mode == RobotMode.Homing)
{
#region Schrittkette Homing
if (StepIndex == ++_i)
{
InitCycle();
m_StepTimer = 0;
m_StepTimeout = 0;
NextStep = StepIndex + 1;
}
else if (StepIndex == ++_i)
{
if (GetEAState() == State.Unknown)
{
UserInfo = "Bereit für Einschalten";
m_NextState = State.PowerOK;
SetEAState(m_NextState);
}
if (IsInState(State.PowerOK))// && m_NextState == State.PowerOK) {
{
UserInfo = "Greifer öffnen";
m_StepTimer = 0;
m_StepTimeout = 1000;
m_NextState = State.GripperOpen;
SetEAState(m_NextState);
}
if (IsInState(State.GripperOpen))//&& m_NextState == State.GripperOpen) {
{
UserInfo = "deindexieren";
m_StepTimer = 0;
m_StepTimeout = 1000;
m_NextState = State.IndexHP;
SetEAState(m_NextState);
}
if (IsInState(State.IndexHP))// && m_NextState == State.IndexHP) {
{
UserInfo = "Schlitten in HP fahren";
m_StepTimer = 0;
m_StepTimeout = 1000;
m_NextState = State.SledgeOut;
SetEAState(m_NextState);
}
if (IsInState(State.SledgeOut))// && m_NextState == State.SledgeOut) {
{
m_NextState = State.HP;
m_StepTimer = 0;
m_StepTimeout = 1000;
SetEAState(m_NextState);
}
if (IsInState(State.HP))// && m_NextState == State.HP) {//out Station
{
NextStep = StepIndex + 1;
}
//Wenn wir in keinen stabilen Zustand sind schlägt irgendwann das Timeout an
if (m_StepTimeout > 0 && m_StepTimer > m_StepTimeout)
{
UserInfo = Translator.Tr("Timeout for settling State", "") + " " + m_NextState.ToString();
throw new SystemException(UserInfo);
}
}
else if (StepIndex == ++_i)
{
UserInfo = "Homing ok";
NextStep = 0;
}
#endregion
}
///////////////////////////////////////////////////////////////////////////////////////
//Automatik
if (Mode == RobotMode.Automatic)
{
#region Schrittkette Automatic
if (StepIndex == ++_i)
{
InitCycle();
NextStep = StepIndex + 1;
m_StepTimeout = 0;
}
else if (StepIndex == ++_i) //check power and HP
{
m_StepTimeout = 0;
if (!IsInState(State.HP))
{
UserInfo = "Grundstellungsfahr erforderlich";
}
else
{
m_NextState = State.HP;
NextStep = StepIndex + 1;
}
}
else if (StepIndex == ++_i) //wait for start from Station1
{
if (WTFileCollection.GetWTFile(0).GetProgram() > 0)
{
NextStep = StepIndex + 1;
}
}
else if (StepIndex == ++_i) //into the station
{
if (IsInState(m_NextState) && m_NextState == State.HP)
{
UserInfo = "in Grundstellung";
m_NextState = State.SledgeIn;
SetEAState(m_NextState);
m_StepTimer = 0;
m_StepTimeout = 1000;
}
else if (IsInState(m_NextState) && m_NextState == State.SledgeIn)
{
UserInfo = "Schlitten eingefahren";
m_NextState = State.IndexWP;
SetEAState(m_NextState);
m_StepTimer = 0;
m_StepTimeout = 1000;
}
else if (IsInState(m_NextState) && m_NextState == State.IndexWP) //in Station
{
UserInfo = "indexiert";
m_NextState = State.GripperClosed;
SetEAState(m_NextState);
m_StepTimer = 0;
m_StepTimeout = 1000;
}
else if (IsInState(m_NextState) && m_NextState == State.GripperClosed)
{
UserInfo = "Messung vorbereiten";
NextStep = StepIndex + 1;
}
}
else if (StepIndex == ++_i)
{
//check voltage
WTFileCollection.GetWTFile(0).GetResultDef().SetResultValue("AD1", ((double)(Randomize.Int(600))) / 100);
NextStep = StepIndex + 1;
}
else if (StepIndex == ++_i)
{
//check button
MeasureTorque();
NextStep = StepIndex + 1;
}
else if (StepIndex == ++_i) //out of station
{
if (IsInState(m_NextState) && m_NextState == State.GripperClosed)
{
UserInfo = "Messung Ende";
m_NextState = State.GripperOpen;
SetEAState(m_NextState);
m_StepTimer = 0;
m_StepTimeout = 1000;
}
else if (IsInState(m_NextState) && m_NextState == State.GripperOpen)
{
UserInfo = "Greifer offen";
m_NextState = State.IndexHP;
SetEAState(m_NextState);
m_StepTimer = 0;
m_StepTimeout = 1000;
}
else if (IsInState(m_NextState) && m_NextState == State.IndexHP)
{
UserInfo = "deindexiert";
m_NextState = State.SledgeOut;
SetEAState(m_NextState);
m_StepTimer = 0;
m_StepTimeout = 1000;
}
else if (IsInState(m_NextState) && m_NextState == State.SledgeOut)
{
UserInfo = "Schlitten ausgefahren";
m_NextState = State.HP;
SetEAState(m_NextState);
m_StepTimer = 0;
m_StepTimeout = 1000;
}
else if (IsInState(m_NextState) && m_NextState == State.HP) //out Station
{
NextStep = StepIndex + 1;
}
}
else if (StepIndex == ++_i)
{
m_ReportGenerator.AddTotalResult(WTFileCollection.GetWTFile(0));
switch (WTFileCollection.GetWTFile(0).GetResultDef().GetTotalResult())
{
case ResultDef.TestResultEnum.Pass:
UserInfo = Translator.Tr("final result OK", "");
m_Counter.Count(true);
break;
default:
UserInfo = Translator.Tr("final result NOK", "");
m_Counter.Count(false);
break;
}
UpdateResultDisplay(WTFileCollection.GetWTFile(0));
NextStep = 0;
}
//Wenn wir in keinen stabilen Zustand sind schlägt irgendwann das Timeout an
if (m_StepTimeout > 0 && m_StepTimer > m_StepTimeout)
{
UserInfo = Translator.Tr("Timeout for settling State", "") + " " + m_NextState.ToString();
throw new SystemException(UserInfo);
}
#endregion
}
if ((StepIndex != NextStep) || UserInfo.Length > 0)
{
UpdateStatDisplay(string.Format("Step {0:d} " + UserInfo, StepIndex));
}
m_StepTimer += System.Environment.TickCount - m_StepStart;
OnStepExit(); //aktuell wird nur vom Simulator ausgewertet
return(NextStep);
}
