private void DoCheckInitCompleted()
{
try
{
_workcell.DisplayTitleMessage("Initializing system...");
Log.Info(this, "{0}, system initialization started", LoggerCategory.SystemInitializationStarted);
while (true)
{
if (_disposed)
{
return;
}
try
{
bool exit = true;
// If all processes are initialized, then exit and stop machine. (Except Non-idle process such MonitorProcess).
foreach (ActiveProcess p in this.ActiveProcess.Values)
{
ActiveProcessHST clp = (ActiveProcessHST)p;
if (clp.IsStateInitialized == false && !clp.IsNonIdleProcess)
{
exit = false;
}
}
if (_isInit & exit)
{
break;
}
}
catch (Exception ex)
{
// Do nothing
}
}
Stop();
Log.Info(this, "{0}, System initialization ended", LoggerCategory.SystemInitializationEnded);
_lastActiveRunMode = OperationMode.Auto; // Reset last active mode to Auto
_isInit = false;
_workcell.IsMachineHomed = true;
_workcell.DisplayTitleMessage("System Initialized");
if (OnInit != null)
{
OnInit(this, null);
}
// Auto run
if (_autoRunAfterInit)
{
Start();
}
}
catch (Exception ex)
{
Notify.PopUpError("Exception in DoCheckInitCompleted", ex);
}
}
/// <summary>
/// Trigger initialization process for the machine.
/// </summary>
public void InitializeMachine(bool isAutoRun)
{
if (_monitorProcess.HasError && !HSTMachine.Workcell.Process.MonitorProcess.Controller.IsCriticalTriggeringActivated &&
!HSTMachine.Workcell.HSTSettings.ResistanceCheckingConfig.ResistanceCriticalActivated)
{
throw new Exception("Please clear monitor error first");
}
ThreadPool.QueueUserWorkItem(delegate
{
Thread.Sleep(1000);
//lock (ServiceManager.ErrorHandler)
{
try
{
ServiceManager.ErrorHandler.AutoClearMessages();
}
catch (Exception ex)
{
Console.Beep();
}
}
if (OnInitStart != null)
{
OnInitStart(this, new EventArgs());
}
_autoRunAfterInit = isAutoRun;
_isInit = true;
_workcell.IsMachineHomed = false;
if (_checkHomeDoneThread != null && _checkHomeDoneThread.IsAlive)
{
_checkHomeDoneThread.Abort();
}
// Make all not init done.
foreach (ActiveProcess p in this.ActiveProcess.Values)
{
ActiveProcessHST clp = (ActiveProcessHST)p;
clp.IsStateInitialized = false;
}
Stop();
while (true)
{
Thread.Sleep(10);
bool isBreak = true;
foreach (ActiveProcessHST activeHST in this.activeObjects.Values)
{
if (activeHST.IsNonIdleProcess == false && activeHST.CurrentStateName != "StateIdle" &&
activeHST.IsNonIdleProcess == false && activeHST.CurrentStateName != "StateError")
{
isBreak = false;
}
}
if (isBreak)
{
break;
}
}
Thread.Sleep(200);
Start();
Thread.Sleep(200);
_checkHomeDoneThread = new Thread(DoCheckInitCompleted);
_checkHomeDoneThread.Name = "ProcessInit";
_checkHomeDoneThread.IsBackground = true;
_checkHomeDoneThread.Start();
Thread.Sleep(200);
});
}