public ResultRobotReady GetRobotUnityWaitTaskItem0()
{
ResultRobotReady result = null;
int index = 0;
while (RobotUnityWaitTaskList.Count > 0)
{
try
{
RobotUnity robot = RobotUnityWaitTaskList[index];
if (robot != null)
{
if (robot.properties.IsConnected)
{
result = new ResultRobotReady()
{
robot = robot, onReristryCharge = robot.getBattery()
};
break;
}
}
if (index++ >= RobotUnityWaitTaskList.Count)
{
break;
}
}
catch
{
break;
}
}
return(result);
}
public ResultRobotReady GetRobotUnityReadyItem0()
{
#if true
ResultRobotReady result = null;
foreach (RobotUnity rbRd in RobotUnityReadyList)
{
if (rbRd.properties.IsConnected)
{
result = new ResultRobotReady()
{
robot = rbRd, onReristryCharge = rbRd.getBattery()
};
if (rbRd.getBattery())
{
rbRd.setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_CHARGING);
RemoveRobotUnityReadyList(rbRd);
}
break;
}
}
//while (RobotUnityReadyList.Count > 0)
//{
// try
// {
// if (indexRd >= RobotUnityReadyList.Count)
// {
// indexRd = 0;
// }
// RobotUnity robot = RobotUnityReadyList[indexRd];
// indexRd++;
// if (robot != null)
// {
// if (robot.properties.IsConnected)
// {
// result = new ResultRobotReady() { robot = robot, onReristryCharge = robot.getBattery() };
// if (robot.getBattery())
// {
// robot.setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_CHARGING);
// RemoveRobotUnityReadyList(robot);
// }
// break;
// }
// }
// }
// catch (Exception e)
// {
// indexRd = 0;
// Console.WriteLine("Error ReadyTask in RobotManagement Service Remove Robot");
// Console.WriteLine(e);
// }
//}
return(result);
#else
ResultRobotReady result = null;
if (RobotUnityReadyList.Count > 0)
{
int index = 0;
do
{
RobotUnity robot = RobotUnityReadyList[index];
try
{
if (robot.properties.IsConnected)
{
result = new ResultRobotReady()
{
robot = robot, onReristryCharge = robot.getBattery()
};
if (robot.getBattery())
{
RemoveRobotUnityReadyList(robot);
}
break;
}
}
catch
{
Console.WriteLine("Error ReadyTask in RobotManagement Service Remove Robot");
}
index++;
}while (RobotUnityReadyList.Count < index && RobotUnityReadyList.Count > 0);
}
return(result);
#endif
}
public ResultRobotReady GetRobotUnityWaitTaskItem0()
{
#if true
ResultRobotReady result = null;
foreach (RobotUnity rbWt in RobotUnityWaitTaskList)
{
if (rbWt.properties.IsConnected)
{
result = new ResultRobotReady()
{
robot = rbWt, onReristryCharge = rbWt.getBattery()
};
break;
}
}
//ResultRobotReady result = null;
//while (RobotUnityWaitTaskList.Count > 0)
//{
// try
// {
// if (indexWt >= RobotUnityWaitTaskList.Count)
// {
// indexWt = 0;
// }
// RobotUnity robot = RobotUnityWaitTaskList[indexWt];
// indexWt++;
// if (robot != null)
// {
// if (robot.properties.IsConnected)
// {
// result = new ResultRobotReady() { robot = robot, onReristryCharge = robot.getBattery() };
// break;
// }
// }
// }
// catch (Exception e)
// {
// indexWt = 0;
// Console.WriteLine("Error ReadyTask in RobotManagement Service Remove Robot");
// Console.WriteLine(e);
// }
//}
return(result);
#else
ResultRobotReady result = null;
int index = 0;
while (RobotUnityWaitTaskList.Count > 0)
{
try
{
RobotUnity robot = RobotUnityWaitTaskList[index];
if (robot != null)
{
if (robot.properties.IsConnected)
{
result = new ResultRobotReady()
{
robot = robot, onReristryCharge = robot.getBattery()
};
break;
}
}
if (index++ >= RobotUnityWaitTaskList.Count)
{
break;
}
}
catch
{
break;
}
}
return(result);
#endif
}
public bool AssignWaitTask(OrderItem order)
{
processAssignAnTaskWait = ProcessAssignAnTaskWait.PROC_ANY_GET_ANROBOT_IN_WAITTASKLIST;
OrderItem orderItem_wait = null;
RobotUnity robotwait = null;
while (true)
{
switch (processAssignAnTaskWait)
{
case ProcessAssignAnTaskWait.PROC_ANY_IDLE:
break;
case ProcessAssignAnTaskWait.PROC_ANY_GET_ANROBOT_IN_WAITTASKLIST:
if (robotManageService.RobotUnityWaitTaskList.Count > 0)
{
ResultRobotReady result = robotManageService.GetRobotUnityWaitTaskItem0();
if (result != null)
{
robotwait = result.robot;
if (result.onReristryCharge)
{
procedureService.Register(ProcedureItemSelected.PROCEDURE_ROBOT_TO_READY, robotwait, null);
robotManageService.RemoveRobotUnityWaitTaskList(robotwait);
}
else
{
if (order != null)
{
processAssignAnTaskWait = ProcessAssignAnTaskWait.PROC_ANY_CHECK_HAS_ANTASK;
break;
}
else
{
processAssignAnTaskWait = ProcessAssignAnTaskWait.PROC_ANY_CHECK_ROBOT_GOTO_READY; // mở lại
break;
}
}
}
}
return(false);
case ProcessAssignAnTaskWait.PROC_ANY_CHECK_HAS_ANTASK:
orderItem_wait = order;
//orderItem_wait.onAssiged = true;
processAssignAnTaskWait = ProcessAssignAnTaskWait.PROC_ANY_ASSIGN_ANTASK;
orderItem_wait.robot = robotwait.properties.Label;
robotwait.orderItem = orderItem_wait;
// MoveElementToEnd();
break;
case ProcessAssignAnTaskWait.PROC_ANY_CHECK_ROBOT_GOTO_READY:
robotwait.TurnOnSupervisorTraffic(true);
procedureService.Register(ProcedureItemSelected.PROCEDURE_ROBOT_TO_READY, robotwait, null);
Console.WriteLine(robotwait.properties.Label + " Assign goto ready_____________(-_-)______________");
robotManageService.RemoveRobotUnityWaitTaskList(robotwait);
return(false);
case ProcessAssignAnTaskWait.PROC_ANY_ASSIGN_ANTASK:
robotwait.TurnOnSupervisorTraffic(true);
SelectProcedureItem(robotwait, orderItem_wait);
deviceItemsList[0].RemoveFirstOrder();
robotManageService.RemoveRobotUnityWaitTaskList(robotwait);
processAssignAnTaskWait = ProcessAssignAnTaskWait.PROC_ANY_GET_ANROBOT_IN_WAITTASKLIST;
orderItem_wait.status = StatusOrderResponseCode.DELIVERING;
return(true);
}
Thread.Sleep(10);
}
}
public bool AssignTaskAtReady(OrderItem order)
{
processAssignTaskReady = ProcessAssignTaskReady.PROC_READY_GET_ANROBOT_INREADYLIST;
OrderItem orderItem_ready = null;
RobotUnity robotatready = null;
while (true)
{
switch (processAssignTaskReady)
{
case ProcessAssignTaskReady.PROC_READY_IDLE:
break;
case ProcessAssignTaskReady.PROC_READY_GET_ANROBOT_INREADYLIST:
if (robotManageService.RobotUnityReadyList.Count > 0)
{
ResultRobotReady result = robotManageService.GetRobotUnityReadyItem0();
if (result != null)
{
robotatready = result.robot;
if ((true == result.onReristryCharge) || (robotatready.properties.enableChage == true))
{
procedureService.Register(ProcedureItemSelected.PROCEDURE_ROBOT_TO_CHARGE, robotatready, null);
robotManageService.RemoveRobotUnityReadyList(robotatready);
}
else
{
if (order != null)
{
if (!trafficService.HasOtherRobotUnityinArea("READY", robotatready))
{
if (order.typeReq == TyeRequest.TYPEREQUEST_FORLIFT_TO_BUFFER || order.typeReq == TyeRequest.TYPEREQUEST_FORLIFT_TO_MACHINE)
{
if (trafficService.HasOtherRobotUnityinArea("GATE", robotatready))
{
// MoveElementToEnd();
}
else
{
if (TrafficRountineConstants.RegIntZone_READY.ProcessRegistryIntersectionZone(robotatready))
{
processAssignTaskReady = ProcessAssignTaskReady.PROC_READY_CHECK_HAS_ANTASK;
break;
}
else
{
TrafficRountineConstants.RegIntZone_READY.Release(robotatready);
}
}
}
else
{
if (TrafficRountineConstants.RegIntZone_READY.ProcessRegistryIntersectionZone(robotatready))
{
processAssignTaskReady = ProcessAssignTaskReady.PROC_READY_CHECK_HAS_ANTASK;
break;
}
else
{
TrafficRountineConstants.RegIntZone_READY.Release(robotatready);
}
}
}
}
}
}
}
return(false);
case ProcessAssignTaskReady.PROC_READY_CHECK_HAS_ANTASK:
orderItem_ready = order;
// orderItem_ready.onAssiged = true;
Console.WriteLine(processAssignTaskReady);
orderItem_ready.robot = robotatready.properties.Label;
robotatready.orderItem = orderItem_ready;
processAssignTaskReady = ProcessAssignTaskReady.PROC_READY_ASSIGN_ANTASK;
// MoveElementToEnd();
break;
case ProcessAssignTaskReady.PROC_READY_ASSIGN_ANTASK:
TrafficRountineConstants.RegIntZone_READY.Release(robotatready);
robotatready.TurnOnSupervisorTraffic(true);
Console.WriteLine(processAssignTaskReady);
SelectProcedureItem(robotatready, orderItem_ready);
deviceItemsList[0].RemoveFirstOrder();
robotManageService.RemoveRobotUnityReadyList(robotatready);
orderItem_ready.status = StatusOrderResponseCode.DELIVERING;
processAssignTaskReady = ProcessAssignTaskReady.PROC_READY_CHECK_ROBOT_OUTSIDEREADY;
return(true);
}
Thread.Sleep(10);
}
}
