private void SendLocationLeftTelegram(Experior.Dematic.Base.EuroPallet palletLoad, string Location)
{
IATCLoadType atcLoad = palletLoad as IATCLoadType;
atcLoad.Location = Location;
palletPLC.SendLocationLeftTelegram(palletLoad as IATCLoadType);
}
public void Pallet_Load_PalletLoadDisposed(Experior.Dematic.Base.EuroPallet Palletload)
{
if (TransportSection.Route.Loads.Contains(Palletload))
{
// OnConveyorExitLoad(new ConveyorExitLoadEventArgs(Palletload as Load));
}
}
bool divertArrival(Load load)
{
IATCPalletLoadType atcLoad = load as IATCPalletLoadType;
if (LoadDestination && liftTableConveyor.Name == atcLoad.Destination && !atcLoad.LoadWaitingForWCS)
{
atcLoad.Stop();
atcLoad.LoadWaitingForWCS = true;
atcLoad.Location = liftTableConveyor.Name;
palletPLC.SendTransportFinishedTelegram(atcLoad);
return(true);
//Send a message to WMS and wait for the routing
}
List <Direction> validRoutes = new List <Direction>();
Experior.Dematic.Base.EuroPallet caseload = load as Experior.Dematic.Base.EuroPallet;
if (atcLoad.Destination != null && liftTableConveyor.LeftMode == Modes.Divert && LeftRoutes != null && LeftRoutes.Contains(atcLoad.Destination))
{
validRoutes.Add(Direction.Left);
}
if (atcLoad.Destination != null && liftTableConveyor.RightMode == Modes.Divert && RightRoutes != null && RightRoutes.Contains(atcLoad.Destination))
{
validRoutes.Add(Direction.Right);
}
if (atcLoad.Destination != null && liftTableConveyor.StraightMode == Modes.Divert && StraightRoutes != null && StraightRoutes.Contains(atcLoad.Destination))
{
validRoutes.Add(Direction.Straight);
}
if (validRoutes.Count == 0 && liftTableConveyor.DefaultRouting == Direction.None)
{
if (liftTableConveyor.StraightMode == Modes.Divert)
{
validRoutes.Add(Direction.Straight);
}
if (liftTableConveyor.RightMode == Modes.Divert)
{
validRoutes.Add(Direction.Right);
}
if (liftTableConveyor.LeftMode == Modes.Divert)
{
validRoutes.Add(Direction.Left);
}
}
//Check if the load has the priority bit set
bool priority = false;
if (atcLoad.Destination != null && PriorityRoutes != null && PriorityRoutes.Contains(atcLoad.Destination))
{
priority = true;
}
liftTableConveyor.RouteLoad(load, validRoutes, priority);
return(true); //returns true if handled by this controller
}
private Experior.Dematic.Base.EuroPallet GetLiftLoad(PalletStraight straight)
{
Experior.Dematic.Base.EuroPallet palletLoad = null;
if (straight.TransportSection.Route.Loads.Count > 0)
{
palletLoad = (Experior.Dematic.Base.EuroPallet)straight.TransportSection.Route.Loads.First();
}
return(palletLoad);
}
bool loadRoutedFailedToDivert(Experior.Dematic.Base.EuroPallet caseLoad)
{
//if (liftTableConveyor.failedToDivertLoad == caseLoad && FailedToDivertLocation != null) //Load has been routed to Default route so send failed to divert location
//{
// SendTransportFinishedTelegram(caseLoad, FailedToDivertLocation, FailedToDivertStatus);
// return true;
//}
//else
return(false);
}
bool releasedRight(Load load)
{
Experior.Dematic.Base.EuroPallet palletLoad = load as Experior.Dematic.Base.EuroPallet;
//if (!loadRoutedFailedToDivert(palletLoad) && !string.IsNullOrEmpty(RightRoutingLocation))
if (!string.IsNullOrEmpty(RightRoutingLocation))
{
SendLocationLeftTelegram(palletLoad, RightRoutingLocation);
}
loadReleasedComplete(palletLoad);
return(true);
}
public static EuroPallet FeedEuroPallet(ITransportSection transportSection, float distance, BasePalletData palletData, PalletStatus palletStatus)
{
EuroPallet PalletLoad;
IEmulationController controller = Core.Assemblies.Assembly.Items.Values.ToList().FirstOrDefault(x => x is IEmulationController) as IEmulationController;
if (controller != null)
{
PalletLoad = controller.GetEuroPallet(transportSection.Route, 0, palletStatus);
if (PalletLoad != null) //It is not necesary to implement this just return null Pallet load from the controller and a standard load will be created
{
return(PalletLoad);
}
}
try
{
EuroPalletInfo palletInfo = new EuroPalletInfo();
palletInfo.color = Color.Peru;
palletInfo.Status = palletStatus;
palletInfo.filename = EuroPallet.Mesh;
//LoadHeight includes the height of the pallet (145mm)
palletInfo.LoadHeight = 2.2f;
palletInfo.LoadWidth = 0.9f;
palletInfo.LoadLength = 1.3f;
//Set the dimensions of a EuroPallet (This is the standard size)
palletInfo.length = 1.2f;
palletInfo.width = 0.8f;
palletInfo.height = 0.14f; // Actual size is 0.144f but reduced so visible space can be added in stack (0.005f space)
EuroPallet palletLoad = new EuroPallet(palletInfo);
//palletLoad.Part = (RigidLoadPart)new PalletPart(0.008f, palletInfo.color, palletInfo.length, palletInfo.height, palletInfo.width, true, palletInfo.density, Pallet_Load.Size(PalletType.EuroPallet), palletInfo.rigid);
palletLoad.Pallet_Data = palletData;
palletLoad.Pallet_Data.Weight = 60.0f;
transportSection.Route.Add(palletLoad, distance);
Load.Items.Add(palletLoad);
string SSCCBarcode = GetSSCCBarcode();
if (SSCCBarcode != "")
{
palletLoad.SSCCBarcode = SSCCBarcode;
palletLoad.Identification = SSCCBarcode;
}
return(palletLoad);
}
catch (Exception se)
{
Core.Environment.Log.Write(se);
Core.Environment.Scene.Pause();
return(null);
}
}
public override void NextRouteStatus_OnAvailableChanged(object sender, RouteStatusChangedEventArgs e)
{
Experior.Dematic.Base.EuroPallet load = (Experior.Dematic.Base.EuroPallet)LineReleasePhotocell.OccupiedLoad;
if (e._available == RouteStatuses.Available && ThisRouteStatus.Available == RouteStatuses.Blocked) //Move into next position
{
if (load != null && !load.LoadWaitingForWCS)
{
ThisRouteStatus.Available = RouteStatuses.Request;
}
}
else if (e._available == RouteStatuses.Blocked && ThisRouteStatus.Available != RouteStatuses.Blocked) //Load has arrived at next position
{
ThisRouteStatus.Available = RouteStatuses.Available;
}
}
/// <summary>
/// Raised when the platform has reached the desired level
/// </summary>
/// <param name="sender"></param>
/// <param name="load"></param>
private void LiftStopPoint_OnEnter(ActionPoint sender, Load load)
{
lift.Route.Motor.Stop();
if (Raised)
{
if (ControlType == ControlTypes.Local)
{
// Add delay then lower the lift
delayTimer.OnElapsed += LowerLift_OnElapsed;
delayTimer.Start();
}
else if (ControlType == ControlTypes.Project_Script)
{
OnLiftRaisedStatic?.Invoke(this, load);
}
else if (ControlType == ControlTypes.Controller)
{
if (Controller != null)
{
OnLiftRaised?.Invoke(this, load);
}
}
}
else
{
Experior.Dematic.Base.EuroPallet pallet = GetLiftLoad(LiftConveyor);
if (pallet != null && !pallet.LoadWaitingForWCS)
{
LiftConveyor.SetLoadWaiting(true, false, null);
if (LiftConveyor.NextRouteStatus.Available == RouteStatuses.Available &&
LiftConveyor.ThisRouteStatus.Available == RouteStatuses.Blocked)
{
LiftConveyor.ThisRouteStatus.Available = RouteStatuses.Request;
}
}
}
}
private void StackPallet()
{
var createdloads = 1;
var loadYaw = Trigonometry.PI(Trigonometry.Angle2Rad(Angle));
IEmulationController controller = Core.Assemblies.Assembly.Items.Values.ToList().FirstOrDefault(x => x is IEmulationController) as IEmulationController;
EuroPallet load;
while (createdloads < palletStacks)
{
if (controller != null)
{
load = controller.GetEuroPallet(null, 0, PalletStatus.Empty);
}
else
{
EuroPalletInfo info = new EuroPalletInfo
{
length = Length,
height = Height,
width = Width,
color = Color.Peru,
InStack = true,
Status = PalletStatus.Empty,
filename = Mesh,
};
load = new EuroPallet(info);
}
//EuroPallet load = new EuroPallet(info);
load.UserDeletable = false;
load.Yaw = loadYaw;
load.OnSelecting += palletLoad_OnSelecting;
var stackY = (Height + 0.005f) * createdloads; // create empty space between loads
Group(load, new Vector3(0, stackY, 0));
createdloads++;
stackedPallets.Add(load);
}
}
private void StartTransportTelegramReceived(string[] telegramFields)
{
Experior.Dematic.Base.EuroPallet euroPallet = Experior.Dematic.Base.EuroPallet.GetPalletFromIdentification(telegramFields.GetFieldValue(TelegramFields.tuIdent));
IATCPalletLoadType palletLoad = (IATCPalletLoadType)euroPallet;
if (palletLoad != null) //The load has been found so some attributes need to be changed (Cannot change the dimensions of the load however)
{
// Basic properties
euroPallet.LoadColor = LoadColor(telegramFields.GetFieldValue(TelegramFields.color));
// Controller specific properties
palletLoad.TUType = telegramFields.GetFieldValue(TelegramFields.tuType);
palletLoad.Source = telegramFields.GetFieldValue(TelegramFields.source);
palletLoad.Destination = telegramFields.GetFieldValue(TelegramFields.destination);
palletLoad.PresetStateCode = telegramFields.GetFieldValue(TelegramFields.presetStateCode);
float weight;
float.TryParse(telegramFields.GetFieldValue(TelegramFields.weight), out weight);
palletLoad.PalletWeight = weight / 1000;
//Deal with additional project specific fields
foreach (string field in ProjectFields)
{
string fieldValue = telegramFields.GetFieldValue(field);
if (fieldValue != null)
{
if (palletLoad.ProjectFields.ContainsKey(field))
{
palletLoad.ProjectFields[field] = fieldValue;
}
else
{
palletLoad.ProjectFields.Add(field, fieldValue);
}
}
}
//The load may be at a request location and the load will need to be released
if (palletLoad.LoadWaitingForWCS)
{
//Load may be waiting on a straight conveyor so call the straightConveyor
if (palletLoad.Route.Parent.Parent is PalletStraight)
{
palletLoad.LoadWaitingForWCS = false;
PalletStraight palletStraight = palletLoad.Route.Parent.Parent as PalletStraight;
palletStraight.ReleaseLoad((Load)palletLoad);
}
else if (palletLoad.Route.Parent.Parent is SingleDropStation)
{
palletLoad.LoadWaitingForWCS = false;
SingleDropStation dropStation = palletLoad.Route.Parent.Parent as SingleDropStation;
SendLocationLeftTelegram(palletLoad);
dropStation.RouteLoadStraight((Load)palletLoad);
//palletLoad.ReleaseLoad_WCSControl();
}
}
}
else //The load has not been found but should one be created? Normally created through the Emulation Control Telegrams
{
if (Core.Assemblies.Assembly.Items.ContainsKey(telegramFields.GetFieldValue(TelegramFields.source)) &&
Core.Assemblies.Assembly.Items[telegramFields.GetFieldValue(TelegramFields.source)] is BaseStraight)
{
palletLoad = CreateEuroPallet(TelegramTypes.StartTransportTelegram, telegramFields);
BaseStraight sourceConv = Core.Assemblies.Assembly.Items[telegramFields.GetFieldValue(TelegramFields.source)] as BaseStraight;
palletLoad.SetYaw(sourceConv.ConveyorType);
float position = 0;
if (palletLoad.Yaw == 0)
{
position = position + (palletLoad.Length / 2);
}
else
{
position = position + (palletLoad.Width / 2);
}
sourceConv.TransportSection.Route.Add((Load)palletLoad, position);
}
else
{
Log.Write(string.Format("ATC Error {0}: Cannot create load at location from StartTransportTelegram, location {1} does not exist, message ignored", Name, telegramFields.GetFieldValue(TelegramFields.source)), Color.Red);
}
}
}
void loadReleasedComplete(Experior.Dematic.Base.EuroPallet caseLoad)
{
}