public Point CoorPointAtBorder(Point pointOnBorder)
{
double xDiff = (pointOnBorder.X) - 0;
double yDiff = (pointOnBorder.Y) - 0;
double rad1 = (props._rotate * Math.PI) / 180;
double rad2 = (Math.Atan2(yDiff, xDiff));
double L = Global_Object.LengthBetweenPoints(new Point(0, 0), pointOnBorder);
double x1 = props._posision.X + ((L * Math.Cos(rad1 + rad2)));
double y1 = props._posision.Y + ((L * Math.Sin(rad1 + rad2)));
return(new Point(x1, y1));
}
public void SetCoorAndRotate()
{
dynamic bufferData = JsonConvert.DeserializeObject(props.bufferDb.bufferData);
if (bufferData != null)
{
props._posision = Global_Object.CoorCanvas(new Point(((bufferData != null) ? (((double)bufferData.x)) : 0), ((bufferData != null) ? (((double)bufferData.y)) : 0)));
props._rotate = (bufferData != null) ? (((double)bufferData.angle)) : 0;
}
props._myRotateTransform.Angle = props._rotate;
props._myTranslateTransform = new TranslateTransform(props._posision.X, props._posision.Y);
props._myTransformGroup.Children[0] = props._myRotateTransform;
props._myTransformGroup.Children[1] = props._myTranslateTransform;
}
// do vung layout moi vung gate 1 va ready robot 3 gan nhau nen kiem tra dieu kien
public bool checkinRobot3(RobotUnity robot)
{
if (robot.properties.Label.Equals("Robot3"))
{
if (TrafficRountineConstants.RegIntZone_READY.GetIndex(robot) == 0)
{
return(false);
}
if (Global_Object.getGateStatus((int)DoorId.DOOR_MEZZAMINE_UP_NEW))
{
return(true);
}
}
return(false);
}
public void Destroy()
{
Global_Object.setGateStatus(order.gate, false);
if (ds != null)
{
ds.LampSetStateOff(DoorType.DOOR_FRONT);
ds.setDoorBusy(false);
ds.removeListCtrlDoorBack();
}
ProRunStopW = false;
robot.orderItem = null;
robot.robotTag = RobotStatus.IDLE;
StateForkLift = ForkLift.FORMAC_ROBOT_DESTROY;
TrafficRountineConstants.ReleaseAll(robot);
robot.bayId = -1;
robot.bayIdReg = false;
}
public void Procedure(object ojb)
{
ProcedureForkLiftToBuffer FlToBuf = (ProcedureForkLiftToBuffer)ojb;
RobotUnity rb = FlToBuf.robot;
doorServiceCtrl = new DoorServiceCtrl();
doorServiceCtrl = getDoorService();
ds = doorServiceCtrl.doorService;
ds.setRb(rb);
TrafficManagementService Traffic = FlToBuf.Traffic;
ForkLiftToMachineInfo flToMachineInfo = new ForkLiftToMachineInfo();
rb.mcuCtrl.lampRbOn();
robot.ShowText(" Start -> " + procedureCode);
/* endPointBuffer = FlToBuf.GetFrontLineBuffer(true);
* if (endPointBuffer == null)
* {
* robot.bayId = -1;
* Console.WriteLine("Error Data Request" + order.dataRequest);
* order.status = StatusOrderResponseCode.ERROR_GET_FRONTLINE;
* TrafficRountineConstants.ReleaseAll(robot);
* robot.orderItem = null;
* robot.SwitchToDetectLine(false);
* robot.ReleaseWorkingZone();
* if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position))
* {
* TrafficRountineConstants.RegIntZone_READY.Release(robot);
* robot.robotTag = RobotStatus.IDLE;
* robot.SetSafeYellowcircle(false);
* robot.SetSafeBluecircle(false);
* robot.SetSafeSmallcircle(false);
* robot.TurnOnSupervisorTraffic(false);
* // rb.mcuCtrl.lampRbOff();
* procedureCode = ProcedureCode.PROC_CODE_ROBOT_TO_READY;
* }
* else
* procedureCode = ProcedureCode.PROC_CODE_FORKLIFT_TO_BUFFER;
* ReleaseProcedureHandler(this);
* ProRun = false;
* robot.ShowText("RELEASED");
* UpdateInformationInProc(this, ProcessStatus.S);
* order.endTimeProcedure = DateTime.Now;
* order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
* SaveOrderItem(order);
* KillEvent();
* }
* else
* {
* order.frontLinePos = endPointBuffer.Position;
* robot.bayId = bayId;
* }*/
while (ProRun)
{
// JPallet aa= GetInfoPallet_P_InBuffer(TrafficRobotUnity.PistonPalletCtrl.PISTON_PALLET_DOWN);
switch (StateForkLift)
{
case ForkLift.FORBUF_IDLE:
robot.ShowText("FORBUF_IDLE");
break;
case ForkLift.FORBUF_GET_FRONTLINE:
endPointBuffer = FlToBuf.GetFrontLineBuffer(true);
if (endPointBuffer == null)
{
if (countFrontLineNull++ < 10)
{
break;
}
countFrontLineNull = 0;
robot.bayId = -1;
robot.ShowText("Error Data Request FrontLine ForkLift" + order.dataRequest);
order.status = StatusOrderResponseCode.ERROR_GET_FRONTLINE;
TrafficRountineConstants.ReleaseAll(robot);
robot.orderItem = null;
robot.SwitchToDetectLine(false);
robot.ReleaseWorkingZone();
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position))
{
TrafficRountineConstants.RegIntZone_READY.Release(robot);
robot.robotTag = RobotStatus.IDLE;
robot.SetSafeYellowcircle(false);
robot.SetSafeBluecircle(false);
robot.SetSafeSmallcircle(false);
robot.TurnOnSupervisorTraffic(false);
// rb.mcuCtrl.lampRbOff();
procedureCode = ProcedureCode.PROC_CODE_ROBOT_TO_READY;
}
else
{
procedureCode = ProcedureCode.PROC_CODE_FORKLIFT_TO_BUFFER;
}
ProRun = false;
robot.ShowText("RELEASED FL---");
UpdateInformationInProc(this, ProcessStatus.S);
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
SaveOrderItem(order);
KillEvent();
ReleaseProcedureHandler(this);
}
else
{
order.frontLinePos = endPointBuffer.Position;
robot.bayId = bayId;
StateForkLift = ForkLift.FORBUF_SELECT_BEHAVIOR_ONZONE;
}
break;
case ForkLift.FORBUF_SELECT_BEHAVIOR_ONZONE:
order.status = StatusOrderResponseCode.GOING_AND_PICKING_UP;
if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position))
{
if (rb.PreProcedureAs == ProcedureControlAssign.PRO_READY)
{
//if (false == rb.CheckInGateFromReadyZoneBehavior(doorServiceCtrl.PointFrontLine.Position))
{
robot.ShowText("FORBUF_ROBOT_GOTO_BACK_FRONTLINE_READY");
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = doorServiceCtrl.PointFrontLine.Position;
StateForkLift = ForkLift.FORBUF_ROBOT_GOTO_BACK_FRONTLINE_READY;
}
}
}
else if (Traffic.RobotIsInArea("VIM", robot.properties.pose.Position))
{
robot.robotTag = RobotStatus.WORKING;
if (rb.SendPoseStamped(doorServiceCtrl.PointFrontLine))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_REG;
// Cap Nhat Thong Tin CHuyen Di
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = doorServiceCtrl.PointFrontLine.Position;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOTO_GATE");
}
}
else if (Traffic.RobotIsInArea("OUTER", robot.properties.pose.Position))
{
// public void Start (ForkLiftToBuffer state = ForkLiftToBuffer.FORBUF_ROBOT_RELEASED) {
robot.robotTag = RobotStatus.WORKING;
if (rb.SendPoseStamped(doorServiceCtrl.PointFrontLine))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_REG;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = doorServiceCtrl.PointFrontLine.Position;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOTO_CHECKIN_GATE");
}
}
break;
case ForkLift.FORBUF_ROBOT_GOTO_BACK_FRONTLINE_READY:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
robot.ShowText("Detetect Inside Station Check Ready");
if (rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE_TURN_LEFT))
{
Stopwatch sw = new Stopwatch();
sw.Start();
do
{
robot.onFlagGoBackReady = true;
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE || Traffic.RobotIsInArea("READY_FRONTLINE", robot.properties.pose.Position))
{
robot.onFlagGoBackReady = false;
robot.robotTag = RobotStatus.WORKING;
if (rb.SendPoseStamped(doorServiceCtrl.PointFrontLine))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOTO_GATE");
break;
}
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
break;
}
if (sw.ElapsedMilliseconds > TIME_OUT_WAIT_GOTO_FRONTLINE)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
break;
}
Thread.Sleep(100);
} while (ProRunStopW);
sw.Stop();
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY:
// dò ra điểm đích đến và xóa đăng ký vùng
// TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (Traffic.RobotIsInArea("C3", rb.properties.pose.Position))
{
ds.setDoorBusy(true);
ds.openDoor(DoorService.DoorType.DOOR_BACK);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY_OPEN_DOOR;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_READY_OPEN_DOOR:
// dò ra điểm đích đến và xóa đăng ký vùng
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.setTrafficAllCircles(false, false, false, false);
TrafficRountineConstants.RegIntZone_READY.Release(robot);
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_CAME_GATE_POSITION;
robot.ShowText("FORBUF_ROBOT_CAME_GATE_POSITION");
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_REG:
// kiem tra vung đăng ký tai khu vuc xac định
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
else
{
// dò ra điểm đích đến và xóa đăng ký vùng
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM:
// kiem tra vung đăng ký tai khu vuc xac định
//TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (Traffic.RobotIsInArea("C3", rb.properties.pose.Position))
{
ds.setDoorBusy(true);
ds.openDoor(DoorService.DoorType.DOOR_BACK);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_OPEN_DOOR;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOTO_GATE_FROM_VIM_OPEN_DOOR:
// kiem tra vung đăng ký tai khu vuc xac định
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
// robot.setTrafficAllCircles(false, false, false, false);
TrafficRountineConstants.RegIntZone_READY.Release(robot);
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateForkLift = ForkLift.FORBUF_ROBOT_CAME_GATE_POSITION;
robot.ShowText("FORBUF_ROBOT_CAME_GATE_POSITION");
}
break;
case ForkLift.FORBUF_ROBOT_CAME_GATE_POSITION: // da den khu vuc cong , gui yeu cau mo cong.
robot.robotRegistryToWorkingZone.onRobotwillCheckInsideGate = false;
//ds.setDoorBusy(true);
//ds.openDoor(DoorService.DoorType.DOOR_BACK);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_OPEN_DOOR;
robot.ShowText("FORBUF_ROBOT_WAITTING_OPEN_DOOR");
break;
case ForkLift.FORBUF_ROBOT_WAITTING_OPEN_DOOR: //doi mo cong
RetState ret = ds.checkOpen(DoorService.DoorType.DOOR_BACK);
if (RetState.DOOR_CTRL_SUCCESS == ret || robot.onForceGoToGate)
{
ds.resetWaitOpenBack();
robot.onForceGoToGate = false;
StateForkLift = ForkLift.FORBUF_ROBOT_OPEN_DOOR_SUCCESS;
robot.ShowText("FORBUF_ROBOT_OPEN_DOOR_SUCCESS");
}
else if (RetState.DOOR_CTRL_ERROR == ret)
{
robot.ShowText("FORBUF_ROBOT_OPEN_DOOR_ERROR");
//StateForkLift = ForkLift.FORBUF_ROBOT_CAME_GATE_POSITION;
Thread.Sleep(1000);
ds.setDoorBusy(true);
ds.openDoor(DoorService.DoorType.DOOR_BACK);
}
break;
case ForkLift.FORBUF_ROBOT_OPEN_DOOR_SUCCESS: // mo cua thang cong ,gui toa do line de robot di vao gap hang
// rb.SendCmdLineDetectionCtrl(RequestCommandLineDetect.REQUEST_LINEDETECT_PALLETUP);
if (rb.SendCmdAreaPallet(doorServiceCtrl.infoPallet))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_PICKUP_PALLET_IN;
robot.ShowText("FORBUF_ROBOT_WAITTING_PICKUP_PALLET_IN");
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_PICKUP_PALLET_IN: // doi robot gap hang
try
{
DoorStatus ret1 = ds.getStatusDoor(DoorType.DOOR_BACK);
if (DoorStatus.DOOR_OPEN == ret1)
{
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP)
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_FINISH_PALLET_UP;
Console.WriteLine("pallet ID" + order.palletId);
robot.robotBahaviorAtGate = RobotBahaviorAtReadyGate.GOING_OUTSIDE_GATE;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
//else if (DoorStatus.DOOR_UNKNOW == ret1)
//{
//}
else /* if(DoorStatus.DOOR_CLOSE == ret1)*/
{
robot.ShowText("DOOR_ERROR_(-___-)");
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
ds.setDoorBusy(true);
ds.openDoor(DoorType.DOOR_BACK);
Thread.Sleep(7000);
}
}
catch
{
}
break;
case ForkLift.FORBUF_ROBOT_FINISH_PALLET_UP:
String destName = Traffic.DetermineArea(endPointBuffer.Position, TypeZone.MAIN_ZONE);
if (destName.Equals("VIM"))
{
if (checkAnyRobotAtElevator(robot))
{
break;
}
else
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE;
}
}
else
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_GATE:
// kiem tra da toi vung dong cong
if (!Traffic.RobotIsInArea("CLOSE-GATE", robot.properties.pose.Position))
{
DoorStatus ret2 = ds.getStatusDoor(DoorType.DOOR_BACK);
if (DoorStatus.DOOR_OPEN == ret2)
{
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
Global_Object.setGateStatus(order.gate, false);
resCmd = ResponseCommand.RESPONSE_NONE;
ds.LampSetStateOff(DoorType.DOOR_FRONT);
ds.closeDoor(DoorType.DOOR_BACK);
ds.setDoorBusy(false);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_CLOSE_GATE;
robot.ShowText("FORBUF_ROBOT_WAITTING_CLOSE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
//else if (DoorStatus.DOOR_UNKNOW == ret1)
//{
//}
else /* if(DoorStatus.DOOR_CLOSE == ret1)*/
{
robot.ShowText("DOOR_ERROR_(-___-)");
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_STOP, true);
ds.setDoorBusy(true);
ds.openDoor(DoorType.DOOR_BACK);
Thread.Sleep(6000);
}
}
else
{
robot.SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
Global_Object.setGateStatus(order.gate, false);
resCmd = ResponseCommand.RESPONSE_NONE;
ds.LampSetStateOff(DoorType.DOOR_FRONT);
ds.closeDoor(DoorType.DOOR_BACK);
ds.setDoorBusy(false);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_CLOSE_GATE;
robot.ShowText("FORBUF_ROBOT_WAITTING_CLOSE_GATE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_CLOSE_GATE:
try
{
StateForkLift = ForkLift.FORBUF_ROBOT_CHECK_GOTO_BUFFER_OR_MACHINE;
robot.SwitchToDetectLine(false);
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = endPointBuffer.Position;
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_CHECK_GOTO_BUFFER_OR_MACHINE:
order.status = StatusOrderResponseCode.DELIVERING;
flToMachineInfo = GetPriorityTaskForkLiftToMachine(order.productDetailId);
if (flToMachineInfo == null)
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_ZONE_BUFFER_READY;
registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS);
registryRobotJourney.startPoint = robot.properties.pose.Position;
registryRobotJourney.endPoint = endPointBuffer.Position;
}
else
{
FreePlanedBuffer(order.palletId_P);
UpdatePalletState(PalletStatus.W, flToMachineInfo.palletId, flToMachineInfo.planId);
StateForkLift = ForkLift.FORMAC_ROBOT_GOTO_FRONTLINE_MACHINE_FROM_VIM_REG;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_ZONE_BUFFER_READY:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
Pose destPos1 = endPointBuffer;
if (rb.SendPoseStamped(destPos1))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER;
robot.ShowText("FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_FROM_VIM_REG:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
else
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_FROM_VIM;
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER_FROM_VIM:
TrafficRountineConstants.DetectRelease(registryRobotJourney);
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_SEND_CMD_DROPDOWN_PALLET_BUFFER;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER:
// xóa đăng ký vùng
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (TrafficCheckInBuffer(goalFrontLinePos, bayId))
{
break;
}
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
StateForkLift = ForkLift.FORBUF_ROBOT_SEND_CMD_DROPDOWN_PALLET_BUFFER;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_SEND_CMD_DROPDOWN_PALLET_BUFFER:
JResult = FlToBuf.GetInfoPallet_P_InBuffer(PistonPalletCtrl.PISTON_PALLET_DOWN);
String data = JsonConvert.SerializeObject(JResult.jInfoPallet);
if (rb.SendCmdAreaPallet(data))
{
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER;
robot.ShowText("FORBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER");
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN)
{
resCmd = ResponseCommand.RESPONSE_NONE;
FlToBuf.UpdatePalletState(PalletStatus.W, JResult.palletId, order.planId);
// rb.SendCmdPosPallet (RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE);
StateForkLift = ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER;
robot.ShowText("FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
Console.WriteLine("Loi Update :ForkLift.FORBUF_ROBOT_WAITTING_DROPDOWN_PALLET_BUFFER");
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER: // đợi
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.bayId = -1;
robot.bayIdReg = false;
robot.ReleaseWorkingZone();
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
StateForkLift = ForkLift.FORBUF_ROBOT_RELEASED;
robot.ShowText("FORBUF_ROBOT_RELEASED");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
Console.WriteLine("Loi Update :ForkLift.FORBUF_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER");
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLift.FORBUF_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
rb.PreProcedureAs = ProcedureControlAssign.PRO_FORKLIFT_TO_BUFFER;
ReleaseProcedureHandler(this);
ProRun = false;
robot.ShowText("RELEASED");
UpdateInformationInProc(this, ProcessStatus.S);
order.status = StatusOrderResponseCode.FINISHED;
break;
case ForkLift.FORMAC_ROBOT_GOTO_FRONTLINE_MACHINE_FROM_VIM_REG:
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
else
{
StateForkLift = ForkLift.FORMAC_ROBOT_GOTO_FRONTLINE_MACHINE_FROM_VIM;
}
break;
case ForkLift.FORMAC_ROBOT_GOTO_FRONTLINE_MACHINE_FROM_VIM:
TrafficRountineConstants.DetectRelease(registryRobotJourney);
try
{
if (rb.SendPoseStamped(flToMachineInfo.frontLinePose))
{
StateForkLift = ForkLift.FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE;
robot.ShowText("FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE");
onFlagResetedGate = false;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_GOTO_FRONTLINE_MACHINE:
try
{
if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney))
{
break;
}
if (rb.SendPoseStamped(flToMachineInfo.frontLinePose))
{
StateForkLift = ForkLift.FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE;
robot.ShowText("FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE");
onFlagResetedGate = false;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE:
try
{
TrafficRountineConstants.DetectRelease(registryRobotJourney);
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
{
robot.SwitchToDetectLine(true);
StateForkLift = ForkLift.FORMAC_ROBOT_SEND_CMD_DROPDOWN_PALLET_MACHINE;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_SEND_CMD_DROPDOWN_PALLET_MACHINE:
if (rb.SendCmdAreaPallet(flToMachineInfo.infoPallet))
{
StateForkLift = ForkLift.FORMAC_ROBOT_WAITTING_DROPDOWN_PALLET_MACHINE;
robot.ShowText("FORMAC_ROBOT_WAITTING_DROPDOWN_PALLET_MACHINE");
}
break;
case ForkLift.FORMAC_ROBOT_WAITTING_DROPDOWN_PALLET_MACHINE:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN)
{
resCmd = ResponseCommand.RESPONSE_NONE;
// FlToBuf.UpdatePalletState(PalletStatus.W);
// rb.SendCmdPosPallet (RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE);
StateForkLift = ForkLift.FORMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE;
robot.ShowText("FORMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE: // đợi
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
StateForkLift = ForkLift.FORMAC_ROBOT_RELEASED;
robot.ShowText("FORMAC_ROBOT_RELEASED");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case ForkLift.FORMAC_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
ds.removeListCtrlDoorBack();
TrafficRountineConstants.ReleaseAll(robot);
robot.orderItem = null;
// Global_Object.onFlagDoorBusy = false;
robot.SwitchToDetectLine(false);
// robot.robotTag = RobotStatus.IDLE;
robot.ReleaseWorkingZone();
rb.PreProcedureAs = ProcedureControlAssign.PRO_FORKLIFT_TO_BUFFER;
// if (errorCode == ErrorCode.RUN_OK) {
// } else {
// ErrorProcedureHandler (this);
// }
ProRun = false;
robot.ShowText("RELEASED");
UpdateInformationInProc(this, ProcessStatus.S);
order.status = StatusOrderResponseCode.FINISHED;
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
KillEvent();
ReleaseProcedureHandler(this);
break;
case ForkLift.FORMAC_ROBOT_DESTROY: // trả robot về robotmanagement để nhận quy trình mới
ds.removeListCtrlDoorBack();
TrafficRountineConstants.ReleaseAll(robot);
robot.SwitchToDetectLine(false);
robot.ReleaseWorkingZone();
robot.robotBahaviorAtGate = RobotBahaviorAtReadyGate.IDLE;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
ProRun = false;
UpdateInformationInProc(this, ProcessStatus.F);
order.status = StatusOrderResponseCode.ROBOT_ERROR;
selectHandleError = SelectHandleError.CASE_ERROR_EXIT;
procedureStatus = ProcedureStatus.PROC_KILLED;
// RestoreOrderItem();
//FreePlanedBuffer(order.palletId_P);
order.endTimeProcedure = DateTime.Now;
order.totalTimeProcedure = order.endTimeProcedure.Subtract(order.startTimeProcedure).TotalMinutes;
KillEvent();
break;
//////////////////////////////////////////////////////
default:
break;
}
Thread.Sleep(700);
}
StateForkLift = ForkLift.FORBUF_IDLE;
}
private void RotateMenu(object sender, RoutedEventArgs e)
{
//double rotate = props.rotate * Math.PI / 180.0;
//rotate = (rotate + (Math.PI / 2));
//props.rotate = (rotate * 180.0 / Math.PI);
props._rotate += 90;
if (props._rotate > 360)
{
props._rotate -= 360;
}
props._myRotateTransform.Angle = props._rotate;
props._myTransformGroup.Children[0] = props._myRotateTransform;
RenderTransform = props._myTransformGroup;
//try
{
dtBuffer buffer = this.props.bufferDb;
List <dtBuffer> buffers = new List <dtBuffer>();
dynamic postApiBody = new JObject();
Point coorLader = Global_Object.CoorLaser(props._posision);
postApiBody.x = Math.Round(coorLader.X, 1);
postApiBody.y = Math.Round(coorLader.Y, 1);
postApiBody.angle = Math.Round(props._rotate, 1);
string jsonBufferData = JsonConvert.SerializeObject(postApiBody);
buffer.bufferData = jsonBufferData;
buffers.Add(buffer);
if (buffers.Count == 0)
{
System.Windows.Forms.MessageBox.Show(String.Format(Global_Object.messageNoDataSave), Global_Object.messageTitileWarning, System.Windows.Forms.MessageBoxButtons.OK, System.Windows.Forms.MessageBoxIcon.Warning);
return;
}
string jsonData = JsonConvert.SerializeObject(buffers);
HttpWebRequest request = (HttpWebRequest)WebRequest.Create(Global_Object.url + "buffer/updateListBuffer");
request.Method = "POST";
request.ContentType = "application/json";
System.Text.UTF8Encoding encoding = new System.Text.UTF8Encoding();
Byte[] byteArray = encoding.GetBytes(jsonData);
request.ContentLength = byteArray.Length;
using (Stream dataStream = request.GetRequestStream())
{
dataStream.Write(byteArray, 0, byteArray.Length);
dataStream.Flush();
}
HttpWebResponse response = request.GetResponse() as HttpWebResponse;
using (Stream responseStream = response.GetResponseStream())
{
StreamReader reader = new StreamReader(responseStream, Encoding.UTF8);
int result = 0;
int.TryParse(reader.ReadToEnd(), out result);
if (result == 1)
{
//System.Windows.Forms.MessageBox.Show(String.Format(Global_Object.messageSaveSucced), Global_Object.messageTitileInformation, MessageBoxButtons.OK, MessageBoxIcon.Information);
}
else if (result == -2)
{
System.Windows.Forms.MessageBox.Show(String.Format(Global_Object.messageDuplicated, "Buffers Name"), Global_Object.messageTitileError, System.Windows.Forms.MessageBoxButtons.OK, System.Windows.Forms.MessageBoxIcon.Error);
}
else
{
System.Windows.Forms.MessageBox.Show(String.Format(Global_Object.messageSaveFail), Global_Object.messageTitileError, System.Windows.Forms.MessageBoxButtons.OK, System.Windows.Forms.MessageBoxIcon.Error);
}
}
//UpdateTab4(true);
}
//catch
{
}
}
private void Map_MouseMove(object sender, MouseEventArgs e)
{
//Get mouse props
Point mousePos = e.GetPosition(map);
var mouseWasDownOn = (e.Source as FrameworkElement);
hoveringItemName = mouseWasDownOn.Name;
//mainWindow.MouseCoor.Content = (mousePos.X- Global_Object.OriginPoint.X).ToString("0.0") + " " + (Global_Object.OriginPoint.Y - mousePos.Y ).ToString("0.0");
mainWindow.MouseCoor.Content = (Global_Object.CoorLaser(mousePos).X).ToString("0.00") + " " + (Global_Object.CoorLaser(mousePos).Y).ToString("0.00");
mainWindow.MouseCoor2.Content = ((mousePos).X).ToString("0.00") + " " + ((mousePos).Y).ToString("0.00");
//mainWindow.MouseCoor.Content = ((mousePos).X.ToString("0.0") + " " + (mousePos).Y.ToString("0.0"));
//Console.WriteLine("============================================");
//Console.WriteLine("MousePos: (" + mousePos.X + "," + mousePos.Y + ")");
//Console.WriteLine("CoorLaser: (" + Global_Object.CoorLaser(mousePos).X.ToString("0.0") + "," + Global_Object.CoorLaser(mousePos).Y.ToString("0.0")+")");
//Console.WriteLine("CoorCanvas: ("+ Global_Object.CoorCanvas(Global_Object.CoorLaser(mousePos)).X.ToString("0.0") + "," + Global_Object.CoorCanvas(Global_Object.CoorLaser(mousePos)).Y.ToString("0.0") + ")");
////
// POINT OF VIEW
//
if ((mainWindow.drag))
{
if (!map.IsMouseCaptured)
{
return;
}
Vector moveVector = startPoint - e.GetPosition(mainWindow.clipBorder);
double xCoor = originalPoint.X - moveVector.X;
double yCoor = originalPoint.Y - moveVector.Y;
double MapWidthScaled = (map.Width * scaleTransform.ScaleX);
double MapHeightScaled = (map.Height * scaleTransform.ScaleY);
double ClipBorderWidth = (mainWindow.clipBorder.ActualWidth);
double ClipBorderHeight = (mainWindow.clipBorder.ActualHeight);
double xlim;
double ylim;
if (ClipBorderWidth < map.Width)
{
xlim = (map.Width * (scaleTransform.ScaleX - 1)) / 2;
}
else
{
xlim = Math.Abs((MapWidthScaled - ClipBorderWidth) / 2);
}
if (ClipBorderHeight < map.Height)
{
ylim = (map.Height * (scaleTransform.ScaleY - 1)) / 2;
}
else
{
ylim = Math.Abs((MapHeightScaled - ClipBorderHeight) / 2);
}
if (ClipBorderWidth > map.Width)
{
if ((xCoor >= (-xlim)) && (xCoor <= (xlim)))
{
translateTransform.X = xCoor;
}
}
else
{
if (ClipBorderWidth < MapWidthScaled)
{
if ((xCoor <= (xlim)) && (xCoor >= -(MapWidthScaled - ClipBorderWidth - xlim)))
{
translateTransform.X = xCoor;
}
}
else
{
if ((xCoor >= (xlim)) && (xCoor <= -(MapWidthScaled - ClipBorderWidth - xlim)))
{
translateTransform.X = xCoor;
}
}
}
if (ClipBorderHeight > map.Height)
{
if ((yCoor >= (-ylim)) && (yCoor <= (ylim)))
{
translateTransform.Y = yCoor;
}
}
else
{
if (ClipBorderHeight < MapHeightScaled)
{
if ((yCoor <= (ylim)) && (yCoor >= -(MapHeightScaled - ClipBorderHeight - ylim)))
{
translateTransform.Y = yCoor;
}
}
else
{
if ((yCoor >= (ylim)) && (yCoor <= -(MapHeightScaled - ClipBorderHeight - ylim)))
{
translateTransform.Y = yCoor;
}
}
}
}
if (!mainWindow.drag)
{
Statectrl_MouseMove(e);
}
}
