protected override void ReleaseProcedureItemHandler(Object item)
{
Task.Run(() => {
ProcedureControlServices procItem = item as ProcedureControlServices;
RobotUnity robot = procItem.GetRobotUnity();
robot.ShowText("Procedure :" + procItem.procedureCode);
robot.ShowText("Robot Rleased :" + robot.properties.Label);
robot.ShowText(">>>>>>>>>");
if (procItem.procedureCode == ProcedureControlServices.ProcedureCode.PROC_CODE_ROBOT_TO_READY)
{
robotManagementService.AddRobotUnityReadyList(robot);
}
else if (procItem.procedureCode == ProcedureControlServices.ProcedureCode.PROC_CODE_ROBOT_TO_CHARGE)
{
robotManagementService.AddRobotUnityReadyList(robot);
}
else
{
robot.ShowText("Add Wait Task" + robot.properties.Label);
robot.ShowText("----------------");
robotManagementService.AddRobotUnityWaitTaskList(robot);
try
{
procItem.ReleaseProcedureHandler -= ReleaseProcedureItemHandler;
}
catch { }
}
/* var element = RegisterProcedureItemList.Find (e => e.item.procedureCode == procItem.procedureCode);
* element.procedureDataItems.EndTime = DateTime.Now;
* element.procedureDataItems.StatusProcedureDelivered = "OK";
* RegisterProcedureItemList.Remove (element);*/
});
}
protected override void ErrorApprearInProcedureItem(Object item)
{
// chờ xử lý // error staus is true;
// báo sự cố cho lớp robotmanagement // đợi cho chờ xử lý// hủy bỏ quy trình
// add order lại list device
ProcedureControlServices procItem = item as ProcedureControlServices;
if (procItem.procedureCode == ProcedureCode.PROC_CODE_ROBOT_TO_READY)
{
}
else if (procItem.procedureCode == ProcedureCode.PROC_CODE_ROBOT_TO_CHARGE)
{
}
else
{
// lưu lại giá trị order
// RestoreOrderItem (procItem.order);
}
//SolvedProblem pSP = new SolvedProblem(item);
//pSP.Show();
//robot.setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_ERROR);
// robot.border.Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
// new Action(delegate ()
// {
// robot.setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_ERROR);
// }));
// SolvedProblem pSP = new SolvedProblem(item);
// pSP.Show();
}
public void RegisteAnItem(ProcedureControlServices item, ProcedureDataItems procedureDataItems, RobotAgent robot, DoorService door)
{
RegisterProcedureItem itemprocedure = new RegisterProcedureItem()
{
item = item, robot = robot, procedureDataItems = procedureDataItems
};
item.ReleaseProcedureHandler += ReleaseProcedureItemHandler;
RegisterProcedureItemList.Add(itemprocedure);
}
protected virtual void ReleaseProcedureItemHandler(ProcedureControlServices item)
{
Task.Run(() =>
{
var element = RegisterProcedureItemList.Find(e => e.item == item);
element.procedureDataItems.EndTime = DateTime.Now;
element.procedureDataItems.DeliveryInfo = item.DeliveryInfo;
element.procedureDataItems.StatusProcedureDelivered = "OK";
// gui den database
RegisterProcedureItemList.Remove(element);
});
}
protected void Debug(object ojb, string log)
{
ProcedureControlServices pCs = (ProcedureControlServices)ojb;
RobotUnity rb = pCs.GetRobotUnity();
string rBid = rb.properties.Label + " => (^_^) ";
switch (pCs.procedureCode)
{
case ProcedureCode.PROC_CODE_BUFFER_TO_MACHINE:
Console.WriteLine(rBid + "BUFFER_TO_MACHINE:" + log);
break;
case ProcedureCode.PROC_CODE_FORKLIFT_TO_BUFFER:
Console.WriteLine(rBid + "FORKLIFT_TO_BUFFER:" + log);
break;
case ProcedureCode.PROC_CODE_BUFFER_TO_RETURN:
Console.WriteLine(rBid + "BUFFER_TO_RETURN:" + log);
break;
case ProcedureCode.PROC_CODE_MACHINE_TO_RETURN:
Console.WriteLine(rBid + "MACHINE_TO_RETURN:" + log);
break;
case ProcedureCode.PROC_CODE_RETURN_TO_GATE:
Console.WriteLine(rBid + "RETURN_TO_GATE:" + log);
break;
case ProcedureCode.PROC_CODE_ROBOT_TO_READY:
Console.WriteLine(rBid + "ROBOT_TO_READY:" + log);
break;
case ProcedureCode.PROC_CODE_ROBOT_TO_CHARGE:
Console.WriteLine(rBid + "ROBOT_TO_CHARGE:" + log);
break;
default:
break;
}
}
protected override void ReleaseProcedureItemHandler(Object item)
{
Task.Run(() => {
ProcedureControlServices procItem = item as ProcedureControlServices;
RobotUnity robot = procItem.GetRobotUnity();
robot.ShowText("Procedure :" + procItem.procedureCode);
robot.ShowText("Robot Rleased :" + robot.properties.Label);
robot.ShowText(">>>>>>>>>");
robot.border.Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
new Action(delegate() {
robot.setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_OK);
}));
if (procItem.procedureCode == ProcedureControlServices.ProcedureCode.PROC_CODE_ROBOT_TO_READY)
{
robotManagementService.AddRobotUnityReadyList(robot);
}
else if (procItem.procedureCode == ProcedureControlServices.ProcedureCode.PROC_CODE_ROBOT_TO_CHARGE)
{
robotManagementService.AddRobotUnityReadyList(robot);
}
else
{
robot.ShowText("Add Wait Task" + robot.properties.Label);
robot.ShowText("----------------");
robotManagementService.AddRobotUnityWaitTaskList(robot);
try
{
procItem.ReleaseProcedureHandler -= ReleaseProcedureItemHandler;
}
catch { }
}
/* var element = RegisterProcedureItemList.Find (e => e.item.procedureCode == procItem.procedureCode);
* element.procedureDataItems.EndTime = DateTime.Now;
* element.procedureDataItems.StatusProcedureDelivered = "OK";
* RegisterProcedureItemList.Remove (element);*/
});
}
public void RegisteAnItem(ProcedureControlServices item, ProcedureDataItems procedureDataItems, RobotUnity robot)
{
}
protected virtual void CheckUserHandleError(object obj)
{
ProcedureControlServices p = (ProcedureControlServices)obj;
robot.ShowText("ErrorCode -> " + getStringError(p.errorCode));
//robot.border.Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
//new Action(delegate ()
//{
robot.setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_ERROR);
//}));
Thread.Sleep(5000);
//robot.border.Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
//new Action(delegate ()
//{
robot.setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_RUNNING);
//}));
//Thread.Sleep(1000);
/* bool keepRun = true;
*
* robot.ShowText ("ErrorCode -> " + getStringError(p.errorCode));
* robot.RegistrySolvedForm(this);
* selectHandleError = SelectHandleError.CASE_ERROR_EXIT;
* robot.ShowText("CASE_ERROR_EXIT");
* while (keepRun)
* {
* switch (selectHandleError)
* {
* case SelectHandleError.CASE_ERROR_WAITTING:
* // Global_Object.PlayWarning ();
* robot.border.Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
* new Action(delegate () {
* robot.setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_ERROR);
* order.status = StatusOrderResponseCode.ROBOT_ERROR;
* }));
* Thread.Sleep(1000);
* break;
* case SelectHandleError.CASE_ERROR_CONTINUOUS:
* // Global_Object.StopWarning ();
* robot.border.Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
* new Action(delegate () {
* robot.setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_RUNNING);
* }));
* selectHandleError = SelectHandleError.CASE_ERROR_WAITTING;
* order.status = StatusOrderResponseCode.DELIVERING;
* ProRun = true;
* keepRun = false;
* break;
* case SelectHandleError.CASE_ERROR_EXIT:
* // Global_Object.StopWarning ();
* robot.border.Dispatcher.BeginInvoke(System.Windows.Threading.DispatcherPriority.Normal,
* new Action(delegate () {
* robot.setColorRobotStatus(RobotStatusColorCode.ROBOT_STATUS_ERROR);
*
* }));
* order.status = StatusOrderResponseCode.ROBOT_ERROR;
* robot.PreProcedureAs = robot.ProcedureAs;
*
* ErrorProcedureHandler(obj);
* ProRun = false;
* keepRun = false;
* break;
* default:
* break;
* }
* Thread.Sleep(500);
* }
* selectHandleError = SelectHandleError.CASE_ERROR_WAITTING;*/
}
protected virtual void ErrorApprearInProcedureItem(ProcedureControlServices item)
{
// chờ xử lý // error staus is true;
// báo sự cố cho lớp robotmanagement // đợi cho chờ xử lý// hủy bỏ quy trình
}
