public RobotUnitTests()
{
_loader = RobotFactory.CreateRobot<LoaderRobot>();
var dict = new Dictionary<string, string>();
dict.Add("IPAddress", "192.168.1.202");
_loader.SetParameters(dict);
_loader.Initialise();
}
public LoaderRobotTest()
{
_loader = RobotFactory.CreateRobot<LoaderRobot>();
var dict = new Dictionary<string, string>();
dict.Add("IPAddress", "192.168.1.202");
_loader.SetParameters(dict);
_loader.Initialise();
//var conveyor = ConveyorFactory.CreateConveyor<SerialConveyor>();
//var dict3 = new Dictionary<string, string>();
//dict3.Add("PortName", "COM1");
//conveyor.SetParameters(dict3);
//conveyor.Initialise();
//conveyor.MoveForward();
}
public Loader(ClusterConfig config)
: base(config)
{
_actionMap = new Dictionary<LoaderAction, Action>
{
{ LoaderAction.LoadToConveyor, () => LoadToConveyorAsync() },
{ LoaderAction.LoadToPalletiser, () => LoadToPalletiserAsync() }
};
_loaderRobot = config.Robots[typeof(LoaderRobot)] as LoaderRobot;
_traySensor = config.Plcs["MainPlc"] as IPlc;
_traySwitchMap = CreateTraySwitchMap();
if (_loaderRobot == null)
{
throw new ArgumentException("Could not retrieve a LoaderRobot from ClusterConfig");
}
if (_traySensor == null)
{
throw new ArgumentException("Could not retrieve a Plc from ClusterConfig");
}
}