// public override event Action<Object> ErrorProcedureHandler;
public ProcedureBufferToReturn(RobotUnity robot, TrafficManagementService trafficService) : base(robot)
{
StateBufferToReturn = BufferToReturn.BUFRET_IDLE;
this.robot = robot;
// this.points = new DataForkBufferToReturn();
this.Traffic = trafficService;
procedureCode = ProcedureCode.PROC_CODE_BUFFER_TO_RETURN;
}
public void Start(BufferToReturn state = BufferToReturn.BUFRET_ROBOT_GOTO_CHECKIN_BUFFER)
{
errorCode = ErrorCode.RUN_OK;
robot.robotTag = RobotStatus.WORKING;
robot.ProcedureAs = ProcedureControlAssign.PRO_BUFFER_TO_RETURN;
StateBufferToReturn = state;
ProBuferToReturn = new Thread(this.Procedure);
procedureStatus = ProcedureStatus.PROC_ALIVE;
ProRun = true;
ProRunStopW = true;
//robot.prioritLevel.OnAuthorizedPriorityProcedure = false;
order.startTimeProcedure = DateTime.Now;
ProBuferToReturn.Start(this);
}
public void Procedure(object ojb)
{
ProcedureBufferToReturn BfToRe = (ProcedureBufferToReturn)ojb;
RobotUnity rb = BfToRe.robot;
TrafficManagementService Traffic = BfToRe.Traffic;
rb.mcuCtrl.lampRbOn();
robot.ShowText(" Start -> " + procedureCode);
while (ProRun)
{
switch (StateBufferToReturn)
{
case BufferToReturn.BUFRET_IDLE:
robot.ShowText("BUFRET_IDLE");
break;
case BufferToReturn.BUFRET_ROBOT_GOTO_CHECKIN_BUFFER: // bắt đầu rời khỏi vùng GATE đi đến check in/ đảm bảo check out vùng cổng để robot kế tiếp vào làm việc
try
{
if (rb.PreProcedureAs == ProcedureControlAssign.PRO_READY)
{
if (rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE_TURN_RIGHT))
{
Stopwatch sw = new Stopwatch();
sw.Start();
do
{
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
if (rb.SendPoseStamped(BfToRe.GetCheckInBuffer_Return(order.bufferId)))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToReturn = BufferToReturn.BUFRET_ROBOT_WAITTING_GOTO_CHECKIN_BUFFER;
robot.ShowText("BUFRET_ROBOT_WAITTING_GOTO_CHECKIN_BUFFER");
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();
}
}
else
{
if (rb.SendPoseStamped(BfToRe.GetCheckInBuffer_Return(order.bufferId)))
{
StateBufferToReturn = BufferToReturn.BUFRET_ROBOT_WAITTING_GOTO_CHECKIN_BUFFER;
robot.ShowText("BUFRET_ROBOT_WAITTING_GOTO_CHECKIN_BUFFER");
}
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToReturn.BUFRET_ROBOT_WAITTING_GOTO_CHECKIN_BUFFER: // doi robot di den khu vuc checkin cua vung buffer
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if (rb.checkNewPci())
{
//if (robot.ReachedGoal(rb.getPointCheckInConfirm()))
//{
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
StateBufferToReturn = BufferToReturn.BUFRET_ROBOT_WAITTING_ZONE_BUFFER_READY;
robot.ShowText("BUFRET_ROBOT_WAITTING_ZONE_BUFFER_READY");
//}
}
break;
case BufferToReturn.BUFRET_ROBOT_WAITTING_ZONE_BUFFER_READY: // doi khu vuc buffer san sang de di vao
try
{
if (false == robot.CheckInZoneBehavior(BfToRe.GetAnyPointInBuffer_Return(order.bufferId).Position))
{
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
if (rb.SendPoseStamped(BfToRe.GetFrontLineBuffer()))
{
StateBufferToReturn = BufferToReturn.BUFRET_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER;
robot.ShowText("BUFRET_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER");
}
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToReturn.BUFRET_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER:
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if (robot.ReachedGoal())
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToReturn = BufferToReturn.BUFRET_ROBOT_SEND_CMD_CAME_FRONTLINE_BUFFER;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToReturn.BUFRET_ROBOT_SEND_CMD_CAME_FRONTLINE_BUFFER:
if (rb.SendCmdAreaPallet(BfToRe.GetInfoOfPalletBuffer_Return(PistonPalletCtrl.PISTON_PALLET_UP, order.bufferId)))
{
StateBufferToReturn = BufferToReturn.BUFRET_ROBOT_WAITTING_PICKUP_PALLET_BUFFER;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
robot.ShowText("BUFRET_ROBOT_WAITTING_PICKUP_PALLET_BUFFER");
}
break;
case BufferToReturn.BUFRET_ROBOT_WAITTING_PICKUP_PALLET_BUFFER:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP)
{
resCmd = ResponseCommand.RESPONSE_NONE;
BfToRe.UpdatePalletState(PalletStatus.F, order.palletId_H, order.planId);
StateBufferToReturn = BufferToReturn.BUFRET_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER;
robot.ShowText("BUFRET_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case BufferToReturn.BUFRET_ROBOT_WAITTING_GOBACK_FRONTLINE_BUFFER: // đợi
try
{
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.ReleaseWorkingZone();
robot.SwitchToDetectLine(false);
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
if (rb.SendPoseStamped(BfToRe.GetCheckInReturn()))
{
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToReturn = BufferToReturn.BUFRET_ROBOT_GOTO_CHECKIN_RETURN;
robot.ShowText("BUFRET_ROBOT_GOTO_CHECKIN_RETURN");
}
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToReturn.BUFRET_ROBOT_GOTO_CHECKIN_RETURN: // dang di
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if (robot.ReachedGoal())
{
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
rb.UpdateRiskAraParams(0, rb.properties.L2, rb.properties.WS, rb.properties.DistInter);
StateBufferToReturn = BufferToReturn.BUFRET_ROBOT_CAME_CHECKIN_RETURN;
robot.ShowText("BUFRET_ROBOT_CAME_CHECKIN_RETURN");
}
break;
case BufferToReturn.BUFRET_ROBOT_CAME_CHECKIN_RETURN: // đã đến vị trí
try
{
if (false == robot.CheckInZoneBehavior(BfToRe.GetFrontLineReturn().Position))
{
Global_Object.onFlagRobotComingGateBusy = true;
rb.UpdateRiskAraParams(40, rb.properties.L2, rb.properties.WS, rb.properties.DistInter);
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
if (rb.SendPoseStamped(BfToRe.GetFrontLineReturn()))
{
StateBufferToReturn = BufferToReturn.BUFRET_ROBOT_GOTO_FRONTLINE_DROPDOWN_PALLET;
robot.ShowText("BUFRET_ROBOT_GOTO_FRONTLINE_DROPDOWN_PALLET");
}
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
case BufferToReturn.BUFRET_ROBOT_GOTO_FRONTLINE_DROPDOWN_PALLET:
try
{
if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT)
//if (robot.ReachedGoal())
{
robot.SwitchToDetectLine(true);
resCmd = ResponseCommand.RESPONSE_NONE;
StateBufferToReturn = BufferToReturn.BUFRET_ROBOT_SEND_CMD_DROPDOWN_PALLET;
}
}
catch (System.Exception)
{
errorCode = ErrorCode.CAN_NOT_GET_DATA;
CheckUserHandleError(this);
}
break;
// case BufferToReturn.BUFRET_ROBOT_CAME_FRONTLINE_DROPDOWN_PALLET: // đang trong tiến trình dò line và thả pallet
// rb.SendCmdLineDetectionCtrl(RequestCommandLineDetect.REQUEST_LINEDETECT_PALLETDOWN);
// StateBufferToReturn = BufferToReturn.BUFRET_ROBOT_WAITTING_GOTO_POINT_DROP_PALLET;
// break;
// case BufferToReturn.BUFRET_ROBOT_WAITTING_GOTO_POINT_DROP_PALLET:
// if (true == rb.CheckPointDetectLine(BfToRe.GetPointPallet(), rb))
// {
// rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_LINEDETECT_COMING_POSITION);
// StateBufferToReturn = BufferToReturn.BUFRET_ROBOT_WAITTING_DROPDOWN_PALLET;
// }
// break;
case BufferToReturn.BUFRET_ROBOT_SEND_CMD_DROPDOWN_PALLET:
if (rb.SendCmdAreaPallet(BfToRe.GetInfoOfPalletReturn(PistonPalletCtrl.PISTON_PALLET_DOWN)))
{
StateBufferToReturn = BufferToReturn.BUFRET_ROBOT_WAITTING_DROPDOWN_PALLET;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = true;
robot.ShowText("BUFRET_ROBOT_WAITTING_DROPDOWN_PALLET");
}
break;
case BufferToReturn.BUFRET_ROBOT_WAITTING_DROPDOWN_PALLET:
if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN)
{
resCmd = ResponseCommand.RESPONSE_NONE;
BfToRe.UpdatePalletState(PalletStatus.W, order.palletId_H, order.planId);
StateBufferToReturn = BufferToReturn.BUFRET_ROBOT_WAITTING_GOTO_FRONTLINE;
robot.ShowText("BUFRET_ROBOT_WAITTING_GOTO_FRONTLINE");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case BufferToReturn.BUFRET_ROBOT_WAITTING_GOTO_FRONTLINE:
if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE)
{
robot.SwitchToDetectLine(false);
resCmd = ResponseCommand.RESPONSE_NONE;
//rb.prioritLevel.OnAuthorizedPriorityProcedure = false;
StateBufferToReturn = BufferToReturn.BUFRET_ROBOT_RELEASED;
robot.ShowText("BUFRET_ROBOT_RELEASED");
}
else if (resCmd == ResponseCommand.RESPONSE_ERROR)
{
errorCode = ErrorCode.DETECT_LINE_ERROR;
CheckUserHandleError(this);
}
break;
case BufferToReturn.BUFRET_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới
Global_Object.onFlagRobotComingGateBusy = false;
robot.orderItem = null;
robot.SwitchToDetectLine(false);
// robot.robotTag = RobotStatus.IDLE;
robot.ReleaseWorkingZone();
rb.PreProcedureAs = ProcedureControlAssign.PRO_BUFFER_TO_RETURN;
// if (errorCode == ErrorCode.RUN_OK) {
ReleaseProcedureHandler(this);
// } 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();
break;
default:
break;
}
Thread.Sleep(5);
}
StateBufferToReturn = BufferToReturn.BUFRET_IDLE;
}
