// public override event Action<Object> ErrorProcedureHandler; public ProcedureMachineToReturn(RobotUnity robot, TrafficManagementService traffiicService) : base(robot, traffiicService) { StateMachineToReturn = MachineToReturn.MACRET_IDLE; this.robot = robot; this.Traffic = traffiicService; procedureCode = ProcedureCode.PROC_CODE_MACHINE_TO_RETURN; }
public void Start(MachineToReturn state = MachineToReturn.MACRET_SELECT_BEHAVIOR_ONZONE) { robot.orderItem = null; errorCode = ErrorCode.RUN_OK; robot.robotTag = RobotStatus.WORKING; robot.ProcedureAs = ProcedureControlAssign.PRO_MACHINE_TO_RETURN; StateMachineToReturn = state; ProMachineToReturn = new Thread(this.Procedure); ProRun = true; ProRunStopW = true; //robot.prioritLevel.OnAuthorizedPriorityProcedure = false; order.startTimeProcedure = DateTime.Now; registryRobotJourney = new RegistryRobotJourney(); registryRobotJourney.robot = robot; registryRobotJourney.traffic = Traffic; ProMachineToReturn.Start(this); }
public void Procedure(object ojb) { ProcedureMachineToReturn BfToRe = (ProcedureMachineToReturn)ojb; RobotUnity rb = BfToRe.robot; DataMachineToReturn p = BfToRe.points; TrafficManagementService Traffic = BfToRe.Traffic; rb.mcuCtrl.lampRbOn(); robot.ShowText(" Start -> " + procedureCode); while (ProRun) { switch (StateMachineToReturn) { case MachineToReturn.MACRET_IDLE: break; case MachineToReturn.MACRET_SELECT_BEHAVIOR_ONZONE: if (Traffic.RobotIsInArea("READY", robot.properties.pose.Position)) { if (rb.PreProcedureAs == ProcedureControlAssign.PRO_READY) { StateMachineToReturn = MachineToReturn.MACRET_ROBOT_GOTO_BACK_FRONTLINE_READY; registryRobotJourney.startPlaceName = Traffic.DetermineArea(BfToRe.GetFrontLineMachine().Position, TypeZone.OPZS); registryRobotJourney.startPoint = robot.properties.pose.Position; registryRobotJourney.endPoint = BfToRe.GetFrontLineMachine().Position; } } else if (Traffic.RobotIsInArea("VIM", robot.properties.pose.Position)) { if (rb.SendPoseStamped(BfToRe.GetFrontLineMachine())) { StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM_REG; registryRobotJourney.startPlaceName = Traffic.DetermineArea(BfToRe.GetFrontLineMachine().Position, TypeZone.OPZS); registryRobotJourney.startPoint = robot.properties.pose.Position; registryRobotJourney.endPoint = BfToRe.GetFrontLineMachine().Position; //robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER"); } } else if (Traffic.RobotIsInArea("OUTER", robot.properties.pose.Position)) { Pose destPos1 = BfToRe.GetFrontLineMachine(); String destName1 = Traffic.DetermineArea(destPos1.Position, TypeZone.MAIN_ZONE); if (destName1.Equals("OUTER")) { //robot.ShowText("GO FRONTLINE IN OUTER"); if (rb.SendPoseStamped(destPos1)) { StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE; registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS); registryRobotJourney.startPoint = robot.properties.pose.Position; registryRobotJourney.endPoint = destPos1.Position; //robot.ShowText("MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE"); } } else if (destName1.Equals("VIM")) { //robot.ShowText("GO FRONTLINE IN VIM"); if (rb.SendPoseStamped(destPos1)) { StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM_REG; registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS); registryRobotJourney.startPoint = robot.properties.pose.Position; registryRobotJourney.endPoint = destPos1.Position; //robot.ShowText("MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE"); //robot.ShowText("CHECK - REG"); } } } break; case MachineToReturn.MACRET_ROBOT_GOTO_BACK_FRONTLINE_READY: if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney)) { break; } if (rb.SendCmdPosPallet(RequestCommandPosPallet.REQUEST_GOBACK_FRONTLINE_TURN_RIGHT)) { Stopwatch sw = new Stopwatch(); sw.Start(); do { robot.onFlagGoBackReady = true; if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE) { robot.onFlagGoBackReady = false; Pose destPos1 = BfToRe.GetFrontLineMachine(); String destName1 = Traffic.DetermineArea(destPos1.Position, TypeZone.MAIN_ZONE); if (destName1.Equals("OUTER")) { //robot.ShowText("GO FRONTLINE IN OUTER"); if (rb.SendPoseStamped(destPos1)) { resCmd = ResponseCommand.RESPONSE_NONE; StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE; registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS); registryRobotJourney.startPoint = robot.properties.pose.Position; registryRobotJourney.endPoint = destPos1.Position; //robot.ShowText("MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE"); } } else if (destName1.Equals("VIM")) { //robot.ShowText("GO FRONTLINE IN VIM"); if (rb.SendPoseStamped(destPos1)) { resCmd = ResponseCommand.RESPONSE_NONE; StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM_READY; registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS); registryRobotJourney.startPoint = robot.properties.pose.Position; registryRobotJourney.endPoint = destPos1.Position; //robot.ShowText("MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE"); //robot.ShowText("CHECK - REG"); } } 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 MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM_READY: try { TrafficRountineConstants.DetectRelease(registryRobotJourney); if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT) //if (robot.ReachedGoal()) { resCmd = ResponseCommand.RESPONSE_NONE; StateMachineToReturn = MachineToReturn.MACRET_ROBOT_SEND_CMD_CAME_FRONTLINE_MACHINE; } 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 MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM_REG: if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney)) { break; } else { StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM; } break; case MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE_FROM_VIM: try { TrafficRountineConstants.DetectRelease(registryRobotJourney); if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT) //if (robot.ReachedGoal()) { resCmd = ResponseCommand.RESPONSE_NONE; StateMachineToReturn = MachineToReturn.MACRET_ROBOT_SEND_CMD_CAME_FRONTLINE_MACHINE; } 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 MachineToReturn.MACRET_ROBOT_WAITTING_CAME_FRONTLINE_MACHINE: try { if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT) //if (robot.ReachedGoal()) { resCmd = ResponseCommand.RESPONSE_NONE; StateMachineToReturn = MachineToReturn.MACRET_ROBOT_SEND_CMD_CAME_FRONTLINE_MACHINE; } 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 MachineToReturn.MACRET_ROBOT_SEND_CMD_CAME_FRONTLINE_MACHINE: if (rb.SendCmdAreaPallet(BfToRe.GetInfoOfPalletMachine(PistonPalletCtrl.PISTON_PALLET_UP))) { StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_PICKUP_PALLET_MACHINE; //robot.ShowText("MACRET_ROBOT_WAITTING_PICKUP_PALLET_MACHINE"); } break; case MachineToReturn.MACRET_ROBOT_WAITTING_PICKUP_PALLET_MACHINE: if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETUP) { resCmd = ResponseCommand.RESPONSE_NONE; StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE; //robot.ShowText("MACRET_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE"); } else if (resCmd == ResponseCommand.RESPONSE_ERROR) { errorCode = ErrorCode.DETECT_LINE_ERROR; CheckUserHandleError(this); } break; case MachineToReturn.MACRET_ROBOT_WAITTING_GOBACK_FRONTLINE_MACHINE: // đợi try { if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE) { StateMachineToReturn = MachineToReturn.MACRET_ROBOT_GOTO_RETURN_SELECT_BEHAVIOR_ONZONE; // cập nhật lại điểm xuất phát registryRobotJourney.startPoint = robot.properties.pose.Position; } 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 MachineToReturn.MACRET_ROBOT_GOTO_RETURN_SELECT_BEHAVIOR_ONZONE: String startNamePoint = Traffic.DetermineArea(registryRobotJourney.startPoint, TypeZone.MAIN_ZONE); Pose destPos = BfToRe.GetFrontLineReturn(); String destName = Traffic.DetermineArea(destPos.Position, TypeZone.MAIN_ZONE); if (startNamePoint.Equals("VIM")) { if (rb.SendPoseStamped(destPos)) { StateMachineToReturn = MachineToReturn.MACRET_ROBOT_GOTO_FRONTLINE_RETURN_FROM_VIM; registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS); registryRobotJourney.startPoint = robot.properties.pose.Position; registryRobotJourney.endPoint = destPos.Position; //robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER"); } } else if (startNamePoint.Equals("OUTER")) { if (destName.Equals("OUTER")) { if (rb.SendPoseStamped(destPos)) { StateMachineToReturn = MachineToReturn.MACRET_ROBOT_GOTO_FRONTLINE_RETURN_FROM_VIM; registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS); registryRobotJourney.startPoint = robot.properties.pose.Position; registryRobotJourney.endPoint = destPos.Position; //robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER"); } } else if (destName.Equals("VIM")) { if (rb.SendPoseStamped(destPos)) { StateMachineToReturn = MachineToReturn.MACRET_ROBOT_GOTO_FRONTLINE_RETURN_FROM_VIM; registryRobotJourney.startPlaceName = Traffic.DetermineArea(robot.properties.pose.Position, TypeZone.OPZS); registryRobotJourney.startPoint = robot.properties.pose.Position; registryRobotJourney.endPoint = destPos.Position; //robot.ShowText("BUFMAC_ROBOT_WAITTING_CAME_FRONTLINE_BUFFER"); } } } break; case MachineToReturn.MACRET_ROBOT_GOTO_FRONTLINE_RETURN_FROM_VIM: // dang di if (TrafficRountineConstants.DetetectInsideStationCheck(registryRobotJourney)) { break; } try { if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT) //if ( robot.ReachedGoal()) { resCmd = ResponseCommand.RESPONSE_NONE; StateMachineToReturn = MachineToReturn.MACRET_ROBOT_SEND_CMD_DROPDOWN_PALLET; } 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 MachineToReturn.MACRET_ROBOT_GOTO_FRONTLINE_RETURN: // dang di try { if (resCmd == ResponseCommand.RESPONSE_LASER_CAME_POINT) //if ( robot.ReachedGoal()) { resCmd = ResponseCommand.RESPONSE_NONE; StateMachineToReturn = MachineToReturn.MACRET_ROBOT_SEND_CMD_DROPDOWN_PALLET; } 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 MachineToReturn.MACRET_ROBOT_SEND_CMD_DROPDOWN_PALLET: if (rb.SendCmdAreaPallet(BfToRe.GetInfoOfPalletReturn(PistonPalletCtrl.PISTON_PALLET_DOWN))) { //rb.prioritLevel.OnAuthorizedPriorityProcedure = true; StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_DROPDOWN_PALLET; //robot.ShowText("MACRET_ROBOT_WAITTING_DROPDOWN_PALLET"); } break; case MachineToReturn.MACRET_ROBOT_WAITTING_DROPDOWN_PALLET: if (resCmd == ResponseCommand.RESPONSE_LINEDETECT_PALLETDOWN) { resCmd = ResponseCommand.RESPONSE_NONE; BfToRe.UpdatePalletState(PalletStatus.W, order.palletId_P, order.palletId_P); StateMachineToReturn = MachineToReturn.MACRET_ROBOT_WAITTING_GOTO_FRONTLINE; //robot.ShowText("MACRET_ROBOT_WAITTING_GOTO_FRONTLINE"); } else if (resCmd == ResponseCommand.RESPONSE_ERROR) { errorCode = ErrorCode.DETECT_LINE_ERROR; CheckUserHandleError(this); } break; case MachineToReturn.MACRET_ROBOT_WAITTING_GOTO_FRONTLINE: if (resCmd == ResponseCommand.RESPONSE_FINISH_GOBACK_FRONTLINE) { resCmd = ResponseCommand.RESPONSE_NONE; //rb.prioritLevel.OnAuthorizedPriorityProcedure = false; StateMachineToReturn = MachineToReturn.MACRET_ROBOT_RELEASED; //robot.ShowText("MACRET_ROBOT_RELEASED"); } else if (resCmd == ResponseCommand.RESPONSE_ERROR) { errorCode = ErrorCode.DETECT_LINE_ERROR; CheckUserHandleError(this); } break; case MachineToReturn.MACRET_ROBOT_RELEASED: // trả robot về robotmanagement để nhận quy trình mới TrafficRountineConstants.ReleaseAll(robot); Global_Object.onFlagRobotComingGateBusy = false; robot.orderItem = null; rb.PreProcedureAs = ProcedureControlAssign.PRO_MACHINE_TO_RETURN; ReleaseProcedureHandler(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; } //robot.ShowText("-> " + procedureCode); Thread.Sleep(5); } StateMachineToReturn = MachineToReturn.MACRET_IDLE; }