public void AssembleMachineForBeginTrayDropoff(TransportOperationMachine machine)
{
var station = machine.Station as IStation;
var dockStation = machine.Station as ITransportDock;
if (station != null && dockStation != null && IsStationDropoffReady(station))
{
// We can get an early start on handoff preparation if not dropping off to a stainer,
// or if the transport is already above the stainer.
var prepareForHandoffEarly = station.Type != StationType.Stainer ||
IsTransportAboveDropoffHeight(dockStation)(machine.Transport);
if (prepareForHandoffEarly)
{
// Pause until the source station is ready to start hand-off prep.
machine.SetPauseUntilConditionOfStation("IsStationDropoffReady", IsStationDropoffReady);
// Prepare the source station for handoff. Quit this machine if the PrepareForHandoff fails.
machine.SetActivityTrayHandlerPrepareForHandoff();
}
// Move the transport to the tray destination station for a tray drop-off. Quit if the move fails.
machine.SetConditionalActivityTransportMoveToDropoffHeight(IsTransportParkedInElevator,
machine.Configuration.Data.MoveCancellationToken);
// Pause until the transport is above the destination station's drop-off location.
// If it is already above, this will continue immediately.
machine.SetPauseUntilConditionOfTransport("IsTransportAboveDropoffHeight", IsTransportAboveDropoffHeight(dockStation));
// If we didn't already prepare for handoff before the Z move, do it now.
if (!prepareForHandoffEarly)
{
// Pause until the source station is ready to start hand-off prep.
machine.SetPauseUntilConditionOfStation("IsStationDropoffReady?", IsStationDropoffReady);
// Prepare the source station for handoff. Quit this machine if the PrepareForHandoff fails.
machine.SetActivityTrayHandlerPrepareForHandoff();
}
// Pause until the destination station is handoff-prepared for drop-off.
machine.SetPauseUntilConditionOfStation("IsStationHandoffPrepared?", IsStationHandoffPrepared);
// Wait for transport to be stopped at location.
machine.SetPauseUntilConditionOfTransport("IsTransportStoppedAtLocation?", IsTransportParkedAtDropoffHeight(dockStation));
// Ensure destination station is safe to enter to drop-off tray
machine.SetActivityTrayHandlerSafeToEnter();
// Don't allow the machine to be stopped once the drop-off has started.
machine.AddActivity(new DynamicActivity("Set CanStop=false", () => machine.CanStop = false));
// Possibly finish before doing the drop-off if the operation was cancelled, regardless of tray aborted or not.
// CompleteTrayDropoff operation will do recovery if we finish here.
machine.SetFinishOrContinueForMoveStopped();
// From this point on, TrayMover should stop movements if this machine encounters an error.
machine.AddActivity(new DynamicActivity("Set machine HaltOnError", () => machine.HaltOnError = true));
// Tell transport to put the tray. Quit if the move fails.
// This will not act until transport is at the drop-off height.
machine.SetActivityTransportPerformDropoff();
// If dropping off to a stainer, make sure transport is clear of the stainer mount before allowing complete handoff.
if (station.Type == StationType.Stainer)
{
//TODO: ASK TEST/DEV TEAMS IF STAINER UPPER&LOWER LOADOFFSETS ARE EVER DIFFERENT THAN UPPER&LOWER OFFSETS.
//TODO: IF NOT, CAN ELIMINATE THIS AND REMOVE THE LOADOFFSETS FROM THE CONFIGURATION.
//TODO: IF STILL NEEDED, ELIMINATE SPECIAL CASE HERE BY MAKING STAINERS OVERRIDE UPPEROFFSET & LOWEROFFSET WHICH INCORPORATES ANY EXTRA OFFSET INTO THE ONE MOVE.
// Ensure the transport made it to below the stainer mount. If it already is below the stainer, just move on.
machine.SetPauseUntilConditionOfTransport("IsTransportBelowPickupHeight?", IsTransportBelowPickupHeight(dockStation));
}
}
else
{
throw new Exception("Begin tray drop-off failed to build: no destination station, or station is not ready.");
}
}
private void AssembleMachineForBeginTrayPickup(TransportOperationMachine machine)
{
// In this case, Station is the source of the tray.
var station = machine.Station as IStation;
var dockStation = machine.Station as ITransportDock;
if (station != null && dockStation != null)
{
// Wait for the source station to detect a tray, responding only to the IsTrayDetected trigger.
// The source station should have the tray. Slide id does not have a tray present sensor, so it should fake it.
machine.AddQuitOrContinueCondition(
new DynamicConstraint <ITrayDetector>("Tray Not Detected At Source?", machine.Station, (td) => !td.IsTrayDetected),
new DynamicConstraint <ITrayDetector>("Tray Detected At Source?", machine.Station, (td) => td.IsTrayDetected));
// We can get an early start on handoff preparation if not picking up from a stainer,
// or if the transport is already below the stainer.
var prepareForHandoffEarly = station.Type != StationType.Stainer ||
IsTransportBelowPickupHeight(dockStation)(machine.Transport);
if (prepareForHandoffEarly)
{
// Pause until the source station is ready for hand-off preparation.
machine.SetPauseUntilConditionOfStation("IsStationPickupReady?", IsStationPickupReady);
// Prepare the source station for handoff. Quit this machine if the PrepareForHandoff fails.
machine.SetActivityTrayHandlerPrepareForHandoff();
}
// Move the transport to the tray source station for a tray pick-up. Quit if the move fails.
machine.SetConditionalActivityTransportMoveToPickupHeight(IsTransportParkedInElevator,
machine.Configuration.Data.MoveCancellationToken);
// Pause until the transport is below the source station's pick-up location.
machine.SetPauseUntilConditionOfTransport("IsTransportBelowPickupHeight?", IsTransportBelowPickupHeight(dockStation));
// If we didn't already prepare for handoff before the elevator move, do it now.
if (!prepareForHandoffEarly)
{
// Pause until the source station is ready.
machine.SetPauseUntilConditionOfStation("IsStationPickupReady?", IsStationPickupReady);
// Prepare the source station for handoff. Quit this machine if the PrepareForHandoff fails.
machine.SetActivityTrayHandlerPrepareForHandoff();
}
// Pause until source station is handoff-prepared for pickup.
machine.SetPauseUntilConditionOfStation("IsStationHandoffPrepared?", IsStationHandoffPrepared);
// Wait for transport to be stopped at the pick-up height.
machine.SetPauseUntilConditionOfTransport("IsTransportStoppedAtLocation?", IsTransportParkedAtPickupHeight(dockStation));
// Ensure source station is safe to enter to pick-up tray
machine.SetActivityTrayHandlerSafeToEnter();
// From this point on, TrayMover should stop movements if this machine encounters an error.
machine.AddActivity(new DynamicActivity("Set machine HaltOnError", () => machine.HaltOnError = true));
// Tell transport to get the tray. Quit if the move fails.
machine.SetActivityTransportPerformPickup();
// If picking up from a stainer, make sure transport is clear of stainer mount before allowing complete handoff.
if (station.Type == StationType.Stainer)
{
//TODO: ASK TEST/DEV TEAMS IF STAINER UPPER&LOWER LOADOFFSETS ARE EVER DIFFERENT THAN UPPER&LOWER OFFSETS.
//TODO: IF NOT, CAN ELIMINATE THIS AND REMOVE THE LOADOFFSETS FROM THE CONFIGURATION.
//TODO: IF STILL NEEDED, ELIMINATE SPECIAL CASE HERE BY MAKING STAINERS OVERRIDE UPPEROFFSET & LOWEROFFSET WHICH INCORPORATES ANY EXTRA OFFSET INTO THE ONE MOVE.
// Ensure the transport made it to the desired Z position.
machine.SetPauseUntilConditionOfTransport("IsTransportAboveDropoffHeight?", IsTransportAboveDropoffHeight(dockStation));
}
}
else
{
throw new Exception("Begin tray pick-up failed to build: no source station.");
}
}
