private void ChangeToolTipContent(object sender, ToolTipEventArgs e)
{
try
{
String OrderStr = "";
if (orderItem != null)
{
OrderStr = "" + orderItem.typeReq + " / " + orderItem.productDetailName;
}
TypeZone typezone = trafficManagementService.GetTypeZone(properties.pose.Position, 0, 200);
double angle = -properties.pose.Angle;
Point position = Global_Object.CoorLaser(properties.pose.Position);
String statusLaserBack;
if (resetLaserBack)
{
statusLaserBack = " Passed error laserBack";
}
else
{
statusLaserBack = " LaserBack run normal";
}
String tooltipStr = "Name: " + properties.Label + Environment.NewLine + "Zone: " + typezone +
Environment.NewLine + " Location: " + position.X.ToString("0.00") + " / " +
position.Y.ToString("0.00") + " / " + angle.ToString("0.00") + Environment.NewLine +
"Place: " + TyprPlaceStr + Environment.NewLine +
"Working Zone: " + robotRegistryToWorkingZone.WorkingZone + "/ " + trafficManagementService.DetermineArea(this.properties.pose.Position, 0, 200) + Environment.NewLine +
"Radius _S" + Radius_S + Environment.NewLine +
"Radius _Y" + Radius_R + Environment.NewLine +
"Radius _B" + Radius_B + Environment.NewLine +
"Speed Set :" + properties.speedInSpecicalArea + Environment.NewLine +
"STATE: " + STATE_SPEED + Environment.NewLine +
"MIDDLE :" + MiddleHeaderCv().X.ToString("0.00") + " /" + MiddleHeaderCv().Y.ToString("0.00") + Environment.NewLine +
"MIDDLE1 :" + MiddleHeaderCv1().X.ToString("0.00") + " /" + MiddleHeaderCv1().Y.ToString("0.00") + Environment.NewLine +
"MIDDLE2 :" + MiddleHeaderCv2().X.ToString("0.00") + " /" + MiddleHeaderCv2().Y.ToString("0.00") + Environment.NewLine +
"ValueR SC:" + valueSC + Environment.NewLine +
"ValueR BigC:" + valueBigC + Environment.NewLine +
"RobotTag:" + robotTag + Environment.NewLine +
"CheckGate: " + robotRegistryToWorkingZone.onRobotwillCheckInsideGate + Environment.NewLine +
"Order: " + OrderStr + Environment.NewLine +
"Battery Level: " + properties.BatteryLevelRb + Environment.NewLine +
"Robots Registry in Ready: " + TrafficRountineConstants.RegIntZone_READY.getNames() + Environment.NewLine +
"Robots Registry in GATE 12: " + TrafficRountineConstants.RegIntZone_GATE12.getNames() + Environment.NewLine +
"Robots Registry in Elevator: " + TrafficRountineConstants.RegIntZone_ELEVATOR.getNames() + Environment.NewLine +
"Robots Registry in Gate3: " + TrafficRountineConstants.RegIntZone_GATE3.getNames() + Environment.NewLine +
"Gate 1: " + Global_Object.getGateStatus((int)DoorId.DOOR_MEZZAMINE_UP) + Environment.NewLine +
"Gate 2: " + Global_Object.getGateStatus((int)DoorId.DOOR_MEZZAMINE_UP_NEW) + Environment.NewLine +
"Robot_BAYID: " + bayId + Environment.NewLine +
"Start_Point_Name: " + StartPointName + Environment.NewLine +
"Start_Point: " + StartPoint.ToString() + Environment.NewLine +
"End_Point_Name: " + EndPointName + Environment.NewLine +
"end_Point: " + EndPoint.ToString() + Environment.NewLine +
"laserBackStatus :" + statusLaserBack + Environment.NewLine
;
border.ToolTip = tooltipStr;
}
catch { }
}
protected override IRepoProvider SelectProvider(TypeZone zone = null)
{
if (typeof(MemoryRepoProvider) == Conf.ProviderType)
{
return(new MemoryRepoProvider());
}
// TODO: 其他的Provider
return(null);
}
public void RobotBehavior()
{
RobotBahaviorAtAnyPlace robotBahaviorAtAnyPlace = RobotBahaviorAtAnyPlace.ROBOT_PLACE_IDLE;
TypeZone _type = trafficManagementService.GetTypeZone(properties.pose.Position, TrafficSetValue.YES);// trafficManagementService.GetTypeZone(properties.pose.Position, 0, 200);
TyprPlaceStr = _type + "";
//onFlagDetectLine = true;
if (_type == TypeZone.READY)
{
robotBahaviorAtAnyPlace = RobotBahaviorAtAnyPlace.ROBOT_PLACE_HIGHWAY_READY;
//SetSpeed(RobotSpeedLevel.ROBOT_SPEED_NORMAL,false);
}
if (_type == TypeZone.HIGHWAY && onFlagDetectLine == false)
{
robotBahaviorAtAnyPlace = RobotBahaviorAtAnyPlace.ROBOT_PLACE_HIGHWAY;
}
if (_type == TypeZone.HIGHWAY && onFlagDetectLine == true)
{
robotBahaviorAtAnyPlace = RobotBahaviorAtAnyPlace.ROBOT_PLACE_HIGHWAY_DETECTLINE;;
}
if (_type == TypeZone.ROAD && onFlagDetectLine == false)
{
robotBahaviorAtAnyPlace = RobotBahaviorAtAnyPlace.ROBOT_PLACE_ROAD;
}
if (_type == TypeZone.ROAD && onFlagDetectLine == true)
{
robotBahaviorAtAnyPlace = RobotBahaviorAtAnyPlace.ROBOT_PLACE_ROAD_DETECTLINE;
}
if (_type == TypeZone.BUFFER && onFlagFinishPalletUpDownINsideBuffer == false)
{
robotBahaviorAtAnyPlace = RobotBahaviorAtAnyPlace.ROBOT_PLACE_BUFFER_GO_IN;
}
if (_type == TypeZone.BUFFER && onFlagFinishPalletUpDownINsideBuffer == true)
{
robotBahaviorAtAnyPlace = RobotBahaviorAtAnyPlace.ROBOT_PLACE_BUFFER_GO_OUT;
}
if (_type == TypeZone.GATE)
{
robotBahaviorAtAnyPlace = RobotBahaviorAtAnyPlace.ROBOT_PLACE_GATE;
}
switch (robotBahaviorAtAnyPlace)
{
case RobotBahaviorAtAnyPlace.ROBOT_PLACE_IDLE:
SetSafeGreencircle(false);
SetSafeOrgancircle(false);
SetSafeSmallcircle(true);
SetSafeBluecircle(false);
SetSafeYellowcircle(false);
if (CheckIntersection(true))
{
break;
}
else
{
STATE_SPEED = "ROBOT_PLACE_IDLE_NORMAL ";
SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
}
break;
case RobotBahaviorAtAnyPlace.ROBOT_PLACE_HIGHWAY:
if (!CheckYellowCircle())
{
// mở vòng tròn nhỏ vá kiểm tra va chạm
SetSafeGreencircle(false);
SetSafeOrgancircle(false);
SetSafeSmallcircle(true);
SetSafeBluecircle(false);
SetSafeYellowcircle(false);
if (CheckGreenCircle_HighWay()) // va cha5m vo2ng tro2n xanh muc u7u tien
{
break;
}
if (checkOrgancCircle())
{
break;
}
else if (CheckIntersection(true))
{
break;
}
else
{
STATE_SPEED = "ROBOT_PLACE_HIGHWAY_NORMAL ";
SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
}
}
break;
case RobotBahaviorAtAnyPlace.ROBOT_PLACE_ROAD:
// kiem tra vong tròn xanh
SetSafeGreencircle(false);
SetSafeSmallcircle(false);
SetSafeOrgancircle(true);
SetSafeBluecircle(true);
SetSafeYellowcircle(false);
if (CheckBlueCircle())
{
break;
}
if (CheckYellowCircle())
{
break;
}
else
{
STATE_SPEED = "ROBOT_PLACE_ROAD_NORMAL ";
SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
}
break;
case RobotBahaviorAtAnyPlace.ROBOT_PLACE_ROAD_DETECTLINE:
// SetSafeSmallcircle(true);
SetSafeGreencircle(false);
SetSafeOrgancircle(true);
SetSafeBluecircle(false);
SetSafeYellowcircle(true);
SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
break;
case RobotBahaviorAtAnyPlace.ROBOT_PLACE_HIGHWAY_DETECTLINE:
// SetSafeSmallcircle(true);
SetSafeGreencircle(false);
SetSafeOrgancircle(true);
SetSafeBluecircle(false);
SetSafeYellowcircle(true);
SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
break;
case RobotBahaviorAtAnyPlace.ROBOT_PLACE_BUFFER_GO_OUT:
// kiem tra vong tròn xanh
SetSafeGreencircle(true);
SetSafeSmallcircle(false);
SetSafeOrgancircle(false);
SetSafeBluecircle(false);
SetSafeYellowcircle(false);
if (CheckGreenCircle())
{
break;
}
if (CheckYellowCircle())
{
break;
}
else
{
STATE_SPEED = "ROBOT_PLACE_BUFFER_NORMAL ";
SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
}
break;
case RobotBahaviorAtAnyPlace.ROBOT_PLACE_BUFFER_GO_IN:
SetSafeOrgancircle(false);
SetSafeSmallcircle(false);
SetSafeBluecircle(false);
SetSafeYellowcircle(false);
SetSafeGreencircle(false);
if (CheckInBuffer(true))
{
break;
}
else
{
STATE_SPEED = "ROBOT_PLACE_BUFFER_NORMAL ";
SetSpeedTraffic(RobotSpeedLevel.ROBOT_SPEED_NORMAL, false);
}
// tắt vòng tròn nhỏ
break;
case RobotBahaviorAtAnyPlace.ROBOT_PLACE_GATE:
SetSafeGreencircle(false);
SetSafeOrgancircle(false);
SetSafeSmallcircle(false);
SetSafeBluecircle(false);
SetSafeYellowcircle(false);
break;
case RobotBahaviorAtAnyPlace.ROBOT_PLACE_HIGHWAY_READY:
SetSafeGreencircle(false);
SetSafeOrgancircle(false);
SetSafeSmallcircle(false);
SetSafeBluecircle(false);
SetSafeYellowcircle(false);
break;
}
}
