public void Register(ProcedureItemSelected ProcedureItem, RobotUnity robot, OrderItem orderItem) { CleanUp(); switch (ProcedureItem) { case ProcedureItemSelected.PROCEDURE_FORLIFT_TO_BUFFER: { ProcedureForkLiftToBuffer procfb = new ProcedureForkLiftToBuffer(robot, doorService, trafficService); procfb.Registry(deviceService); ProcedureDataItems profbDataItems = new ProcedureDataItems(); profbDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocfb = new RegisterProcedureItem() { item = procfb, robot = robot, procedureDataItems = profbDataItems }; procfb.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procfb.ErrorProcedureHandler += ErrorApprearInProcedureItem; //RegisterProcedureItemList.Add (itemprocfb); procfb.AssignAnOrder(orderItem); robot.proRegistryInRobot.pFB = procfb; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_FORKLIFT_TO_BUFFER; procfb.Registry(robotManagementService); procfb.Start(); break; } case ProcedureItemSelected.PROCEDURE_BUFFER_TO_MACHINE: ProcedureBufferToMachine procbm = new ProcedureBufferToMachine(robot, trafficService); procbm.Registry(deviceService); ProcedureDataItems prcobmDataItems = new ProcedureDataItems(); prcobmDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocbm = new RegisterProcedureItem() { item = procbm, robot = robot, procedureDataItems = prcobmDataItems }; procbm.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procbm.ErrorProcedureHandler += ErrorApprearInProcedureItem; //RegisterProcedureItemList.Add (itemprocbm); procbm.AssignAnOrder(orderItem); robot.proRegistryInRobot.pBM = procbm; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_BUFFER_TO_MACHINE; procbm.Registry(robotManagementService); procbm.Start(); break; case ProcedureItemSelected.PROCEDURE_BUFFER_TO_RETURN: ProcedureBufferToReturn procbr = new ProcedureBufferToReturn(robot, trafficService); ProcedureDataItems prcobrDataItems = new ProcedureDataItems(); prcobrDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocbr = new RegisterProcedureItem() { item = procbr, robot = robot, procedureDataItems = prcobrDataItems }; procbr.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procbr.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocbr); procbr.AssignAnOrder(orderItem); robot.proRegistryInRobot.pBR = procbr; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_BUFFER_TO_RETURN; procbr.Registry(robotManagementService); procbr.Start(); break; case ProcedureItemSelected.PROCEDURE_PALLETEMPTY_MACHINE_TO_RETURN: ProcedureMachineToReturn procmr = new ProcedureMachineToReturn(robot, trafficService); ProcedureDataItems prcomrDataItems = new ProcedureDataItems(); prcomrDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocmr = new RegisterProcedureItem() { item = procmr, robot = robot, procedureDataItems = prcomrDataItems }; procmr.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procmr.ErrorProcedureHandler += ErrorApprearInProcedureItem; //RegisterProcedureItemList.Add (itemprocmr); procmr.AssignAnOrder(orderItem); robot.proRegistryInRobot.pMR = procmr; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_MACHINE_TO_RETURN; procmr.Registry(robotManagementService); procmr.Start(); break; case ProcedureItemSelected.PROCEDURE_RETURN_TO_GATE: ProcedureReturnToGate procrg = new ProcedureReturnToGate(robot, doorService, trafficService); ProcedureDataItems prorgDataItems = new ProcedureDataItems(); prorgDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocrg = new RegisterProcedureItem() { item = procrg, robot = robot, procedureDataItems = prorgDataItems }; procrg.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procrg.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrg); procrg.AssignAnOrder(orderItem); procrg.Registry(robotManagementService); procrg.Start(); break; case ProcedureItemSelected.PROCEDURE_ROBOT_TO_CHARGE: ProcedureRobotToCharger procrc = new ProcedureRobotToCharger(robot, chargerService, robot.properties.ChargeID); ProcedureDataItems procrcDataItems = new ProcedureDataItems(); procrcDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocrc = new RegisterProcedureItem() { item = procrc, robot = robot, procedureDataItems = procrcDataItems }; procrc.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procrc.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrc); robot.proRegistryInRobot.pRC = procrc; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_CHARGE; procrc.Start(); break; case ProcedureItemSelected.PROCEDURE_ROBOT_TO_READY: robot.ShowText(robot.properties.Label + "Add PROCEDURE_ROBOT_TO_READY ----------(--___--)---------------"); ProcedureRobotToReady procrr = new ProcedureRobotToReady(robot, robot.properties.ChargeID, trafficService, chargerService, null); ProcedureDataItems procrrDataItems = new ProcedureDataItems(); procrrDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocrr = new RegisterProcedureItem() { item = procrr, robot = robot, procedureDataItems = procrrDataItems }; procrr.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procrr.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrr); robot.proRegistryInRobot.pRR = procrr; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_READY; procrr.Registry(deviceService); procrr.Registry(robotManagementService); procrr.Registry(assigmentTask); procrr.Start(); break; case ProcedureItemSelected.PROCEDURE_ROBOT_READY_TO_READY: ProcedureRobotToReady procRrr = new ProcedureRobotToReady(robot, robot.properties.ChargeID, trafficService, chargerService, doorService.DoorMezzamineUp.config.PointCheckInGate); ProcedureDataItems procRrrDataItems = new ProcedureDataItems(); procRrrDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocRrr = new RegisterProcedureItem() { item = procRrr, robot = robot, procedureDataItems = procRrrDataItems }; procRrr.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procRrr.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add(itemprocRrr); robot.proRegistryInRobot.pRR = procRrr; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_READY; procRrr.Registry(robotManagementService); procRrr.Start(); break; case ProcedureItemSelected.PROCEDURE_FORLIFT_TO_MACHINE: ProcedureForkLiftToMachine procfm = new ProcedureForkLiftToMachine(robot, doorService, trafficService); ProcedureDataItems profmDataItems = new ProcedureDataItems(); profmDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocfm = new RegisterProcedureItem() { item = procfm, robot = robot, procedureDataItems = profmDataItems }; procfm.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procfm.ErrorProcedureHandler += ErrorApprearInProcedureItem; //RegisterProcedureItemList.Add(itemprocfm); procfm.AssignAnOrder(orderItem); robot.proRegistryInRobot.pFM = procfm; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_FORKLIFT_TO_MACHINE; procfm.Registry(robotManagementService); procfm.Start(); break; case ProcedureItemSelected.PROCEDURE_BUFFER_TO_BUFFER: ProcedureBufferReturnToBuffer401 procbb = new ProcedureBufferReturnToBuffer401(robot, trafficService); ProcedureDataItems prcobbDataItems = new ProcedureDataItems(); prcobbDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocbb = new RegisterProcedureItem() { item = procbb, robot = robot, procedureDataItems = prcobbDataItems }; procbb.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procbb.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocbr); procbb.AssignAnOrder(orderItem); robot.proRegistryInRobot.pBB = procbb; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_BUFFER_TO_BUFFER; procbb.Registry(robotManagementService); procbb.Start(); break; case ProcedureItemSelected.PROCEDURE_BUFFER_TO_GATE: ProcedureBufferToGate procbg = new ProcedureBufferToGate(robot, doorService, trafficService); ProcedureDataItems probgDataItems = new ProcedureDataItems(); probgDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocbg = new RegisterProcedureItem() { item = procbg, robot = robot, procedureDataItems = probgDataItems }; procbg.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procbg.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrg); procbg.AssignAnOrder(orderItem); robot.proRegistryInRobot.pBG = procbg; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_BUFFER_TO_GATE; procbg.Registry(robotManagementService); procbg.Start(); break; case ProcedureItemSelected.PROCEDURE_MACHINE_TO_GATE: ProcedureMachineToGate procmg = new ProcedureMachineToGate(robot, doorService, trafficService); ProcedureDataItems promgDataItems = new ProcedureDataItems(); promgDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocmg = new RegisterProcedureItem() { item = procmg, robot = robot, procedureDataItems = promgDataItems }; procmg.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procmg.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrg); procmg.AssignAnOrder(orderItem); robot.proRegistryInRobot.pMG = procmg; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_MACHINE_TO_GATE; procmg.Start(); break; case ProcedureItemSelected.PROCEDURE_MACHINE_TO_BUFFER_RETURN: ProcedureMachineToBufferReturn procmbr = new ProcedureMachineToBufferReturn(robot, trafficService); ProcedureDataItems prombrDataItems = new ProcedureDataItems(); prombrDataItems.StartTaskTime = DateTime.Now; RegisterProcedureItem itemprocmbr = new RegisterProcedureItem() { item = procmbr, robot = robot, procedureDataItems = prombrDataItems }; procmbr.ReleaseProcedureHandler += ReleaseProcedureItemHandler; procmbr.ErrorProcedureHandler += ErrorApprearInProcedureItem; // RegisterProcedureItemList.Add (itemprocrg); procmbr.AssignAnOrder(orderItem); robot.proRegistryInRobot.pMBR = procmbr; robot.ProcedureRobotAssigned = ProcedureControlAssign.PRO_MACHINE_TO_BUFFER_RETURN; procmbr.Registry(robotManagementService); procmbr.Start(); break; } }
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; }